Anchor mooring buoy system connected with underwater vehicle

Abstract

An anchoring buoy system connected with an underwater vehicle comprises an anchoring buoy and a connecting device. The anchoring buoy comprises a buoy body and a gravity anchor, and the buoy body is connected with a connecting device located underwater. A power generation device is installed on the buoy body, the power generation device is electrically connected with the connection device and used for charging the connection device, and when the underwater vehicle is connected to the connection device, the connection device charges the underwater vehicle. According to the embodiment of the utility model, the connection and energy charging of the underwater vehicle are carried out by utilizing the anchoring buoy to fix the connection device, the connection device can be located at the position of the upper layer of the water body along with the floating buoy body, and in the process that the underwater vehicle goes to the connection device for energy charging, the path is relatively short, the energy consumption is less, and the energy consumption is reduced. The underwater vehicle is in an environment with small water pressure and is not easy to damage, and the risk that the underwater vehicle sinks into the seabed due to energy exhaustion can be reduced.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of ocean engineering and seabed operation, especially relates to an anchor line buoy system of underwater submersible connection. BACKGROUND

[0002] In recent years, ocean engineering has become a hot spot of scientific and technological research, especially the development and utilization of marine environment and resources, which has attracted more and more attention. As an important tool for marine observation, detection and research, underwater submersible has broad application potential. Underwater submersible can navigate underwater, has strong concealment and large observation range, and has become the key equipment for deep sea detection, seabed exploration and military reconnaissance. However, due to the size limitation of underwater submersible, it cannot carry large enough energy system, and its concealment requirement makes it impossible to float to the water surface for a long time to replenish energy or exchange data. In addition, salvaging underwater submersible back to the mother ship for energy replenishment and data exchange not only takes time and effort, but also needs a lot of economic investment.

[0003] In order to overcome these problems, the prior art proposes a kind of "mooring type power generation system based on vortex enhanced flow induced vibration cluster" (publication number: CN116357506A), which adopts deep sea base station and flow induced vibration power generation device. The energy storage battery arranged in the deep sea base station is connected with the linear generator in the flow induced vibration power generation device through underwater cable. The power generation device is installed on the installation platform connected with the floating body, which can enter the middle layer of seawater with the floating of the platform, utilize sea current to generate electricity, and transmit the generated electricity to the deep sea base station through underwater cable to provide energy for underwater submersible on the deep sea base station.

[0004] Although this power generation system provides an effective energy charging means for underwater submersible underwater, it still has some shortcomings, which are as follows:

[0005] 1. Difficult to lay out the power generation system: the seafloor has various topographic forms, but the deep sea base station needs to be laid out in a relatively flat area, which makes it difficult to lay out the deep sea base station in some seabed areas, hinders the laying range of the power generation system and reduces the sustainable operation range of the underwater submersible.

[0006] 2. The underwater submersible has difficulty charging: the deep-sea base is fixed on the seabed, and the underwater submersible needs to dive to the seabed to dock with the base for charging. However, the underwater submersible generally operates in the upper layer of water, and in the process of diving from the current operating position to the position where the deep-sea base is located, the path is long and a large amount of energy is consumed, which has the risk of rapid energy consumption. As the diving depth increases, the water pressure also increases, and the underwater submersible is prone to water tightness problems when it is in a high water pressure environment for a long time, resulting in damage to the underwater submersible and loss of navigation capability. Once the energy is consumed or the navigation capability is lost due to damage, the underwater submersible may sink to the seabed and cannot return, causing serious economic loss that cannot be recovered. Moreover, when the underwater submersible is in the deep water area, the signal transmission is poor, which makes it difficult to remotely control the underwater submersible to connect. Practical new type content

[0007] In view of the deficiencies in the related art, the utility model provides an anchor line buoy system for connecting an underwater submersible to solve the problems of difficult layout, high energy consumption, high risk and poor maneuverability when the current power generation system is applied to the underwater charging of the underwater submersible.

[0008] The utility model provides an anchor line buoy system for connecting an underwater submersible, comprising an anchor line buoy and a connecting device.

[0009] The anchor line buoy comprises:

[0010] The buoy body floats on the water surface and is connected to the underwater connecting device;

[0011] The gravity anchor falls on the seabed and is connected to the buoy body through a fixed cable system;

[0012] The buoy body is provided with a power generation device, the power generation device comprises a solar power generator and is electrically connected to the connecting device to charge the connecting device. When the underwater submersible is connected to the connecting device, the connecting device charges the underwater submersible.

[0013] In some embodiments, the connecting device is suspended and installed on the buoy body through a hanger cable, a lifting winch is arranged on the buoy body, and the hanger cable is wound on the winch of the lifting winch.

[0014] In some embodiments, the fixed cable system is divided into a first cable section and a second cable section, the first cable section is connected to the connecting device, the second cable section is connected to the gravity anchor, a telescopic winch is arranged on the fixed cable system, and the connecting point of the first cable section and the second cable section is fixed on the winch of the telescopic winch.

[0015] In some embodiments, the power generation device further comprises a wind power generator.

[0016] In some embodiments, the device body of the docking device is provided with a fixed docking unit;

[0017] The fixed docking unit comprises:

[0018] A fixed docking port is arranged on the device body, the outer end of which is located on the outer wall of the device body, and the inner end extends to the inside of the device body, and the inner diameter of the fixed docking port gradually decreases from outside to inside;

[0019] A fixed docking connector is arranged at the inner end of the fixed docking port;

[0020] A fixed clamping mechanism is arranged on the fixed docking port, and when the underwater vehicle enters the fixed docking port and connects the fixed docking connector, the fixed clamping mechanism clamps the fixed underwater vehicle.

[0021] In some embodiments, the underwater vehicle has a fixed clamping mechanism on both sides when the underwater vehicle enters the fixed docking port and connects the fixed docking connector, and the fixed clamping mechanism comprises:

[0022] A positioning adjustment guide rail is arranged on the fixed docking port and arranged along the axial direction of the fixed docking port;

[0023] A positioning adjustment support block is slidingly installed on the positioning adjustment guide rail;

[0024] A positioning adjustment hydraulic driver is arranged on the positioning adjustment guide rail and pushes and pulls the positioning adjustment support block to slide on the positioning adjustment guide rail;

[0025] A first clamping hydraulic driver is fixedly installed on the positioning adjustment support block;

[0026] A pressing claw module is connected to the first clamping hydraulic driver, and the first clamping hydraulic driver pushes the pressing claw module to move radially to press on the surface of the underwater vehicle;

[0027] The pressing claw module comprises:

[0028] A pressing claw seat is connected to the first clamping hydraulic driver;

[0029] A second clamping hydraulic driver is fixedly installed on the pressing claw seat, and a plurality of second clamping hydraulic drivers are arranged side by side;

[0030] A plurality of pressing heads are arranged on the corresponding second clamping hydraulic drivers, respectively, to press on the surface of the underwater vehicle under the pushing of the second clamping hydraulic drivers.

[0031] In some embodiments, the pressing claw module further comprises a locking mechanism;

[0032] The locking mechanism comprises:

[0033] The electromagnet pressing block is fixedly installed in the installation cavity arranged in the pressing jaw base;

[0034] The movable pressing block is an iron piece and is installed in the installation cavity;

[0035] The reset spring is arranged between the electromagnet pressing block and the movable pressing block;

[0036] The piston rods of the second clamping hydraulic drivers are arranged in the installation cavity and are located between the electromagnet pressing block and the movable pressing block, the reset spring is a compression spring, when the movable pressing block is magnetically fixed by the magnetic force of the electromagnet pressing block, the piston rods of the second clamping hydraulic drivers are clamped and fixed by the electromagnet pressing block and the movable pressing block, and the reset spring is compressed.

[0037] In some embodiments, the device body of the docking device is provided with a mobile docking unit;

[0038] The mobile docking unit comprises:

[0039] The winding and unwinding winch is arranged in the device body;

[0040] The winding and unwinding cable is wound on the winding drum of the winding and unwinding winch at one end;

[0041] The mobile docking connector is connected to the end of the winding and unwinding cable extending out of the device body and has a traveling mechanism, after the winding and unwinding cable is unwound by the winding and unwinding winch, the mobile docking connector is docked with the underwater submersible vehicle under the driving of the traveling mechanism;

[0042] The traveling mechanism comprises a plurality of propellers arranged on the side surface and the end surface of the mobile docking connector.

[0043] In some embodiments, the device body of the docking device is provided with a water flow power generation device;

[0044] The water flow power generation device comprises:

[0045] The water flow generator is arranged in the device body;

[0046] The water flow impeller is arranged on the main shaft of the water flow generator and is located in the accommodating groove arranged in the device body, and one side of the water flow impeller extends out of the device body.

[0047] In some embodiments, the device body of the docking device is provided with a gravity center adjusting device;

[0048] The gravity center adjusting device comprises:

[0049] The gravity center adjusting guide rail is horizontally installed in the device body;

[0050] The gravity center adjusting rack is slidingly installed on the gravity center adjusting guide rail;

[0051] The gravity center adjusting motor is fixedly installed in the device main body, and a gravity center adjusting gear installed on an output shaft of the gravity center adjusting motor is engaged with the gravity center adjusting rack;

[0052] The counterweight is fixedly installed on the gravity center adjusting rack;

[0053] The level gauge is fixedly installed in the device main body;

[0054] The gravity center adjusting controller is fixedly installed in the device main body and electrically connected with the level gauge and the gravity center adjusting motor.

[0055] Compared with the prior art, the utility model has the beneficial effects that: in the embodiment of the utility model, the anchoring buoy system is used for connecting and charging the underwater vehicle, the buoy body of the anchoring buoy system is continuously floating on the water, the connecting device can be located on the upper layer of the water body with the buoy body, the underwater vehicle has a relatively short path and consumes less energy when going to the connecting device for charging, the underwater vehicle is not easy to be damaged in the environment with small water pressure, the risk of the underwater vehicle sinking into the seabed due to energy depletion can be reduced, the buoy body can generate electricity for a long time by using the power generation device including the solar power generator, and the underwater vehicle can efficiently and safely complete the charging; the gravity anchor has a small shape, the layout has low requirements for the terrain, and can be sunk to any position of the seabed, the anchoring buoy system can be laid in any sea area according to needs, and the sustainable operation range of the underwater vehicle is expanded; the underwater vehicle is connected and charged at a relatively shallow depth, signal transmission is good, control delay is small, the underwater vehicle can be flexibly and maneuverably controlled remotely, and the connection is efficient; the problems that the current power generation system is difficult to lay, consumes a lot of energy, has high risk and is difficult to maneuver when used for charging the underwater vehicle under water are solved. BRIEF DESCRIPTION OF DRAWINGS

[0056] The drawings described herein are used to provide further understanding of the utility model and constitute a part of the application, the schematic embodiments of the utility model and the description thereof are used to explain the utility model, and do not constitute improper limitation on the utility model. In the drawings:

[0057] Figure 1 It is a structure schematic view of the anchoring buoy system of the utility model for connecting the underwater vehicle;

[0058] Figure 2 It is a structure schematic view of the anchoring buoy system of the utility model for connecting the underwater vehicle when connecting the underwater vehicle;

[0059] Figure 3 It is a structure schematic view of the anchoring buoy system of the utility model for connecting the underwater vehicle when connecting the underwater vehicle;

[0060] Figure 4The utility model discloses a side view structural drawing of the buoy body and the connecting device in the anchor system buoy system of the underwater submersible connecting device of the utility model,

[0061] Figure 5 The utility model discloses a structure diagram of the device main body hides the top plate after the connecting device in the anchor system buoy system of the underwater submersible connecting device of the utility model,

[0062] Figure 6 The utility model discloses a sectional structure of the buoy body and the connecting device in the anchor system buoy system of the underwater submersible connecting device of the utility model, Figure 1 ;

[0063] Figure 7 The utility model discloses a sectional structure of the buoy body and the connecting device in the anchor system buoy system of the underwater submersible connecting device of the utility model, Figure 2 ;

[0064] Figure 8 The utility model discloses a structure schematic diagram of the fixed clamping mechanism in the anchor system buoy system of the underwater submersible connecting device of the utility model,

[0065] Figure 9 The utility model discloses a structure schematic diagram of the pressure claw module in the anchor system buoy system of the underwater submersible connecting device of the utility model,

[0066] Figure 10 The utility model discloses a sectional structure diagram of the locking mechanism in the anchor system buoy system of the underwater submersible connecting device of the utility model,

[0067] Figure 11 The utility model discloses a structure schematic diagram of the mobile connecting unit in the anchor system buoy system of the underwater submersible connecting device of the utility model,

[0068] Figure 12 The utility model discloses a structure schematic diagram of the gravity center adjusting device in the anchor system buoy system of the underwater submersible connecting device of the utility model.

[0069] In the drawing,

[0070] 1, anchor system buoy;11, buoy body;12, gravity anchor;13, fixed cable system;13A, first cable section;13B, second cable section;14, solar generator;15, telescopic winch;

[0071] 2, connecting device;21, pendant cable;22, lifting winch;23, device main body;24, accommodating groove;

[0072] 3, underwater submersible,

[0073] 4, fixed connection unit; 41, fixed connection port; 42, fixed connection joint; 43, fixed clamping mechanism; 431, positioning adjustment guide rail; 432, positioning adjustment support block; 433, positioning adjustment hydraulic driver; 434, first clamping hydraulic driver; 435, pressure claw base; 435A, base body; 436, second clamping hydraulic driver; 437, pressure head; 438, mounting bin; 441, electromagnet pressure block; 442, movable pressure block; 443, reset spring; 444, locking groove;

[0074] 5, mobile connection unit; 51, winding and unwinding winch; 52, winding and unwinding cable; 53, mobile connection joint; 54, propeller;

[0075] 6, water flow power generation device; 61, water flow generator; 62, water flow impeller;

[0076] 7, gravity center adjusting device; 71, gravity center adjusting guide rail; 72, gravity center adjusting rack; 73, gravity center adjusting motor; 74, counterweight block; 75, level; 76, gravity center adjusting gear;

[0077] 8, camera; 9, magnet. DETAILED DESCRIPTION

[0078] The technical solutions in the embodiments will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0079] In the description of the present application, it should be understood that the terms "center", "transverse", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0080] The terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second", "third" can explicitly or implicitly include one or more of the features.

[0081] In the description of the utility model, it is necessary to explain that, unless there is definite stipulation and limitation, the term "installation", "connection" should be broad sense understanding, for example, it can be fixed connection, also can be detachable connection, or integrally connected, it can be direct connection, also can be indirect connection through intermediate medium, it can be two elements inside communication, for the ordinary skilled in the art, the above-mentioned term can be understood in the utility model with concrete meaning.

[0082] As Figures 1 to 3 Indicated, in the utility model underwater submersible's mooring buoy system one illustrative embodiment, the underwater submersible's mooring buoy system includes mooring buoy 1 and connection device 2.

[0083] Mooring buoy 1 includes buoy body 11 and gravity anchor 12, buoy body 11 floats on the water surface, gravity anchor 12 is sunk on the water bottom with its counterweight ground bed, gravity anchor 12 is connected buoy body 11 by fixed cable system 13, so that buoy body 11 is limited in the layout area, avoids buoy body 11 and drifts away from the layout area with ocean current.

[0084] The buoy body 11 is provided with a power generation device, and the power generation device comprises a solar generator 14. The connection device 2 is located underwater and connected to the buoy body 11, and is electrically connected to the power generation device, so as to transmit the electric energy generated by the power generation device to the connection device 2.

[0085] The underwater submersible 3 navigates and operates underwater, and when the underwater submersible 3 is insufficient in electric energy, it navigates and docks to the connection device 2, so that the connection device 2 is electrically connected to the underwater submersible 3 to charge the underwater submersible 3.

[0086] In order to ensure stable charging, the connection device 2 can be provided with an energy storage battery and a charging control module, and the electric energy generated by the power generation device is first charged into the energy storage battery under the control of the charging control module, so that after the underwater submersible 3 docks to the connection device 2, the electric energy in the energy storage battery is charged into the underwater submersible 3 by the charging control module. Due to the alternation of day and night and the degree of weather, the electric energy generated by the solar generator 14 cannot necessarily meet the charging and energy supplementing demand of the underwater submersible 3 in real time, so that when the underwater submersible 3 is not charged and supplemented, the electric energy is first stored in the energy storage battery, so that the energy storage battery has sufficient electric quantity, and then the energy storage battery is used to charge the underwater submersible 3, so as to ensure that the underwater submersible 3 can continuously and stably obtain electric energy supplement.

[0087] In the above-mentioned exemplary embodiment, the anchor line buoy system for docking the underwater submersible uses the buoy body 11 floating in the anchor line buoy 1 to fix the docking device 2, so that the docking device 2 can dock and charge the underwater submersible 3 at a relatively shallow position in the water. During the process of the underwater submersible 3 moving to the docking device 2 for charging, the path is relatively short, the energy consumption is low, the risk of the underwater submersible 3 running out of energy is reduced, the underwater submersible 3 can be in a small water pressure environment for a longer time, and the risk of the underwater submersible 3 sinking into the seabed due to energy depletion or water leakage damage is reduced. The floating buoy body 11 can generate electricity for a long time by using the power generation device including the solar generator 14, ensuring that the underwater submersible 3 can efficiently and safely complete the charging, and solving the problems of high energy consumption and high risk of the current power generation system applied to the underwater submersible 3 in the underwater charging.

[0088] In some embodiments, as shown in Figure 3 The docking device 2 is suspended and installed on the buoy body 11 by the hanger cable 21, the lifting winch 22 is installed on the buoy body 11, and the hanger cable 21 is wound and fixed on the winch of the lifting winch 22.

[0089] When the lifting winch 22 drives the winch to rotate to release more hanger cable 21, the docking device 2 sinks under its own weight; when the lifting winch 22 drives the winch to rotate to wind more hanger cable 21, the docking device 2 is pulled up to a shallower height position. By winding and releasing the hanger cable 21 by the winch of the lifting winch 22, the docking device 2 is lifted in the water, so that the docking device 2 is adjusted to the current working depth of the underwater submersible 3, the underwater submersible 3 does not need to float up, only needs to move forward, and can reach the docking device 2 and be connected to charge and supplement energy, reducing the difficulty of the underwater submersible 3 docking and supplementing energy. The energy consumption of the underwater submersible 3 moving to the docking device 2 is lower, the risk of the underwater submersible 3 running out of energy during the moving process is reduced, the underwater submersible 3 can complete the charging and supplementing of energy under the water, and the safety of the underwater submersible 3 is improved. The gravity anchor has a small shape, has low requirements for the terrain, can be sunk to any position on the seabed, and the anchor line buoy system can be laid in any sea area as needed, thereby expanding the sustainable operation range of the underwater submersible. The underwater submersible docks and supplements energy at a relatively shallow depth, the signal transmission is good, the control delay is small, the underwater submersible can be flexibly and maneuverably controlled remotely, and the docking is efficient.

[0090] In some embodiments, as shown in Figure 1As shown, the fixed cable 13 is divided into a first cable segment 13A and a second cable segment 13B, the first cable segment 13A is connected to the adapter 2, and the second cable segment 13B is connected to the gravity anchor 12. The fixed cable 13 is provided with a telescopic winch 15, and the connection point of the first cable segment 13A and the second cable segment 13B is fixed on the sheave of the telescopic winch 15.

[0091] The fixed cable 13 is provided with a cable, so as to connect the telescopic winch 15 and supply power to the adapter 2 by the telescopic winch 15. The telescopic winch 15 is provided with a frame and a motor mounted on the frame, the sheave is mounted on the output shaft of the motor, and the frame is provided with a cable arranging mechanism to enable the cable to be neatly wound on the sheave and avoid the sheave from rotating with the motor. The connection point of the first cable segment 13A and the second cable segment 13B can be directly fixed on the surface of the sheave, or the fixed cable 13 can be directly arranged through the sheave to make the connection point of the first cable segment 13A and the second cable segment 13B located in the sheave. When the sheave of the telescopic winch 15 rotates in a first direction, the first cable segment 13A and the second cable segment 13B are simultaneously wound, so as to shorten the length of the fixed cable 13; when the sheave of the telescopic winch 15 rotates in a second direction opposite to the first direction, the first cable segment 13A and the second cable segment 13B are simultaneously unwound, so as to lengthen the length of the fixed cable 13. Through the operation of the telescopic winch 15, the length of the fixed cable 13 is telescoped.

[0092] When the adapter 2 rises or descends, the distance between the adapter 2 and the seabed changes, and the length of the fixed cable 13 changes accordingly, so as to adapt to the distance between the adapter 2 and the seabed, avoid the horizontal deviation of the adapter 2 caused by the too long cable between the adapter 2 and the gravity anchor 12, and further avoid the large-scale deviation of the buoy body 11 on the water surface, ensure the stability of the position area of the buoy body 11, make the anchor line buoy 1 accurately and effectively measure the hydrological data of the current area, improve the accuracy of the adapter 2 in the XY axis position, and ensure that the underwater submersible 3 can accurately find the position of the adapter 2 when charging and energy supplementing.

[0093] In addition, if the fixed cable 13 is directly connected to the buoy body 11, and the hanger cable 21 is also directly connected to the buoy body 11, when the adapter 2 descends, the horizontal movement of the adapter 2 under the action of the water flow will cause the hanger cable 21 to be wound on the fixed cable 13, and further cause the adapter 2 to be unable to normally rise and descend. The fixed cable 13 is connected to the buoy body 11 by connecting the adapter 2, so that only the hanger cable 21 is provided between the adapter 2 and the buoy body 11, thereby avoiding the winding of the hanger cable 21 and ensuring that the adapter 2 can smoothly rise and descend.

[0094] In some embodiments, the power generation device further comprises a wind power generator (not shown in the drawings). When it is night or the light is weak during the day, the solar power generator 14 generates limited electric energy. The further arrangement of the wind power generator can serve as a supplement to the solar power generator 14, so that the power generation device can generate electric energy to charge the docking device 2 in more time periods. Only when there is no wind and the light is insufficient, there is no electric energy generation and charging of the energy storage battery of the docking device 2, so as to improve the power generation efficiency.

[0095] In some embodiments, as shown in FIG. 2, the device main body 23 of the docking device 2 is provided with a fixed docking unit 4, which comprises a fixed docking port 41, a fixed docking connector 42 and a fixed clamping mechanism 43. Figures 1 to 7

[0096] The fixed docking port 41 is arranged on the device main body 23 and extends from outside to inside, with the outer end extending to the outer wall of the device main body 23 and the inner end extending to the inside of the device main body 23. The inner diameter of the fixed docking port 41 gradually decreases from outside to inside, so that it is trumpet-shaped.

[0097] The fixed docking connector 42 is arranged at the inner end of the fixed docking port 41, and the fixed clamping mechanism 43 is arranged on the fixed docking port 41. When the underwater submersible 3 needs to be charged, it navigates into the fixed docking port 41, and the gradually decreasing inner diameter of the fixed docking port 41 guides the underwater submersible 3 to align with the fixed docking connector 42, so that the two are connected, and at the same time the fixed clamping mechanism 43 clamps the underwater submersible 3, so as to keep the underwater submersible 3 and the fixed docking connector 42 in alignment. After the underwater submersible 3 and the fixed docking connector 42 are connected, the channel for electric power transmission between the two is connected, so that the electric energy stored in the docking device 2 is transmitted to the underwater submersible 3 to charge it.

[0098] ​The docking device 2 can adopt a wired charging mode or a wireless charging mode to charge the underwater submersible 3. When the wired charging mode is adopted, the underwater submersible 3 is provided with a charging interface, and the fixed docking connector 42 is plugged or contact-connected with the charging interface, so as to realize the mutual contact of the metal conductive parts, turn on the circuit, and realize the transmission of electric energy to the underwater submersible 3; when the wireless charging mode is adopted, the fixed docking connector 42 is provided with a transmitting end coil, and the underwater submersible 3 is provided with a receiving end coil, the transmitting end coil is aligned with the receiving end coil, and the electric energy is transmitted between the two through electromagnetic coupling, so as to realize the transmission of electric energy to the underwater submersible 3. Whether the charging mode adopts the wired charging or the wireless charging, the fixed docking connector 42 is provided with a magnet 9, so as to be firmly adsorbed on the underwater submersible 3, thereby ensuring the stable contact between the metal conductive parts or the stable alignment between the coils, and ensuring the stable power supply. In addition, in order to monitor, the fixed docking connector 42 is provided with a camera 8, so as to observe and ensure that the fixed docking connector 42 and the underwater submersible 3 are accurately and stably docked through the image.

[0099] In some embodiments, as shown in Figures 4 to 7 When the underwater submersible 3 enters the fixed docking port 41 and connects the fixed docking connector 42, the underwater submersible 3 is provided with two fixed clamping mechanisms 43 on both sides, so that the two groups of fixed clamping mechanisms 43 clamp and fix the underwater submersible 3 in the middle from both sides.

[0100] As shown in Figures 8 to 9 The fixed clamping mechanism 43 includes a positioning and adjusting guide rail 431, a positioning and adjusting support block 432, a positioning and adjusting hydraulic drive 433, a first clamping hydraulic drive 434, and a pressing claw module. The positioning and adjusting guide rail 431 is arranged on the fixed docking port 41 and is arranged along the axial direction of the fixed docking port 41. The positioning and adjusting support block 432 is slidingly installed on the positioning and adjusting guide rail 431, and the positioning and adjusting hydraulic drive 433 is arranged on the positioning and adjusting guide rail 431 and is connected with the positioning and adjusting support block 432. The first clamping hydraulic drive 434 is fixedly installed on the positioning and adjusting support block 432, and the pressing claw module is connected with the first clamping hydraulic drive 434.

[0101] When the underwater vehicle 3 enters the fixed docking port 41 and is docked with the fixed docking connector 42, the underwater vehicle 3 is in the axial direction of the fixed docking port 41. The positioning adjustment hydraulic drive 433 adjusts the position of the pressure claw module in the axial direction of the fixed docking port 41 by extending and retracting the piston rod of the positioning adjustment hydraulic drive 433 to push and pull the positioning adjustment support block 432 to slide on the positioning adjustment guide rail 431, so that the pressure claw module is aligned with the position where the underwater vehicle 3 has a larger outer diameter. The piston rod of the first clamping hydraulic drive 434 is extended to push the pressure claw module to move in the radial direction of the fixed docking port 41, so as to approach and clamp on the surface of the underwater vehicle 3, thereby achieving unilateral clamping and fixing of the underwater vehicle 3. The two sides of the underwater vehicle 3 are clamped by two groups of pressure claw modules, so as to clamp and fix the underwater vehicle 3 in the fixed docking port 41, so as to keep the underwater vehicle 3 docked with the fixed docking connector 42 and continuously and stably charge and supplement energy.

[0102] In order to adapt to different shapes of underwater vehicles 3 and achieve clamping of the pressure claw module on the underwater vehicle 3, the pressure claw module comprises a pressure claw base 435, a second clamping hydraulic drive 436, and a pressure head 437. The pressure claw base 435 is connected with the first clamping hydraulic drive 434. The second clamping hydraulic drive 436 is fixedly installed on the pressure claw base 435, and a plurality of second clamping hydraulic drives 436 are arranged side by side. The pressure head 437 has a plurality of pressure heads 437, each of which is arranged on a corresponding second clamping hydraulic drive 436.

[0103] When the pressure claw module is pushed by the first clamping hydraulic drive 434 to the maximum extent to approach or directly adhere to the surface of the underwater vehicle 3, the piston rod of each second clamping hydraulic drive 436 pushes the corresponding pressure head 437 to the underwater vehicle 3, so as to ensure that each pressure head 437 is clamped on the surface of the underwater vehicle 3, and the arrangement of each pressure head 437 matches the shape of the underwater vehicle 3, so that the fixed clamping mechanism 43 can stably clamp and fix underwater vehicles 3 of different shapes, thereby improving the application range of the docking device 2.

[0104] In addition, in order to ensure that the surface of the pressure head 437 is tightly attached to the surface of the underwater vehicle 3, the pressure head 437 is hinged on the second clamping hydraulic drive 436, so that the pressure head 437 can rotate with the outer surface of the underwater vehicle 3. The pressure head 437 is in surface contact with the underwater vehicle 3 when clamping the underwater vehicle 3, thereby improving the stability of clamping and fixing the underwater vehicle 3.

[0105] In some embodiments, the pressure claw module further comprises a locking mechanism. As shown in FIG. 6, the locking mechanism comprises a locking hydraulic drive 438 and a locking block 439. The locking hydraulic drive 438 is arranged on the pressure claw base 435, and the piston rod of the locking hydraulic drive 438 is connected with the locking block 439. When the piston rod of the locking hydraulic drive 438 is extended, the locking block 439 is pushed to the position where the underwater vehicle 3 is clamped, so as to lock the underwater vehicle 3 in the fixed docking port 41. Figure 10As shown, the locking mechanism includes an electromagnet block 441, a movable block 442 and a reset spring 443. The electromagnet block 441 is fixedly installed in the installation cavity 438 provided in the pressure jaw seat 435. The movable block 442 is a ferrous piece and is installed in the installation cavity 438. The reset spring 443 is arranged between the electromagnet block 441 and the movable block 442.

[0106] The piston rods of the second clamping hydraulic drivers 436 all pass through the installation cavity 438 and are located between the electromagnet block 441 and the movable block 442. The reset spring 443 is a compression spring. When each pressure head 437 of the pressure jaw module is pressed against the surface of the underwater vehicle 3 under the pushing of the corresponding second clamping hydraulic driver 436, the magnetic force generated by the electromagnet block 441 magnetically fixes the movable block 442. The electromagnet block 441 and the movable block 442 clamp and fix the piston rods of the second clamping hydraulic drivers 436, so that the piston rods of the second clamping hydraulic drivers 436 keep pushing the blocks, realize the locking of clamping, further improve the stability of the underwater vehicle 3 when it is clamped and fixed, and the second clamping hydraulic driver does not need to continuously provide hydraulic driving force at this time, which reduces the pressure of the hydraulic pipeline, avoids leakage and damage of the hydraulic pipeline due to long-term high pressure state, and prolongs the service life of the equipment in underwater operation. In addition, when the movable block 442 is magnetically fixed on the electromagnet block 441, the reset spring 443 is also clamped and compressed by the two. When it is necessary to release the underwater vehicle 3, the electromagnet block 441 is powered off, the magnetic force disappears, and the elastic force of the reset spring 443 pushes the movable block 442 away from the electromagnet block 441, so as to eliminate the clamping of the piston rods of the second clamping hydraulic drivers 436, so that the piston rods of the second clamping hydraulic drivers 436 can be retracted, and the pressure holding of the pressure head 437 to the underwater vehicle 3 is stopped.

[0107] In order to realize the installation of the locking mechanism, the pressure jaw seat 435 can be divided into two seat body pieces 435A. At least one of the two seat body pieces 435A is provided with a groove structure on the surface, so that the installation cavity 438 is formed in the inside after the two seat body pieces 435A are connected by bolts and spliced to form the pressure jaw seat 435. After the bolts between the two seat body pieces 435A are removed, the two seat body pieces 435A can be separated, the installation cavity 438 is opened, and the locking mechanism is installed.

[0108] In order to ensure the clamping force of the locking mechanism when magnetically fixed to the piston rod, the electromagnet block 441 and the movable block 442 are provided with locking grooves 444 on the surface of the opposite side. When the movable block 442 is magnetically fixed to the electromagnet block 441, the piston rod is located in the corresponding locking groove 444 on both sides and in surface contact, thereby generating greater friction under the clamping action, so that the piston rod can be more firmly locked, and the pressure head 437 can maintain the stable pressure holding of the underwater vehicle 3. At the same time, the electromagnet block 441 and the movable block 442 can also be in surface contact in the part where the locking grooves 444 are not set, thereby improving the firmness of the magnetic fixation of the two.

[0109] In some embodiments, as shown in Figures 1 to 7 and Figure 11 The device body 23 of the docking device 2 is provided with a mobile docking unit 5. The mobile docking unit 5 includes a winding and unwinding winch 51, a winding and unwinding cable 52, and a mobile docking connector 53. The winding and unwinding winch 51 is installed in the device body 23, one end of the winding and unwinding cable 52 is wound on the reel of the winding and unwinding winch 51, and the other end extends out of the device body 23 and is connected to the mobile docking connector 53. The mobile docking connector 53 has a traveling mechanism, which is a plurality of propeller thrusters 54, respectively installed on the side and end face of the mobile docking connector 53.

[0110] The winding and unwinding winch 51 will release the winding and unwinding cable 52, which will enable the mobile docking connector 53 to move within a certain space range outside the device body 23. The propeller thrusters 54 in the traveling mechanism provide propulsion for the movement of the mobile docking connector 53. The propeller thrusters 54 installed on the end face of the mobile docking connector 53 provide propulsion for the movement of the mobile docking connector 53 in its axial direction; the propeller thrusters 54 installed at multiple angle positions on the side of the mobile docking connector 53 provide propulsion for the movement of the mobile docking connector 53 in its radial direction.

[0111] When the underwater submersible 3 sails and approaches the docking device 2, the winch 51 releases the winch cable 52, so that the mobile docking joint 53 is driven by the traveling mechanism to move away from the docking device 2 and dock with the underwater submersible 3. The docking device 2 transmits the stored electrical energy to the underwater submersible 3 through the winch cable 52 and the mobile docking joint 53, so that the underwater submersible 3 can be charged while suspended in the water, improving the flexibility of the docking and charging of the underwater submersible 3. In addition, the mobile docking unit 5 does not need to be provided with a docking port on the device main body 23 of the docking device 2. After winding the winch cable 52, the mobile docking joint 53 only needs to be attached to the device main body 23 or stored in the smaller storage groove provided on the device main body 23, which occupies less space of the docking device 2. The mobile docking unit 5 can be combined with the fixed docking unit 4 to provide more docking units on the outer surface of the device main body 23 in the case of limited space, and to provide docking and charging interfaces for multiple underwater submersibles 3, thereby improving the charging efficiency of the underwater submersible 3.

[0112] The mobile docking joint 53 can also use wired charging and wireless charging methods to dock with the underwater submersible 3 and transmit electrical energy to it. The specific implementation method is the same as that of the fixed docking joint 42. In addition, when the mobile docking joint 53 actively moves and docks with the underwater submersible 3, a camera 8 is installed on the end face of the mobile docking joint 53 to facilitate manual remote operation or automatic equipment identification operation. The position of the underwater submersible 3 is determined according to the image captured by the camera 8, and the moving direction and angle of the mobile docking joint 53 are controlled to align the end face of the mobile docking joint 53 with the interface on the underwater submersible 3, thereby achieving the docking of the mobile docking joint 53 with the underwater submersible 3.

[0113] In some embodiments, as shown in Figures 1 to 7 The device main body 23 of the docking device 2 is provided with a water flow power generation device 6. The water flow power generation device 6 includes a water flow generator 61 and a water flow impeller 62. The water flow generator 61 is installed in the device main body 23, and the water flow impeller 62 is installed on the main shaft of the water flow generator 61 and located in the accommodation groove 24 provided on the device main body 23. One side of the water flow impeller 62 extends out of the device main body 23.

[0114] Since the docking device 2 is located in the water below the buoy body 11, the water flow in the water flows along the surface of the device main body 23 of the docking device 2. The water flow pushes the extended water flow impeller 62 to rotate, thereby driving the water flow generator 61 to generate electricity. The water flow is used to generate electrical energy, further increasing the energy supply path of the docking device 2, so that the docking device 2 can be charged for a longer period of time and has sufficient power for the underwater submersible 3.

[0115] In addition, when the docking device 2 is hung on the buoy body 11 by the lifting cable 21 reeled by the lifting winch 22, the lifting of the docking device 2 can adjust it to a water depth with a larger water flow, so that the power generation efficiency of the water flow power generation device 6 is improved and maintained in a high efficient state, thereby continuously charging the docking device 2 for a long time.

[0116] In some embodiments, as shown in Figure 6 and Figure 12 The device body 23 of the docking device 2 is provided with a gravity center adjusting device 7. The gravity center adjusting device 7 includes a gravity center adjusting guide rail 71, a gravity center adjusting rack 72, a gravity center adjusting motor 73, a counterweight 74, a level 75 and a gravity center adjusting controller.

[0117] The gravity center adjusting guide rail 71 is horizontally installed in the device body 23, and the gravity center adjusting rack 72 is slidingly installed on the gravity center adjusting guide rail 71. The gravity center adjusting motor 73 is fixedly installed in the device body 23, and the gravity center adjusting gear 76 installed on the output shaft of the gravity center adjusting motor 73 is engaged with the gravity center adjusting rack 72. The counterweight 74 is fixedly installed on the gravity center adjusting rack 72, and the level 75 and the gravity center adjusting controller are both fixedly installed in the device body 23. The gravity center adjusting controller is electrically connected with the level 75 and the gravity center adjusting motor 73.

[0118] When the underwater submersible 3 is fixedly docked on the docking device 2, its weight will act on one side of the docking device 2, causing the gravity center of the docking device 2 as a whole to deviate, resulting in the inclination of the docking device 2, and the fixed docking unit 4 on the docking device 2 will also be inclined. When other underwater submersibles 3 also need to be docked on the fixed docking unit 4 of the docking device 2 at the same time, the underwater submersible 3 needs to be adjusted in an inclined posture to be able to dock with the fixed docking unit 4, which increases the operation difficulty, increases the energy consumption of the underwater submersible 3, and increases the risk of energy depletion.

[0119] The gravity center adjusting controller can monitor the inclination angle of the docking device 2 in real time through the level 75, and control the gravity center adjusting motor 73 to drive the gravity center adjusting rack 72 to slide when the docking device 2 is inclined, change the position of the counterweight 74 in the horizontal direction, adjust the gravity center of the docking device 2 as a whole, and restore the docking device 2 to a horizontal posture, so as to facilitate the docking of the underwater submersible 3.

[0120] In order to ensure the effect of the posture adjustment of the docking device 2, the gravity center adjusting assembly composed of the gravity center adjusting guide rail 71, the gravity center adjusting rack 72, the gravity center adjusting motor 73 and the counterweight 74 is cross arranged with two groups, so as to ensure that when any one of the four corners of the docking device 2 is raised, the counterweight 74 can move to the side of the raising and press down the side to the horizontal.

[0121] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0122] The above embodiments are only used to illustrate the technical solution of this utility model and not to limit it; although the utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of this utility model or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solution of this utility model, and all such modifications and substitutions should be covered within the scope of the technical solution claimed by this utility model.

Claims

1. A mooring buoy system for interfacing an underwater submersible, the mooring buoy system comprising: The mooring buoy and the docking device are included; The mooring buoy includes: A buoy body floating on the water surface and connected to the docking device under the water; A gravity anchor falling on the ground bed of the water bottom and connected to the buoy body through a fixed cable; Wherein, the buoy body is provided with a power generation device including a solar power generator and electrically connected to the docking device to charge the docking device, and when the underwater submersible is docked on the docking device, the docking device charges the underwater submersible.

2. The mooring buoy system for a tethered underwater vehicle according to claim 1, wherein, The docking device is suspended on the buoy body through a hanger cable, the buoy body is provided with a lifting winch, and the hanger cable is wound on the winch.

3. The mooring buoy system for a tethered underwater vehicle according to claim 2, wherein, The fixed cable is divided into a first cable section and a second cable section, the first cable section is connected to the docking device, the second cable section is connected to the gravity anchor, and the fixed cable is provided with a telescopic winch, and the connecting point of the first cable section and the second cable section is fixed on the winch of the telescopic winch.

4. The mooring buoy system for a tethered underwater vehicle of claim 1, wherein, The power generation device further includes a wind power generator.

5. The mooring buoy system for a tethered underwater vehicle of claim 1, wherein, The device body of the docking device is provided with a fixed docking unit; The fixed docking unit includes: A fixed docking port provided on the device body, the outer end of which is located on the outer wall of the device body, and the inner end of which extends to the inside of the device body, and the inner diameter of the fixed docking port gradually decreases from outside to inside; A fixed docking joint provided at the inner end of the fixed docking port; A fixed clamping mechanism provided on the fixed docking port, which clamps the underwater submersible when the underwater submersible enters the fixed docking port and connects the fixed docking joint.

6. The mooring buoy system for a tethered underwater vehicle of claim 5, wherein, When the underwater submersible enters the fixed docking port and connects the fixed docking joint, both sides of the underwater submersible are provided with the fixed clamping mechanism, and the fixed clamping mechanism includes: A positioning adjusting guide rail provided on the fixed docking port and arranged along the axial direction of the fixed docking port; A positioning adjusting support block slidingly installed on the positioning adjusting guide rail; A positioning adjusting hydraulic driver provided on the positioning adjusting guide rail and pushing and pulling the positioning adjusting support block to slide on the positioning adjusting guide rail; A first clamping hydraulic driver fixedly installed on the positioning adjusting support block; A pressing claw module connected to the first clamping hydraulic driver, and the first clamping hydraulic driver pushes the pressing claw module to move radially to press on the surface of the underwater submersible; The pressing claw module includes: A pressing claw seat connected to the first clamping hydraulic driver; A second clamping hydraulic driver fixedly installed on the pressing claw seat, and a plurality of second clamping hydraulic drivers are arranged side by side; A plurality of pressing heads are respectively provided on the corresponding second clamping hydraulic drivers to be pressed on the surface of the underwater submersible under the pushing of the second clamping hydraulic drivers.

7. The mooring buoy system for a tethered underwater vehicle according to claim 6, wherein, The pressing claw module further includes a locking mechanism; The locking mechanism includes: An electromagnet pressing block fixedly installed in a mounting cavity provided on the pressing claw seat; A movable pressing block made of iron and installed in the mounting cavity; A reset spring is arranged between the electromagnet block and the movable block. The piston rods of the second clamping hydraulic drivers are arranged in the mounting cavity and between the electromagnet block and the movable block, the reset spring is a compression spring, when the movable block is magnetically fixed by the electromagnet block, the piston rods of the second clamping hydraulic drivers are clamped and fixed by the electromagnet block and the movable block, and the reset spring is compressed.

8. The mooring buoy system for a tethered underwater vehicle of claim 1, wherein, The device main body of the docking device is provided with a mobile docking unit; The mobile docking unit comprises: A winding and unwinding winch is arranged in the device main body; A winding and unwinding cable is wound on the winding drum of the winding and unwinding winch at one end; A mobile docking connector is connected to the end of the winding and unwinding cable extending out of the device main body, and has a traveling mechanism, after the winding and unwinding winch unwinds the winding and unwinding cable, the mobile docking connector is connected to the underwater submersible vehicle under the driving of the traveling mechanism. The traveling mechanism is a plurality of propellers arranged on the side and end face of the mobile docking connector.

9. The mooring buoy system for a tethered underwater vehicle of claim 1, wherein, The device main body of the docking device is provided with a water current power generation device; The water current power generation device comprises: A water current generator is arranged in the device main body; A water current impeller is arranged on the main shaft of the water current generator and located in the accommodating groove of the device main body, and one side of the water current impeller extends out of the device main body.

10. The mooring buoy system for a tethered underwater vehicle of claim 1, wherein, The device main body of the docking device is provided with a gravity center adjusting device; The gravity center adjusting device comprises: A gravity center adjusting guide rail is horizontally installed in the device main body; A gravity center adjusting rack is slidingly installed on the gravity center adjusting guide rail; A gravity center adjusting motor is fixedly installed in the device main body, and a gravity center adjusting gear installed on the output shaft of the gravity center adjusting motor is engaged with the gravity center adjusting rack; A counterweight block is fixedly installed on the gravity center adjusting rack; A level is fixedly installed in the device main body; A gravity center adjusting controller is fixedly installed in the device main body and electrically connected with the level and the gravity center adjusting motor.

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