CN109921233A - A kind of Underwater Docking Device - Google Patents

A kind of Underwater Docking Device Download PDF

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Publication number
CN109921233A
CN109921233A CN201711329091.3A CN201711329091A CN109921233A CN 109921233 A CN109921233 A CN 109921233A CN 201711329091 A CN201711329091 A CN 201711329091A CN 109921233 A CN109921233 A CN 109921233A
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CN
China
Prior art keywords
plate
underwater
support frame
fixed ring
hydraulic cylinder
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CN201711329091.3A
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Chinese (zh)
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CN109921233B (en
Inventor
郑荣
梁洪光
于闯
国婧倩
李默竹
任福琳
吕厚权
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中国科学院沈阳自动化研究所
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Priority to CN201711329091.3A priority Critical patent/CN109921233B/en
Publication of CN109921233A publication Critical patent/CN109921233A/en
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Publication of CN109921233B publication Critical patent/CN109921233B/en

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Abstract

The present invention relates to a kind of docking facilities, protection mechanism is placed in the bottom, and the both ends of protection mechanism are separately installed with guiding mechanism and axial positioning mechanism, is equipped with circumferentially positioned mechanism on the top of protection mechanism;Underwater mobile vehicle is entered in protection mechanism by guiding mechanism, and passes through axial positioning mechanism axially position;Circumferentially positioned mechanism includes the main frame being mounted on protection mechanism; the structure of main frame two sides is identical, arranged symmetrically; every side includes hydraulic cylinder A, link mechanism and encircles part; one end of hydraulic cylinder A is articulated on main frame; the other end is connected with link mechanism; the bottom for being partially attached to link mechanism is encircled, it is circumferentially positioned to the progress of underwater mobile vehicle fore body by two sides by the driving of hydraulic cylinder A;The upper end of push-pull structure is mounted on main frame, and lower end is connected with the pluggable connector of watertight.The present invention has the characteristics that positioning accuracy height, high reliablity, charge efficiency is high, data transmission capabilities are strong, module degree is high, applicability is wide.

Description

A kind of Underwater Docking Device

Technical field

The invention belongs to Underwater Engineering field, specifically one kind can be mobile vehicle electric energy supplement and will under water The observation data etc. that mobile vehicle obtains pass the Underwater Docking Device on land back.

Background technique

Underwater Docking Device has more and more wide application on engineering and underwater kit under water, may be implemented underwater The multiple functions such as charging, underwater data transmission, Underwater loading exchange and underwater accurate assembly, main application engineering under water The numerous areas such as equipment, seabed observation network, underwater robot.Underwater stationary nodes and underwater mobile vehicle are under water usually very Hardly possible realizes autonomous docking, this has very high requirement to the precision and adjustment capability of Underwater Docking Device.

Summary of the invention

It is realized with underwater mobile vehicle in order to meet underwater stationary nodes and is independently docked under water, it is an object of the invention to A kind of Underwater Docking Device is provided.The Underwater Docking Device can be realized to be docked with the accurate of underwater mobile vehicle, and is finally led to It crosses underwater pluggable connector and realizes electrical connection, so that completing is underwater mobile vehicle electric energy supplement and the function of uploading data.

The purpose of the present invention is achieved through the following technical solutions:

The present invention includes guiding mechanism, protection mechanism, circumferentially positioned mechanism, axial positioning mechanism and push-pull structure, wherein Protection mechanism is placed in the bottom, and one end of the guiding mechanism is connected with one end of the protection mechanism, and the other end is to move under water Dynamic load body navigates by water the free end for realizing guiding in place;The other end of the protection mechanism is equipped with axial positioning mechanism, in the guarantor The top of shield mechanism is equipped with circumferentially positioned mechanism;Underwater mobile vehicle is directed into protection mechanism by guiding mechanism, and Pass through the axial positioning mechanism axially position;The circumferentially positioned mechanism includes the main frame being mounted on protection mechanism, should The structure of main frame two sides is identical, arranged symmetrically, and every side includes hydraulic cylinder A, link mechanism and encircles part, described hydraulic One end of cylinder A is articulated on main frame, and the other end is connected with the link mechanism, and described encircle is partially attached to link mechanism Bottom, it is circumferentially positioned to the progress of underwater mobile vehicle fore body by two sides by the driving of hydraulic cylinder A;The upper end of the push-pull structure It is mounted on main frame, lower end is connected with the pluggable connector of watertight, and mobile vehicle is logical under water for the pluggable connector of the watertight It crosses after the circumferentially positioned mechanism and axial positioning mechanism positioning and realizes underwater pluggable with underwater mobile vehicle;

Wherein: the link mechanism includes connecting rod A, connecting rod B and connection frame, and one end of connecting rod A and connecting rod B are respectively articulated with In on the main frame, the other end is hinged with the upper and lower ends of the connection frame respectively, and the other end of the hydraulic cylinder A is articulated with On connecting rod A;The part that encircles includes arc plate and positioning pin, and one end of the arc plate is installed on the bottom end of the connection frame, another It holds arc-shaped and the positioning pin is installed;Underwater mobile vehicle fore body enter main frame two sides encircle part encircle model After enclosing, by the link mechanism of the synchronous driving two sides hydraulic cylinder A described in two sides, and then by the link mechanism synchronous drive institute of two sides Arc plate is stated to encircle underwater mobile vehicle fore body;The two sides of the underwater mobile vehicle fore body are mounted on triangular groove, the arc Locating slot on plate enters in the triangular groove when encircling underwater mobile vehicle fore body, realizes the circumferential direction of underwater mobile vehicle fore body Positioning;

One end of the hydraulic cylinder A is connected by T-type plate with main frame, and the riser of the T-type plate is connect with the main frame, Pedestal is installed, one end of the hydraulic cylinder A is articulated on the pedestal on transverse slat;Between the riser and main frame of the T-type plate Equipped with intermediate plate, threaded hole A is offered on the intermediate plate, accordingly offer bar shaped with threaded hole A on the riser of the T-type plate Hole A, the T-type plate can be moved up and down by strip-shaped hole A and threaded hole A, and then realize that the arc plate encircles the increase or contracting of diameter It is small;

One end of the arc plate is plate, backing plate is equipped between the plate and the bottom end of the connection frame, on the backing plate Vertically uniformly distributed threaded hole B and transversely uniformly distributed threaded hole C is offered respectively;On the plate of arc plate one end vertically Offer strip-shaped hole B corresponding with threaded hole B, the arc plate realized by strip-shaped hole B and threaded hole B encircle part on move down It is dynamic;Strip-shaped hole C corresponding with threaded hole C is transversely offered on the bottom end of the connection frame, the backing plate passes through strip-shaped hole C And threaded hole C realizes moving left and right for backing plate, and then realizes that the position of the positioning pin is adjustable;The other end outer surface of arc plate is set There is the nylon sheet of arc, which is connect by positioning pin with the other end of the arc plate;

The heel row for encircling part, i.e., the described underwater mobile vehicle fore body move back direction, equipped with being mounted on connection frame On auxiliary righting encircle part, it includes arc plate and nylon sheet which, which encircles part, and one end of the arc plate is plate, institute It states and is equipped with backing plate between plate and the bottom end of the connection frame, offer vertically uniformly distributed threaded hole B respectively on the backing plate And transversely uniformly distributed threaded hole C;Strip-shaped hole corresponding with threaded hole B is vertically offered on the plate of arc plate one end B, the arc plate encircle moving up and down for part by strip-shaped hole B and threaded hole B realization;It is transversely opened on the bottom end of the connection frame Equipped with strip-shaped hole C corresponding with threaded hole C, the backing plate realizes moving left and right for backing plate by strip-shaped hole C and threaded hole C; The other end of the arc plate is arc-shaped, and the nylon sheet is also arc-shaped, is mounted on the other end of the arc plate;

The axial positioning mechanism includes rear connecting hinge carrier bar, hydraulic cylinder B, support frame A, guiding axis, support rod, support frame B, preceding connecting hinge carrier bar, bow overhead guard and slide assemblies, wherein support frame A is connected with support frame B by support rod, in the support Guiding axis is equipped between frame A and support frame B;The slide assemblies are slidably connected with the guiding axis, the rear connecting hinge carrier bar peace On support frame A, the preceding connecting hinge carrier bar is mounted on slide assemblies, the both ends of the hydraulic cylinder B respectively with forward and backward company It is hinged to connect flap, the slide assemblies is driven to move back and forth between support frame A and support frame B along guiding axis;The sliding Component includes the preceding slip ring and rear slip ring being connected with each other, and is respectively connected on the preceding slip ring and rear slip ring and slides company with the guiding axis The suspension strut block connect before the preceding connecting hinge carrier bar is mounted on slip ring, is equipped with bow overhead guard on the rear slip ring;

Slip ring is divided into fixed ring A and fixed ring B after described, and fixed ring A is connected with each other with fixed ring B, in the fixation It is connected with to be connected on suspension strut the block A, the fixed ring B being slidably connected with guiding axis on ring A and be slidably connected with guiding axis Suspension strut block B;The fixed ring A and fixed ring B is semicircle, solid by slip-knot bolt, pin shaft, split pin and nut It connects together, forms a circular rear slip ring;

The preceding slip ring is divided into fixed ring C and fixed ring D, and fixed ring C is connected with each other with fixed ring D, in the fixation It is connected with to be connected on suspension strut the block B, the fixed ring D being slidably connected with guiding axis on ring C and be slidably connected with guiding axis Suspension strut block A;The fixed ring C and fixed ring D is semicircle, solid by slip-knot bolt, pin shaft, split pin and nut It connects together, forms a circular preceding slip ring;

The suspension strut block A and suspension strut block B passes through copper sheathing A respectively and copper sheathing B is slidably connected with guiding axis, this is outstanding Hang the axis hole F or axis hole G that accommodating copper sheathing A or copper sheathing B is offered on supporting block A and suspension strut block B;During the copper sheathing A is Hollow structure, axial cross section are " T " shape;The copper sheathing B is hollow structure, and axial cross section is " T " shape, and along axial direction on copper sheathing B Open C equipped with " u "-shaped;Axis hole G on the suspension strut block B accordingly offer opening A, the copper sheathing B with suspension When supporting block B is installed, opening A and open C towards identical;

Support frame as described above A and support frame B is circular ring shape, and circumference is equipped with plane, support frame as described above A and support frame B Upon connection, the respective co-planar;Be equipped on support frame as described above A and support frame B the axis hole C being connect with support rod and It is equipped with opening B for the outer edge of any axis hole D on the axis hole D that guiding axis passes through, support frame as described above A or support frame B, this is opened Guiding shaft holder is connected at mouth B;

The push-pull structure includes installation pedestal, hydraulic cylinder C, horizontal base, supported flange, rotating dog, locating part, adjustment Mechanism, permeable adapter and switching cabin, wherein one end of installation pedestal is mounted on the main frame, the hydraulic cylinder C's Cylinder body and the other end of the installation pedestal are hinged, and the end of hydraulic stem is connected with rotating dog, one end installation of the horizontal base On the main frame, the other end connect with supported flange and realizes the guiding and fixation of the hydraulic cylinder C;The rotating dog Side be equipped with the locating part that is mounted on main frame, which realizes rotation angle limitation by the locating part;It is described Be connected on rotating dog under compensation water in docking operation position deviation adjustment mechanism, one end of the adjustment mechanism and rotation Pin is connected, with the rotating dog synchronous rotary, and the other end of the adjustment mechanism is connect with one end of permeable adapter, this is permeable The other end of adapter is connected with switching cabin, and underwater electrical connector buttock line is installed in one end of the switching cabin, which patches Part buttock line is led on power supply unit by permeable adapter, the other end and the pluggable connector phase of watertight of the switching cabin Even, the pluggable connector of the watertight and underwater mating equipment, which are realized, plugs, and underwater mating integration of equipments buttock line is in the switching cabin It is interior to be electrically connected with the realization of underwater electrical connector buttock line;

One end of the horizontal base is T-type plate, the other end and camber plate, and the T-type horizontal edge of the T-type plate is mounted on one side On the underwater fixed knot framework, hard side connect with the camber plate, the two sides of the camber plate be for supported flange phase Engaging lug even;It is camber corresponding with camber plate among the supported flange, the two sides of the camber are engaging lug;The camber Hydraulic cylinder C is fixedly clamped by plate and supported flange;

The centre of the rotating dog is provided with the threaded hole being threadedly coupled with hydraulic stem, in the rotating dog close to the locating part Side be equipped with pin rod;The hard plate of parallel two that the locating part has a plate and is mounted below the plate, the rotation It ships and resell on another market and rotates and move axially with hydraulic stem, by the rotation angle for realizing limitation rotating dog between the hard plate of pin rod insertion two;

The adjustment mechanism includes protective cover, Coupling Shaft, Hooks coupling universal coupling and adjusts spring, above and below the Hooks coupling universal coupling Two sides are equipped with Coupling Shaft, and respectively with Hooks coupling universal coupling pin joint, the other end is respectively connected with guarantor for one end of the Coupling Shaft of every side The protective cover of shield, two sides is connected with rotating dog and permeable adapter respectively;It is equipped between the protective cover of two sides The adjustment spring outside Coupling Shaft and Hooks coupling universal coupling is covered, the both ends of the adjustment spring are supported with the protective cover of two sides respectively It connects;The side of the protective cover has the groove and annular groove being arranged concentrically, and the other end of the Coupling Shaft is placed in recessed In slot, the end accommodation of the adjustment spring is in annular groove;The bolt being connected with groove is offered on the protective cover Hole, the protective cover are connected by the bolt in bolt hole with the Coupling Shaft;

Long-range guide device is installed, the top of the protection mechanism is equipped with Communication Control system on the guiding mechanism System, the long-range guide device, communication control system are connect with controller.

Advantages of the present invention and good effect are as follows:

1. the present invention devises a kind of Underwater Docking Device, it can be achieved that for underwater mobile vehicle electric energy supplement and upload data Function.

2. the present invention has the characteristics that positioning accuracy is high;The present invention is matched by multiple structures, is directed to week from early period To adjustment and it is axially adjustable, finally to carrier realize high accuracy positioning.

3. the present invention has the characteristics that high reliablity;The present invention uses hydraulic system for driving force, and failure rate is low, is suitble to The environmental applications such as underwater.

4. the present invention has the characteristics that charge efficiency is high;It is direct that the present invention by underwater pluggable connector realizes circuit Connection, compared to contactless charging similar both at home and abroad, charge efficiency is high.

5. the present invention has the characteristics that data transmission capabilities are strong;The present invention realizes that data pass by underwater pluggable connector Defeated, transmission rate is high.

6. the present invention has the characteristics that the degree of modularity is high;The present invention includes long-range guide device, guiding mechanism, protection machine Multiple modularized equipments such as structure, positioning mechanism, push-pull structure, communication control system, each module device functional independence with each other, just In maintenance and detection.

7. the present invention has the characteristics that adapt to a wide range of depth of water.Part of the present invention can bear the pressure of the big depth of water Power has extensive adaptability to different water depth.

8. the present invention has the characteristics that applicability is wide.The present apparatus can according to demand, for different types of underwater movement Carrier carries out energy supplement and data transmission, has a wide range of application.

Detailed description of the invention

Fig. 1 is overall structure main view of the invention;

Fig. 2 is the left view of Fig. 1;

Fig. 3 is the top view of Fig. 1;

Fig. 4 is the structural front view of guiding mechanism of the present invention;

Fig. 5 is A-A cross-sectional view in Fig. 4;

Fig. 6 is the structural front view of protection mechanism of the present invention;

Fig. 7 is the bottom view of Fig. 6;

Fig. 8 is the top view of Fig. 6;

Fig. 9 is B-B cross-sectional view in Fig. 6;

Figure 10 is C-C cross-sectional view in Fig. 6;

Figure 11 is the schematic perspective view of the circumferentially positioned mechanism of the present invention;

Figure 12 is the explosive view of the circumferentially positioned mechanism of the present invention;

Figure 13 is one of the schematic perspective view of axial positioning mechanism of the present invention;

Figure 14 is the two of the schematic perspective view of axial positioning mechanism of the present invention;

Figure 15 is the left view of axial positioning mechanism of the present invention;

Figure 16 is the explosive view of axial positioning mechanism of the present invention;

Figure 17 is the schematic perspective view of pulley arrangement in Figure 13;

Figure 18 is the explosive view of pulley arrangement in Figure 13;

Figure 19 is the structural schematic diagram of support frame A in Figure 13;

Figure 20 is the structural schematic diagram of support frame B in Figure 13;

Figure 21 is the structural schematic diagram of suspension strut block A in Figure 13;

Figure 22 is the structural schematic diagram of suspension strut block B in Figure 13;

Figure 23 is the schematic perspective view of copper sheathing A in Figure 16;

Figure 24 is the schematic perspective view of copper sheathing B in Figure 16;

Figure 25 is the schematic perspective view of bow overhead guard in Figure 13;

Figure 26 is the overall structure diagram of push-pull structure of the present invention;

Figure 27 is D-D cross-sectional view in Figure 26;

Figure 28 is the schematic perspective view of horizontal base in Figure 26;

Figure 29 is the structural front view of supported flange in Figure 26;

Figure 30 is the structure top view of rotating dog in Figure 26;

Figure 31 is the structural side view of locating part in Figure 26;

Figure 32 is the structure sectional view of adjustment mechanism in Figure 26;

Figure 33 is the structural front view of permeable adapter in Figure 26;

Figure 34 is E-E cross-sectional view in Figure 33;

Figure 35 is the structure sectional view of protective cover in Figure 32;

Figure 36 is the structural schematic diagram of Coupling Shaft in Figure 32;

Figure 37 is the structural front view of sealing cabin mounting flange in Fig. 6;

Figure 38 is the top view of Figure 37;

Wherein: 1 is guiding mechanism, and 101 be mounting flange;

2 be protection mechanism, and 201 be aluminum frame, and 202 be non-metal board, and 203 be support frame, and 204 be channel steel, and 205 be sealed compartment Body mounting flange, 206 be plate, and 207 be riser, and 208 be sealing cabin;

3 be circumferentially positioned mechanism, and 301 be main frame, and 302 be intermediate plate, and 303 be T-type plate, and 304 be pedestal, and 305 be liquid Cylinder pressure A, 306 be connecting rod A, and 307 be hinge seat A, and 308 be connecting rod B, and 309 be connection frame, and 310 be backing plate, and 311 be arc plate, 312 It is positioning pin for nylon sheet, 313,314 be hinge seat B, and 315 be strip-shaped hole A, and 316 be threaded hole A, and 317 be axis hole A, and 318 are Axis hole B, 319 be strip-shaped hole B, and 320 be threaded hole B, and 321 be strip-shaped hole C, and 322 be threaded hole C, and 323 be triangular groove;

4 be axial positioning mechanism, and 401 be rear connecting hinge carrier bar, and 402 be connects hinge, and 403 be hydraulic cylinder B, and 404 be branch Support A, 405 be guiding axis, and 406 be support rod, and 407 be support frame B, and 408 be preceding connecting hinge carrier bar, and 409 be fixed ring D, 410 It is suspension strut block A for copper sheathing A, 411,412 be fixed ring A, and 413 be bow overhead guard, and 414 be fixed ring B, and 415 be suspension strut Block B, 416 be support tube, and 417 be copper sheathing B, and 418 be fixed ring C, and 419 be guiding shaft holder, and 420 be plane, and 421 be axis hole C, 422 be axis hole D, and 423 be axis hole E, and 24 be axis hole F, and 425 be opening A, and 426 be axis hole G, and 427 be opening B, and 428 be opening C;

5 be push-pull structure, and 501 be installation pedestal, and 502 be hydraulic cylinder C, and 503 be horizontal base, and 5031 be T-type plate, 5032 It is engaging lug for camber plate, 5033,504 be supported flange, and 505 be rotating dog, and 5051 be pin rod, and 5052 be threaded hole, and 506 are Locating part, 507 be adjustment mechanism, and 5071 be protective cover, and 50711 be groove, and 50712 be annular groove, and 50713 be bolt hole, 5072 be Coupling Shaft, and 50721 be pin hole, and 5073 be Hooks coupling universal coupling, and 5074 be adjustment spring, and 508 be permeable adapter, 5081 It is end flanges for support column, 5082,509 be switching cabin, and 510 be hydraulic stem, and 511 be the pluggable connector of watertight, and 512 are Underwater electrical connector buttock line;

6 be communication control system, and 7 be underwater mobile vehicle fore body.

Specific embodiment

The invention will be further described with reference to the accompanying drawing.

As shown in Figures 1 to 3, the present invention includes guiding mechanism 1, protection mechanism 2, circumferentially positioned mechanism 3, axial positioning mechanism 4, push-pull structure 5 and communication control system 6, wherein protection mechanism 2 is placed in the bottom, one end of guiding mechanism 1 and the protection machine Structure 2 is connected, and the other end is the free end for realizing guiding in place to the navigation of underwater mobile vehicle;The other end of protection mechanism 2 is installed There is axial positioning mechanism 4, is separately installed with circumferentially positioned mechanism 3 and communication control system 6 on the top of the protection mechanism 2.Water Lower mobile vehicle is directed into protection mechanism 2 by guiding mechanism 1, and passes through circumferentially positioned mechanism 3 and axial positioning mechanism 4 The positioning of circumferential and axial is carried out respectively.Push-pull structure 5 is installed in circumferentially positioned mechanism 3.

As shown in Figure 4, Figure 5, guiding mechanism 1 is the excessive toroidal structure of line smoothing, and there are four one end designs Mounting flange 101 is bolted and realizes that it is connected with 2 one end of protection mechanism.The other end of guiding mechanism 1 is towards under water The outside of docking facilities, for realizing the guiding of the autonomous docking of carrier.Long-range guide device is installed, remotely on guiding mechanism 1 Guide device is sonar set, and the surrounding of guiding mechanism 1 is connected and installed in by hose clamp, for realizing underwater mobile vehicle Remote guiding.

As shown in Fig. 6~10 and Figure 37, Figure 38, protection mechanism 2 uses tower structure, and main body is rectangular shape Aluminum frame 201, the aluminum frame 201 are made of aluminium sheet and aluminum corner brace, and other each mechanisms are that installation foundation is installed with protection mechanism 2. The inside of protection mechanism 2 is provided with non-metal board 202, and non-metal board 202 is installed by support frame 203 to aluminum frame 201, when with It can play the role of guiding and support when underwater mobile vehicle contact.Support frame 203 is arch form frame structure, and two sides plate is provided with Eight unthreaded holes are bolted and being connected for support frame 203 and aluminum frame 201 may be implemented;There are four the plate that centre is arched upward is opened Unthreaded hole is bolted and being connected for support frame 203 and non-metal board 202 may be implemented.

The downside of protection mechanism 2 is provided with two channel steels 204, for realizing the fixation of axial positioning mechanism 4.Channel steel 204 Centre is provided with 12 unthreaded holes, is bolted and being connected for channel steel 204 and aluminum frame 201 may be implemented;It opens one end of channel steel 204 There are four unthreaded hole, it is bolted and being connected between channel steel 204 and axial positioning mechanism 4 may be implemented.Protection mechanism 2 it is upper Portion is provided with sealing cabin mounting flange 205, for realizing the fixation of sealing cabin 208.Under sealing cabin mounting flange 205 Portion is plate 206, is provided with eight unthreaded holes on the plate 206, is bolted and sealed compartment mounting flange 205 and aluminium may be implemented Being connected between frame 201.The top of sealed compartment mounting flange 205 is the riser 207 of arc, is provided with eight light on the riser 207 Hole, being bolted can be connected with the realization of sealing cabin 208.

As shown in Figure 11, Figure 12, circumferentially positioned mechanism includes the main frame as the structural support of circumferentially positioned mechanism 301, which is mounted in the aluminum frame 201 of protection mechanism 2;The structure of 301 two sides of main frame is identical, arranged symmetrically, often Side includes hydraulic cylinder A305, link mechanism and encircles part;Main frame 301 is the rack basis of every side link mechanism, tool There is required intensity.

One end of hydraulic cylinder A305 is connected by T-type plate 303 with main frame 301, the riser and main frame 301 of T-type plate 303 Between be equipped with the intermediate plate 302 that is mounted on main frame 301, the riser of T-type plate 303 is connect by intermediate plate with main frame 301. It offers threaded hole A316 on intermediate plate 302, accordingly offers strip-shaped hole with threaded hole A316 on the riser of T-type plate 303 A315, T-type plate 303 can be moved up and down in limited range by strip-shaped hole A315 and threaded hole A316, and then realize arc Plate 311, nylon sheet 312 encircle the increase or diminution of diameter, the underwater mobile vehicle suitable for different-diameter.The cross of T-type plate 303 Pedestal 304 is installed, one end of hydraulic cylinder A305 is articulated on the pedestal 304 on plate.The other end and connecting rod of hydraulic cylinder A305 Mechanism is connected, and encircles the bottom for being partially attached to link mechanism.

Link mechanism includes connecting rod A306, connecting rod B308 and connection frame 309, and wherein connecting rod A306 and connecting rod B308 is two Two sides that are a, being symmetricly set on the hydraulic cylinder A305 other end.The other end of hydraulic cylinder A305 is hinged with two connecting rod A306 respectively. It is respectively fixed with hinge seat A307 and hinge seat B314 on main frame 301, one end of two connecting rod A306 and two connecting rod B308 One end it is hinged with hinge seat A307 and hinge seat B314 respectively, the upper and lower ends of connection frame 309 offer and two companies respectively The other end of the other end of bar A306 and two connecting rod B308 hinged axis hole A317, axis hole B318, to constitute one completely Link mechanism.It is symmetrical in 301 two sides of main frame by the driving of hydraulic cylinder A305, guarantee autonomous calibration device itself Stability.

Encircling part includes arc plate 311, nylon sheet 312 and positioning pin 313, and one end of arc plate 311 is mounted on connection frame 309 Bottom end, the other end is arc-shaped and is equipped with positioning pin 313.One end of arc plate 311 is plate, the plate and connection frame 309 It is equipped with backing plate 310 between bottom end, offers vertically uniformly distributed threaded hole B320 and transversely uniformly distributed spiral shell respectively on backing plate 310 Pit C322.Strip-shaped hole B319 corresponding with threaded hole B320 is vertically offered on the plate of 311 one end of arc plate, the arc plate 311 encircle part by strip-shaped hole B319 and threaded hole B320 realization can move up and down in limited range.Connection frame 309 Bottom end on transversely offer strip-shaped hole C321 corresponding with threaded hole C322, backing plate 310 passes through strip-shaped hole C321 and spiral shell Pit C322 realizes that backing plate 310 can be moved left and right in limited range, and then realizes the position adjustability of positioning pin 313. The other end outer surface of arc plate 311 is equipped with the nylon sheet 312 of arc, which passes through positioning pin 313 and arc plate 311 Other end connection, avoids the other end of arc plate 311 and the rigid contact of underwater mobile vehicle fore body 7.

In the heel row for encircling part, i.e., underwater mobile vehicle fore body 7 moves back direction, equipped with being mounted on connection frame 309 Auxiliary righting encircle part, for the righting booster action to underwater mobile vehicle, realize that circular arc is encircled.Auxiliary righting is encircled Part is that righting is assisted to encircle part without positioning pin 313 with the difference for encircling part.That is, auxiliary righting encircles and partially includes Arc plate 311 and nylon sheet 312, one end of arc plate 311 are mounted on the bottom end of connection frame 309, and the other end is arc-shaped.Arc plate 311 One end is plate, and backing plate 310 is equipped between the plate and the bottom end of connection frame 309, is offered respectively on backing plate 310 vertically The threaded hole B320 of cloth and transversely uniformly distributed threaded hole C322.It is vertically offered on the plate of 311 one end of arc plate and screw thread The corresponding strip-shaped hole B319 of hole B320, which, which encircles part by strip-shaped hole B319 and threaded hole B320 realization, is having It can be moved up and down in limit range.Bar shaped corresponding with threaded hole C322 is transversely offered on the bottom end of connection frame 309 Hole C321, backing plate 310 realize that backing plate 310 can carry out left and right shifting in limited range by strip-shaped hole C321 and threaded hole C322 It is dynamic, and then realize the position adjustability of positioning pin 313.The other end outer surface of arc plate 311 is equipped with the nylon sheet 312 of arc, should Nylon sheet 312 is connect with the other end of arc plate 311, and the other end of arc plate 311 and the rigidity of underwater mobile vehicle fore body 7 is avoided to connect Touching.

As shown in Figure 13~25, axial positioning mechanism 4 includes rear connecting hinge carrier bar 401, hydraulic cylinder B403, support frame A404, guiding axis 405, support rod 406, support frame B407, preceding connecting hinge carrier bar 408, bow overhead guard 413 and slide assemblies, wherein Support frame A404 respectively and is listed in head and the tail both ends, is connected by support rod 406 with support frame B407, in support frame A404 and support Guiding axis 405 is equipped between frame B407;Support frame A404 and support frame B407 is circular ring shape, and two are symmetrically arranged on circumference Plane 420, the line between the midpoint of two 420 floor projections of plane pass through the center of circle of support frame;Support frame A404 and support Upon connection, lower end surface keeps concordant to frame B407, i.e., respective plane 420 is coplanar.It is equal on support frame A404 and support frame B407 Equipped with the axis hole A421 being connect with support rod 406 and the axis hole B422 passed through for guiding axis 405.The support frame A404 of the present embodiment By four 406 phase sides of support rod between support frame B407, four support rods 406 are along the circumferential direction uniformly distributed, in support frame Two symmetrically set guiding axis 405 is additionally provided between A404 and support frame B407;Accordingly, on support frame A4 along the circumferential direction Four groups of axis hole C421 have been evenly distributed with, and have opened up the line between two axis holes D422, two axis hole D422 by support frame A404 The center of circle.It has equally along the circumferential direction been evenly distributed with four groups of axis hole C421 on support frame B407, and has opened up two axis hole D422, two Line between axis hole D422 passes through the center of circle of support frame B407.Any axis hole D422 on support frame A404 or support frame B407 Outer edge be equipped with opening B427, the present embodiment is to have opened up opening on one of axis hole D422 on support frame A404 B427, and guiding shaft holder 419 is connected at the B427 that is open, guiding shaft holder 419 and support frame A404 cooperation will guiding Axis 405 is fixed.

Slide assemblies are slidably connected with guiding axis 405.Connecting hinge carrier bar 401 is mounted on the left side of support frame A404 afterwards Above, end face is " U "-shaped, and preceding connecting hinge carrier bar 408 is mounted on slide assemblies, the preceding connecting hinge carrier bar 408 and rear connects hinge Be mounted on connects hinge 402 on 401 opposite side of plate, the head and the tail both ends of hydraulic cylinder B403 respectively with rear connecting hinge carrier bar 401 On connects hinge 402 and preceding connecting hinge carrier bar 408 on connects hinge 402 by pin shaft together with split pin connection, band Dynamic slide assemblies move back and forth between support frame A404 and support frame B407 along guiding axis 405.

Slide assemblies include the preceding slip ring and rear slip ring being connected with each other, and pass through more support tubes between preceding slip ring and rear slip ring 416 are connected.The suspension strut block being slidably connected with guiding axis 405, preceding connecting hinge carrier bar are respectively connected on preceding slip ring and rear slip ring 408 are mounted on preceding slip ring, and bow overhead guard 413 is equipped on rear slip ring.Slip ring is divided into fixed ring A412 and fixed ring B414 afterwards, should Fixed ring A412 and fixed ring B414 is semicircle, is fixed together by slip-knot bolt, pin shaft, split pin and nut, shape At a circular rear slip ring.The suspension strut block A411 being slidably connected with guiding axis 405 is connected on fixed ring A412, Gu Determine to be connected with the suspension strut block B415 being slidably connected with guiding axis 405 on ring B414.Preceding slip ring is divided into fixed ring C418 and consolidates Determine ring D409, fixed ring C418 and fixed ring D409 are semicircle, solid by slip-knot bolt, pin shaft, split pin and nut It connects together, forms a circular preceding slip ring.The suspension branch being slidably connected with guiding axis 405 is connected on fixed ring C418 The suspension strut block A411 being slidably connected with guiding axis 405 is connected on bracer B415, fixed ring D409.Preceding connecting hinge carrier bar 408 both ends are separately fixed on fixed ring C418 and fixed ring D409.By more between fixed ring A412 and fixed ring D409 Root support tube 416 is connected, and is connected between fixed ring B414 and fixed ring C418 by more support tubes 416, fixed ring A412, The axis hole C423 for connecting with support tube 416 is offered on fixed ring B414, fixed ring C418 and fixed ring D409.

Suspension strut block A411 and suspension strut block B415 passes through copper sheathing A410 and copper sheathing B417 respectively and guiding axis 405 is sliding The axis hole of accommodating copper sheathing A410 or copper sheathing B417 is offered on dynamic connection, the suspension strut block A411 and suspension strut block B415 F424 or axis hole G426.One end of suspension strut block A411 is connected by screw to fixed ring D409, another suspension strut block One end of A411 is connected by screw to fixed ring A412, and axis hole F424 is provided with the other end of suspension strut block A411, copper sheathing A410 is connected by screw to suspension strut block A411, and uses transition fit with intermediate axis hole F424.Two suspension struts Two copper sheathing A410 on block A411 keep concentric.Likewise, one end of suspension strut block B415 passes through with fixed ring C418 Screw connection, one end of another suspension strut block B415 are connected by screw to fixed ring B414, and axis hole G426 is provided with outstanding The other end of supporting block B415 is hung, copper sheathing B417 is connected by screw to suspension strut block B415, and the axis hole G426 with centre Using transition fit.Two copper sheathing B417 on two suspension strut block B415 keep concentric.Copper sheathing A410 is hollow structure, Axial cross section is " T " shape;Copper sheathing B417 is hollow structure, and axial cross section is " T " shape, and edge is axially arranged on copper sheathing B417 The open C 428 of " u "-shaped.Axis hole G426 on suspension strut block B415 accordingly offer opening A425, copper sheathing B417 with it is outstanding When hanging supporting block B415 installation, opening A425 and open C 428 towards identical.Two copper sheathing A410 strings are in a guiding axis 5 On, two copper sheathing B417 strings are on another guiding axis 405.Preceding connecting hinge carrier bar 408 and fixed ring D409 and fixed ring C418 The preceding slip ring connection of composition, bow overhead guard 413 are connect with the fixed ring A412 and fixed ring B414 rear slip ring formed, realize bow overhead guard 413 it is circumferentially fixed.

As shown in Figure 27~36, push-pull structure 5 includes installation pedestal 501, hydraulic cylinder C502, horizontal base 503, compresses method Orchid 504, rotating dog 505, locating part 506, adjustment mechanism 507, permeable adapter 508, switching cabin 509 and underwater mating are set Standby, wherein one end of installation pedestal 501 is mounted on main frame 301, and the cylinder body of hydraulic cylinder C502 is another with the installation pedestal 1 End is hinged by positioning pin.

One end of horizontal base 503 is T-type plate 5031, the other end and camber plate 5032, the T-type horizontal edge of the T-type plate 5031 Be bolted on one side realized with main frame 301 be connected, hard side is connect with camber plate 5032, the two sides of the camber plate 5032 It is the engaging lug 5033 for being connected with supported flange 504.It is arc corresponding with camber plate 5032 among supported flange 504 Type, the two sides of the camber are engaging lug.The engaging lug of 504 two sides of supported flange passes through the connection of bolt and 5032 two sides of camber plate Ear 5033 is connected, so that hydraulic cylinder C502 is clamped in centre, realizes the guiding and fixation of hydraulic cylinder C502, makes hydraulic cylinder C502 Remain vertical state.

The centre of rotating dog 505 is provided with threaded hole 5052, the end of hydraulic stem 510 and the threaded hole on rotating dog 505 5052 are threadedly coupled, realization is connected;Rotating dog 505 can realize rotation and axial movement together with hydraulic stem 510.Rotating dog 505 side, which is equipped with to be bolted, realizes connected locating part 506 with underwater fixed knot framework, close in rotating dog 505 The side of locating part 506 is equipped with pin rod 5051.Parallel two that locating part 506 has a plate and is mounted below the plate Hard plate, rotating dog 505 are rotated and are moved axially with hydraulic stem 510, by realizing limitation rotation between the hard plate of the insertion of pin rod 5,051 two The rotation angle of pin 505 guarantees the smooth docking of underwater mating equipment.

Be connected on rotating dog 505 under compensation water in docking operation position deviation adjustment mechanism 507, the adjustment machine One end of structure 507 is connected, with 505 synchronous rotary of rotating dog, the other end of adjustment mechanism 507 and permeable switching with rotating dog 505 One end of part 508 connects.Adjustment mechanism 507 includes protective cover 5071, Coupling Shaft 5072, Hooks coupling universal coupling 5073 and adjustment spring 5074, the two sides up and down of the Hooks coupling universal coupling 5073 are equipped with Coupling Shaft 5072, and the axial cross section of Coupling Shaft 5072 is in T-shape, The vertical edge of the T-shape is provided with for the pin hole 50721 with 5073 pin joint of Hooks coupling universal coupling, the two sides up and down of Hooks coupling universal coupling 5073 Respectively by one end pin joint of positioning pin and two Coupling Shafts 5072, the other end of two Coupling Shafts 5072 pass through respectively bolt and Protective cover 5071 is connected.The protective cover 5071 being located above is bolted to be connected with the realization of rotating dog 505, underlying Protective cover 5071 is bolted to be connected with the realization of permeable connector 508.It is equipped with and covers between the protective cover 5071 of two sides Adjustment spring 5074 outside Coupling Shaft 5072 and Hooks coupling universal coupling 5073, the both ends of the adjustment spring 5074 respectively with two sides Protective cover 5071 abuts, and adjustment spring 5074 is in compressive state always.The side of protective cover 5071, which has, to be arranged concentrically Groove 50711 and annular groove 50712, the other end of Coupling Shaft 5072 is placed in groove 50711, adjusts the end of spring 5074 Portion is placed in annular groove 50712.The bolt hole 50713 being connected with groove 50711, the guarantor are offered on protective cover 5071 Shield 50711 is connected by the bolt in bolt hole 50713 with Coupling Shaft 5072.

One end of permeable adapter 508 is connect with protective cover 5071 underlying in adjustment mechanism 507, the other end with turn Cabin 509 is connect to be connected.Permeable adapter 508 includes four support columns 5081 and two end flanges 5082, four support columns 5081 both ends are respectively connected with end flanges 5082 in a ring, are located in the end flanges 5082 and adjustment mechanism 507 of one end The protective cover 5071 of lower section is connected, and the end flanges 5082 and switching cabin 509 of the other end are connected.

Underwater electrical connector buttock line 512 is installed in the one end for cabin 509 of transferring, which passes through permeable turn Fitting 508 is led on power supply unit, and the other end of switching cabin 509 is connected with the pluggable connector 511 of watertight, which can Plug connector 511 and underwater mating equipment can realize Plug Action, and the integrated buttock line of underwater mating equipment is in switching cabin 509 It is interior to be electrically connected with the realization of underwater electrical connector buttock line 512.

Communication control system 6 is installed within sealing cabin 208, and one end of sealing cabin 208 is provided with connecting hole, is passed through It is bolted and realizes being connected for aluminum frame 201 in sealing cabin 208 and protection mechanism 2.Long-range guide device, communication control system 6 It is connect with controller.

The operation principle of the present invention is that:

The present invention is laid in the bottom, is connected to bank base by optoelectronic composite cable.Underwater Docking Device is all when original state Hydraulic cylinder be in retracted state.Underwater mobile vehicle is navigated by water from distant place, is moved closer under water by long-range guide device Docking facilities.When underwater mobile vehicle is reached near Underwater Docking Device, entered within protection mechanism 2 by guiding mechanism 1.

After underwater mobile vehicle reaches designated position, underwater mobile vehicle fore body 7 enters main frame in circumferentially positioned mechanism 3 What 301 two sides of frame encircled part encircles range, utilizes the connecting rod machine of the synchronous driving two sides the hydraulic cylinder A305 of 301 two sides of main frame Structure realizes 311 encircling to underwater mobile vehicle fore body 7 of two sides arc plate;The positioning pin 313 that two sides encircle part respectively enters water In the range of the triangular groove 323 of lower 7 two sides of mobile vehicle fore body installation, the circumferential Primary Location of underwater mobile vehicle is realized.Week To positioning mechanism 3 in place after, axial positioning mechanism 4 execute extending action, underwater mobile vehicle is gradually urged rearwardly into predetermined Position;In the process, underwater mobile vehicle fore body is realized in the positioning pin 313 of every side moves ipsilateral triangular groove 323 limitation 7 circumferential correction;When positioning pin 313 reaches the top of triangular groove 323, it is fixed to the circumferential and axial of underwater mobile vehicle to realize Position.After underwater mobile vehicle is accurately positioned, push-pull structure 5 executes extending action, realizes that watertight can by its self-adjusting ability The underwater accurate docking of connector 11 is plugged, to be embodied as underwater mobile vehicle electric energy supplement and data upload.

Push-pull structure 5 selects hydraulic cylinder C502 as a source of power, can pass through the extension elongation of control hydraulic cylinder C502 Underwater accurate docking is realized with thrust.Hydraulic cylinder C502 can be precisely controlled stroke, be realized by the control to its stroke underwater Docking movement.Underwater hydraulic system accurately controls maximum thrust simultaneously, by controlling its maximum thrust, it is ensured that underwater mating Basic contact engaging and separating force needed for equipment, at the same again can effective protection underwater mating equipment safety.

Underwater mating equipment usually can allow the angular deviation set, and push-pull structure 5 utilizes locating part 506 and rotating dog 505 effectively controls rotate angle, it is made to meet the needs of underwater mating equipment.

The adjustment spring 5074 in compressive state not only has required rigidity always in adjustment mechanism 507, but also can realize The misalignment angle and displacement of underwater mating equipment may be implemented in the bending angle of setting.Hooks coupling universal coupling 5073, which primarily serves, to be held By pulling force and with the adjustment curved effect of spring 5074.When the service of connection devices executes the movement extracted under water, universal joint shaft Device 5073 can bear the pulling force of hydraulic cylinder C502 offer.

Underwater electrical connector buttock line 512 in switching cabin 509 can be drawn by permeable adapter 508.509 liang of cabin of switching End is opened by unthreaded hole, and one end can realize that watertight is connect with underwater mating equipment, and the other end can realize water with underwater electrical connector Close connection.

After underwater mobile vehicle terminates charging and data transmission, push-pull structure 5, axial positioning mechanism 4 and circumferential fixed Position mechanism 3 successively executes withdrawal movement, and underwater mobile vehicle exits Underwater Docking Device by propeller reversion.

Claims (15)

1. a kind of Underwater Docking Device, it is characterised in that: including guiding mechanism (1), protection mechanism (2), circumferentially positioned mechanism (3), axial positioning mechanism (4) and push-pull structure (5), wherein protection mechanism (2) is placed in the bottom, the guiding mechanism (1) One end is connected with one end of the protection mechanism (2), and the other end is the free end for realizing guiding in place to the navigation of underwater mobile vehicle; The other end of the protection mechanism (2) is equipped with axial positioning mechanism (4), is equipped with circumferential direction on the top of the protection mechanism (2) Positioning mechanism (3);Underwater mobile vehicle is directed into protection mechanism (2) by guiding mechanism (1), and fixed by the axial direction Position mechanism (4) axially position;The circumferentially positioned mechanism (3) includes the main frame (301) being mounted on protection mechanism (2), should The structure of main frame (301) two sides is identical, arranged symmetrically, and every side includes hydraulic cylinder A (305), link mechanism and encircles portion Point, one end of the hydraulic cylinder A (305) is articulated on main frame (1), and the other end is connected with the link mechanism, described to encircle Be partially attached to the bottom of link mechanism, by the driving of hydraulic cylinder A (305) by two sides to underwater mobile vehicle fore body (7) into Row is circumferentially positioned;The upper end of the push-pull structure (5) is mounted on main frame (301), and lower end is connected with that watertight is pluggable to be patched Part (511), mobile vehicle is by the circumferentially positioned mechanism (3) and axially fixed under water for the pluggable connector of the watertight (511) Underwater pluggable is realized with underwater mobile vehicle after position mechanism (4) positioning.
2. Underwater Docking Device according to claim 1, it is characterised in that: the link mechanism include connecting rod A (306), One end of connecting rod B (308) and connection frame (309), connecting rod A (306) and connecting rod B (308) are hingedly connected to the main frame (301) on, the other end is hinged with the upper and lower ends of the connection frame (309) respectively, the other end hinge of the hydraulic cylinder A (305) It is connected on connecting rod A (306);The part that encircles includes arc plate (311) and positioning pin (313), and one end of the arc plate (311) is installed In the bottom end of the connection frame (309), the other end is arc-shaped and is equipped with the positioning pin (313);Underwater mobile vehicle fore body (7) into main frame (301) two sides encircle part encircle range after, pass through the synchronous driving of hydraulic cylinder A (305) described in two sides The link mechanism of two sides, and then the arc plate (311) as described in the link mechanism synchronous drive of two sides is to underwater mobile vehicle fore body (7) It encircles;The two sides of the underwater mobile vehicle fore body (7) are mounted on triangular groove (323), the locating slot on the arc plate (311) (313) enter in the triangular groove (323) when encircling underwater mobile vehicle fore body (7), realize underwater mobile vehicle fore body (7) It is circumferentially positioned.
3. Underwater Docking Device according to claim 2, it is characterised in that: one end of the hydraulic cylinder A (305) passes through T Template (303) is connected with main frame (301), and the riser of the T-type plate (303) is connect with the main frame (301), installs on transverse slat Have pedestal (304), one end of the hydraulic cylinder A (305) is articulated on the pedestal (304);The riser of the T-type plate (303) with Intermediate plate (302) are equipped between main frame (301), are offered threaded hole A (316) on the intermediate plate (302), the T-type plate (303) strip-shaped hole A (315) are accordingly offered with threaded hole A (316) on riser, which passes through strip-shaped hole A (315) and threaded hole A (316) can be moved up and down, and then realize that the arc plate (311) encircles the increase or diminution of diameter.
4. Underwater Docking Device according to claim 2, it is characterised in that: one end of the arc plate (311) is plate, should Backing plate (310) are equipped between plate and the bottom end of the connection frame (309), are offered respectively vertically on the backing plate (310) Uniformly distributed threaded hole B (320) and transversely uniformly distributed threaded hole C (322);On the plate of described arc plate (311) one end vertically Strip-shaped hole B (319) corresponding with threaded hole B (320) is offered, which passes through strip-shaped hole B (319) and threaded hole B (320) it realizes and encircles moving up and down for part;It is transversely offered on the bottom end of the connection frame (309) and threaded hole C (322) Corresponding strip-shaped hole C (321), the backing plate (310) realize backing plate (310) by strip-shaped hole C (321) and threaded hole C (322) Move left and right, and then realize that the position of the positioning pin (313) is adjustable;The other end outer surface of arc plate (311) is equipped with arc Nylon sheet (312), which is connect by positioning pin (313) with the other end of the arc plate (311).
5. Underwater Docking Device according to claim 2, it is characterised in that: the heel row for encircling part, i.e., the described water Lower mobile vehicle fore body (7) moves back direction, encircles part equipped with the auxiliary righting being mounted on connection frame (309), the auxiliary It includes arc plate (311) and nylon sheet (312) that part is encircled in righting, and one end of the arc plate (311) is plate, the plate with it is described Backing plate (310) are equipped between the bottom end of connection frame (309), offer vertically uniformly distributed screw thread respectively on the backing plate (310) Hole B (320) and transversely uniformly distributed threaded hole C (322);It is vertically offered on the plate of described arc plate (311) one end and spiral shell The corresponding strip-shaped hole B (319) of pit B (320), the arc plate (311) are realized by strip-shaped hole B (319) and threaded hole B (320) Encircle moving up and down for part;It is transversely offered on the bottom end of the connection frame (309) corresponding with threaded hole C (322) Strip-shaped hole C (321), the backing plate (310) realize that the left and right of backing plate (310) is moved by strip-shaped hole C (321) and threaded hole C (322) It is dynamic;The other end of the arc plate (311) is arc-shaped, and the nylon sheet (312) is also arc-shaped, is mounted on the arc plate (311) The other end.
6. Underwater Docking Device according to claim 1, it is characterised in that: the axial positioning mechanism (4) connects after including Connect flap (401), hydraulic cylinder B (403), support frame A (404), guiding axis (405), support rod (406), support frame B (407), Preceding connecting hinge carrier bar (408), bow overhead guard (413) and slide assemblies, wherein support frame A (404) and support frame B (407) pass through branch Strut (406) is connected, and is equipped with guiding axis (405) between support frame as described above A (404) and support frame B (407);The Slide Group Part is slidably connected with the guiding axis (405), and the rear connecting hinge carrier bar (401) is mounted on support frame A (404), connects before described Flap (408) is connect to be mounted on slide assemblies, the both ends of the hydraulic cylinder B (403) respectively with forward and backward connecting hinge carrier bar (408,403) hingedly, drive the slide assemblies past between support frame A (404) and support frame B (407) along guiding axis (405) It is multiple mobile;The slide assemblies include the preceding slip ring that is connected with each other and rear slip ring, be respectively connected on the preceding slip ring and rear slip ring with The suspension strut block that the guiding axis (405) is slidably connected, it is described before the preceding connecting hinge carrier bar (408) is mounted on slip ring Bow overhead guard (413) are installed on slip ring afterwards.
7. Underwater Docking Device according to claim 6, it is characterised in that: it is described after slip ring be divided into fixed ring A (412) with Fixed ring B (414), fixed ring A (412) and fixed ring B (414) are connected with each other, and are connected on the fixed ring A (412) The suspension strut block A (411) being slidably connected with guiding axis (405) is connected on the fixed ring B (414) and guiding axis (405) The suspension strut block B (415) being slidably connected;The fixed ring A (412) and fixed ring B (414) are semicircle, pass through slip-knot Bolt, pin shaft, split pin and nut are fixed together, and form a circular rear slip ring.
8. Underwater Docking Device according to claim 6, it is characterised in that: the preceding slip ring be divided into fixed ring C (418) with Fixed ring D (409), fixed ring C (418) and fixed ring D (409) are connected with each other, and are connected on the fixed ring C (418) The suspension strut block B (415) being slidably connected with guiding axis (405) is connected on the fixed ring D (409) and guiding axis (405) The suspension strut block A (411) being slidably connected;The fixed ring C (418) and fixed ring D (409) are semicircle, pass through slip-knot Bolt, pin shaft, split pin and nut are fixed together, and form a circular preceding slip ring.
9. Underwater Docking Device according to claim 6, it is characterised in that: the suspension strut block A (411) and suspension branch Bracer B (415) is slidably connected by copper sheathing A (410) and copper sheathing B (417) with guiding axis (405) respectively, suspension strut block A (411) and on suspension strut block B (415) accommodating copper sheathing A (410) or the axis hole F (424) or axis hole of copper sheathing B (417) are offered G(426);The copper sheathing A (410) is hollow structure, and axial cross section is " T " shape;The copper sheathing B (417) is hollow structure, axial Section is " T " shape, and along the open C (428) for being axially arranged with " u "-shaped on copper sheathing B (417);The suspension strut block B (415) On axis hole G (426) accordingly offer opening A (425), the copper sheathing B (417) with suspension strut block B (415) install When, opening A (425) and open C (428) towards identical.
10. Underwater Docking Device according to claim 6, it is characterised in that: support frame as described above A (404) and support frame B (407) be circular ring shape, and circumference is equipped with plane (420), support frame as described above A (404) and support frame B (407) upon connection, The respective plane (420) is coplanar;It is equipped on support frame as described above A (404) and support frame B (407) with support rod (406) even The axis hole C (421) connect the and axis hole D (422) passed through for guiding axis (405), support frame as described above A (404) or support frame B (407) On the outer edge of any axis hole D (422) be equipped with opening B (427), be connected with guiding shaft holder at opening B (427) (419)。
11. Underwater Docking Device according to claim 1, it is characterised in that: the push-pull structure (5) includes installation pedestal (501), hydraulic cylinder C (502), horizontal base (503), supported flange (504), rotating dog (505), locating part (506), adjustment machine Structure (507), permeable adapter (508) and switching cabin (509), wherein one end of installation pedestal (501) is mounted on the main frame On frame (301), the cylinder body of the hydraulic cylinder C (502) and the other end of the installation pedestal (501) are hinged, the end of hydraulic stem (510) Portion is connected with rotating dog (505), and one end of the horizontal base (503) is mounted on the main frame (301), the other end and pressure Tight flange (504) connects and realizes the guiding and fixation of the hydraulic cylinder C (502);The side of the rotating dog (505) is equipped with The locating part (506) being mounted on main frame (301), the rotating dog (505) realize rotation angle by the locating part (506) Limitation;Be connected on the rotating dog (505) under compensation water in docking operation position deviation adjustment mechanism (507), should One end of adjustment mechanism (507) is connected, with the rotating dog (505) synchronous rotary, the adjustment mechanism with rotating dog (505) (507) the other end is connect with the one end of permeable adapter (508), the other end and switching cabin of the permeable adapter (508) (509) it is connected, underwater electrical connector buttock line (512) are installed in one end of switching cabin (509), the underwater electrical connector buttock line (512) it is led on power supply unit by permeable adapter (508), the other end of switching cabin (509) can be inserted with watertight It pulls out connector (511) to be connected, the pluggable connector of the watertight (511) and underwater mating equipment are realized and plugged, underwater mating equipment Integrated buttock line, which is realized in the switching cabin (509) with underwater electrical connector buttock line (512), to be electrically connected.
12. Underwater Docking Device according to claim 11, it is characterised in that: one end of the horizontal base (503) is T Template (5031), the other end and camber plate (5032), being mounted on one side for the T-type horizontal edge of the T-type plate (5031) are described underwater solid Determine on structure-steel framing, hard side is connect with the camber plate (5032), the two sides of the camber plate (5032) are to be used for and supported flange (504) connected engaging lug (5033);It is camber corresponding with camber plate (5032), the arc among the supported flange (504) The two sides of type are engaging lug;Hydraulic cylinder C (502) is fixedly clamped by the camber plate (5032) with supported flange (504).
13. Underwater Docking Device according to claim 11, it is characterised in that: the centre of the rotating dog (505) is provided with The threaded hole (5052) being threadedly coupled with hydraulic stem (510), in the rotating dog (505) close to the side of the locating part (506) Equipped with pin rod (5051);The hard plate of parallel two that the locating part (506) has a plate and is mounted below the plate, institute It states rotating dog (505) to rotate and move axially with hydraulic stem (510), be limited by being realized between the hard plate of the pin rod (5051) insertion two The rotation angle of rotating dog (505) processed.
14. Underwater Docking Device according to claim 11, it is characterised in that: the adjustment mechanism (507) includes protection Cover (5071), Coupling Shaft (5072), Hooks coupling universal coupling (5073) and adjustment spring (5074), the Hooks coupling universal coupling (5073) it is upper Lower two sides are equipped with Coupling Shaft (5072), and one end of the Coupling Shaft (5072) of every side is sold with Hooks coupling universal coupling (5073) respectively Connect, the other end is respectively connected with protective cover (5071), the protective cover (5071) of two sides respectively with rotating dog (505) and permeable turn Fitting (508) is connected;It is equipped with and is covered in Coupling Shaft (5072) and Hooks coupling universal coupling between the protective cover (5071) of two sides (5073) external adjustment spring (5074), the both ends of the adjustment spring (5074) protective cover (5071) with two sides respectively It abuts;The side of the protective cover (5071) has the groove (50711) and annular groove (50712) being arranged concentrically, described The other end of Coupling Shaft (5072) is placed in groove (50711), and the end accommodation of adjustment spring (5074) is in annular groove (50712) in;The bolt hole (50713) being connected with groove (50711), the protection are offered on the protective cover (5071) Cover (57011) is connected by the bolt in bolt hole (50713) with the Coupling Shaft (5072).
15. Underwater Docking Device according to claim 1, it is characterised in that: be equipped on the guiding mechanism (1) long-range The top of guide device, the protection mechanism (2) is equipped with communication control system (6), the long-range guide device, Communication Control System (6) is connect with controller.
CN201711329091.3A 2017-12-13 2017-12-13 Underwater butt joint device CN109921233B (en)

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