Underwater connector automatic mating device and method for subsea mating case

Abstract

The application discloses an underwater connector automatic connection device and method of a submarine connection box, which comprises a frame module, a plug fixing seat, a connector plug, a connector socket and a driving mechanism. The frame module provides structural support and a mounting base for the whole device. The plug fixing seat is used for clamping and positioning the connector plug. The connector socket is driven by the driving mechanism to approach or move away from the plug fixing seat, so as to realize plug-in or separation with the connector plug. The underwater plug-in connector can be automatically connected and separated in a uniform and stable manner, so that the problems of misalignment and axial impact during the connector connection and separation under the control of external equipment are solved. The plug-in operation efficiency of the underwater connector is effectively improved, the allowed connection times within the service life of the underwater connector are increased, and the safety and reliability of the submarine equipment connection are improved.

Description

Technical Field

[0001] This invention relates to the field of underwater connector splicing technology, and in particular to an automatic underwater connector splicing device and method for a seabed splicing box. Background Technology

[0002] Underwater plug-in connectors are key components in underwater engineering projects, undertaking the important tasks of power transmission and data communication between subsea functional modules. They are widely used in various subsea engineering equipment such as seabed observation networks, deep-sea oil and gas drilling and production systems, ocean energy power generation devices, and deep-sea mining equipment. With the construction and implementation of large-scale scientific projects such as seabed observation networks and the gradual large-scale development of ocean energy resources, the demand for underwater plug-in connectors in subsea equipment is increasing, while higher requirements are being placed on their long-term operational reliability, plug-in lifespan, and adaptability to the deep-sea environment.

[0003] Underwater pluggable connectors are the core link for data communication and power supply between subsea functional modules. Their docking and disengagement typically rely on the robotic arm of an underwater remotely operated vehicle (ROV), requiring extremely high positioning accuracy and operational stability. Currently, the docking operation of underwater pluggable connectors mainly relies on the assistance of underwater ROVs. In a typical docking process, the ROV first approaches the seabed docking box. Using an underwater camera and lighting mounted on its robotic arm, and under the remote control of a surface operator, it locates and identifies the position of the connector socket installed on the docking box. The ROV robotic arm grips the connector plug end to be docked, slowly moves and adjusts its posture, aligning the plug end with the socket end guide port for initial positioning. After confirming alignment, the ROV robotic arm applies axial thrust to push the plug into the socket until mating is complete. The disengagement process also relies on the ROV: the ROV accurately identifies the position of the handle on the mated connector plug end using an underwater camera. After the robotic arm grips the handle, it applies uniform axial force to pull the plug end out of the socket, thus separating the connector. The entire docking and separation process is carried out under the remote monitoring and control of the operators in the surface control cabin. Due to factors such as low light in the deep sea, visual turbidity, delay in the movement control of the robotic arm, and the ROV's positioning and maintenance capabilities, the requirements for the operators' operating skills and operational experience are extremely high.

[0004] When using ROVs for underwater connector insertion and removal, there are multiple risks due to the complex deep-sea environment and the limitations of the robotic arm. In terms of positioning and identification, the ROV thrusters easily stir up seabed sediment, creating blind spots. Combined with underwater light attenuation and camera viewing angle deviations, this often leads to misalignment between the plug and socket, causing connector pins to bend or break under uneven loads. Furthermore, delays in the transmission of commands from the mother ship can easily lead to misjudgments and excessive manipulation. Regarding mechanical impact, the ROV robotic arm often applies force through push and pull, easily generating significant axial impacts. This can cause micro-cracks in brittle materials inside the connector, leading to failure. The sticking and slipping of the sealing ring during separation can also cause the ROV to suddenly swing, pulling on the connector tail cable, resulting in the breakage of internal cables and optical fibers or damage to the housing. Simultaneously, the ROV's suspension and swaying under the influence of seabed currents, along with the multi-degree-of-freedom attitude deviations of the robotic arm, not only cause axial and angular misalignments between the plug and socket, making forced insertion and removal prone to jamming, but also, relying entirely on the robotic arm's force for maintenance, lacking axial rigidity support, making it highly susceptible to instability. These shocks and instabilities cause the actual lifespan of the connectors to be far shorter than the expected design life. At the same time, in order to reduce risks, operators have to repeatedly test and fine-tune, and completing a single deep-sea plugging and unplugging often takes several hours. This is not only extremely inefficient, but the long-term, high-load operation of the thrusters and hydraulic systems also consumes a lot of energy, severely compressing the time window for a single underwater operation.

[0005] Therefore, when using ROVs to perform underwater connector insertion and removal operations in the deep sea, problems such as inaccurate connector alignment and excessive insertion and removal force often occur due to factors such as underwater visual blur (e.g., seabed sediment stirred up by the ROV thruster) and control delay. The resulting large axial impact force can easily damage underwater connectors, bringing significant uncertainty and challenges to underwater operation safety. Summary of the Invention

[0006] Based on this, the present invention provides an automatic underwater connector docking device and method for a seabed docking box, in order to solve the technical problems of unclear visibility, misalignment, unstable force, and easy damage caused by direct hard plugging and unplugging by a robot.

[0007] To achieve the above-mentioned objectives, the present invention employs the following technical solution: An automatic underwater connector docking device for a submersible docking box includes: Framework modules; A plug fixing seat is fixedly installed on the frame module. The plug fixing seat includes a first cylindrical part and a second cylindrical part arranged coaxially. The inner diameter of the second cylindrical part is larger than the inner diameter of the first cylindrical part. The inner wall of the first cylindrical part has two radial protrusions. A sliding groove extending in the circumferential direction of the first cylindrical part is formed between the radial protrusions. A rotation limiting block is provided in the sliding groove. A slot is opened near the radial protrusion of the second cylindrical part. A slot block is provided on the second cylindrical part. The opening direction of the slot block is the axial direction of the second cylindrical part. A connector plug includes a plug body, a thrust block fixed to the plug body, and a handle that is movably connected to the plug body in its axial direction. The plug body is inserted into a plug mounting base. The thrust block is used to enter and exit a slide groove through a slot and can rotate within the slide groove. A rotation limiting block is used to limit the rotation angle of the thrust block. The handle has a fitting portion fitted onto the plug body. The plug body is provided with a front limiting structure and a rear limiting structure for limiting the movement range of the fitting portion on the plug body. The handle is provided with a positioning block. The handle is configured such that the fitting portion contacts the front limiting structure and drives the plug body into the plug mounting base. After the thrust block enters the slide groove through the slot, the handle rotates, causing the plug body to rotate to the position where the thrust block contacts the rotation limiting block. When the handle is pulled back to the rear limiting structure, the positioning block enters the slot block. The connector socket is movably mounted on the frame module to be close to or away from the plug holder, enabling insertion or separation from the connector plug; A drive mechanism for moving the connector socket.

[0008] As described above, the underwater connector automatic docking device for the seabed docking box includes a handle portion and a connecting portion connecting the handle portion and the sleeve portion. The connecting portion includes at least two connecting rods. The front limiting structure and / or the rear limiting structure have through holes corresponding to the number and position of the connecting rods, and the connecting rods pass through the through holes.

[0009] As described above, the underwater connector automatic docking device for the seabed docking box has a fitting part with a fitting part through hole corresponding to the number and position of the connecting rods. The connecting rod includes a first connecting rod segment and a second connecting rod segment. The diameter of the first connecting rod segment is smaller than the diameter of the second connecting rod segment. The first connecting rod segment mates with the fitting part through hole. The free end of the first connecting rod segment is provided with a thread, and the fitting part is fixed by engaging the thread with a nut.

[0010] As described above, in the underwater connector automatic docking device of the seabed docking box, the positioning block is located on the connecting rod.

[0011] As described above, the underwater connector automatic docking device for the seabed docking box includes a first cylindrical part comprising a first cylindrical part body and a cover located at the end of the first cylindrical part body. One radial protrusion is located on the inner wall of the first cylindrical part body, and another radial protrusion is located on the inner wall of the cover.

[0012] As described above, in the underwater connector automatic docking device of the submersible docking box, a sealing ring is provided between the sleeve part and the plug body.

[0013] The underwater connector automatic docking device for the submersible docking box described above, wherein the drive mechanism includes: Drive motor; A lead screw fixing flange is installed on the frame module; The transmission screw is mounted on the plug mounting base and the screw mounting flange via rolling bearings; The socket connection flange is fixedly installed on the connector socket; The lead screw nut is fixedly installed on the socket connection flange, and the transmission lead screw is assembled with the lead screw nut.

[0014] As described above, the underwater connector automatic docking device for the seabed docking box includes two drive motors and two transmission screws, which are symmetrically distributed on both sides of the connector socket along its axial direction.

[0015] A docking method for an automatic underwater connector docking device based on the above-mentioned subsea docking box, wherein the mating method between the connector plug and the connector socket is as follows: The connector plug is moved to the opening of the plug fixing seat by the handle. The handle moves forward, the sleeve part contacts the front limit structure and drives the plug body into the plug fixing seat. After the thrust block enters the slide groove through the slot, the handle stops moving forward. The rotation of the handle causes the plug body to rotate until the thrust block contacts the rotation limit block; When the handle is pulled back to the rear limiting structure, the positioning block enters the slot block; The drive mechanism drives the connector socket to move toward the connector plug, thereby achieving docking with the connector plug; The method for separating the connector plug and connector socket is as follows: The drive mechanism drives the connector socket to move away from the connector plug, thereby separating it from the connector plug; When the handle moves forward until the sleeve part contacts the front limiting structure, the positioning block retracts from the slot block; The reverse rotation of the handle causes the plug body to rotate to the position where the thrust block is opposite to the slot; When the handle is pulled back, the thrust block exits the slide groove through the slot, and the sleeve part contacts the rear limiting structure, causing the plug body to exit from the plug fixing seat.

[0016] The connection method of the underwater connector automatic connection device of the submersible docking box described above, wherein the handle of the connector plug is operated by a robot.

[0017] Compared with the prior art, the advantages and positive effects of the present invention are: The underwater connector automatic docking device of this invention includes a frame module, a plug fixing seat, a connector plug, a connector socket, and a drive mechanism. The frame module provides structural support and a mounting foundation for the entire device. The plug fixing seat is used to clamp and position the connector plug. The drive mechanism drives the connector socket to move closer to or away from the plug fixing seat, realizing the insertion or separation of the connector plug. This invention enables underwater connectors to automatically dock and separate in a uniform and stable manner, thereby solving problems such as misalignment and axial impact that occur during connector docking and separation under external equipment control. This effectively improves the efficiency of underwater connector docking and undoing operations, increases the number of permissible docking operations within the service life of the underwater connector, and enhances the safety and reliability of docking between underwater equipment.

[0018] The connection method of the underwater connector automatic connection device of the submersible docking box of the present invention includes the following connection method: the connector plug and connector socket are connected by moving the connector plug to the opening of the plug fixing seat by using the handle; the handle moves forward, the sleeve part contacts the front limit structure and drives the plug body into the plug fixing seat; after the thrust block enters the slide groove through the slot, the handle stops moving forward; the handle is rotated to drive the plug body to rotate to the position where the thrust block contacts the rotation limit block; when the handle is pulled back to the rear limit structure, the positioning block enters the slot block; the drive mechanism drives the connector socket to move towards the connector plug to achieve connection with the connector plug; the connection method of separating the connector plug and connector socket is as follows: the drive mechanism drives the connector socket to move away from the connector plug to achieve separation from the connector plug; when the handle moves forward to the position where the sleeve part contacts the front limit structure, the positioning block exits the slot block; the handle is rotated in the opposite direction to drive the plug body to the position where the thrust block is opposite to the slot; the handle is pulled back, the thrust block exits the slide groove through the slot, the sleeve part contacts the rear limit structure and drives the plug body out of the plug fixing seat. This invention enables underwater connectors to automatically dock and disconnect at a uniform and stable speed, thereby solving problems such as misalignment and axial impact during connector docking and disconnection under external equipment control. It effectively improves the docking and disconnection efficiency of underwater connectors, increases the number of permissible docking operations within the service life of underwater connectors, and enhances the safety and reliability of docking between subsea equipment.

[0019] Other features and advantages of the present invention will become clearer after reading the detailed embodiments of the invention in conjunction with the accompanying drawings. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of a specific embodiment of the present invention.

[0022] Figure 2 This is a cross-sectional view of the transmission screw axis in a specific embodiment of the present invention.

[0023] Figure 3 This is an axial sectional view of the plug fixing seat according to a specific embodiment of the present invention.

[0024] Figure 4 This is a radial sectional view of the plug fixing seat according to a specific embodiment of the present invention.

[0025] Figure 5 This is a perspective sectional view of a plug fixing base according to a specific embodiment of the present invention.

[0026] Figure 6 This is a schematic diagram of the connector plug according to a specific embodiment of the present invention.

[0027] Figure 7 This is a cross-sectional view of the connector plug according to a specific embodiment of the present invention.

[0028] Figure 8 This is a perspective view of a connector plug inserted into a plug fixing seat according to a specific embodiment of the present invention.

[0029] Figure 9 For specific embodiments of the present invention Figure 8 A schematic diagram showing the handle after it has been rotated.

[0030] Figure 10 For specific embodiments of the present invention Figure 9 A diagram illustrating the backhand pull.

[0031] Explanation of reference numerals in the attached figures: 1. Framework module; 2. Plug fixing base; 21. First cylindrical part; 211. Radial protrusion; 2111. Groove; 212. Slide groove; 213. Rotation limit block; 214. First cylindrical part body; 215. Cover; 22. Second cylindrical part; 221. Groove block; 3. Connector plug; 31. Plug body; 311. Front limiting structure; 312. Rear limiting structure; 3121. Through hole; 32. Thrust block; 33. Handle; 331. Fitting part; 332. Positioning block; 333. Handle part; 334. Connecting part; 3343. Nut; 34. Sealing ring.

[0032] 4. Connector socket; 5. Drive mechanism; 51. Drive motor; 52. Lead screw fixing flange; 53. Transmission lead screw; 54. Socket connection flange; 55. Lead screw nut; 56. Rolling bearing. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0034] It should be noted that in the description of this invention, the terms "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," which indicate directional or positional relationships, are based on the directional or positional relationships shown in the accompanying drawings. These are merely for ease of description and do not indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0035] The underwater connector automatic docking device is installed on the subsea module equipment. Using an ROV, the pre-connected underwater plug-in connector plug is guided into the plug holder without any docking force. Then, a locking mechanism between the thrust block and the wedge block on the connector handle and the plug holder ensures the connector plug is precisely positioned within the holder. Subsequently, a dual-drive underwater stepper motor drives the connector socket axially via a lead screw, completing an automated and reliable docking with the plug. The uniform speed drive of the underwater motors enables precise and stable docking and disengagement of the underwater connector socket and plug, thus completely avoiding the risks associated with direct hard plugging and unplugging by the ROV.

[0036] The following is combined with Figures 1-10 The underwater connector automatic docking device for the seabed docking box is described, including: frame module 1, plug fixing seat 2, connector plug 3, connector socket 4, and drive mechanism 5.

[0037] Frame module 1 provides structural support and installation foundation for the entire device.

[0038] The plug mounting base 2 is fixedly installed on the frame module 1 by bolts and is used to install and fix the connector plug 3.

[0039] The plug holder 2 includes a first cylindrical portion 21 and a second cylindrical portion 22 arranged coaxially, wherein the inner diameter of the second cylindrical portion 22 is larger than the inner diameter of the first cylindrical portion 21; and the inner diameter of the first cylindrical portion 21 is adapted to the outer diameter of the connector plug 3.

[0040] The inner wall of the first cylindrical portion 21 has two radial protrusions 211, and a groove 212 extending in the circumferential direction of the first cylindrical portion 21 is formed between the radial protrusions 211. A rotation limiting block 213 is provided in the groove 212. A slot 2111 is opened on the radial protrusion 211 near the second cylindrical portion 22. A slot block 221 is provided on the second cylindrical portion 22. The opening direction of the slot block 221 is the axial direction of the second cylindrical portion 22.

[0041] The connector plug 3 includes a plug body 31, a thrust block 32 fixed on the plug body 31, and a handle 33 that is movably connected to the plug body 31 in its axial direction.

[0042] The plug body 31 is used to be inserted into the plug holder 2. The plug body 31 is inserted from the free end of the second cylindrical part 22 and enters the first cylindrical part 21. The plug end of the plug body 31 extends from the first cylindrical part 21 to facilitate insertion into the connector socket 4. The outer diameter of the plug body 31 is adapted to the inner diameter of the first cylindrical part 21 to improve the stability of the connector plug 3 installation.

[0043] The thrust block 32 is used to enter and exit the slide groove 212 through the slot 2111 and can rotate within the slide groove 212. The rotation limit block 213 is used to limit the rotation angle of the thrust block 32.

[0044] In some embodiments, the angle between the thrust block 32, the slot 2111 and the axis of the connector plug 3 is 90 degrees. That is, after the thrust block 32 of the plug body 31 enters the slide groove 212 through the slot 2111, it can rotate 90 degrees along the slide groove 212.

[0045] The handle 33 has a fitting part 331 fitted onto the plug body 31. The plug body 31 is provided with a front limiting structure 311 and a rear limiting structure 312 for limiting the range of movement of the fitting part 331 on the plug body 31. The handle 33 is provided with a positioning block 332.

[0046] In some embodiments, the front limiting structure 311 and the rear limiting structure 312 are both annular limiting protrusions located on the plug body 31.

[0047] The handle 33 is configured to contact the fitting part 331 with the front limiting structure 311 and drive the plug body 31 into the plug fixing seat 2. After the thrust block 32 enters the slide groove 212 through the slot 2111, the handle 33 rotates and drives the plug body 31 to rotate to the position where the thrust block 32 contacts the rotation limiting block 213. When the handle 33 is pulled back to the rear limiting structure 312, the positioning block 332 enters the slot block 221, realizing the circumferential and axial positioning of the connector plug 3 and the plug fixing seat 2, ensuring the stability of the connector plug 3 and the connector socket 4 during insertion.

[0048] The assembly structure of the plug holder and the connector plug can be completed by simply inserting the connector plug into the plug holder and performing a limiting operation.

[0049] The connector socket 4 is movably mounted on the frame module 1 to allow insertion or separation of the connector plug 3 near or away from the plug holder 2.

[0050] The drive mechanism 5 is used to drive the connector socket 4 to move.

[0051] In some embodiments, the handle 33 includes a handle portion 333 and a connecting portion 334 connecting the handle portion 333 and the sleeve portion 331. The connecting portion 334 includes at least two connecting rods. The rear limiting structure 312 has a through hole 3121 corresponding to the number and position of the connecting rods. The connecting rods pass through the through hole 3121. This can prevent the handle 33 from rotating relative to the plug body 31 and realize the synchronous rotation of the handle 33 and the plug body 31.

[0052] In some other embodiments, the front limiting structure 311 or the front limiting structure 311 and the rear limiting structure 312 have through holes 3121 corresponding to the number and position of the connecting rods.

[0053] In some embodiments, the sleeve 331 has a sleeve through hole corresponding to the number and position of the connecting rods. The connecting rod includes a first connecting rod segment and a second connecting rod segment. The diameter of the first connecting rod segment is smaller than the diameter of the second connecting rod segment. The first connecting rod segment mates with the sleeve through hole. The free end of the first connecting rod segment is provided with a thread, and the sleeve 331 is fixed by engaging the thread with a nut 3343.

[0054] The two connecting rods on the handle 33 form a step, which axially holds the sleeve part 331 in place. The free end of the connecting rod is then fixed with a nut 3343 to restrict the relative movement between the sleeve part 331 and the connecting part 334. Thus, the handle 33 has only one axial degree of freedom of movement relative to the connector plug 3.

[0055] In some embodiments, the fitting part 331 is a ring clamp consisting of two halves, upper and lower. After being fitted into the plug body 31 of the connector plug 3, the two halves are fastened together by bolts.

[0056] In some embodiments, a sealing ring 34 is provided between the sleeve portion 331 and the plug body 31.

[0057] Specifically, a sealing ring groove (two grooves shown in the figure) is provided on the part of the connector plug 3 that mates with the sleeve part 331, and a sealing ring 34 is installed in the sealing ring groove. The sleeve part 331 and the connector plug 3 form a sliding connection by compressing the sealing ring 34, thereby generating a certain sliding damping, which can prevent the ROV robot from causing a large axial impact on the connector plug 3 when operating the handle 33.

[0058] In some implementations, the positioning block 332 is located on the connecting rod.

[0059] In some implementations, the first cylindrical portion 21 includes a first cylindrical portion body 214 and a cover 215 located at the end of the first cylindrical portion body 214, with one radial protrusion 211 located on the inner wall of the first cylindrical portion body 214 and another radial protrusion 211 located on the inner wall of the cover 215.

[0060] In some embodiments, the radial protrusion 211 on the inner wall of the first cylindrical body 214 is provided with two opposing slots 2111, and the slide groove 212 is provided with two rotation limit blocks 213. Correspondingly, the plug body 31 is provided with two thrust blocks 32.

[0061] The cover 215 is threaded onto the end face of the first cylindrical body 214 to facilitate the machining of its internal cavity.

[0062] The drive mechanism includes: a drive motor 51, a lead screw fixing flange 52, a transmission lead screw 53, a socket connection flange 54, and a lead screw nut 55.

[0063] The drive motor 51 is used to drive the transmission screw 53. The drive motor 51 is fixed on the frame module 1 by a motor mounting bracket and connected to the transmission screw 53 via a coupling, driving the transmission screw 53 to rotate.

[0064] The lead screw fixing flange 52 is mounted on the frame module 1. The lead screw fixing flange 52 is fixed to the frame module 1 by bolts.

[0065] The transmission screw 53 is mounted on the plug fixing seat 2 and the screw fixing flange 52 via rolling bearing 56, thereby rotatably supporting it on the frame module 1.

[0066] The socket connection flange 54 is fixedly installed on the connector socket 4.

[0067] The lead screw nut 55 is fixedly mounted on the socket connection flange 54, and the transmission lead screw 53 is assembled with the lead screw nut 55. In this way, the axial reciprocating motion of the connector socket 4 can be realized by the rotational movement of the transmission lead screw 53.

[0068] The device employs two sets of drive mechanisms 5, including two drive motors 51 and two transmission screws 53, which are symmetrically distributed on both sides of the connector socket 4 axially.

[0069] The two drive motors 51 are controlled by the same drive signal to achieve synchronous transmission, ensuring that the two drive screws 53 operate precisely and synchronously, thereby preventing jamming when the connector socket 4 moves axially due to the inconsistent movement speed of the screw nuts 55 on both sides of the socket connecting flange 54.

[0070] Two drive motors are synchronously driven by the same control signal, thus achieving smooth docking and disengagement of the underwater connector. This mechanism has advantages such as high driving force, uniform movement speed, and simple operation.

[0071] A docking method for an automatic docking device for underwater connectors in a submersible docking box: The mating method between the connector plug and the connector socket is as follows: Move the connector plug to the opening of the plug holder by using the handle. As the handle moves forward, the sleeve contacts the front limit structure and drives the plug body into the plug holder. After the thrust block enters the slide groove through the slot, the handle stops moving forward. Turning the handle causes the plug body to rotate until the thrust block contacts the rotation limit block; When the handle is pulled back to the rear limit structure, the positioning block enters the slot block; The drive mechanism drives the connector socket to move toward the connector plug, thereby achieving mating with the connector plug; The method for separating the connector plug and connector socket is as follows: The drive mechanism drives the connector socket to move away from the connector plug, thereby separating it from the connector plug; When the handle is moved forward until it contacts the front limiting structure of the sleeve part, the positioning block retracts from the slot block; Rotate the handle in the opposite direction to rotate the plug body until the thrust block is in the position opposite to the slot; Pull the handle back, the thrust block exits the slide groove through the slot, the sleeve part contacts the rear limit structure and drives the plug body to exit from the plug fixing seat.

[0072] The handle of the connector plug is controlled by a robot ROV.

[0073] like Figure 8 As shown, the ROV robot inserts the connector plug 3 into the plug fixing seat 2 with the tail cable facing downwards, and pushes it axially to the bottom, so that the two thrust blocks 32 on the connector plug 3 enter the annular slide groove 212 through the upper and lower slots 2111 respectively. At this time, the sleeve part 331 moves axially to the front limit structure 311.

[0074] like Figure 9 As shown, the ROV robot rotates the connector plug 3 clockwise by 90°, and the thrust block 32 comes into contact with the rotation limit block 213, thereby limiting its further rotation; at this time, the positioning block 332 on one of the connecting rods of the handle 33 rotates to the top.

[0075] like Figure 10 As shown, a rectangular slot block 221 is fixed inside the plug mounting base 2 by bolts. After the second step, the positioning block 332 on the handle has rotated to the front of the rectangular slot block 221. The ROV robot pulls the handle backward, causing the handle to move the sleeve part 331 axially outward and to the rear limiting structure 312, embedding the positioning block 332 into the rectangular slot block 221 to restrict the overall rotation of the connector plug 3.

[0076] By performing the above operations, the connector plug 3 can be completely locked inside the plug holder 2.

[0077] Once the connector plug 3 is fully positioned within the plug holder 2, the drive motor 51 can drive the connector socket 4 to move axially, thereby achieving automatic docking and separation between the socket and the connector plug 3.

[0078] This embodiment describes an automated underwater connector splicing device for subsea docking boxes. During operation, an underwater tethered remotely operated vehicle (ROV) tows the connector's plug end from one docking point on the seabed to another and inserts it into the plug holder. The plug's thrust block engages in the annular groove of the holder, and the groove axially limits the thrust block, thus fixing the connector plug axially. The ROV frame module manipulator rotates the connector plug 90°, causing the thrust block to rotate to the rotation limit block within the groove. The ROV frame module manipulator then pulls the connector plug's handle axially backward, causing the wedge-shaped positioning block on the handle to engage in the rectangular groove of the second cylindrical section, thus constraining the connector plug's circumferential rotation. Through these operations, the connector plug is fully secured within the plug holder. Finally, a dual-drive underwater stepper motor drives the connector's socket end axially, achieving docking and disengagement between the socket and plug ends. This device features high automation, ease of operation, minimal docking impact, and high safety and reliability.

[0079] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions claimed by the present invention.

Claims

1. An automatic underwater connector docking device for a submersible docking box, characterized in that, include: Framework modules; A plug fixing seat is fixedly installed on the frame module. The plug fixing seat includes a first cylindrical part and a second cylindrical part arranged coaxially. The inner diameter of the second cylindrical part is larger than the inner diameter of the first cylindrical part. The inner wall of the first cylindrical part has two radial protrusions. A sliding groove extending in the circumferential direction of the first cylindrical part is formed between the radial protrusions. A rotation limiting block is provided in the sliding groove. A slot is opened near the radial protrusion of the second cylindrical part. A slot block is provided on the second cylindrical part. The opening direction of the slot block is the axial direction of the second cylindrical part. A connector plug includes a plug body, a thrust block fixed to the plug body, and a handle that is movably connected to the plug body in its axial direction. The plug body is inserted into a plug mounting base. The thrust block is used to enter and exit a slide groove through a slot and can rotate within the slide groove. A rotation limiting block is used to limit the rotation angle of the thrust block. The handle has a fitting portion fitted onto the plug body. The plug body is provided with a front limiting structure and a rear limiting structure for limiting the movement range of the fitting portion on the plug body. The handle is provided with a positioning block. The handle is configured such that the fitting portion contacts the front limiting structure and drives the plug body into the plug mounting base. After the thrust block enters the slide groove through the slot, the handle rotates, causing the plug body to rotate to the position where the thrust block contacts the rotation limiting block. When the handle is pulled back to the rear limiting structure, the positioning block enters the slot block. The connector socket is movably mounted on the frame module to be close to or away from the plug holder, enabling insertion or separation from the connector plug; A drive mechanism for moving the connector socket.

2. The automatic underwater connector docking device for the submersible docking box according to claim 1, characterized in that, The handle includes a handle portion and a connecting portion connecting the handle portion and the sleeve portion. The connecting portion includes at least two connecting rods. The front limiting structure and / or the rear limiting structure have through holes corresponding to the number and position of the connecting rods, and the connecting rods pass through the through holes.

3. The automatic underwater connector docking device for the submersible docking box according to claim 2, characterized in that, The fitting part has a fitting part through hole corresponding to the number and position of the connecting rods. The connecting rod includes a first connecting rod segment and a second connecting rod segment. The diameter of the first connecting rod segment is smaller than the diameter of the second connecting rod segment. The first connecting rod segment mates with the fitting part through hole. The free end of the first connecting rod segment is provided with a thread. The fitting part is fixed by engaging the thread with a nut.

4. The automatic underwater connector docking device for the submersible docking box according to claim 2, characterized in that, The positioning block is located on the connecting rod.

5. The automatic underwater connector docking device for the submersible docking box according to claim 1, characterized in that, The first cylindrical portion includes a first cylindrical portion body and a cover located at the end of the first cylindrical portion body. One radial protrusion is located on the inner wall of the first cylindrical portion body, and another radial protrusion is located on the inner wall of the cover.

6. The automatic underwater connector docking device for the submersible docking box according to claim 1, characterized in that, A sealing ring is provided between the sleeve part and the plug body.

7. The automatic underwater connector docking device for the submersible docking box according to any one of claims 1-6, characterized in that, The drive mechanism includes: Drive motor; A lead screw fixing flange is installed on the frame module; The transmission screw is mounted on the plug mounting base and the screw mounting flange via rolling bearings; The socket connection flange is fixedly installed on the connector socket; The lead screw nut is fixedly installed on the socket connection flange, and the transmission lead screw is assembled with the lead screw nut.

8. The automatic underwater connector docking device for the submersible docking box according to claim 7, characterized in that, The drive motor and the transmission screw each include two, and the transmission screws are symmetrically distributed on both sides of the connector socket along the axial direction.

9. A docking method for an automatic docking device for underwater connectors based on a subsea docking box according to any one of claims 1-8, characterized in that, The connection method between the connector plug and the connector socket is as follows: The connector plug is moved to the opening of the plug fixing seat by the handle. The handle moves forward, the sleeve part contacts the front limit structure and drives the plug body into the plug fixing seat. After the thrust block enters the slide groove through the slot, the handle stops moving forward. The rotation of the handle causes the plug body to rotate until the thrust block contacts the rotation limit block; When the handle is pulled back to the rear limiting structure, the positioning block enters the slot block; The drive mechanism drives the connector socket to move toward the connector plug, thereby achieving docking with the connector plug; The method for separating the connector plug and connector socket is as follows: The drive mechanism drives the connector socket to move away from the connector plug, thereby separating it from the connector plug; When the handle moves forward until the sleeve part contacts the front limiting structure, the positioning block retracts from the slot block; The reverse rotation of the handle causes the plug body to rotate to the position where the thrust block is opposite to the slot; When the handle is pulled back, the thrust block exits the slide groove through the slot, and the sleeve part contacts the rear limiting structure and drives the plug body to exit from the plug fixing seat.

10. The docking method of the underwater connector automatic docking device for the submersible docking box according to claim 9, characterized in that, The handle of the connector plug is operated by a robot.

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