Robot docking charging device

Abstract

This utility model relates to the field of underwater wireless charging technology, specifically to a robot docking and charging device, including a robot charging docking module. The robot charging docking module is used to dock and charge an underwater vehicle. The robot charging docking module is equipped with a mobile drive mechanism connected to the robot charging docking module. The robot charging docking module is driven by the mobile drive mechanism to float on the sea surface or be fixed to the seabed. The mobile drive mechanism can be composed of a first thruster, or it can be composed of a first winch and a first thruster. A fixed base is provided below the robot charging docking module, and at least one first winch is provided on the fixed base. The first winch is set one-to-one with the robot charging docking module. The robot charging docking module is equipped with a charging locking mechanism and a wireless charging mechanism. This utility model's robot charging docking module is movable, can dock with multiple robots at once, has a short docking search time, and high charging efficiency.

Description

Technical Field

[0001] This utility model relates to the field of underwater wireless charging technology, specifically to a robot docking and charging device. Background Technology

[0002] With the advancement of technology, people are exploring the underwater world more and more, and the use of autonomous underwater vehicles (AUVs) is becoming more widespread. To improve the endurance of AUVs, they need to be recovered and recharged. A search revealed Chinese patent CN107070005A, which discloses a non-contact power supply system and self-alignment method for underwater vehicles. The non-contact power supply device for an underwater vehicle includes a secondary coupler on the vehicle. The power supply device comprises an underwater vehicle positioning structure, a clamping structure, and a primary coupler. The underwater vehicle positioning structure is used to position the vehicle during underwater charging. The clamping structure includes multiple pushers... The device comprises multiple push rods that can move towards or away from the underwater vehicle in a charging state. A primary coupler is located at the free ends of the push rods. When the underwater vehicle is charging, the free ends of the push rods abut against the outer wall of the underwater vehicle in different directions, thereby charging the underwater vehicle through the coupling of the primary and secondary couplers. Both the primary and secondary couplers are electromagnetic coils. When the primary coupler approaches the underwater vehicle, a constant current is first applied to it, forming a constant magnetic field. The attractive force between the primary and secondary couplers enables the power supply device and the underwater vehicle to automatically align.

[0003] The shortcomings of the aforementioned patents are as follows: First, the aforementioned patents and existing power supply devices are usually fixed on the seabed, requiring underwater vehicles to locate them. The seabed is covered with seaweed, making visibility poor and making it inconvenient and time-consuming for underwater vehicles to find the power supply devices. This also results in low charging efficiency for underwater vehicles. Second, the power supply devices in the aforementioned patents can only charge one underwater vehicle at a time. If multiple underwater vehicles are waiting to be charged, they need to be charged one by one, which results in long charging times and low charging efficiency. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies and provide a robot docking and charging device with an ingenious structure, a movable robot charging docking module, the ability to lead robots into the seabed to avoid wind and waves, the ability to dock with multiple robots at once, short docking time, and high charging efficiency.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0006] A robot docking and charging device includes a robot charging docking module, which is used to dock and charge an underwater vehicle. The device is characterized by having a mobile drive mechanism connected to the robot charging docking module. The robot charging docking module is driven by the mobile drive mechanism to float on the sea surface or be fixed to the seabed, allowing it to automatically move to dock with the underwater vehicle. This facilitates the underwater vehicle quickly finding the robot charging docking module for charging. Furthermore, when the sea surface is rough, the robot charging docking module can carry the robot back to the seabed to avoid damage from the waves.

[0007] The mobile drive mechanism of this utility model can be composed of a first thruster. The first thruster is provided at intervals on the outer periphery of the frame of the robot charging docking module. The first thruster is fixedly connected to the frame and connected to the control system of the robot charging docking module so as to adjust the position and attitude of the robot charging docking module in the water through the first thruster.

[0008] The mobile drive mechanism described in this utility model can also be composed of a first winch and a first thruster. The first winch is provided below the robot charging docking module, and the first thrusters are spaced apart on the outer periphery of the frame of the robot charging docking module. The first thrusters are fixedly connected to the frame and connected to the control system of the robot charging docking module. One end of the cable of the first winch is connected to the control system of the robot charging docking module, and the other end is connected to the submarine cable. The first winch can be used to retract and extend the cable, and in conjunction with the first thrusters, the position of the robot charging docking module can be adjusted. At the same time, when not in use, the robot charging docking module can be retracted by the first winch to avoid occupying sea surface space.

[0009] The robot charging docking module of this utility model is provided with a fixed base below it. At least one first winch is provided on the fixed base. The first winch is fixedly connected to the fixed base. The first winch is set one-to-one with the robot charging docking module, so that multiple robot charging docking modules can be set at the same time through the fixed base, so that charging can be carried out on the sea surface and seabed. At the same time, it is convenient to retrieve the robot charging docking module without occupying sea surface space.

[0010] The mobile drive mechanism of this utility model can also be composed of a second thruster and a second winch. The second thruster is provided at intervals on the outer periphery of the frame of the robot charging docking module. The second thruster is fixedly connected to the frame and connected to the control system of the robot charging docking module. A floating base is provided below the robot charging docking module. A second winch is provided on the robot charging docking module and fixedly on the robot charging docking module. The cable on the second winch passes through the robot charging docking module and is fixedly connected to the floating base. The position of the robot charging docking module can be adjusted by raising and lowering the cable through the second winch in conjunction with the second thruster. At the same time, when not in use, the second winch raises the cable, and the robot charging docking module sinks to the seabed and is placed on the floating base to avoid occupying sea surface space.

[0011] The present invention provides a plug-in locking mechanism between the robot charging docking module and the float base. The plug-in locking mechanism includes a positioning rod, a locking block, and a locking electric push rod. The float base has a receiving groove, and a positioning rod is located in the middle of the receiving groove. The lower end of the positioning rod is fixedly connected to the float base, and the upper end extends radially outward to form a limiting platform. The lower end of the frame of the robot charging docking module has a guide channel. The inner wall of the guide channel has a locking through hole. A locking block is inserted through the locking through hole and driven by the locking electric push rod. The locking electric push rod is fixedly connected to the frame. The positioning rod passes through the guide channel, and the locking block is driven by the locking electric push rod. The locking block clamps the positioning rod to limit the connection between the robot charging docking module and the float base, so that during retrieval, the robot charging docking module enters the receiving groove, and the positioning rod passes through the guide channel and is fixed in the float base by the locking block.

[0012] The present invention has a cable hole between the limiting platform and the positioning rod. The cable on the second winch passes through the cable hole and is fixedly connected to the float base so as to enter the guide channel through the cable guide positioning rod.

[0013] The upper end of the receiving groove of this utility model opens outward in a trumpet shape to guide the robot charging docking module into the receiving groove.

[0014] The robot charging docking module described in this utility model is equipped with a power supply mechanism, which includes a sealed chamber, a generator, an oil storage tank, an air inlet pipe, and an exhaust pipe. The sealed chamber is fixedly installed on the robot charging docking module, and the generator and oil storage tank are installed inside the sealed chamber. The oil inlet of the generator is connected to the oil storage tank through an oil pipe. The air inlet of the generator is equipped with an air inlet pipe, and the exhaust end of the generator is equipped with an exhaust pipe. The sealed chamber has a pipe hole. One end of the air inlet pipe is fixedly connected to the air inlet of the generator, and the other end extends out of the pipe hole and is placed outside the robot charging docking module. One end of the exhaust pipe is fixedly connected to the air outlet of the generator, and the other end extends out of the pipe hole and is placed outside the robot charging docking module. The air inlet pipe and the exhaust pipe are respectively sealed and connected to the sealed chamber. A liquid level sensor is fixedly installed inside the oil storage tank. The generator and the liquid level sensor are respectively connected to the control system of the robot charging docking module through cables to provide power to the robot charging docking module by generating electricity through the generator, and to monitor the oil level in the oil storage tank in real time by the liquid level sensor.

[0015] The present invention has a connecting bend at the upper end of the air inlet pipe. One end of the connecting bend is fixedly connected to the air inlet pipe, and the other end extends downward to form an air inlet. An electric butterfly valve is fixedly provided at the air inlet. The electric butterfly valve is connected to the control system of the robot charging docking module so that it is closed after the robot charging docking module enters the water and opened when generating electricity after exiting the water.

[0016] The oil storage tank of this utility model is equipped with a refueling pipe. One end of the refueling pipe is connected to the oil inlet of the oil storage tank, and the other end extends out of the sealed chamber and is placed outside the robot charging docking module. The refueling pipe is sealed to the sealed chamber. The upper end of the refueling pipe is equipped with a refueling bend. One end of the refueling bend is fixedly connected to the refueling pipe, and the other end extends downward to form a refueling end. The refueling end is equipped with an electric inlet butterfly valve. The electric inlet butterfly valve is connected to the control system of the robot charging docking module so that it is closed after the robot charging docking module enters water and opened when refueling is needed after water exits.

[0017] The present invention provides a pipeline lifting mechanism on the air intake pipe and the refueling pipe, the pipeline lifting mechanism including a rack, a gear, and a lifting motor. A rack is fixedly installed on the outer wall of the air intake pipe and the outer wall of the refueling pipe respectively. The lower end of the air intake pipe is fixedly connected to the air intake end of the generator via a connecting hose, and the upper part of the air intake pipe extends through the sealed chamber and is slidably connected to the sealed chamber. The lower end of the refueling pipe is connected to the oil storage tank via a refueling hose, and the upper part of the refueling pipe extends through the sealed chamber and is slidably connected to the sealed chamber. The rack meshes with the gear, and the gear is driven by the lifting motor. The lifting motor is fixed on the inner wall of the sealed chamber and is connected to the control system of the robot charging docking module. This allows the air intake pipe and the refueling pipe to extend upwards during use, ensuring they are positioned above the water surface and unaffected by waves. After use or when entering the sea, the air intake pipe and the refueling pipe are retracted to prevent them from protruding too far from the robot charging docking module and being accidentally touched.

[0018] The robot charging docking module of this utility model is equipped with a charging locking mechanism, which includes a limiting plate, a limiting drive cylinder, a docking plug, and a plug drive cylinder. The frame of the robot charging docking module has a charging locking groove, on which an underwater vehicle is mounted. Limiting plates are spaced apart within the charging locking groove. These limiting plates are elastic, and their lower ends extend downwards and are fixedly connected to the bottom of the charging locking groove, forming a limiting groove between the two limiting plates. The limiting plates are driven by the limiting drive cylinder. The drive cylinder is fixedly connected to the inner wall of the charging locking groove. The outer wall of the underwater vehicle is provided with a docking plug. The docking plug is driven by a plug drive cylinder, which is fixed to the outer wall of the underwater vehicle. The plug is inserted into the limiting groove and locked, so as to facilitate the docking plug to push open the limiting plates on both sides and extend into the limiting groove by the plug drive cylinder. The docking plug is limited by the limiting plates, which fixes the underwater vehicle and the robot charging docking module, preventing the underwater vehicle from swinging with the waves when charging. The limiting drive cylinder is used to pull the limiting plate to release the limitation on the docking plug.

[0019] The robot charging docking module and the underwater vehicle of this invention are provided with a wireless charging mechanism, which includes a charging transmitting coil and a charging receiving coil.

[0020] The upper end of the charging locking groove is provided with a charging transmitting coil, and the middle of the charging transmitting coil is provided with a plug insertion hole. The charging transmitting coil is fixedly connected to the frame of the robot charging docking module and is connected to the control system of the robot charging docking module. The underwater vehicle is provided with a charging receiving coil, which is configured in conjunction with the charging transmitting coil. The charging receiving coil is connected to the control system of the underwater vehicle to charge the underwater vehicle through a wireless charging mechanism. Charging is convenient and fast, and there is no problem of wire tangling.

[0021] The robot charging docking module of this utility model has charging chambers spaced apart on its frame. The charging chambers are fixedly connected to the frame of the robot charging docking module. One end of each charging chamber is open, and a charging locking groove is provided inside the charging chamber to provide charging space for underwater vehicles. At the same time, multiple charging chambers can enable multiple underwater vehicles to be charged simultaneously.

[0022] The robot charging docking module of this utility model has charging positions spaced from left to right on the upper end of the frame. Each charging position includes charging locking grooves spaced from front to back, so that the underwater vehicle can be charged not only in the charging chamber but also on the upper end of the frame. One robot charging docking module can enable multiple underwater robots to be charged at the same time.

[0023] This utility model describes a docking socket provided between two limiting plates. The opposing sides of the two limiting plates are inclined. The distance between the upper ends of the two limiting plates is smaller than the distance between the lower ends of the two limiting plates. An extension rod is provided at the lower end of each limiting plate. The upper end of the extension rod is fixedly connected to the limiting plate, and the lower end is fixedly connected to the bottom of the charging locking groove. The extension rod is elastic. The distance between the lower ends of the two limiting plates is smaller than the distance between the two extension rods. The outer diameter of the upper end of the docking plug is larger than the outer diameter of the telescopic rod of the plug drive cylinder. The outer diameter of the upper end of the docking plug is larger than the outer diameter of the lower end of the docking plug. The docking plug is provided with an insertion hole. The docking plug and the docking socket are inserted into each other. The docking plug is placed between the two extension rods. The lower ends of the two limiting plates abut against the upper surface of the docking plug, locking the docking plug to the charging locking groove. This allows the docking plug to be quickly inserted into place through the docking socket. The inclined shape of the limiting plates facilitates the guidance of the docking plug into the socket.

[0024] The limiting drive cylinder of this utility model is fitted with a spring. The telescopic rod of the limiting drive cylinder is fixedly connected to the limiting plate. One end of the spring abuts against the inner wall of the charging locking groove, and the other end abuts against the limiting plate, so as to press the limiting plate with the elastic force of the spring to prevent the docking plug from coming off during charging.

[0025] The robot charging docking module of this invention is equipped with a signal transmitting antenna. The upper end of the signal transmitting antenna is the signal transmitting end, and the lower end is hinged to the frame of the robot charging docking module. The signal transmitting antenna is equipped with an antenna retrieval electric push rod, one end of which is hinged to the frame, and the other end is hinged to the signal transmitting antenna. The signal transmitting antenna is connected to the control system of the robot charging docking module. The underwater vehicle is equipped with a signal receiving antenna, which is connected to the control system of the underwater vehicle. The signal receiving antenna and the signal transmitting antenna are configured in conjunction. The upper end of the signal receiving antenna is the signal receiving end, and the lower end is hinged to the frame of the underwater vehicle. A receiving antenna electric actuator is provided on one side of the signal receiving antenna. One end of the receiving antenna electric actuator is hinged to the frame of the underwater vehicle, and the other end is hinged to the signal receiving antenna. This facilitates signal transmission through the cooperation of the signal transmitting antenna and the signal receiving antenna, enabling the underwater vehicle and the robot charging docking module to quickly know each other's positions and achieve rapid docking. The antenna retrieval electric actuator and the receiving antenna electric actuator allow the signal transmitting antenna and the signal receiving antenna to be folded and retracted when not in use, avoiding accidental collision.

[0026] This utility model, due to the above-mentioned structure, has the advantages of ingenious structure, movable robot charging docking module, ability to lead the robot into the seabed to avoid wind and waves, ability to dock with multiple robots at once, short search and docking time, and high charging efficiency. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of this utility model.

[0028] Figure 2 This is a utility model Figure 1 An enlarged schematic diagram of the robot charging docking module.

[0029] Figure 3 This is a utility model Figure 1 A schematic diagram showing the robot's charging docking module preparing to dock with the underwater vehicle.

[0030] Figure 4 This is a utility model Figure 1 A schematic diagram showing the underwater vehicle entering the robot charging and docking module.

[0031] Figure 5 This is a utility model Figure 4 Enlarged view of section A.

[0032] Figure 6 This is a utility model Figure 1 A schematic diagram showing the underwater vehicle and the robot charging docking module locking together.

[0033] Figure 7This is an enlarged schematic diagram of the charging locking mechanism in this utility model.

[0034] Figure 8 This is another structural schematic diagram of the present invention.

[0035] Figure 9 This is a utility model Figure 8 An enlarged schematic diagram of the robot charging docking module.

[0036] Figure 10 This is a utility model Figure 9 Partial sectional view.

[0037] Figure 11 This is another structural schematic diagram of this utility model.

[0038] Figure 12 This is a utility model Figure 11 A schematic diagram showing the connection and fixation between the robot charging docking module and the floating base.

[0039] Figure 13 This is a utility model Figure 11 An enlarged schematic diagram of the robot charging docking module.

[0040] Figure 14 This is a utility model Figure 13 AA sectional view.

[0041] Figure 15 This is an enlarged schematic diagram of the insertion locking mechanism in this utility model.

[0042] Figure 16 This is a utility model Figure 11 A schematic diagram showing the docking and charging of the robot's charging docking module with the underwater vehicle.

[0043] Figure 17 This is an enlarged schematic diagram of the air intake pipe, refueling pipe, and pipe lifting mechanism in this utility model.

[0044] Reference numerals: 1. Robot charging docking module; 2. Underwater vehicle; 3. Motion drive mechanism; 4. First thruster; 5. Frame; 6. First winch; 7. Cable; 8. Submarine cable; 9. Fixed base; 10. Charging locking mechanism; 11. Limiting plate; 12. Limiting drive cylinder; 13. Docking plug; 14. Plug drive cylinder; 15. Charging locking groove; 16. Limiting groove; 17. Wireless charging mechanism; 18. Charging transmitting coil; 19. Plug insertion hole; 20. Charging compartment; 21. Charging position; 22. Docking socket; 23. Extension rod; 24. Spring; 25. Signal transmitting antenna. Second thruster 26, second winch 27, float base 28, plug-in locking mechanism 29, positioning rod 30, locking block 31, locking electric push rod 32, receiving slot 33, limiting platform 34, guide channel 35, power supply mechanism 36, sealed chamber 37, generator 38, oil storage tank 39, air inlet pipe 40, connecting bend 41, air inlet electric butterfly valve 42, refueling pipe 43, refueling bend 44, oil inlet electric butterfly valve 45, pipeline lifting mechanism 46, rack 47, gear 48, cable 49, antenna recovery electric push rod 50, signal receiving antenna 51. Detailed Implementation

[0045] The specific embodiments of this utility model will be described in further detail below with reference to the accompanying drawings.

[0046] Example 1

[0047] As attached Figure 1-10 A robot docking and charging device includes a robot charging docking module 1, which docks and charges an underwater vehicle 2. The device is characterized in that: the robot charging docking module 1 is equipped with a mobile drive mechanism 3, which is connected to the robot charging docking module 1. The robot charging docking module 1 is driven by the mobile drive mechanism 3 to float on the sea surface or be fixed to the seabed, so that the robot charging docking module 1 can automatically move to dock with the underwater vehicle 2, allowing the underwater vehicle 2 to quickly find the robot charging docking module 1 for charging. Simultaneously, when the sea surface is too rough, the robot charging docking module carries the robot back to the seabed to avoid damage from the waves.

[0048] The mobile drive mechanism 3 of this utility model consists of a first winch 6 and a first thruster 4. The first winch 6 is located below the robot charging docking module 1. The first thrusters 4 are spaced apart on the outer periphery of the frame 5 of the robot charging docking module 1. The first thrusters 4 are fixedly connected to the frame 5 and connected to the control system of the robot charging docking module 1. One end of the cable 7 of the first winch 6 is connected to the control system of the robot charging docking module 1, and the other end is connected to the submarine cable 8. The first winch 6 can be used to retract and extend the cable, and together with the first thruster 4, the position of the robot charging docking module 1 can be adjusted. At the same time, when not in use, the first winch 6 can be used to retract the robot charging docking module 1 to avoid occupying sea surface space.

[0049] The robot charging docking module 1 of this utility model is provided with a fixed base 9 below it. At least one first winch 6 is provided on the fixed base 9. The first winch 6 is fixedly connected to the fixed base 9. The first winch 6 is arranged in a one-to-one correspondence with the robot charging docking module 1, so that multiple robot charging docking modules 1 can be set at the same time through the fixed base 9, so that charging can be carried out on the sea surface and the seabed. At the same time, it is convenient to retrieve the robot charging docking module 1 without occupying sea surface space.

[0050] The robot charging docking module 1 of this utility model is provided with a charging locking mechanism 10. The charging locking mechanism 10 includes a limiting plate 11, a limiting drive cylinder 12, a docking plug 13, and a plug drive cylinder 14. The frame 5 of the robot charging docking module 1 is provided with a charging locking groove 15. An underwater vehicle 2 is provided above the charging locking groove 15. The limiting plates 11 are arranged at intervals within the charging locking groove 15. The limiting plates 11 are elastic. The lower end of the limiting plates 11 extends downward and is fixedly connected to the bottom of the charging locking groove 15. A limiting groove 16 is formed between the two limiting plates 11. The limiting plates 11 are driven by the limiting drive cylinder 12. The limiting drive cylinder 12 is fixedly connected to the inner wall of the charging locking groove 15. The underwater vehicle 2 is provided with a docking plug 13 on its outer wall. The docking plug 13 is driven by the plug drive cylinder 14, which is fixed to the outer wall of the underwater vehicle 2. The plug is inserted into the limiting groove 16 and locked, so that the docking plug 13 can be driven by the plug drive cylinder 14 to push open the limiting plates 11 on both sides and extend into the limiting groove 16. The docking plug 13 is limited by the limiting plates 11, which fixes the underwater vehicle 2 and the robot charging docking module 1, preventing the underwater vehicle 2 from swinging with the waves when charging. The limiting drive cylinder is used to pull the limiting plates 11 to release the limitation on the docking plug 13.

[0051] The present invention provides a wireless charging mechanism 17 between the robot charging docking module 1 and the underwater vehicle 2. The wireless charging mechanism 17 includes a charging transmitting coil 18 and a charging receiving coil. The charging transmitting coil 18 is located at the upper end of the charging locking groove 15. The charging transmitting coil 18 has a plug insertion hole 19 in the middle. The charging transmitting coil 18 is fixedly connected to the frame 5 of the robot charging docking module 1 and is connected to the control system of the robot charging docking module 1. The underwater vehicle 2 is provided with a charging receiving coil, which is configured to cooperate with the charging transmitting coil 18. The charging receiving coil is connected to the control system of the underwater vehicle 2 so as to charge the underwater vehicle 2 through the wireless charging mechanism 17. The charging is convenient and fast, and there is no problem of wire entanglement.

[0052] The robot charging docking module 1 of this utility model has charging chambers 20 spaced apart on its frame 5. The charging chambers 20 are fixedly connected to the frame 5 of the robot charging docking module 1. One end of the charging chamber 20 is open. The charging chamber 20 has charging locking grooves 15 spaced apart inside it, so as to provide charging space for the underwater vehicle 2 through the charging chamber 20. At the same time, multiple charging chambers 20 can realize the simultaneous charging of multiple underwater vehicles 2.

[0053] The robot charging docking module 1 of this utility model has charging positions 21 spaced from left to right on the upper end of the frame 5. The charging positions 21 include charging locking grooves 15 spaced from front to back, so that the underwater vehicle 2 can be charged not only in the charging chamber 20, but also on the upper end of the frame 5. One robot charging docking module 1 can realize the simultaneous charging of multiple AUVs.

[0054] This utility model provides a docking socket 22 between two limiting plates 11. The opposite sides of the two limiting plates 11 are inclined. The distance between the upper ends of the two limiting plates 11 is smaller than the distance between the lower ends of the two limiting plates 11. An extension rod 23 is provided at the lower end of each limiting plate 11. The upper end of the extension rod 23 is fixedly connected to the limiting plate 11, and the lower end is fixedly connected to the bottom of the charging locking groove 15. The extension rod 23 is elastic. The distance between the lower ends of the two limiting plates 11 is smaller than the distance between the two extension rods 23. The outer diameter of the upper end of the docking plug 13 is larger than the insertion diameter. The outer diameter of the telescopic rod of the head drive cylinder 14 is greater than the outer diameter of the upper end of the docking plug 13. The docking plug 13 is provided with an insertion hole. The docking plug 13 is inserted into the docking socket 22. The docking plug 13 is placed between the two extension rods 23. The lower ends of the two limiting plates 11 abut against the upper end face of the docking plug 13, locking the docking plug 13 into the charging locking groove 15. This allows the docking plug 13 to be quickly inserted into place through the docking socket 22. The limiting plates 11 are set in an inclined position to facilitate the entry of the docking plug 13.

[0055] The limiting drive cylinder 12 of this utility model is fitted with a spring 24. The telescopic rod of the limiting drive cylinder 12 is fixedly connected to the limiting plate 11. One end of the spring 24 abuts against the inner wall of the charging locking groove 15, and the other end abuts against the limiting plate 11, so as to press the limiting plate 11 with the elastic force of the spring 24 to prevent the docking plug 13 from coming off during charging.

[0056] The robot charging docking module 1 of this utility model is equipped with a signal transmitting antenna 25. The upper end of the signal transmitting antenna 25 is a signal transmitting end, and the lower end is hinged to the frame 5 of the robot charging docking module 1. The signal transmitting antenna 25 is equipped with an antenna retrieval electric push rod 50. One end of the antenna retrieval electric push rod 50 is hinged to the frame 1, and the other end is hinged to the signal transmitting antenna 25. The signal transmitting antenna 25 is connected to the control system of the robot charging docking module 1. The underwater vehicle 2 is equipped with a signal receiving antenna 51, which is connected to the control system of the underwater vehicle 2. The signal receiving antenna 51 is connected to the signal transmitting antenna. The signal receiving antenna 51 is configured such that its upper end is a signal receiving end, and its lower end is hinged to the frame of the underwater vehicle 2. A receiving antenna electric actuator is provided on one side of the signal receiving antenna 51. One end of the receiving antenna electric actuator is hinged to the frame of the underwater vehicle 2, and the other end is hinged to the signal receiving antenna 51. This facilitates signal transmission through the cooperation of the signal transmitting antenna and the signal receiving antenna 51, enabling the underwater vehicle and the robot charging docking module to quickly determine each other's positions and achieve rapid docking. The antenna retrieval electric actuator 50 and the receiving antenna electric actuator allow the signal transmitting antenna and the signal receiving antenna 51 to be folded and retracted when not in use, preventing accidental contact.

[0057] This embodiment provides two structural diagrams based on the external shape of the robot charging docking module 1. One is shown in the attached diagram. Figure 1-7 Another one is attached. Figure 8-10 Appendix Figure 5 Appendix Figure 7 The shape of the robot charging docking module 1, the number of charging compartments, whether charging positions are provided, and the number of robot charging docking modules 1 that the fixed base 9 can support can be set according to requirements. Multiple charging compartments 20 can be set on the robot charging docking module 1. Figure 2 There are three in the middle. Figure 9 There are four charging positions, the number of which can be set according to needs. The robot charging docking module 1 can also be set with 21 charging positions, as shown in the attached diagram. Figure 2 As shown, select the settings according to your needs, as per the attached document. Figure 1-7 To illustrate the docking and charging process between the underwater vehicle 2 and the robot charging docking module 1, see attached. Figure 8 The docking and charging process is the same.

[0058] As attached Figure 1 - Appendix Figure 10 In this utility model, the underwater vehicle 2 is a cableless underwater robot as described in the prior art. A fixed base 9 is fixed to the seabed. Several robot charging and docking modules 1 can be installed on the fixed base 9 as needed. Each robot charging and docking module 1 is connected to a first winch 6, which is fixed to the fixed base 9. The first winch adopts a hydraulic or electric winch suitable for underwater use, as described in the prior art. A cable drum is provided on the winch frame of the first winch. The winch frame of the first winch is fixed to the fixed base 9, and the cable drum is fixed to a cable drum shaft. The cable drum shaft is fixedly connected to the winch frame via bearings. The cable drum shaft is constructed from... The first winch drive cylinder drives the cable drum shaft, and a slip ring is fixed on the cable drum shaft. The rotating part of the slip ring is fixed on the cable drum shaft. The lead wire of the rotating part of the slip ring is fixedly connected to one end of the cable 7 and then fixed on the cable drum. Then, the other end of the cable 7 is wound around the cable drum several times and then extends out of the winch frame to connect with the control system of the robot charging docking module 1. The lead wire of the fixed part of the slip ring is fixedly connected to the submarine cable 8. Thus, the power of the submarine cable 8 is transmitted to the robot charging docking module 1 through the slip ring. In this utility model, the robot charging docking module 1 retrieves the signal transmitting antenna 25 through the antenna retrieval electric push rod 50, as shown in the attached figure. Figure 2 A groove is provided on one side of the frame 5 of the signal transmitting antenna 25. The base of the antenna retrieval electric push rod 50 is hinged to the bottom of the groove. The upper end of the antenna retrieval electric push rod 50 extends out of the groove and is hinged to the signal transmitting antenna 25. The signal transmitting antenna 25 is fixed to the upper end of the antenna rod, and the lower end of the antenna rod is hinged to the frame 5. Driven by the antenna retrieval electric push rod 50, the antenna rod raises or retracts the signal transmitting antenna 25. In use, the telescopic rod of the antenna retrieval electric push rod 50 extends, raising the signal transmitting antenna 25 upwards, as shown in the attached figure. Figure 2 As shown, when not in use or submerged in seawater, the telescopic rod of the antenna retrieval electric actuator 50 retracts, pulling the signal transmitting antenna 25 towards the groove, so that the signal transmitting antenna 25 rests on the frame 5. The signal receiving antenna 51 on the underwater vehicle 2 can also adopt the above structure. When in use, the antenna retrieval electric actuator 50 extends, so that the signal receiving antenna 51 stands upright, as shown in the attached figure. Figure 3 As shown, when not in use, submerged in seawater, or charging in the charging chamber 2, the antenna retrieval actuator 50 retracts, retrieving the signal receiving antenna 51 so that it rests on the outer wall of the underwater vehicle 2.

[0059] When not in use, the robot charging docking module 1 can be retracted by rotating the cable drum via the first winch drive cylinder of the first winch 6. The cable 7 connected to the charging docking module 1 is wound onto the cable drum, and the robot charging docking module 1 moves downward under the tension of the cable 7, retracting and landing on the fixed base 9 without occupying sea surface space. A float can be fixed on the frame 5 of the robot charging docking module 1 to facilitate rapid ascent. A corresponding number of first thrusters 4 can be installed on the frame 5 of the robot charging docking module 1 as needed to realize the up, down, forward, backward, left and right movement of the robot charging docking module 1. The first thrusters 4 are connected to the control system of the robot charging docking module 1, which can be a PLC control system. The robot charging docking module 1 is equipped with a transmitting transducer and a hydrophone. Both the transmitting transducer and the hydrophone on the robot charging docking module 1 are connected to the control system of the robot charging docking module 1. The underwater vehicle 2 is also equipped with a transmitting transducer and a hydrophone. The transmitting transducer and the hydrophone on the underwater vehicle 2 are connected to the control system of the underwater vehicle 2. The control system of the underwater vehicle 2 can be a PLC control system. The transmitting transducer and the hydrophone are existing technologies, which facilitates bidirectional communication between the underwater vehicle 2 and the robot charging docking module 1 underwater. For ease of distinction, the transmitting transducer and the hydrophone on the robot charging docking module are referred to as the first transmitting transducer and the first hydrophone, and the transmitting transducer and the hydrophone on the underwater vehicle 2 are referred to as the second transmitting transducer and the second hydrophone.

[0060] When in use, when the underwater vehicle 2 needs to be charged...

[0061] When the underwater vehicle 2 and the robot charging docking module 1 are both underwater, the control system of the underwater vehicle 2 controls the second transmitting transducer to emit sound waves. The first hydrophone of the robot charging docking module 1 receives the sound waves and transmits them to its control system. The control system of the robot charging docking module 1 then controls its first transmitting transducer to emit sound waves, which are received by the second hydrophone of the underwater vehicle 2 and transmitted to its control system. This enables communication between the robot charging docking module 1 and the underwater vehicle 2, allowing them to understand each other's positions and the distance between them. Then, the control system of the robot charging docking module 1 controls the first winch 6 to release the cable 7 and simultaneously activates the first thruster 4. The robot charging docking module 1 moves towards the sea surface and towards the underwater vehicle 2. The underwater vehicle 2 moves towards the robot charging docking module 1 using its own thrusters. Once the robot charging docking module 1 and the underwater vehicle rise to the sea surface, the robot charging docking module 1 shuts down the first transmitting transducer and the first hydrophone, and the underwater navigation resumes. Device 2 shuts down the second transmitting transducer and the second hydrophone. The robot charging docking module 1 controls the system to extend the antenna retraction actuator 50, raising the signal transmitting antenna 25 so that its transmitting end is above the water surface. After the underwater vehicle 2 rises to the surface, the underwater vehicle 2 control system activates the receiving antenna actuator, raising the signal receiving antenna 51 so that its receiving end is above the water surface. The signal transmitting antenna 25 transmits signals, and the signal receiving antenna 51 receives signals. The signal receiving antenna and the signal transmitting antenna 25 work together to guide the underwater vehicle 2 closer to the robot charging docking module 1. The underwater vehicle 2 and the robot charging docking module 1 can also view each other's positions through their respective installed cameras, facilitating faster and better docking. Just before the underwater vehicle 2 enters the charging chamber 20 of the robot charging docking module 1, the underwater vehicle 2 control system activates the receiving antenna actuator to retract, causing the signal receiving antenna 51 to rotate downwards and adhere to the outer wall of the underwater vehicle 2, avoiding obstruction of the underwater vehicle 2's entry into the charging chamber 20. (See attached...) Figure 4The underwater vehicle 2 enters the charging chamber 20 of the robot charging docking module 1. Sensors, such as proximity switches, can be installed inside the charging chamber 20 to detect whether the underwater vehicle 2 has reached its designated position. The positioning mechanism described in CN107070005A in the background technology section is sufficient; it only needs to detect the underwater vehicle 2's entry into the charging chamber 20. The control system of the underwater vehicle 2 activates the plug drive cylinder 14. Several plug drive cylinders can be installed on the underwater vehicle 2, the number depending on requirements. The plug drive cylinder 14 drives the docking plug 13 to move towards the charging locking groove 15. The docking plug 13 passes through the plug insertion hole 19 of the charging transmitting coil 18 and moves towards the limiting groove 16 between the two limiting plates 11. 13. The two limiting plates 11 are pushed apart and inserted into the docking socket 22. The upper end of the docking plug 13 abuts against the limiting plate 11 for limitation and fixation. The spring force causes the two limiting plates 11 to move closer together and press the docking plug, locking the underwater vehicle 2 into the charging chamber 20. A charging receiving coil is set on the robot charging docking module 1 at the position opposite to the charging transmitting coil 18 on the charging locking groove 15. After the underwater vehicle 2 is locked and fixed, the control system of the robot charging docking module 1 energizes the charging transmitting coil 18, and the control system of the underwater vehicle 2 energizes the charging receiving coil. Both the charging transmitting coil 18 and the charging receiving coil are electromagnetic coils. The charging transmitting coil 18 and the charging receiving coil attract each other to charge the underwater vehicle 2.

[0062] After underwater vehicle 2 is fully charged, as shown in the attached document. Figure 5 The robot charging docking module 1 activates the limit drive cylinder, the telescopic rod of the limit drive cylinder retracts, compresses the spring, and the telescopic rod pulls the upper part of the limit plate 11 away from the docking plug 13. The control system of the underwater vehicle 2 controls the plug drive cylinder 14 to retract, taking the docking plug 13 away from the docking socket 22. The docking plug 13 returns to its original position, the underwater vehicle 2 activates its own propulsion, and slowly exits the charging chamber 20 before driving away from the robot docking charging module.

[0063] The underwater vehicle 2 can also be charged on the charging position 21. Sensors, such as proximity switches, can be installed on the charging position 21 to detect whether the underwater vehicle 2 is in position. The docking charging method is the same as the docking method between the underwater vehicle 2 and the charging chamber 20. Dock and use as needed.

[0064] Example 2

[0065] like Figure 11-17A robot docking and charging device includes a robot charging docking module 1, which is used to dock and charge an underwater vehicle 2. The robot charging docking module 1 is characterized by having a moving drive mechanism 3 connected to it. The robot charging docking module 1 is driven by the moving drive mechanism 3 to float on the sea surface or be fixed to the seabed, allowing it to automatically move to dock with the underwater vehicle 2, thus facilitating the underwater vehicle 2 to quickly locate and charge the robot charging docking module 1.

[0066] The mobile drive mechanism 3 of this utility model consists of a second thruster 26 and a second winch 27. The second thruster 26 is spaced apart on the outer periphery of the frame 5 of the robot charging docking module 1. The second thruster 26 is fixedly connected to the frame 5 and connected to the control system of the robot charging docking module 1. A floating base 28 is provided below the robot charging docking module 1. The second winch 27 is provided on the robot charging docking module 1 and is fixedly attached to the robot charging docking module 1. The cable 49 on the second winch 27 passes through the robot charging docking module 1 and is fixedly connected to the floating base 28. The position of the robot charging docking module 1 can be adjusted by raising and lowering the cable 49 through the second winch 27 in conjunction with the second thruster 26. At the same time, when not in use, the second winch 27 raises the cable 49, and the robot charging docking module 1 sinks to the seabed and is placed on the floating base 28 to avoid occupying sea surface space.

[0067] The robot charging docking module 1 of this utility model is provided with a plug-in locking mechanism 29 between it and the float base 28. The plug-in locking mechanism 29 includes a positioning rod 30, a locking block 31, and a locking electric push rod 32. The float base 28 is provided with a receiving groove 33, and the positioning rod 30 is provided in the middle of the receiving groove 33. The lower end of the positioning rod 30 is fixedly connected to the float base 28, and the upper end extends radially outward to form a limiting platform 34. The lower end of the frame 5 of the robot charging docking module 1 is provided with a guide channel 35, and the inner wall of the guide channel 35 is provided with a locking through hole. A locking block 31 is inserted through the perforation and driven by a locking electric push rod 32. The locking electric push rod 32 is fixedly connected to the frame 5. The positioning rod 30 passes through the guide channel 35. The locking block 31 is driven by the locking electric push rod 32. The locking block 31 clamps the positioning rod 30 to limit the connection between the robot charging docking module 1 and the float base 28. This facilitates the robot charging docking module 1 entering the receiving slot 33 during retrieval. The positioning rod 30 passes through the guide channel 35 and is fixed by the locking block 31 to fix the robot charging docking module 1 in the float base 28.

[0068] The present invention has a cable hole between the limiting platform 34 and the positioning rod 30. The cable 49 on the second winch 27 passes through the cable hole and is fixedly connected to the float base 28 so as to guide the positioning rod 30 into the guide channel 35 through the cable 49.

[0069] The upper end of the receiving groove 33 of this utility model opens outward in a trumpet shape to guide the robot charging docking module 1 into the receiving groove 33.

[0070] The robot charging docking module 1 described in this utility model is equipped with a power supply mechanism 36. The power supply mechanism 36 includes a sealed chamber 37, a generator 38, an oil tank 39, an air inlet pipe 40, and an exhaust pipe. The sealed chamber 37 is fixedly installed on the robot charging docking module 1. The generator 38 and the oil tank 39 are housed inside the sealed chamber 37. The oil inlet end of the generator 38 is connected to the oil tank 39 via an oil pipe. The air inlet end of the generator 38 is equipped with an air inlet pipe 40, and the exhaust end of the generator 38 is equipped with an exhaust pipe. The sealed chamber 37 has a pipe hole. One end of the air inlet pipe 40 is fixedly connected to the air inlet end of the generator 38, and the other end... One end of the exhaust pipe protrudes through the pipe hole and is placed outside the robot charging docking module 1. One end of the exhaust pipe is fixedly connected to the air outlet of the generator 38, and the other end protrudes through the pipe hole and is placed outside the robot charging docking module 1. The air inlet pipe 40 and the exhaust pipe are respectively sealed and connected to the sealed chamber 37. A liquid level sensor is fixedly installed inside the oil storage tank 39. A battery is installed inside the generator 38. The generator 38 and the liquid level sensor are respectively connected to the control system of the robot charging docking module 1 via cables, so that the generator 38 generates electricity to provide power to the robot charging docking module 1, and the liquid level sensor monitors the oil level in the oil storage tank 39 in real time.

[0071] The upper end of the air inlet pipe 40 of this utility model is provided with a connecting bend 41. One end of the connecting bend 41 is fixedly connected to the air inlet pipe 40, and the other end extends downward to form an air inlet end. An air inlet electric butterfly valve 42 is fixedly provided on the air inlet end. The air inlet electric butterfly valve 42 is connected to the control system of the robot charging docking module 1 so as to close after the robot charging docking module 1 enters the water and open when generating electricity after exiting the water.

[0072] The oil storage tank 39 of this utility model is provided with a refueling pipe 43. One end of the refueling pipe 43 is connected to the oil inlet of the oil storage tank 39, and the other end extends out of the sealed chamber 37 and is placed outside the robot charging docking module 1. The refueling pipe 43 is sealed to the sealed chamber 37. The upper end of the refueling pipe 43 is provided with a refueling bend 44. One end of the refueling bend 44 is fixedly connected to the refueling pipe 43, and the other end extends downward to form a refueling end. The refueling end is provided with an electric inlet butterfly valve 45. The electric inlet butterfly valve 45 is connected to the control system of the robot charging docking module 1 so as to close after the robot charging docking module 1 enters water and open when refueling is needed after water exits.

[0073] The present invention provides pipe lifting mechanisms 46 on the air intake pipe 40 and the refueling pipe 43, respectively. Each pipe lifting mechanism 46 includes a rack 47, a gear 48, and a lifting motor. The rack 47 is fixedly installed on the outer wall of the air intake pipe 40 and the outer wall of the refueling pipe 43. The lower end of the air intake pipe 40 is fixedly connected to the air intake end of the generator 38 via a connecting hose. The upper part of the air intake pipe 40 extends through the sealed chamber 37 and is slidably connected to the sealed chamber 37. The lower end of the refueling pipe 43 is connected to the oil storage tank 39 via a refueling hose. The upper part of the refueling pipe 43 extends through the sealed chamber 37 and is slidably connected to the sealed chamber 37. 7. A sealed sliding connection is provided, in which the rack 47 meshes with the gear 48, which is driven by a lifting motor. The lifting motor is fixed on the inner wall of the sealed chamber 37 and is connected to the control system of the robot charging docking module 1. This allows the air intake pipe 40 and oil intake pipe to extend upwards during use, ensuring that they are positioned above the water surface and unaffected by waves. After use or when entering the sea, the air intake pipe 40 and oil intake pipe are retracted to prevent them from protruding too far from the robot charging docking module 1 and being accidentally touched.

[0074] As attached Figure 5 and attached Figure 7 The robot charging docking module 1 of this utility model is provided with a charging locking mechanism 10. The charging locking mechanism 10 includes a limiting plate 11, a limiting drive cylinder 12, a docking plug 13, and a plug drive cylinder 14. The frame 5 of the robot charging docking module 1 is provided with a charging locking groove 15. An underwater vehicle 2 is provided above the charging locking groove 15. The limiting plates 11 are arranged at intervals in the charging locking groove 15. The limiting plates 11 are elastic. The lower end of the limiting plates 11 extends downward and is fixedly connected to the bottom of the charging locking groove 15. A limiting groove 16 is formed between the two limiting plates 11. Driven by a limiting drive cylinder 12, which is fixedly connected to the inner wall of the charging locking groove 15, the underwater vehicle 2 has a docking plug 13 on its outer wall. The docking plug 13 is driven by a plug drive cylinder 14, which is fixed to the outer wall of the underwater vehicle 2. The plug is inserted into the limiting groove 16 and locked, so as to facilitate the insertion of the plug into the limiting groove 16 by the plug drive cylinder 14. The two limiting plates 11 are respectively brought closer by the force of the limiting drive cylinder 12, locking the plug and fixing the underwater vehicle 2 and the robot charging docking module 1, preventing the underwater vehicle 2 from swaying with the waves when charging.

[0075] The present invention provides a wireless charging mechanism 17 between the robot charging docking module 1 and the underwater vehicle 2. The wireless charging mechanism 17 includes a charging transmitting coil 18 and a charging receiving coil. The charging transmitting coil 18 is located at the upper end of the charging locking groove 15. The charging transmitting coil 18 has a plug insertion hole 19 in the middle. The charging transmitting coil 18 is fixedly connected to the frame 5 of the robot charging docking module 1 and is connected to the control system of the robot charging docking module 1. The underwater vehicle 2 is provided with a charging receiving coil, which is configured to cooperate with the charging transmitting coil 18. The charging receiving coil is connected to the control system of the underwater vehicle 2 so as to charge the underwater vehicle 2 through the wireless charging mechanism 17. The charging is convenient and fast, and there is no problem of wire entanglement.

[0076] The robot charging docking module 1 of this utility model has charging chambers 20 spaced apart on its frame 5. The charging chambers 20 are fixedly connected to the frame 5 of the robot charging docking module 1. One end of the charging chamber 20 is open. The charging chamber 20 has charging locking grooves 15 spaced apart inside it, so as to provide charging space for the underwater vehicle 2 through the charging chamber 20. At the same time, multiple charging chambers 20 can realize the simultaneous charging of multiple underwater vehicles 2.

[0077] The robot charging docking module 1 of this utility model has charging positions 21 spaced from left to right on the upper end of the frame 5. The charging positions 21 include charging locking grooves 15 spaced from front to back, so that the underwater vehicle 2 can be charged not only in the charging chamber 20, but also on the upper end of the frame 5. One robot charging docking module 1 can realize the simultaneous charging of multiple AUVs.

[0078] This utility model provides a docking socket 22 between two limiting plates 11. The opposite sides of the two limiting plates 11 are inclined. The distance between the upper ends of the two limiting plates 11 is smaller than the distance between the lower ends of the two limiting plates 11. An extension rod 23 is provided at the lower end of each limiting plate 11. The upper end of the extension rod 23 is fixedly connected to the limiting plate 11, and the lower end is fixedly connected to the bottom of the charging locking groove 15. The extension rod 23 is elastic. The distance between the lower ends of the two limiting plates 11 is smaller than the distance between the two extension rods 23. The outer diameter of the upper end of the docking plug 13 is larger than the insertion diameter. The outer diameter of the telescopic rod of the head drive cylinder 14 is greater than the outer diameter of the upper end of the docking plug 13. The docking plug 13 is provided with an insertion hole. The docking plug 13 is inserted into the docking socket 22. The docking plug 13 is placed between the two extension rods 23. The lower ends of the two limiting plates 11 abut against the upper end face of the docking plug 13, locking the docking plug 13 into the charging locking groove 15. This allows the docking plug 13 to be quickly inserted into place through the docking socket 22. The limiting plates 11 are set in an inclined position to facilitate the entry of the docking plug 13.

[0079] The limiting drive cylinder 12 of this utility model is fitted with a spring 24. The telescopic rod of the limiting drive cylinder 12 is fixedly connected to the limiting plate 11. One end of the spring 24 abuts against the inner wall of the charging locking groove 15, and the other end abuts against the limiting plate 11, so as to further press the limiting plate 11 through the rebound force of the spring 24 to prevent the docking plug 13 from coming off.

[0080] The robot charging docking module 1 of this utility model is equipped with a signal transmitting antenna 25. The upper end of the signal transmitting antenna 25 is a signal transmitting end, and the lower end is hinged to the frame 5 of the robot charging docking module 1. The signal transmitting antenna 25 is equipped with an antenna retrieval electric push rod 50. One end of the antenna retrieval electric push rod 50 is hinged to the frame 1, and the other end is hinged to the signal transmitting antenna 25. The signal transmitting antenna 25 is connected to the control system of the robot charging docking module 1. The underwater vehicle 2 is equipped with a signal receiving antenna 51, which is connected to the control system of the underwater vehicle 2. The signal receiving antenna 51 is connected to the signal transmitting antenna. The signal receiving antenna 51 is configured such that its upper end is a signal receiving end, and its lower end is hinged to the frame of the underwater vehicle 2. A receiving antenna electric actuator is provided on one side of the signal receiving antenna 51. One end of the receiving antenna electric actuator is hinged to the frame of the underwater vehicle 2, and the other end is hinged to the signal receiving antenna 51. This facilitates signal transmission through the cooperation of the signal transmitting antenna and the signal receiving antenna 51, enabling the underwater vehicle and the robot charging docking module to quickly determine each other's positions and achieve rapid docking. The antenna retrieval electric actuator 50 and the receiving antenna electric actuator allow the signal transmitting antenna and the signal receiving antenna 51 to be folded and retracted when not in use, preventing accidental contact.

[0081] This embodiment shares the same structure as Embodiment 1, including the charging locking mechanism 10 and the wireless charging mechanism 17 of the underwater vehicle 2. The difference between this embodiment and Embodiment 1 lies in the specific structure of the mobile drive mechanism and the power source of the robot charging docking module 1. In Embodiment 1, the robot charging docking module 1 is powered by the submarine cable 8, while in this embodiment, the robot charging docking module 1 is powered by the generator 38. The generator 38 is an existing generator that integrates a fuel pump and a battery. During use, the robot charging docking module 1 floats to the surface, with the air intake pipe 40 and exhaust pipe... Positioned above the sea surface, the air intake pipe 40 is equipped with a pipe lifting mechanism 46, which can further raise the height of the air intake port of the air intake pipe 40 above the sea surface. Opening the air intake electric butterfly valve 42 ensures unobstructed airflow in the air intake pipe 40. An exhaust electric butterfly valve is fixedly installed at the exhaust end of the exhaust pipe. Opening the exhaust electric butterfly valve activates the generator in the control system of the robot charging docking module 1, supplying power to the robot charging docking module 1. A battery is sealed and installed inside the frame 5 of the robot charging docking module 1, and the battery is connected to the control system of the robot charging docking module 1, facilitating underwater movement of the robot charging docking module 1. Figure 14The generator 38 is housed within a sealed chamber 37, which can accommodate multiple oil storage tanks 39 connected by oil pipes. One of the oil storage tanks 39 is connected to the generator 38 via an oil pipe. A level sensor is installed inside each oil storage tank 39 to monitor the oil level in real time. One of the oil storage tanks 39 is connected to the lower end of a refueling hose 43. The refueling hose 43 extends out of the sealed chamber 37 and is positioned above the frame 5 of the robot charging docking module 1, forming a refueling end for easy refueling of the oil storage tanks 39. The robot charging docking module 1 supplies power to its components. The sealed chamber 37 is annular with a hollow center, which can be used to house the second winch 27. The second winch 27 adopts a hydraulic or electric winch suitable for underwater use in the prior art. The second winch 27 can be connected to the generator 38 via a cable, and the generator 30 supplies power to the drive cylinder of the second winch 27. A cable 49 is wound around the drum of the second winch 27. One end of the cable is fixed to the drum, and the other end passes through the frame 5 and is fixedly connected to the positioning rod 30 on the float base 28 below the frame 5 for easy connection. When not in use, the robot charging docking module 1 drives the second winch 27 to retract the cable 49, causing the robot charging docking module 1 to move downwards into the float base 28. The second thruster 26 assists in the rapid downward movement of the robot charging docking module 1. The upper end of the inner wall of the receiving groove 33 opens outwards, guiding the robot charging docking module 1 into the receiving groove 33. The limiting platform 34 and the positioning rod 30 enter the guide channel 35. A camera can be installed on one side above the guide channel 35. The camera is powered by the robot charging module. The docking module 1 is controlled by the control system to check whether the positioning rod 30 has risen to the correct position. After the positioning rod 30 rises to the correct position, the locking electric push rod 32 is activated, and the telescopic rod of the locking electric push rod 32 extends. In this embodiment, four locking electric push rods 32 are arranged circumferentially. The locking blocks 31 hold the positioning rod 30 in place. The limiting platform 34 is located above the locking electric push rod 32 to prevent the positioning rod 30 from falling out of the guide channel 35. Thus, the robot charging docking module 1 is placed inside the float base 28, which is fixed to the seabed and does not occupy surface space.

[0082] In this invention, the robot charging docking module 1 retracts the signal transmitting antenna 25 via the antenna retrieval electric push rod 50, as shown in the attached diagram. Figure 11 A groove is provided on one side of the frame 5 of the signal transmitting antenna 25. The base of the antenna retrieval electric push rod 50 is hinged to the bottom of the groove. The upper end of the antenna retrieval electric push rod 50 extends out of the groove and is hinged to the signal transmitting antenna 25. The signal transmitting antenna 25 is fixed to the upper end of the antenna rod, and the lower end of the antenna rod is hinged to the frame 5. Driven by the antenna retrieval electric push rod 50, the antenna rod raises or retracts the signal transmitting antenna 25. In use, the telescopic rod of the antenna retrieval electric push rod 50 extends, raising the signal transmitting antenna 25 upwards, as shown in the attached figure. Figure 11As shown, when not in use or submerged in seawater, the telescopic rod of the antenna retrieval actuator 50 retracts, pulling the signal transmitting antenna 25 towards the groove, so that the signal transmitting antenna 25 rests on the frame 5. The signal receiving antenna 51 on the underwater vehicle 2 can also adopt the above structure. When in use, the antenna retrieval actuator 50 extends, making the signal receiving antenna 51 stand upright. When not in use, submerged in seawater, or entering the charging chamber 2 for charging, the antenna retrieval actuator 50 retracts, retrieving the signal receiving antenna 51, so that the signal receiving antenna 51 rests on the outer wall of the underwater vehicle 2.

[0083] The control system of robot charging docking module 1 can be a PLC control system. Robot charging docking module 1 is equipped with a transmitting transducer and a hydrophone, both of which are connected to its control system. Underwater vehicle 2 is also equipped with a transmitting transducer and a hydrophone, which are connected to its control system. The control system of underwater vehicle 2 can also be a PLC control system. The transmitting transducer and hydrophone are existing technologies, facilitating bidirectional communication between underwater vehicle 2 and robot charging docking module 1 underwater. For ease of distinction, the transmitting transducer and hydrophone on the robot charging docking module are referred to as the first transmitting transducer and the first hydrophone, while those on underwater vehicle 2 are referred to as the second transmitting transducer and the second hydrophone.

[0084] When in use, when the underwater vehicle 2 needs to be charged...

[0085] When the underwater vehicle 2 and the robot charging docking module 1 are both underwater, the control system of the underwater vehicle 2 controls the second transmitting transducer to emit sound waves. The first hydrophone of the robot charging docking module 1 receives the sound waves and transmits them to its control system. The control system of the robot charging docking module 1 then controls its first transmitting transducer to emit sound waves, which are received by the second hydrophone of the underwater vehicle 2 and transmitted to its control system. This enables communication between the robot charging docking module 1 and the underwater vehicle 2, allowing them to understand each other's positions and the distance between them. Then, the control system of the robot charging docking module 1 controls the second winch 27 to release the cable 49 and simultaneously activates the second thruster 26. The robot charging docking module 1 moves towards the sea surface and towards the underwater vehicle 2. The underwater vehicle 2 moves towards the robot charging docking module 1 using its own thrusters. Once the robot charging docking module 1 and the underwater vehicle rise to the sea surface, the robot charging docking module 1 shuts down its first transmitting transducer and first hydrophone. The underwater vehicle 2 shuts down the second transmitting transducer and the second hydrophone. The robot charging docking module 1 controls the system to extend the antenna retraction actuator 50, raising the signal transmitting antenna 25 so that its transmitting end is above the water surface. After the underwater vehicle 2 rises to the surface, its control system activates the receiving antenna actuator, raising the signal receiving antenna 51 so that its receiving end is above the water surface. The signal transmitting antenna 25 transmits signals, and the signal receiving antenna 51 receives signals. The signal receiving antenna and the signal transmitting antenna 25 work together to guide the underwater vehicle 2 closer to the robot charging docking module 1. The underwater vehicle 2 and the robot charging docking module 1 can also view each other's positions through their respective installed cameras, facilitating faster and better docking. Just before the underwater vehicle 2 enters the charging chamber 20 of the robot charging docking module 1, its control system retracts the receiving antenna actuator, causing the signal receiving antenna 51 to rotate downwards and adhere to the outer wall of the underwater vehicle 2, preventing it from obstructing the underwater vehicle 2's entry into the charging chamber 20. (See attached...) Figure 16The underwater vehicle 2 enters the charging chamber 20 of the robot charging docking module 1. Sensors, such as proximity switches, can be installed inside the charging chamber 20 to detect whether the underwater vehicle 2 has reached its designated position. The positioning mechanism described in CN107070005A in the background technology section is sufficient; it only needs to detect the underwater vehicle 2's entry into the charging chamber 20. The control system of the underwater vehicle 2 activates the plug drive cylinder 14. Several plug drive cylinders can be installed on the underwater vehicle 2, the number depending on requirements. The plug drive cylinder 14 drives the docking plug 13 to move towards the charging locking groove 15. The docking plug 13 passes through the plug insertion hole 19 of the charging transmitting coil 18 and moves towards the limiting groove 16 between the two limiting plates 11. 13. The two limiting plates 11 are pushed apart and inserted into the docking socket 22. The upper end of the docking plug 13 abuts against the limiting plate 11 for limitation and fixation. The spring force causes the two limiting plates 11 to move closer together and press the docking plug, locking the underwater vehicle 2 into the charging chamber 20. A charging receiving coil is set on the robot charging docking module 1 at the position opposite to the charging transmitting coil 18 on the charging locking groove 15. After the underwater vehicle 2 is locked and fixed, the control system of the robot charging docking module 1 energizes the charging transmitting coil 18, and the control system of the underwater vehicle 2 energizes the charging receiving coil. Both the charging transmitting coil 18 and the charging receiving coil are electromagnetic coils. The charging transmitting coil 18 and the charging receiving coil attract each other to charge the underwater vehicle 2.

[0086] After underwater vehicle 2 is fully charged, as shown in the attached document. Figure 5 The robot charging docking module 1 activates the limit drive cylinder, the telescopic rod of the limit drive cylinder retracts, compresses the spring, and the telescopic rod pulls the upper part of the limit plate 11 away from the docking plug 13. The control system of the underwater vehicle 2 controls the plug drive cylinder 14 to retract, taking the docking plug 13 away from the docking socket 22. The docking plug 13 returns to its original position, the underwater vehicle 2 activates its own propulsion, and slowly exits the charging chamber 20 before driving away from the robot docking charging module.

[0087] The underwater vehicle 2 can also be charged on the charging position 21. Sensors, such as proximity switches, can be installed on the charging position 21 to sense whether the underwater vehicle 2 is in position. The docking and charging method is the same as the docking method between the underwater vehicle 2 and the charging chamber 20. It can be docked and used according to the usage situation.

[0088] In this utility model, the robot charging docking module 1 is also equipped with a signal transmission antenna for connecting to the control system of the shore control console or the control system of the vessel on which the operator is located. The shore control console or the vessel on which the operator is located is equipped with a docking antenna that works in conjunction with the signal transmission antenna to achieve signal transmission. The docking antenna is connected to the control system of the shore control console or the control system of the vessel on which the operator is located, so that the operator can understand the docking status of the robot charging docking module 1 at any time, and also facilitate the operator to inspect the robot charging docking module 1. The vessel on which the operator is located can also achieve signal transmission with the underwater robot charging docking module 1 through a transmitter transducer and hydrophone. It can be set according to needs. In embodiment 2, a generator 38 is used to generate electricity to provide power for the components on the robot charging docking module 1 and the docking and charging process between the robot charging docking module 1 and the underwater vehicle 2. The oil tank 39 is equipped with a refueling pipe 43. The height of the refueling pipe 43 is adjustable. When refueling is needed, the operator controls the vessel to approach the robot charging docking module 1. The opening of the refueling bend 44 and the opening of the connecting bend 41 face downwards, both to facilitate drainage and prevent water from entering the refueling pipe 43 and the air inlet pipe 40. Figure 17 The lower end of the refueling elbow 44 has external threads on its outer wall, allowing operators to easily connect it to a connecting pipe. This connecting pipe connects to the oil pump on the operator's vessel, which in turn connects to the oil tank, supplying oil to the oil storage tank 39 on the robot charging docking module 1. During refueling, the robot charging docking module 1 can also be driven closer to the shore and fixed there, facilitating refueling of the oil storage tank 39 by the operator. The above method can be selected according to requirements.

[0089] Compared to existing technologies, the robot charging docking module 1 in this invention is movable and can float on the sea surface, greatly shortening the time for the underwater vehicle 2 to locate the robot charging docking module 1, and indirectly improving the charging efficiency of the underwater vehicle 2. Multiple robot charging docking modules 1 can be placed simultaneously on the fixed base 9 of this invention. Each robot charging docking module 1 has not only a charging compartment 20 but also a charging position 21, as shown in the attached diagram. Figure 9 One robot charging docking module 1 can be equipped with four charging compartments, as shown in the attached diagram. Figure 2 The upper part of the frame 5 is equipped with three charging positions 21 and three charging chambers 20, which can charge six underwater vehicles 2 simultaneously, as shown in the attached diagram. Figure 11The robot charging docking module 1 is equipped with four charging chambers and four charging positions 21, which can charge eight underwater vehicles 2 simultaneously. The number of charging positions 21 and charging chambers 20 on the robot charging docking module 1 can be set according to requirements. There are six charging locking grooves 15 on each charging position 21 and five charging locking grooves 15 in each charging chamber 20. The number of charging locking grooves 15 can be set according to requirements. Each charging locking groove 15 is equipped with a charging transmitting coil 18. The charging transmitting coil 18 on each charging position corresponds one-to-one with the charging receiving coil on the underwater vehicle 2, which facilitates rapid charging of the underwater vehicle 2. Each charging locking groove 15 is equipped with a limiting plate 11 and a limiting drive cylinder 12. The underwater vehicle 2 is equipped with a docking plug 13. The number of 3 is unlimited, as long as it can fix the underwater vehicle 2 to the robot charging docking module 1. The robot charging docking module 1 of this utility model is equipped with a charging position 21 and a charging chamber 20, which realizes that one robot charging docking module 1 can charge multiple underwater vehicles 2 at the same time, greatly improving the charging efficiency of the underwater vehicle 2. Moreover, by connecting the docking plug 13 to the docking socket 22, the limiting plate 11 locks the docking plug 13, which is fast and stable, and prevents the underwater vehicle 2 from shaking during the charging process. In addition, in order to avoid the influence of sea waves, after the robot charging docking module 1 is docked with the underwater vehicle 2, the robot charging docking module 1 can take the underwater vehicle 2 underwater to charge, avoid wind and waves, and prevent wind and waves from damaging the robot.

[0090] This utility model, due to the above-mentioned structure, has the advantages of ingenious structure, movable robot charging docking module, ability to lead the robot into the seabed to avoid wind and waves, ability to dock with multiple robots at once, short search and docking time, and high charging efficiency.

Claims

1. A robot docking charging device comprising a robot charging docking module (1), characterized in that: The robot charging docking module (1) is provided with a mobile drive mechanism (3), which is connected to the robot charging docking module (1). The robot charging docking module (1) is driven by the mobile drive mechanism (3) to float on the sea surface or be fixed on the seabed.

2. The robotic docking and charging device of claim 1, wherein: The mobile drive mechanism (3) is composed of a first thruster (4). The first thruster (4) is provided at intervals on the outer periphery of the frame (5) of the robot charging docking module (1). The first thruster (4) is fixedly connected to the frame (5) and is connected to the control system of the robot charging docking module (1).

3. The robotic docking and charging device of claim 1, wherein: The mobile drive mechanism (3) consists of a first winch (6) and a first thruster (4). The first winch (6) is located below the robot charging docking module (1). The first thruster (4) is spaced around the frame (5) of the robot charging docking module (1). The first thruster (4) is fixedly connected to the frame (5). The first thruster (4) is connected to the control system of the robot charging docking module (1). One end of the cable (7) of the first winch (6) is connected to the control system of the robot charging docking module (1), and the other end is connected to the submarine cable (8).

4. A robotic docking and charging device as claimed in claim 3, wherein: The robot charging docking module (1) is provided with a fixed base (9) below it. At least one first winch (6) is provided on the fixed base (9). The first winch (6) is fixedly connected to the fixed base (9). The first winch (6) is set in a one-to-one correspondence with the robot charging docking module (1).

5. The robotic docking and charging device of claim 1, wherein: The mobile drive mechanism (3) consists of a second thruster (26) and a second winch (27). The second thruster (26) is provided at intervals on the outer periphery of the frame (5) of the robot charging docking module (1). The second thruster (26) is fixedly connected to the frame (5). The second thruster (26) is connected to the control system of the robot charging docking module (1). A floating base (28) is provided below the robot charging docking module (1). A second winch (27) is provided on the robot charging docking module (1). The second winch (27) is fixed on the robot charging docking module (1). The cable (49) on the second winch (27) passes through the robot charging docking module (1) and is fixedly connected to the floating base (28).

6. A robotic docking and charging device as claimed in claim 5, wherein: The robot charging docking module (1) is equipped with a power supply mechanism (36), which includes a sealed chamber (37), a generator (38), an oil tank (39), an air inlet pipe (40), and an exhaust pipe. The robot charging docking module (1) is fixedly equipped with a sealed chamber (37), which contains a generator (38) and an oil tank (39). The oil inlet of the generator (38) is connected to the oil tank (39) through an oil pipe. The air inlet of the generator (38) is equipped with an air inlet pipe (40), and the exhaust end of the generator (38) is equipped with an exhaust pipe. The sealed chamber (37) is provided with a pipe hole. One end of the air inlet pipe (40) is fixedly connected to the air inlet end of the generator (38), and the other end passes through the pipe hole and is placed outside the robot charging docking module (1). One end of the exhaust pipe is fixedly connected to the air outlet end of the generator (38), and the other end passes through the pipe hole and is placed outside the robot charging docking module (1). The air inlet pipe (40) and the exhaust pipe are respectively sealed and connected to the sealed chamber (37). A liquid level sensor is fixedly provided in the oil storage tank (39). The generator (38) and the liquid level sensor are respectively connected to the control system of the robot charging docking module (1) via cables.

7. A robotic docking and charging device as claimed in claim 6, wherein: The intake pipe (40) is equipped with a pipe lifting mechanism (46).

8. A robotic docking and charging device as claimed in any one of claims 1 to 7, wherein: The robot charging docking module (1) is provided with a charging locking mechanism (10), which includes a limiting plate (11), a limiting drive cylinder (12), a docking plug (13), and a plug drive cylinder (14). The frame (5) of the robot charging docking module (1) is provided with a charging locking groove (15). An underwater vehicle (2) is provided above the charging locking groove (15). The limiting plates (11) are provided at intervals within the charging locking groove (15). The limiting plates (11) are elastic. The lower end extends downward and is fixedly connected to the bottom of the charging locking groove (15). A limiting groove (16) is formed between the two limiting plates (11). The limiting plate (11) is driven by the limiting drive cylinder (12). The limiting drive cylinder (12) is fixedly connected to the inner wall of the charging locking groove (15). A docking plug (13) is provided on the outer wall of the underwater vehicle (2). The docking plug (13) is driven by the plug drive cylinder (14). The plug drive cylinder (14) is fixed on the outer wall of the underwater vehicle (2). The plug is inserted into the limiting groove (16) and locked.

9. A robotic docking and charging device as claimed in claim 8, wherein: A wireless charging mechanism (17) is provided between the robot charging docking module (1) and the underwater vehicle (2). The wireless charging mechanism (17) includes a charging transmitting coil (18) and a charging receiving coil. The charging locking groove (15) has a charging transmitting coil (18) at its upper end. The charging transmitting coil (18) has a plug insertion hole (19) in the middle. The charging transmitting coil (18) is fixedly connected to the frame (5) of the robot charging docking module (1). The charging transmitting coil (18) is connected to the control system of the robot charging docking module (1). The underwater vehicle (2) has a charging receiving coil. The charging receiving coil is configured in conjunction with the charging transmitting coil (18). The charging receiving coil is connected to the control system of the underwater vehicle (2).

10. The robotic docking charging device of claim 8, wherein: The robot charging docking module (1) has charging chambers (20) spaced apart on its frame (5). The charging chambers (20) are fixedly connected to the frame (5) of the robot charging docking module (1). One end of the charging chamber (20) is open, and a charging locking groove (15) is provided inside the charging chamber (20).

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