Universal modular mounting interface of underwater robot

Abstract

The universal modular mounting interface comprises an underwater butt joint seat, and a robot butt joint head is inserted into a cavity in the right end of the underwater butt joint seat; the underwater butt joint seat comprises a butt joint seat electrifying unit and an automatic reset water retaining unit, and the automatic reset water retaining unit used for preventing a water source from entering is arranged in an inner cavity of the right end of the butt joint seat electrifying unit. The locking mechanism is driven by the air cylinder, the track caulking groove is precisely matched with the main driving insertion rod, rapid and firm clamping with the butt joint seat locking groove can be achieved, and the locking mechanism bears the impact of underwater strong water flow and is not prone to loosening. Meanwhile, a power connection link adopts a time-delay plugging design driven by an electric push rod, and a power connection plug is driven to be in butt joint with the underwater connector only after the cavity is dry and locked, so that electrical sparks and equipment damage possibly caused by electrifying in a state that the cavity is not in place or has water are avoided. The whole action logic is clear, the control precision is high, and the automation and safety of the docking process are guaranteed.

Description

Technical Field

[0001] This invention relates to the field of underwater robot interface technology, and in particular to a universal modular mounting interface for underwater robots. Background Technology

[0002] With the widespread application of underwater robots in marine exploration, underwater engineering maintenance, deep-sea operations, and intelligent base station docking, rapid and reliable docking between robots and underwater bases and functional modules has become a key technology restricting the efficiency of underwater operations. Traditional underwater docking interfaces generally suffer from low docking accuracy, poor fault tolerance, reliance on mechanical limits for positioning, and lack of visual calibration. In complex currents and turbid water environments, docking misalignment, jamming, and even structural collision damage are highly likely. Furthermore, most existing docking devices lack integrated positioning detection functions, making it impossible to accurately determine whether the end faces are fully fitted, easily leading to seal failure, water infiltration, and subsequent short circuits. In addition, most docking structures lack automatic guidance, automatic locking, linked water blocking, and internal water pumping and drying functions, resulting in cumbersome docking processes and low automation levels, failing to meet the unmanned, modular, and universal operational requirements of underwater robots. Therefore, providing a universal modular mounting interface for underwater robots is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0003] One object of this invention is to provide a universal modular mounting interface for underwater robots.

[0004] A universal modular mounting interface for an underwater robot according to an embodiment of the present invention includes: An underwater docking station, wherein a robot docking head is inserted into the cavity at the right end of the underwater docking station; The underwater docking seat includes a docking seat power supply unit and an automatic reset water blocking unit. The inner cavity at the right end of the docking seat power supply unit is provided with an automatic reset water blocking unit for preventing water from entering. The robot docking unit includes an automatic locking unit, a docking unit power connection unit, a linkage water-blocking unit, a drainage unit, and an external wiring unit. The left end of the automatic locking unit enters the right end chamber of the underwater docking seat for automatic locking. The right end of the automatic locking unit is connected to the docking unit power connection unit with telescopic function. The left end chamber of the automatic locking unit is equipped with a linkage water-blocking unit for driving the automatic reset water-blocking unit to move synchronously. The drainage unit is installed on the bottom surface of the left end inner cavity of the automatic locking unit. The right side of the docking unit power connection unit is equipped with an external wiring unit.

[0005] As a preferred embodiment of the present invention, the docking seat power supply unit includes a base, and four waterproof screw sleeves are arranged in a circumferential array on the right side of the left circular plate of the base. Each waterproof screw sleeve has a sealing cap for sealing the installation bolt threadedly connected to the outer surface of its right end.

[0006] As a preferred embodiment of the present invention, a connector block that slides against the inner wall of the inner cavity of the left end of the base is inserted into the inner cavity of the base. Four underwater connectors are embedded in the groove of the right end of the connector block. A positioning groove is formed on each of the four surfaces of the right end of the connector block. An alignment hole corresponding to the position of the positioning groove is formed on each of the four surfaces of the left end of the rectangular column of the base. A locking rod is threadedly connected inside each positioning groove and the alignment hole communicating with its cavity. A waterproof threaded sleeve II connected to the outer surface of the base is provided on the outer side of the end of each locking rod away from the connector block. A sealing cap II is threadedly connected to the outer surface of each waterproof threaded sleeve II.

[0007] As a preferred embodiment of the present invention, a left mounting groove is provided on the front side of the right end of the base, and a left sealing plate that slides with its inner wall is inserted into the left mounting groove. A seam fitting box that is connected to the surface of the base is provided in front of the left mounting groove. Multiple support springs are fixedly connected to the inner wall of the front end of the seam fitting box and the front side of the left sealing plate. Two driven pipes are fixedly connected to the right side of the rear end of the left sealing plate.

[0008] As a preferred embodiment of the present invention, two mating locking grooves are provided on the front and rear inner walls of the right end of the base.

[0009] As a preferred embodiment of the present invention, the automatic locking unit includes a mating connector. The left end of the mating connector is movably inserted into the inner cavity of the right end of the base. Guide slopes are respectively provided at the four corners of the insertion end on the left side of the mating connector. Two pressure sensors are embedded above and below the side of the mating connector that is in contact with the end face of the base, and two miniature cameras are embedded in the front and rear sides of the side. Two cylinder housings are embedded in the front and rear surfaces of the insertion end of the mating connector. Two locking cylinders with opposite output directions are respectively installed in the two cylinder housings.

[0010] As a preferred embodiment of the present invention, the connector power-connecting unit includes an outer sealing plate. The slots at the four corners of the outer sealing plate are fixedly connected to the mating connectors by bolts. Two limiting slide grooves are opened on the front and rear inner walls of the right end of the mating connector. A plug block is snapped into the inside of each of the two limiting slide grooves. Four power plugs corresponding to the positions of the underwater connectors are embedded in the slots of the plug block. Four gap posts are fixedly connected to the four corners of the right side of the plug block. A heat dissipation plate is fixedly installed on the right end of each of the four gap posts by screws. A circuit board is fixedly installed on the left side of the heat dissipation plate, and the power contact on the left side of the circuit board is connected to the right end of each power plug. An electric push rod is fixedly installed in the middle of the left side of the outer sealing plate, and the output end of the left side of the electric push rod is fixedly connected to the right side of the heat dissipation plate.

[0011] As a preferred embodiment of the present invention, the linkage water-blocking unit includes a right mounting slot, which is located on the front of the left end of the mating connector. A right sealing plate that slides against the inner wall of the right mounting slot is inserted into the right mounting slot. An outer packaging box is fixedly connected to the front of the left end of the mating connector. An adjusting screw is threadedly connected to the inner wall of the middle position of the right sealing plate. A micro motor is fixedly installed on the inner wall of the front end of the outer packaging box, and the output shaft of the rear end of the micro motor is fixedly connected to the front end of the adjusting screw. Two trajectory slots are opened on the front and rear inner walls of the insertion end of the mating connector. A main drive rod connected to the left side of the right sealing plate is provided inside each trajectory slot.

[0012] As a preferred embodiment of the present invention, the drainage unit includes a micro water pump. The lower end of the micro water pump is embedded in the bottom surface of the inner cavity of the mating connector insertion end. The left end of the micro water pump is provided with a water inlet whose inner wall is at the same level as the bottom surface of the inner cavity of the mating connector insertion end. The right side of the micro water pump and the bottom surface of the inner cavity of the mating connector are embedded with a drain pipe, and the upper end of the drain pipe is connected to the drain port at the right end of the micro water pump. A lower mounting ring connected to the bottom surface of the mating connector is provided directly below the drain pipe. The outer surface of the lower mounting ring is threaded with an isolation filter cylinder.

[0013] As a preferred embodiment of the present invention, the external wiring unit includes four auxiliary through holes, which are located at the four corners of the right side of the plug assembly. A robot connecting arm that is connected to the underwater robot body is fixedly connected to the right side of the outer sealing plate. The right side of the outer sealing plate has wiring holes in the same number as the robot connecting arm chambers.

[0014] The beneficial effects of this invention are: 1. This invention significantly improves docking accuracy and fault tolerance, achieving highly reliable underwater mounting: This invention effectively solves the docking misalignment problem caused by turbid underwater environments by setting a guide ramp at the end of the connector and using a visual-assisted alignment mechanism with a miniature camera. Even with slight positional deviations, the guiding effect of the ramp can automatically correct the deviation, guiding the connector smoothly into the inner cavity of the docking seat, greatly reducing the requirements for robot positioning accuracy. At the same time, the positioning detection function of the pressure sensor can accurately sense whether the end faces are completely in contact, providing a reliable and safe triggering condition for subsequent locking, power-on, and other actions, ensuring zero errors and high reliability in the underwater mounting process.

[0015] 2. This invention achieves coordinated water blocking and internal water pumping and drying, ensuring electrical connection safety: This invention innovatively employs a synchronized water-blocking structure with left and right sealing plates that move synchronously. Before docking, the cavity is sealed to prevent water intrusion; after docking, the plates open simultaneously, creating a smooth electrical flow space. Combined with an independent micro-pump system within the cavity, residual water in the docking gap can be quickly removed before energization, and impurities are effectively filtered through an isolation filter cartridge, ensuring the electrical connection area remains dry and safe. This fundamentally eliminates safety hazards such as short circuits and component corrosion caused by water, significantly improving the stability and lifespan of underwater electrical connections.

[0016] 3. This invention integrates an automatic locking and delayed power-on mechanism, ensuring a safe and reliable operation process: The locking mechanism of this invention is cylinder-driven, and with the precise cooperation of the trajectory groove and the main drive rod, it can achieve rapid and secure engagement with the locking groove of the docking seat, and is not easily loosened even under the impact of strong underwater water flow. Meanwhile, the power connection mechanism adopts a delayed insertion design driven by an electric push rod, only driving the power plug to connect with the underwater connector after the cavity is dry and locked, avoiding electrical sparks and equipment damage that may occur if power is applied before the connection is complete or in the presence of water. The overall action logic is clear, the control precision is high, and the automation and safety of the docking process are guaranteed.

[0017] 4. The modular structure design of this invention makes it easy to assemble and disassemble, and it has strong versatility: This invention designs the underwater docking station and the robot docking head as independent modular units. They connect via a standard interface, making them widely compatible with various models of underwater robots and underwater base stations. All components inside the docking station, such as the connector assembly, underwater connector, and locking rod, are detachable, facilitating future maintenance, repair, and replacement. Similarly, the circuit boards, push rods, and water pumps inside the robot docking head are also housed in easily maintainable modular chambers, effectively reducing equipment maintenance costs and improving the overall versatility and flexibility of the device.

[0018] 5. This invention features a full-chain waterproof and rust-proof design, adaptable to complex and harsh underwater environments: To address the extreme environments of underwater operations, this invention incorporates comprehensive waterproof protection structures at all exposed fixing bolts, threaded rods, and transmission rods. The combination of waterproof sleeves and sealing caps creates a multi-layered sealing barrier, effectively preventing the intrusion of external water and corrosive substances, and preventing fasteners from rusting or jamming due to prolonged immersion, thus ensuring the flexibility and reliability of all moving parts. Simultaneously, the overall structure is compact, possessing excellent impact and water pressure resistance, and can be stably applied to various complex and harsh underwater operation scenarios such as marine engineering and deep-sea exploration, demonstrating high environmental adaptability and market potential. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the structure of a universal modular mounting interface for an underwater robot proposed in this invention; Figure 2 This is a schematic diagram of the structure of a universal modular mounting interface for an underwater robot proposed in this invention, viewed from the right side.

[0020] Figure 3 This is a structural schematic diagram from below of a universal modular mounting interface for an underwater robot proposed in this invention.

[0021] Figure 4 This is a front sectional view of a universal modular mounting interface for an underwater robot proposed in this invention.

[0022] Figure 5 This invention proposes a universal modular mounting interface for underwater robots. Figure 4 A three-dimensional image.

[0023] Figure 6 This invention proposes a universal modular mounting interface for underwater robots. Figure 5 A structural diagram from the bottom view.

[0024] Figure 7 This is a cross-sectional view of a universal modular mounting interface for an underwater robot proposed in this invention.

[0025] Figure 8 This invention proposes a universal modular mounting interface for underwater robots. Figure 7 A three-dimensional image.

[0026] Figure 9 This invention proposes a universal modular mounting interface for underwater robots. Figure 8 A structural diagram from the right-hand perspective.

[0027] Figure 10 This is an exploded view of a universal modular mounting interface for an underwater robot proposed in this invention.

[0028] Figure 11 This invention proposes a universal modular mounting interface for underwater robots. Figure 10 A structural diagram from the bottom view.

[0029] Figure 12 This invention proposes a universal modular mounting interface for underwater robots. Figure 5 Enlarged view of point A in the middle.

[0030] Figure 13 This invention proposes a universal modular mounting interface for underwater robots. Figure 5 Enlarged view of point B in the middle.

[0031] Figure 14 This invention proposes a universal modular mounting interface for underwater robots. Figure 8 Enlarged view of point C in the middle.

[0032] Figure 15 This invention proposes a universal modular mounting interface for underwater robots. Figure 9 Enlarged view of point D in the middle.

[0033] Figure 16 This invention proposes a universal modular mounting interface for underwater robots. Figure 10 Enlarged view of point E in the middle.

[0034] Figure 17 This invention proposes a universal modular mounting interface for underwater robots. Figure 11 Enlarged view of point F in the middle.

[0035] Figure 18 This invention proposes a universal modular mounting interface for underwater robots. Figure 11 A magnified view of point G in the middle.

[0036] Figure 19 This invention proposes a universal modular mounting interface for underwater robots. Figure 11 A magnified view of point H in the middle.

[0037] In the diagram: 1. Underwater docking seat; 101. Base; 102. Waterproof threaded sleeve one; 103. Sealing cap one; 104. Connector assembly block; 105. Underwater connector; 106. Positioning groove; 107. Alignment hole; 108. Locking rod; 109. Waterproof threaded sleeve two; 110. Sealing cap two; 111. Left mounting groove; 112. Left sealing plate; 113. Seam box; 114. Support spring; 115. Driven pipe; 116. Docking lock groove; 2. Robot docking connector; 201. Pairing connector; 202. Guide ramp; 203. Pressure sensor; 204. Miniature camera; 205. Cylinder box; 206. 207. Locking cylinder; 208. Outer sealing plate; 209. Limiting slide groove; 210. Plug assembly; 211. Power connector; 212. Gap mounting post; 213. Heat dissipation mounting plate; 214. Circuit board; 215. Electric push rod; 216. Right mounting slot; 217. Right sealing plate; 218. Outer enclosure box; 219. Adjusting screw; 220. Micro motor; 221. Track slot; 222. Main drive rod; 223. Micro water pump; 224. Water inlet; 225. Drain pipe; 226. Lower mounting ring; 227. Isolation filter cartridge; 228. Auxiliary through hole; 229. Robot connecting arm; 220. Wiring hole. Detailed Implementation

[0038] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0039] refer to Figures 1-19 A universal modular mounting interface for underwater robots.

[0040] This implementation plan includes: The underwater docking seat 1 has a robot docking head 2 inserted into the cavity at its right end. The underwater docking seat 1 includes a docking seat power supply unit and an automatic reset water blocking unit. The inner cavity at the right end of the docking seat power supply unit is equipped with an automatic reset water blocking unit to prevent water from entering. The robot docking head 2 includes an automatic locking unit, a docking head power supply unit, a linkage water blocking unit, a drainage unit, and an external wiring unit. The left end of the automatic locking unit enters the right end cavity of the underwater docking seat 1 for automatic locking. The right end of the automatic locking unit is connected to the docking head power supply unit with telescopic function. The cavity at the left end of the automatic locking unit is equipped with a linkage water blocking unit to drive the automatic reset water blocking unit to move synchronously. The drainage unit is installed on the bottom surface of the inner cavity at the left end of the automatic locking unit. The right side of the docking head power supply unit is equipped with an external wiring unit.

[0041] The docking seat power supply unit includes a base 101. Four waterproof threaded sleeves 102 are arranged in a circumferential array on the right side of the left circular plate of the base 101. Each waterproof threaded sleeve 102 has a sealing cap 103 threadedly connected to its right outer surface for sealing the mounting bolt. A connector block 104, which slides against the inner wall of the left end of the base 101, is inserted into the inner cavity. Four underwater connectors 105 are embedded in the groove at the right end of the connector block 104. Each of the four surfaces at the right end of the connector block 104 has a positioning groove 106. Each of the four surfaces at the left end of the rectangular column of the base 101 has an alignment hole 107 corresponding to the position of the positioning groove 106. The interior of each positioning groove 106 and the alignment hole 107 communicating with its cavity... The threaded connection has a locking rod 108. Each locking rod 108 has a waterproof threaded sleeve 109 connected to the outer surface of the base 101 at the end away from the connector block 104. Each waterproof threaded sleeve 109 has a sealing cap 110 threadedly connected to its outer surface. A left mounting groove 111 is opened on the front of the right end of the base 101. A left sealing plate 112 is inserted into the left mounting groove 111 and slides against its inner wall. A seam box 113 connected to the surface of the base 101 is set in front of the left mounting groove 111. Multiple support springs 114 are fixedly connected to the inner wall of the front end of the seam box 113 and the front of the left sealing plate 112. Two driven pipes 115 are fixedly connected to the right side of the rear end of the left sealing plate 112.

[0042] The waterproof sleeves and sealing caps effectively prevent corrosive underwater water from entering the threaded gaps, preventing the bolts and locking rod 108 from rusting and jamming. This ensures that the components can still be disassembled and moved normally during long-term underwater use, thus improving the durability of the device.

[0043] Two mating locking grooves 116 are provided on the front and rear inner walls at the right end of the base 101.

[0044] The automatic locking unit includes a mating connector 201. The left end of the mating connector 201 is movably inserted into the inner cavity of the right end of the base 101. The four corners of the insertion end on the left side of the mating connector 201 are respectively provided with guide slopes 202. The side of the mating connector 201 that is in contact with the end face of the base 101 has two pressure sensors 203 embedded above and below, and two miniature cameras 204 embedded in front and behind it. The front and rear surfaces of the insertion end of the mating connector 201 have two cylinder housings 205 embedded in them. The two cylinder housings 205 are respectively equipped with two locking cylinders 206 with opposite output directions.

[0045] The system utilizes a guide ramp 202, a pressure sensor 203, and a miniature camera 204 to achieve high-precision, high-fault-tolerant underwater docking. The guide ramp 202 can automatically correct and compensate for offset errors, the miniature camera 204 provides visual assistance for alignment, and the pressure sensor 203 accurately determines whether the end faces are fully aligned. The combination of these three components significantly improves the success rate and safety of docking.

[0046] The connector power unit includes an outer cover plate 207. The slots at the four corners of the outer cover plate 207 are fixedly connected to the mating connector 201 by bolts. The inner walls of the right end of the mating connector 201 have two limiting slide grooves 208. The two limiting slide grooves 208 are each fitted with a plug block 209. The slots of the plug block 209 are embedded with four power plugs 210 corresponding to the positions of the underwater connector 105. The four corners of the right side of the plug block 209 are fixedly connected with four gap posts 211. The right ends of the four gap posts 211 are fixedly installed with heat dissipation plates 212 by screws. The left side of the heat dissipation plate 212 is fixedly installed with a circuit board 213. The power contacts on the left side of the circuit board 213 are connected to the right end of each power plug 210. The middle of the left side of the outer cover plate 207 is fixedly installed with an electric push rod 214. The output end of the left side of the electric push rod 214 is fixedly connected to the right side of the heat dissipation plate 212.

[0047] The linkage water-blocking unit includes a right mounting slot 215, which is located on the front of the left end of the mating connector 201. A right sealing plate 216 that slides against the inner wall of the right mounting slot 215 is inserted into the right mounting slot 215. An outer packaging box 217 is fixedly connected to the front of the left end of the mating connector 201. An adjusting screw 218 is threadedly connected to the inner wall of the middle position of the right sealing plate 216. A micro motor 219 is fixedly installed on the inner wall of the front end of the outer packaging box 217, and the output shaft of the rear end of the micro motor 219 is fixedly connected to the front end of the adjusting screw 218. Two trajectory grooves 220 are opened on the front and rear inner walls of the insertion end of the mating connector 201. A main drive rod 221 that connects to the left side of the right sealing plate 216 is provided inside each trajectory groove 220.

[0048] The left sealing plate 112 and the right sealing plate 216 provide bidirectional waterproof protection before and after docking. The cavity is sealed for waterproofing before docking and opens synchronously to form an electrical channel after docking. There is no need to drive the two sets of mechanisms separately. The action is highly synchronized, reliable, and easy to control.

[0049] With the main drive rod 221 and the driven pipe 115, only one motor is needed to drive the two sealing plates on the left and right sides to move synchronously. The structure is extremely simple, the transmission is reliable, there is no jamming, and it is not easy to fail underwater. This reduces the number of drive components and lowers the failure rate.

[0050] The drainage unit includes a miniature water pump 222. The lower end of the miniature water pump 222 is embedded in the bottom surface of the inner cavity of the mating connector 201. The left end of the miniature water pump 222 is provided with a water inlet 223 whose inner wall is at the same level as the bottom surface of the inner cavity of the mating connector 201. The right side of the miniature water pump 222 is embedded in the bottom surface of the inner cavity of the mating connector 201, and the upper end of the drain pipe 224 is connected to the drain outlet at the right end of the miniature water pump 222. A lower mounting ring 225 connected to the bottom surface of the mating connector 201 is provided directly below the drain pipe 224. The outer surface of the lower mounting ring 225 is threaded with an isolation filter cartridge 226.

[0051] The water inlet 223 is designed so that the inner wall of the water inlet 223 is on the same plane as the bottom surface of the inner cavity of the mating connector 201, leaving no steps or dead corners. Then, the residual water in the mating cavity can be fully drained, leaving no water residue, ensuring that it is completely dry before power connection and eliminating the risk of short circuit from the root.

[0052] The system utilizes a drainage unit. First, the micro water pump 222 is energized, and its left-side inlet 223 begins to extract residual water from the closed cavity between the mating connector 201 and the base 101. The inner wall of the inlet 223 is flush with the bottom surface of the inner cavity of the mating connector 201, ensuring complete removal of water from the cavity without any residual water. The extracted water is then transported to the lower mounting ring 225 via the drain pipe 224 on the right side of the micro water pump 222. After being filtered by the isolation filter cartridge 226, the water is discharged into the external water environment. The isolation filter cartridge 226 effectively prevents large particles of impurities from entering the pipeline, preventing blockage of the drain pipe 224. The micro water pump 222 itself has a check valve and self-locking function, preventing the discharged water from flowing back into the mating cavity and ensuring a stable, dry environment within the cavity. Simultaneously, it ensures the safety of the underwater connector 105 after it is connected to the power plug 210.

[0053] The external wiring unit includes four auxiliary through holes 227, which are located at the four corners of the right side of the plug block 209. The right side of the outer cover plate 207 is fixedly connected to a robot connecting arm 228 that is connected to the underwater robot body. The right side of the outer cover plate 207 has wiring holes 229 in the same number as the chambers of the robot connecting arm 228.

[0054] Working principle: During the docking preparation stage, the underwater docking seat 1 is pre-fixed on the underwater base station or preset working position via the base 101. The robot docking head 2 is stably installed on the execution end of the underwater robot via the robot connecting arm 228. It moves with the robot to the top of the docking area. When docking begins, the underwater robot drives the robot docking head 2 to move downward, so that the mating head 201 moves closer to the inner cavity of the right end of the base 101. The guide slopes 202 at the four corners of the insertion end of the mating head 201 first play a guiding and correction role. Even if there is a slight deviation during docking, the mating head 201 can be automatically guided into the inner cavity of the base 101 by the guiding role of the slopes to complete the initial docking positioning. The two miniature cameras 204 set on the end face of the mating head 201 perform visual assistance alignment at the same time and collect docking position images in real time to further improve the insertion accuracy and avoid deviation and jamming. When the left end face of the mating connector 201 is fully in contact with the right end face of the base 101, the two pressure sensors 203 embedded in the upper and lower positions of the end face of the mating connector 201 are squeezed and generate a positioning detection signal to confirm that the mating end face is completely closed. At this time, the two locking cylinders 206 inside the system control cylinder box 205 are activated, driving the piston rod to extend and lock into the mating locking groove 116 opened on the front and rear inner walls of the base 101, realizing the mechanical locking and initial end face sealing between the underwater docking seat 1 and the robot docking connector 2, ensuring that there will be no loosening or displacement during subsequent operations. After initial locking and sealing are completed, the system control linkage water blocking unit is activated, and the micro motor 219 begins to rotate in the forward direction. The output shaft of the micro motor 219 drives the adjusting screw 218 to rotate, which in turn drives the right sealing plate 216 to move forward along the right mounting groove 215. During the movement, the right sealing plate 216 synchronously drives the main drive insertion rod 221 to move forward along the trajectory groove 220. The front end of the main drive insertion rod 221 is inserted into the inner cavity of the driven pipe 115 and pushes the driven pipe 115 to move forward synchronously. The driven pipe 115 then drives the left sealing plate 112 to compress the support spring 114 forward along the left mounting groove 111, realizing the synchronous and same-direction movement of the left sealing plate 112 and the right sealing plate 216. When the right sealing plate 216 moves to the set position, the inner cavity of the insertion end of the mating connector 201 is connected to the inner cavity of the base 101, forming an open power-on working space, which is ready for subsequent power connection operations. After the linkage water-blocking structure is opened, the drainage unit is immediately started, and the micro water pump 222 is powered on. The water inlet 223 at its left end begins to extract the residual water in the closed cavity between the mating connector 201 and the base 101. The inner wall of the water inlet 223 is kept at the same level as the bottom surface of the inner cavity of the insertion end of the mating connector 201, which can ensure that the water in the cavity is completely extracted without any residual water. The extracted water is transported to the lower mounting ring 225 position through the drain pipe 224 at the right end of the micro water pump 222, and is discharged into the external water environment after being filtered by the isolation filter cartridge 226. The isolation filter cartridge 226 can effectively block large particles of impurities in the water from entering the pipeline, preventing the drain pipe 224 from becoming blocked. The micro water pump 222 itself has a check and self-locking function, which can prevent the discharged water from flowing back into the mating cavity, ensuring that the cavity maintains a stable waterless and dry environment. Once the docking cavity is completely drained and a waterless environment is formed, the system controls the docking connector power unit to perform an energizing action. The electric push rod 214 starts and extends to the left, pushing the heat dissipation plate 212 to move to the left. The heat dissipation plate 212 then pushes the plug block 209 to slide to the left along the limiting slide groove 208 through the four gap mounting posts 211. The plug block 209 then drives the four embedded power plugs 210 to move to the left in sync, so that the power plugs 210 are precisely aligned with the four underwater connectors 105 inside the connector block 104 and complete mutual insertion, achieving a stable electrical connection. After the electrical connection is completed, the underwater robot can be charged through this interface, or data transmission, signal interaction and energy supply between the robot and the underwater base station can be realized. Both the underwater docking base 1 and the robot docking connector 2 are equipped with a complete waterproof protection structure. The four waterproof screw sleeves 102 and sealing caps 103 on the left side of the base 101 cooperate with each other to seal and waterproof the mounting bolts. The waterproof screw sleeves 109 and sealing caps 110 on the outside of the base 101 seal and protect the installation position of the locking rod 108, preventing water from seeping into the underwater environment and causing the bolts or rods to rust and jam, thus extending the service life of the structure. The external wiring unit leads out the wires of the internal circuit board 213 and various electrical components in an orderly manner through the four auxiliary through holes 227 on the plug block 209 and the wiring holes 229 on the outer sealing plate 207. It is then connected to the main control system of the underwater robot through the robot connecting arm 228 to realize the automated control and signal feedback of the entire mounting interface. Through the above continuous actions, the present invention completes the fully automated modular mounting process from visual alignment, guided insertion, positioning detection, automatic locking, linkage water blocking, drying drainage to delayed power-on, truly realizing the safe, stable and efficient docking of the underwater robot and the underwater base station.

[0055] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A universal modular mounting interface for underwater robots, characterized in that, include: Underwater docking seat (1), with a robot docking head (2) inserted into the cavity at the right end of the underwater docking seat (1); The underwater docking seat (1) includes a docking seat power supply unit and an automatic reset water blocking unit. The inner cavity at the right end of the docking seat power supply unit is provided with an automatic reset water blocking unit for preventing water from entering. The robot docking unit (2) includes an automatic locking unit, a docking unit power connection unit, a linkage water blocking unit, a drainage unit, and an external wiring unit. The left end of the automatic locking unit enters the right end chamber of the underwater docking seat (1) for automatic locking. The right end of the automatic locking unit is connected to the docking unit power connection unit with telescopic function. The left end chamber of the automatic locking unit is provided with a linkage water blocking unit for driving the automatic reset water blocking unit to move synchronously. The drainage unit is installed on the bottom surface of the left end inner cavity of the automatic locking unit. The right side of the docking unit power connection unit is provided with an external wiring unit.

2. The universal modular mounting interface for an underwater robot according to claim 1, characterized in that, The docking seat power supply unit includes a base (101). The right side of the left circular plate of the base (101) has four waterproof screw sleeves (102) arranged in a circumferential array. The outer surface of the right end of each waterproof screw sleeve (102) is threaded with a sealing cap (103) for sealing the installation bolt.

3. The universal modular mounting interface for an underwater robot according to claim 2, characterized in that, The inner cavity at the left end of the base (101) is fitted with a connector block (104) that slides against its inner wall. The groove at the right end of the connector block (104) contains four underwater connectors (105). Each of the four surfaces at the right end of the connector block (104) is provided with a positioning groove (106). Each of the four surfaces at the left end of the rectangular column of the base (101) is provided with an alignment hole (107) corresponding to the position of the positioning groove (106). Each positioning groove (106) and the alignment hole (107) communicating with its cavity are threaded with a locking rod (108). Each locking rod (108) is provided with a waterproof threaded sleeve (109) connected to the outer surface of the base (101) at the end away from the connector block (104). Each waterproof threaded sleeve (109) is threaded with a sealing cap (110) on its outer surface.

4. The universal modular mounting interface for an underwater robot according to claim 3, characterized in that, The base (101) has a left mounting groove (111) on the front of the right end. A left sealing plate (112) that slides against the inner wall of the left mounting groove (111) is inserted inside the left mounting groove (111). A seam fitting box (113) that is connected to the surface of the base (101) is provided in front of the left mounting groove (111). Multiple support springs (114) are fixedly connected to the inner wall of the front end of the seam fitting box (113) and the front of the left sealing plate (112). Two driven pipes (115) are fixedly connected to the right side of the rear end of the left sealing plate (112).

5. The universal modular mounting interface for an underwater robot according to claim 4, characterized in that, Two mating lock grooves (116) are provided on the front and rear inner walls of the right end of the base (101).

6. The universal modular mounting interface for an underwater robot according to claim 5, characterized in that, The automatic locking unit includes a mating connector (201), the left end of which is movably inserted into the inner cavity of the right end of the base (101). The four corners of the insertion end on the left side of the mating connector (201) are respectively provided with guide slopes (202). The side of the mating connector (201) that is in contact with the end face of the base (101) has two pressure sensors (203) embedded above and below it, and two miniature cameras (204) embedded in front and behind it. The front and rear surfaces of the insertion end of the mating connector (201) have two cylinder housings (205) embedded in them. The two cylinder housings (205) are respectively equipped with two locking cylinders (206) with opposite output directions.

7. The universal modular mounting interface for an underwater robot according to claim 6, characterized in that, The connector power-connecting unit includes an outer sealing plate (207). The four corner slots of the outer sealing plate (207) are fixedly connected to the mating connector (201) by bolts. The right end of the mating connector (201) has two limiting slide grooves (208) on its front and rear inner walls. The two limiting slide grooves (208) are each fitted with a plug block (209). The slots of the plug block (209) are embedded with four power-connecting plugs (210) corresponding to the positions of the underwater connector (105). The four corners of the right side of the plug block (209) are fixed. The device is fixedly connected with four gap posts (211). The right ends of the four gap posts (211) are all fixedly mounted with heat dissipation plates (212) by screws. The left side of the heat dissipation plate (212) is fixedly mounted with a circuit board (213). The power contact on the left side of the circuit board (213) is connected to the right end of each power plug (210). The middle position of the left side of the outer cover plate (207) is fixedly mounted with an electric push rod (214). The output end on the left side of the electric push rod (214) is fixedly connected to the right side of the heat dissipation plate (212).

8. The universal modular mounting interface for an underwater robot according to claim 7, characterized in that, The linkage water-blocking unit includes a right mounting slot (215), which is located on the front of the left end of the mating connector (201). A right sealing plate (216) that slides against the inner wall of the right mounting slot (215) is inserted inside the right mounting slot (215). An outer packaging box (217) is fixedly connected to the front of the left end of the mating connector (201). An adjusting screw (218) is threadedly connected to the inner wall of the middle position of the right sealing plate (216). A micro motor (219) is fixedly installed on the inner wall of the front end of the outer packaging box (217), and the output shaft of the rear end of the micro motor (219) is fixedly connected to the front end of the adjusting screw (218). Two trajectory slots (220) are opened on the front and rear inner walls of the insertion end of the mating connector (201). A main drive rod (221) connected to the left side of the right sealing plate (216) is provided inside each trajectory slot (220).

9. A universal modular mounting interface for an underwater robot according to claim 8, characterized in that, The drainage unit includes a micro water pump (222). The lower end of the micro water pump (222) is embedded in the bottom surface of the inner cavity of the insertion end of the mating connector (201). The left end of the micro water pump (222) is provided with a water inlet (223) whose inner wall is at the same level as the bottom surface of the inner cavity of the insertion end of the mating connector (201). The right side of the micro water pump (222) and the bottom surface of the inner cavity of the mating connector (201) are embedded with a drain pipe (224). The upper end of the drain pipe (224) is connected to the drain outlet at the right end of the micro water pump (222). A lower mounting ring (225) connected to the bottom surface of the mating connector (201) is provided directly below the drain pipe (224). The outer surface of the lower mounting ring (225) is threaded with an isolation filter cartridge (226).

10. A universal modular mounting interface for an underwater robot according to claim 9, characterized in that, The external wiring unit includes four auxiliary through holes (227), which are located at the four corners of the right side of the plug block (209). The right side of the outer sealing plate (207) is fixedly connected to a robot connecting arm (228) that is connected to the underwater robot body. The right side of the outer sealing plate (207) has wiring holes (229) in the same number as the chambers of the robot connecting arm (228).

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