CN109921233B - Underwater butt joint device - Google Patents

Underwater butt joint device Download PDF

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Publication number
CN109921233B
CN109921233B CN201711329091.3A CN201711329091A CN109921233B CN 109921233 B CN109921233 B CN 109921233B CN 201711329091 A CN201711329091 A CN 201711329091A CN 109921233 B CN109921233 B CN 109921233B
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CN
China
Prior art keywords
end
connected
mechanism
plate
underwater
Prior art date
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CN201711329091.3A
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Chinese (zh)
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CN109921233A (en
Inventor
郑荣
梁洪光
于闯
国婧倩
李默竹
任福琳
吕厚权
Original Assignee
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
Application granted granted Critical
Publication of CN109921233B publication Critical patent/CN109921233B/en

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Abstract

The invention relates to a docking device.A protection mechanism is placed under water, two ends of the protection mechanism are respectively provided with a guide mechanism and an axial positioning mechanism, and the upper part of the protection mechanism is provided with a circumferential positioning mechanism; the underwater moving carrier enters the protection mechanism through the guide mechanism and is axially positioned through the axial positioning mechanism; the circumferential positioning mechanism comprises a main frame arranged on the protection mechanism, the two sides of the main frame are identical in structure and symmetrically arranged, each side comprises a hydraulic cylinder A, a connecting rod mechanism and an encircling part, one end of the hydraulic cylinder A is hinged to the main frame, the other end of the hydraulic cylinder A is connected with the connecting rod mechanism, the encircling part is connected to the bottom of the connecting rod mechanism, and the bow part of the underwater moving carrier is circumferentially positioned by the two sides under the driving of the hydraulic cylinder A; the upper end of the plugging mechanism is installed on the main frame, and the lower end of the plugging mechanism is connected with a watertight pluggable connector. The invention has the characteristics of high positioning precision, high reliability, high charging efficiency, strong data transmission capability, high module degree, wide applicability and the like.

Description

Underwater butt joint device

Technical Field

The invention belongs to the field of underwater engineering, and particularly relates to an underwater docking device which can supplement electric energy for a mobile carrier underwater and transmit observation data and the like obtained by the mobile carrier back to land.

Background

The underwater docking device has increasingly wide application in underwater engineering and underwater equipment, can realize various functions of underwater charging, underwater data transmission, underwater load exchange, underwater precise assembly and the like, and is mainly applied to various fields of underwater engineering equipment, seabed observation networks, underwater robots and the like. The underwater fixed node and the underwater moving carrier are usually difficult to realize autonomous docking underwater, which has very high requirements on the precision and the adjustment capability of an underwater docking device.

Disclosure of Invention

The invention aims to provide an underwater docking device in order to meet the requirement that an underwater fixed node and an underwater moving carrier realize autonomous docking underwater. The underwater docking device can realize accurate docking with an underwater moving carrier, and finally realizes electric connection through an underwater pluggable connector, thereby completing the functions of supplementing electric energy to the underwater moving carrier and uploading data.

The purpose of the invention is realized by the following technical scheme:

the underwater guiding device comprises a guiding mechanism, a protecting mechanism, a circumferential positioning mechanism, an axial positioning mechanism and a plugging mechanism, wherein the protecting mechanism is placed under water, one end of the guiding mechanism is connected with one end of the protecting mechanism, and the other end of the guiding mechanism is a free end for guiding an underwater moving carrier to sail in place; the other end of the protection mechanism is provided with an axial positioning mechanism, and the upper part of the protection mechanism is provided with a circumferential positioning mechanism; the underwater moving carrier enters the protection mechanism through the guide of the guide mechanism and is axially positioned through the axial positioning mechanism; the circumferential positioning mechanism comprises a main frame arranged on the protection mechanism, the two sides of the main frame are identical in structure and symmetrically arranged, each side of the main frame comprises a hydraulic cylinder A, a connecting rod mechanism and an encircling part, one end of the hydraulic cylinder A is hinged to the main frame, the other end of the hydraulic cylinder A is connected with the connecting rod mechanism, the encircling part is connected to the bottom of the connecting rod mechanism, and the bow part of the underwater moving carrier is circumferentially positioned by the two sides of the hydraulic cylinder A; the upper end of the plugging mechanism is installed on the main frame, the lower end of the plugging mechanism is connected with a watertight pluggable connector, and the watertight pluggable connector and the underwater movable carrier realize underwater plugging after the underwater movable carrier is positioned by the circumferential positioning mechanism and the axial positioning mechanism;

wherein: the connecting rod mechanism comprises a connecting rod A, a connecting rod B and a connecting frame, one end of the connecting rod A and one end of the connecting rod B are respectively hinged to the main frame, the other end of the connecting rod A is respectively hinged to the upper end and the lower end of the connecting frame, and the other end of the hydraulic cylinder A is hinged to the connecting rod A; the encircling part comprises an arc plate and a positioning pin, one end of the arc plate is arranged at the bottom end of the connecting frame, and the other end of the arc plate is arc-shaped and is provided with the positioning pin; after the bow of the underwater moving carrier enters the surrounding range of surrounding parts on two sides of the main frame, the hydraulic cylinders A on two sides synchronously drive the link mechanisms on two sides, and then the link mechanisms on two sides synchronously drive the arc plates to surround the bow of the underwater moving carrier; triangular grooves are respectively arranged on two sides of the bow part of the underwater moving carrier, and positioning pins on the arc plates enter the triangular grooves when surrounding the bow part of the underwater moving carrier, so that the circumferential positioning of the bow part of the underwater moving carrier is realized;

one end of the hydraulic cylinder A is connected with the main frame through a T-shaped plate, a vertical plate of the T-shaped plate is connected with the main frame, a base is arranged on a transverse plate, and one end of the hydraulic cylinder A is hinged to the base; a middle plate is arranged between a vertical plate of the T-shaped plate and the main frame, a threaded hole A is formed in the middle plate, a strip-shaped hole A is formed in the vertical plate of the T-shaped plate and corresponds to the threaded hole A, the T-shaped plate can move up and down through the strip-shaped hole A and the threaded hole A, and therefore the diameter of the arc plate in an encircling mode is increased or reduced;

one end of the arc plate is a flat plate, a base plate is arranged between the flat plate and the bottom end of the connecting frame, and threaded holes B and threaded holes C are respectively formed in the base plate and are uniformly distributed along the vertical direction; a strip-shaped hole B corresponding to the threaded hole B is vertically formed in the flat plate at one end of the arc plate, and the arc plate realizes the up-and-down movement of the encircling part through the strip-shaped hole B and the threaded hole B; a strip-shaped hole C corresponding to the threaded hole C is transversely formed in the bottom end of the connecting frame, the backing plate moves left and right through the strip-shaped hole C and the threaded hole C, and therefore the position of the positioning pin is adjustable; the outer surface of the other end of the arc plate is provided with an arc-shaped nylon plate, and the nylon plate is connected with the other end of the arc plate through a positioning pin;

the rear row of the surrounding part, namely the backward moving direction of the bow of the underwater moving carrier, is provided with an auxiliary righting surrounding part arranged on the connecting frame, the auxiliary righting surrounding part comprises an arc plate and a nylon plate, one end of the arc plate is a flat plate, a base plate is arranged between the flat plate and the bottom end of the connecting frame, and threaded holes B and threaded holes C are respectively formed in the base plate and are uniformly distributed along the vertical direction; a strip-shaped hole B corresponding to the threaded hole B is vertically formed in the flat plate at one end of the arc plate, and the arc plate realizes the up-and-down movement of the encircling part through the strip-shaped hole B and the threaded hole B; a strip-shaped hole C corresponding to the threaded hole C is transversely formed in the bottom end of the connecting frame, and the backing plate moves left and right through the strip-shaped hole C and the threaded hole C; the other end of the arc plate is arc-shaped, and the nylon plate is also arc-shaped and is arranged at the other end of the arc plate;

the axial positioning mechanism comprises a rear connecting hinge plate, a hydraulic cylinder B, a support frame A, a guide shaft, a support rod, a support frame B, a front connecting hinge plate, a bow dome and a sliding assembly, wherein the support frame A is connected with the support frame B through the support rod, and the guide shaft is arranged between the support frame A and the support frame B; the sliding assembly is connected with the guide shaft in a sliding mode, the rear connecting hinge plate is installed on the support frame A, the front connecting hinge plate is installed on the sliding assembly, and two ends of the hydraulic cylinder B are hinged to the front connecting hinge plate and the rear connecting hinge plate respectively to drive the sliding assembly to move between the support frame A and the support frame B in a reciprocating mode along the guide shaft; the sliding assembly comprises a front sliding ring and a rear sliding ring which are connected with each other, the front sliding ring and the rear sliding ring are both connected with a suspension supporting block which is connected with the guide shaft in a sliding manner, the front connecting hinge plate is arranged on the front sliding ring, and the rear sliding ring is provided with a bow dome;

the rear slip ring is divided into a fixing ring A and a fixing ring B, the fixing ring A and the fixing ring B are connected with each other, the fixing ring A is connected with a suspension support block A in sliding connection with the guide shaft, and the fixing ring B is connected with a suspension support block B in sliding connection with the guide shaft; the fixing ring A and the fixing ring B are semicircular and are fixedly connected together through a slipknot bolt, a pin shaft, a cotter pin and a nut to form a circular rear slip ring;

the front slip ring is divided into a fixed ring C and a fixed ring D, the fixed ring C and the fixed ring D are connected with each other, the fixed ring C is connected with a suspension support block B in sliding connection with the guide shaft, and the fixed ring D is connected with a suspension support block A in sliding connection with the guide shaft; the fixing ring C and the fixing ring D are semicircular and are fixedly connected together through a slipknot bolt, a pin shaft, a cotter pin and a nut to form a circular front slip ring;

the suspension support block A and the suspension support block B are respectively connected with the guide shaft in a sliding manner through a copper sleeve A and a copper sleeve B, and the suspension support block A and the suspension support block B are respectively provided with a shaft hole F or a shaft hole G for accommodating the copper sleeve A or the copper sleeve B; the copper bush A is of a hollow structure, and the axial section of the copper bush A is T-shaped; the copper sleeve B is of a hollow structure, the axial section of the copper sleeve B is T-shaped, and a U-shaped opening C is formed in the copper sleeve B along the axial direction; an opening A is correspondingly formed in the shaft hole G on the hanging support block B, and when the copper sleeve B is installed on the hanging support block B, the direction of the opening A is the same as that of the opening C;

the supporting frame A and the supporting frame B are both circular rings, planes are arranged on the circumferences of the supporting frame A and the supporting frame B, and after the supporting frame A and the supporting frame B are connected, the respective planes are coplanar; the supporting frame A and the supporting frame B are respectively provided with a shaft hole C connected with the supporting rod and a shaft hole D for the guide shaft to pass through, the outer edge of any shaft hole D on the supporting frame A or the supporting frame B is provided with an opening B, and the opening B is connected with a guide shaft fixing frame;

the plugging mechanism comprises an installation base, a hydraulic cylinder C, a horizontal base, a compression flange, a rotating pin, a limiting part, an adjusting mechanism, a water-permeable adapter and a switching cabin body, wherein one end of the installation base is installed on the main frame, a cylinder body of the hydraulic cylinder C is hinged with the other end of the installation base, the end part of a hydraulic rod of the hydraulic cylinder C is connected with the rotating pin, one end of the horizontal base is installed on the main frame, and the other end of the horizontal base is connected with the compression flange to guide and fix the hydraulic cylinder C; one side of the rotating pin is provided with a limiting piece arranged on the main frame, and the rotating pin realizes the limitation of the rotating angle through the limiting piece; the underwater butt joint device comprises a rotating pin, a water permeable adapter and underwater butt joint equipment, wherein the rotating pin is connected with an adjusting mechanism for compensating position deviation in an underwater butt joint process, one end of the adjusting mechanism is connected with the rotating pin and synchronously rotates along with the rotating pin, the other end of the adjusting mechanism is connected with one end of the water permeable adapter, the other end of the water permeable adapter is connected with a through connection cabin, one end of the through connection cabin is provided with a watertight connector tail wire, the watertight connector tail wire is led out to the power supply equipment through the water permeable adapter, the other end of the through connection cabin is connected with a watertight pluggable connector, the watertight pluggable connector is plugged with the underwater butt joint equipment, and the underwater butt joint equipment integration tail wire is electrically connected with the watertight connector;

one end of the horizontal base is a T-shaped plate, the other end of the horizontal base is connected with an arc-shaped plate, one surface of a T-shaped transverse edge of the T-shaped plate is arranged on the underwater fixed structure frame, a rigid edge of the T-shaped transverse edge of the T-shaped plate is connected with the arc-shaped plate, and two sides of the arc-shaped plate are both provided with connecting lugs used for being connected with the pressing flange; the middle of the compression flange is an arc shape corresponding to the arc-shaped plate, and two sides of the arc shape are provided with connecting lugs; the arc-shaped plate and the pressing flange clamp and fix the hydraulic cylinder C;

a threaded hole in threaded connection with the hydraulic rod is formed in the middle of the rotating pin, and a pin rod is arranged on one side, close to the limiting piece, of the rotating pin; the limiting piece is provided with a flat plate and two parallel hard plates arranged below the flat plate, the rotating pin rotates along with the hydraulic rod and moves axially, and the rotating pin is inserted between the two hard plates through the pin rod to limit the rotating angle of the rotating pin;

the adjusting mechanism comprises a protective cover, a transfer shaft, a universal coupling and an adjusting spring, the transfer shaft is arranged on each of the upper side and the lower side of the universal coupling, one end of each transfer shaft on each side is respectively in pin joint with the universal coupling, the other end of each transfer shaft is connected with the protective cover, the protective cover on one side is connected with a rotating pin, and the protective cover on the other side is connected with a water-permeable transfer piece; an adjusting spring sleeved outside the transfer shaft and the universal coupling is arranged between the protective covers on the two sides, and the two ends of the adjusting spring are respectively abutted against the protective covers on the two sides; a groove and an annular groove which are concentrically arranged are formed in one side of the protective cover respectively, the other end of the transfer shaft is accommodated in the groove, and the end part of the adjusting spring is accommodated in the annular groove; the protective cover is provided with a bolt hole communicated with the groove, and the protective cover is connected with the adapter shaft through a bolt in the bolt hole;

the remote guiding device is installed on the guiding mechanism, the communication control system is installed on the upper portion of the protection mechanism, and the remote guiding device and the communication control system are connected with the controller.

The invention has the advantages and positive effects that:

1. the invention designs an underwater docking device which can realize the functions of supplementing electric energy and uploading data for an underwater mobile carrier.

2. The invention has the characteristic of high positioning precision; according to the invention, through the cooperation of a plurality of structures, the high-precision positioning of the carrier is finally realized from the front stage guiding to the circumferential adjustment and the axial adjustment.

3. The invention has the characteristic of high reliability; the invention adopts the hydraulic system as the driving force, has low failure rate and is suitable for being applied in the environment such as underwater and the like.

4. The invention has the characteristic of high charging efficiency; the invention realizes direct circuit connection through the underwater pluggable connector, and has high charging efficiency compared with similar non-contact charging at home and abroad.

5. The invention has the characteristic of strong data transmission capability; the invention realizes data transmission through the underwater pluggable connector and has high transmission rate.

6. The invention has the characteristic of high modularization degree; the invention comprises a plurality of modularized devices such as remote guiding devices, guiding mechanisms, protection mechanisms, positioning mechanisms, plugging mechanisms, communication control systems and the like, wherein the modularized devices are independent in function, and are convenient to maintain and detect.

7. The invention has the characteristic of being suitable for water depth in a large range. The parts adopted by the invention can bear the pressure of large water depth, and have wide adaptability to different water depths.

8. The invention has the characteristic of wide applicability. The device can be used for carrying out energy supplement and data transmission aiming at different types of underwater mobile carriers according to requirements, and has wide application range.

Drawings

FIG. 1 is a front view of the overall structure of the present invention;

FIG. 2 is a left side view of FIG. 1;

FIG. 3 is a top view of FIG. 1;

FIG. 4 is a front view of the guide mechanism of the present invention;

FIG. 5 is a cross-sectional view taken along line A-A of FIG. 4;

FIG. 6 is a front view of the protection mechanism of the present invention;

FIG. 7 is a bottom view of FIG. 6;

FIG. 8 is a top view of FIG. 6;

FIG. 9 is a cross-sectional view taken along line B-B of FIG. 6;

FIG. 10 is a cross-sectional view taken at C-C of FIG. 6;

FIG. 11 is a schematic perspective view of the circumferential positioning mechanism of the present invention;

FIG. 12 is an exploded view of the circumferential positioning mechanism of the present invention;

FIG. 13 is a schematic perspective view of an axial positioning mechanism according to the present invention;

FIG. 14 is a second schematic perspective view of the axial positioning mechanism of the present invention;

FIG. 15 is a left side view of the axial positioning mechanism of the present invention;

FIG. 16 is an exploded view of the axial positioning mechanism of the present invention;

FIG. 17 is a perspective view of the glide assembly of FIG. 13;

FIG. 18 is an exploded view of the glide assembly of FIG. 13;

FIG. 19 is a schematic structural view of the supporting frame A in FIG. 13;

FIG. 20 is a schematic structural view of the supporting frame B in FIG. 13;

FIG. 21 is a schematic view of the suspended support block A of FIG. 13;

FIG. 22 is a schematic view of the suspended support block B of FIG. 13;

FIG. 23 is a schematic perspective view of the copper sheathing A of FIG. 16;

FIG. 24 is a schematic perspective view of the copper bush B in FIG. 16;

FIG. 25 is a schematic perspective view of the bow dome of FIG. 13;

FIG. 26 is a schematic view of the overall structure of the plugging mechanism of the present invention;

FIG. 27 is a cross-sectional view taken along line D-D of FIG. 26;

FIG. 28 is a perspective view of the horizontal base of FIG. 26;

FIG. 29 is a front elevational view of the configuration of the hold-down flange of FIG. 26;

FIG. 30 is a top view of the structure of the rotating pin of FIG. 26;

FIG. 31 is a side view of the stop of FIG. 26;

FIG. 32 is a structural cross-sectional view of the adjustment mechanism of FIG. 26;

FIG. 33 is a front view of the water permeable adapter of FIG. 26;

FIG. 34 is a cross-sectional view taken along line E-E of FIG. 33;

FIG. 35 is a cross-sectional view of the protective cover of FIG. 32;

FIG. 36 is a schematic view of the construction of the joint shaft of FIG. 32;

FIG. 37 is a front elevational view of the mounting flange of the containment vessel of FIG. 6;

FIG. 38 is a top view of FIG. 37;

wherein: 1 is a guide mechanism, and 101 is a mounting flange;

2, a protection mechanism, 201 is an aluminum frame, 202 is a non-metal plate, 203 is a support frame, 204 is a channel steel, 205 is a sealing cabin body mounting flange, 206 is a flat plate, 207 is a vertical plate, and 208 is a sealing cabin body;

3, a circumferential positioning mechanism, 301, a main frame, 302, a middle plate, 303, a T-shaped plate, 304, a base, 305, a hydraulic cylinder a, 306, a connecting rod a, 307, a hinge base a, 308, 309, a connecting frame, 310, a backing plate, 311, an arc plate, 312, a nylon plate, 313, a positioning pin, 314, a hinge base B, 315, a strip-shaped hole a, 316, a threaded hole a, 317, a shaft hole a, 318, 319, 320, 321, 322, a threaded hole C, 323, a triangular groove;

4, an axial positioning mechanism, 401, a rear connecting hinge plate, 402, a connecting hinge, 403, a hydraulic cylinder B, 404, a support frame A, 405, a guide shaft, 406, a support rod, 407, a support frame B, 408, a front connecting hinge plate, 409, a fixing ring D, 410, a copper bush A, 411, a suspension support block A, 412, a fixing ring A, 413, a heading cover, 414, a fixing ring B, 415, a suspension support block B, 416, a support tube, 417, a copper bush B, 418, a fixing ring C, 419, a guide shaft fixing frame, 420, a plane, 421, 422, 423, E, 24, 425, an opening A, 426, 427, an opening B and 428 are openings C;

5, a plugging mechanism, 501, an installation base, 502, a hydraulic cylinder C, 503, a horizontal base, 5031, a T-shaped plate, 5032, an arc-shaped plate, 5033, a connecting lug, 504, a pressing flange, 505, a rotating pin, 5051, a pin rod, 5052, a threaded hole, 506, a limiting piece, 507, an adjusting mechanism, 5071, a protective cover, 50711, a groove, 50712, a ring groove, 50713, a bolt hole, 5072, an adapting shaft, 50721, a pin hole, 5073, a universal coupler, 5074, an adjusting spring, 508, a water-permeable adapting piece, 5081, a supporting column, 5082, an end flange, 509, an adapting cabin body, 510, a hydraulic rod, 511, a watertight pluggable connector and 512, a watertight connector tail wire;

6 is a communication control system, and 7 is a bow part of an underwater moving carrier.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

As shown in fig. 1 to 3, the underwater guiding device comprises a guiding mechanism 1, a protecting mechanism 2, a circumferential positioning mechanism 3, an axial positioning mechanism 4, a plugging mechanism 5 and a communication control system 6, wherein the protecting mechanism 2 is placed under water, one end of the guiding mechanism 1 is connected with the protecting mechanism 2, and the other end is a free end for guiding when an underwater moving carrier sails in place; the other end of the protection mechanism 2 is provided with an axial positioning mechanism 4, and the upper part of the protection mechanism 2 is respectively provided with a circumferential positioning mechanism 3 and a communication control system 6. The underwater moving carrier enters the protection mechanism 2 through the guide of the guide mechanism 1, and is respectively positioned in the circumferential direction and the axial direction through the circumferential positioning mechanism 3 and the axial positioning mechanism 4. The insertion and extraction mechanism 5 is mounted on the circumferential positioning mechanism 3.

As shown in fig. 4 and 5, the guide mechanism 1 is a bell-mouth-shaped structure with a smooth and excessive curve, one end of the guide mechanism is designed with four mounting flanges 101, and the guide mechanism is fixedly connected with one end of the protection mechanism 2 through bolt connection. The other end of the guiding mechanism 1 faces the outer side of the underwater docking device and is used for guiding the carrier to be automatically docked. Install long-range guiding device on guiding mechanism 1, long-range guiding device is sonar equipment, and it connects through the larynx hoop and installs around guiding mechanism 1 for realize the long-range guide of moving the carrier under water.

As shown in fig. 6 to 10, 37 and 38, the protection mechanism 2 is of a frame structure, the main body of the protection mechanism is an aluminum frame 201 in a rectangular parallelepiped shape, the aluminum frame 201 is composed of an aluminum plate and a corner aluminum, and other mechanisms are installed with the protection mechanism 2 as an installation base. The inboard of protection mechanism 2 is provided with nonmetal board 202, and nonmetal board 202 passes through support frame 203 and installs to aluminium frame 201 on, can play the effect of direction and support when moving the carrier contact with under water. The supporting frame 203 is of an arch frame structure, the flat plates on the two sides are provided with eight unthreaded holes, and the supporting frame 203 and the aluminum frame 201 can be fixedly connected through bolt connection; the middle arched flat plate is provided with four light holes, and the support frame 203 can be fixedly connected with the nonmetal plate 202 through bolt connection.

Two channel steels 204 are arranged at the lower side of the protection mechanism 2 and used for fixing the axial positioning mechanism 4. Twelve unthreaded holes are formed in the middle of the channel steel 204, and the channel steel 204 and the aluminum frame 201 can be fixedly connected through bolt connection; four unthreaded holes are formed in one end of the channel steel 204, and the channel steel 204 and the axial positioning mechanism 4 can be fixedly connected through bolt connection. The upper part of the protection mechanism 2 is provided with a sealing cabin mounting flange 205 for fixing a sealing cabin 208. The lower part of the mounting flange 205 of the sealed cabin body is a flat plate 206, eight unthreaded holes are formed in the flat plate 206, and the mounting flange 205 of the sealed cabin body and the aluminum frame 201 can be fixedly connected through bolt connection. The upper portion of the sealed cabin mounting flange 205 is an arc-shaped vertical plate 207, eight light holes are formed in the vertical plate 207, and the sealed cabin can be fixedly connected with the sealed cabin 208 through bolt connection.

As shown in fig. 11 and 12, the circumferential positioning mechanism includes a main frame 301 as a structural support of the circumferential positioning mechanism, and the main frame 301 is mounted on the aluminum frame 201 of the protection mechanism 2; the two sides of the main frame 301 are the same in structure and are symmetrically arranged, and each side comprises a hydraulic cylinder A305, a link mechanism and an encircling part; the main frame 301 is a frame base of each side link mechanism, and has a required strength.

One end of the hydraulic cylinder A305 is connected with the main frame 301 through a T-shaped plate 303, an intermediate plate 302 installed on the main frame 301 is arranged between the vertical plate of the T-shaped plate 303 and the main frame 301, and the vertical plate of the T-shaped plate 303 is connected with the main frame 301 through the intermediate plate. Threaded hole A316 is opened on the intermediate plate 302, bar hole A315 is opened on the riser of T-shaped plate 303 corresponding to threaded hole A316, T-shaped plate 303 can reciprocate in the limited range through bar hole A315 and threaded hole A316, and then realize that arc plate 311, nylon plate 312 encircle the increase or reduce of diameter, are applicable to the underwater mobile carrier of different diameters. A base 304 is installed on a transverse plate of the T-shaped plate 303, and one end of a hydraulic cylinder A305 is hinged to the base 304. The other end of the hydraulic cylinder A305 is connected with the link mechanism, and the surrounding part is connected to the bottom of the link mechanism.

The link mechanism comprises a connecting rod A306, a connecting rod B308 and a connecting frame 309, wherein the two connecting rods A306 and B308 are symmetrically arranged on two sides of the other end of the hydraulic cylinder A305. The other end of the hydraulic cylinder A305 is hinged with two connecting rods A306 respectively. The main frame 301 is fixed with a hinge seat a307 and a hinge seat B314, one end of the two connecting rods a306 and one end of the two connecting rods B308 are hinged with the hinge seat a307 and the hinge seat B314, respectively, and the upper and lower ends of the connecting frame 309 are provided with a shaft hole a317 and a shaft hole B318 hinged with the other end of the two connecting rods a306 and the other end of the two connecting rods B308, respectively, thereby forming a complete link mechanism. The two sides of the main frame 301 are symmetrically distributed by means of the driving of the hydraulic cylinder A305, so that the stability of the autonomous correction device is ensured.

The encircling part comprises an arc plate 311, a nylon plate 312 and a positioning pin 313, wherein one end of the arc plate 311 is installed at the bottom end of the connecting frame 309, and the other end is arc-shaped and is provided with the positioning pin 313. One end of the arc plate 311 is a flat plate, a base plate 310 is arranged between the flat plate and the bottom end of the connecting frame 309, and threaded holes B320 and threaded holes C322 are respectively formed in the base plate 310 and are uniformly distributed along the vertical direction. A strip-shaped hole B319 corresponding to the threaded hole B320 is vertically formed in the flat plate at one end of the arc plate 311, and the arc plate 311 can move up and down in a limited range by encircling the part through the strip-shaped hole B319 and the threaded hole B320. A strip-shaped hole C321 corresponding to the threaded hole C322 is transversely formed in the bottom end of the connecting frame 309, the backing plate 310 can move left and right within a limited range through the strip-shaped hole C321 and the threaded hole C322, and therefore the position adjustability of the positioning pin 313 is achieved. The outer surface of the other end of the arc plate 311 is provided with an arc nylon plate 312, and the nylon plate 312 is connected with the other end of the arc plate 311 through a positioning pin 313, so that the other end of the arc plate 311 is prevented from being in rigid contact with the bow part 7 of the underwater moving carrier.

An auxiliary righting and embracing part which is arranged on the connecting frame 309 is arranged at the rear row of the embracing part, namely the backward moving direction of the bow part 7 of the underwater moving carrier, and is used for righting and assisting the underwater moving carrier to realize circular arc embracing. The secondary centralizing embracing portion differs from the embracing portion in that the secondary centralizing embracing portion is free of the locating pin 313. That is, the auxiliary centralizing embracing portion includes an arc plate 311 and a nylon plate 312, one end of the arc plate 311 is installed at the bottom end of the connecting frame 309, and the other end is arc-shaped. One end of the arc plate 311 is a flat plate, a base plate 310 is arranged between the flat plate and the bottom end of the connecting frame 309, and threaded holes B320 and threaded holes C322 are respectively formed in the base plate 310 and are uniformly distributed along the vertical direction. A strip-shaped hole B319 corresponding to the threaded hole B320 is vertically formed in the flat plate at one end of the arc plate 311, and the arc plate 311 can move up and down in a limited range by encircling the part through the strip-shaped hole B319 and the threaded hole B320. A strip-shaped hole C321 corresponding to the threaded hole C322 is transversely formed in the bottom end of the connecting frame 309, the backing plate 310 can move left and right within a limited range through the strip-shaped hole C321 and the threaded hole C322, and therefore the position adjustability of the positioning pin 313 is achieved. The outer surface of the other end of the arc plate 311 is provided with an arc nylon plate 312, and the nylon plate 312 is connected with the other end of the arc plate 311, so that the rigid contact between the other end of the arc plate 311 and the bow part 7 of the underwater moving carrier is avoided.

As shown in fig. 13 to 25, the axial positioning mechanism 4 includes a rear connecting hinge plate 401, a hydraulic cylinder B403, a support frame a404, a guide shaft 405, a support rod 406, a support frame B407, a front connecting hinge plate 408, a bow dome 413 and a sliding assembly, wherein the support frame a404 and the support frame B407 are respectively arranged at the head and the tail ends in parallel and connected through the support rod 406, and the guide shaft 405 is arranged between the support frame a404 and the support frame B407; the support frame A404 and the support frame B407 are both circular rings, two planes 420 are symmetrically arranged on the circumference, and a connecting line between the midpoints of horizontal projections of the two planes 420 passes through the circle center of the support frame; when the support bracket A404 and the support bracket B407 are connected, the lower end faces are kept flush, i.e. the respective planes 420 are coplanar. The support frame A404 and the support frame B407 are respectively provided with a shaft hole A421 connected with the support rod 406 and a shaft hole B422 for the guide shaft 405 to pass through. In this embodiment, the support frame a404 and the support frame B407 are bordered by four support rods 406, the four support rods 406 are uniformly distributed along the circumferential direction, and two symmetrically arranged guide shafts 405 are further arranged between the support frame a404 and the support frame B407; correspondingly, four groups of shaft holes C421 are uniformly distributed on the supporting frame A4 along the circumferential direction, two shaft holes D422 are formed, and the connecting line between the two shaft holes D422 passes through the center of the supporting frame a 404. Four groups of shaft holes C421 are uniformly distributed on the support frame B407 along the circumferential direction, two shaft holes D422 are formed, and a connecting line between the two shaft holes D422 passes through the circle center of the support frame B407. An opening B427 is formed at an outer edge of any one of the shaft holes D422 of the support frame a404 or the support frame B407, in this embodiment, the opening B427 is formed on one of the shaft holes D422 of the support frame a404, and a guide shaft fixing frame 419 is connected to the opening B427, and the guide shaft fixing frame 419 is matched with the support frame a404 to fix the guide shaft 405.

The sliding assembly is slidably coupled to the guide shaft 405. The rear connecting hinge plate 401 is installed on the left side face of the support frame A404, the end face of the rear connecting hinge plate is U-shaped, the front connecting hinge plate 408 is installed on the sliding assembly, the connecting hinges 402 are installed on the opposite faces of the front connecting hinge plate 408 and the rear connecting hinge plate 401, the head end and the tail end of the hydraulic cylinder B403 are respectively connected with the connecting hinge 402 on the rear connecting hinge plate 401 and the connecting hinge 402 on the front connecting hinge plate 408 through pin shafts and cotter pins, and the sliding assembly is driven to move back and forth between the support frame A404 and the support frame B407 along the guide shaft 405.

The slide assembly includes front and rear slide rings connected to each other by a plurality of support tubes 416. The front slip ring and the rear slip ring are both connected with suspension support blocks which are in sliding connection with the guide shaft 405, the front connection hinge plate 408 is installed on the front slip ring, and the rear slip ring is provided with a bow dome 413. The rear slip ring is divided into a fixing ring A412 and a fixing ring B414, the fixing ring A412 and the fixing ring B414 are semicircular and are fixedly connected together through a slipknot bolt, a pin shaft, a split pin and a nut to form a circular rear slip ring. A suspended support block a411 slidably connected to the guide shaft 405 is connected to the fixed ring a412, and a suspended support block B415 slidably connected to the guide shaft 405 is connected to the fixed ring B414. The front slip ring is divided into a fixing ring C418 and a fixing ring D409, the fixing ring C418 and the fixing ring D409 are semicircular and are fixedly connected together through a slipknot bolt, a pin shaft, a split pin and a nut to form a circular front slip ring. A suspended support block B415 slidably connected to the guide shaft 405 is connected to the fixed ring C418, and a suspended support block a411 slidably connected to the guide shaft 405 is connected to the fixed ring D409. Both ends of the front connection hinge plate 408 are fixed to the fixing ring C418 and the fixing ring D409, respectively. The fixing ring A412 is connected with the fixing ring D409 through a plurality of supporting tubes 416, the fixing ring B414 is connected with the fixing ring C418 through a plurality of supporting tubes 416, and shaft holes C423 used for being connected with the supporting tubes 416 are formed in the fixing ring A412, the fixing ring B414, the fixing ring C418 and the fixing ring D409.

The suspension support block a411 and the suspension support block B415 are respectively connected with the guide shaft 405 in a sliding manner through a copper bush a410 and a copper bush B417, and a shaft hole F424 or a shaft hole G426 for accommodating the copper bush a410 or the copper bush B417 is formed in each of the suspension support block a411 and the suspension support block B415. One end of the suspension supporting block A411 is connected with the fixing ring D409 through a screw, one end of the other suspension supporting block A411 is connected with the fixing ring A412 through a screw, a shaft hole F424 is formed in the other end of the suspension supporting block A411, the copper sleeve A410 is connected with the suspension supporting block A411 through a screw, and the copper sleeve A410 is in transition fit with the shaft hole F424 in the middle. The two copper sleeves A410 on the two suspended support blocks A411 are kept coaxial. Similarly, one end of the suspended supporting block B415 is connected with the fixed ring C418 through a screw, one end of the other suspended supporting block B415 is connected with the fixed ring B414 through a screw, a shaft hole G426 is formed in the other end of the suspended supporting block B415, and the copper bush B417 is connected with the suspended supporting block B415 through a screw and is in transition fit with the shaft hole G426 in the middle. The two copper bushings B417 on the two suspended support blocks B415 remain concentric. The copper bush A410 is of a hollow structure, and the axial section of the copper bush A is in a T shape; the copper bush B417 is a hollow structure, the axial section of the copper bush B417 is in a T shape, and a U-shaped opening C428 is arranged on the copper bush B417 along the axial direction. The shaft hole G426 of the suspension supporting block B415 is correspondingly opened with an opening A425, and when the copper bush B417 is installed with the suspension supporting block B415, the opening A425 and the opening C428 are in the same direction. Two copper sleeves a410 are strung on one guide shaft 5 and two copper sleeves B417 are strung on the other guide shaft 405. The front connecting hinge plate 408 is connected with a front sliding ring formed by a fixing ring D409 and a fixing ring C418, and the bow dome 413 is connected with a rear sliding ring formed by a fixing ring A412 and a fixing ring B414, so that circumferential fixing of the bow dome 413 is realized.

As shown in fig. 27 to 36, the plugging mechanism 5 includes an installation base 501, a hydraulic cylinder C502, a horizontal base 503, a pressing flange 504, a rotating pin 505, a limiting member 506, an adjusting mechanism 507, a water-permeable adapter 508, an adapter cabin 509, and an underwater docking device, wherein one end of the installation base 501 is installed on the main frame 301, and a cylinder body of the hydraulic cylinder C502 is hinged to the other end of the installation base 1 through a positioning pin.

One end of the horizontal base 503 is a T-shaped plate 5031, the other end is connected to an arc-shaped plate 5032, one side of the T-shaped transverse edge of the T-shaped plate 5031 is fixedly connected to the main frame 301 through a bolt, the rigid edge is connected to the arc-shaped plate 5032, and both sides of the arc-shaped plate 5032 are connecting lugs 5033 for connecting to the pressing flange 504. The middle of the pressing flange 504 is an arc shape corresponding to the arc plate 5032, and two sides of the arc shape are provided with connecting lugs. The connecting lugs on the two sides of the pressing flange 504 are fixedly connected with the connecting lugs 5033 on the two sides of the arc-shaped plate 5032 through bolts, so that the hydraulic cylinder C502 is clamped in the middle, the guiding and the fixing of the hydraulic cylinder C502 are realized, and the hydraulic cylinder C502 is always kept in a vertical state.

A threaded hole 5052 is formed in the middle of the rotating pin 505, and the end of the hydraulic rod 510 is in threaded connection with the threaded hole 5052 in the rotating pin 505 to realize fixed connection; the rotation pin 505 can perform both rotation and axial movement with the hydraulic lever 510. A limiting member 506 fixedly connected with the underwater fixed structural frame through bolt connection is arranged on one side of the rotating pin 505, and a pin rod 5051 is arranged on one side of the rotating pin 505 close to the limiting member 506. The limiting member 506 has a flat plate and two parallel rigid plates installed below the flat plate, the rotating pin 505 rotates and axially moves along with the hydraulic rod 510, and the pin rod 5051 is inserted between the two rigid plates to limit the rotating angle of the rotating pin 505, thereby ensuring smooth docking of the underwater docking equipment.

The rotating pin 505 is connected with an adjusting mechanism 507 for compensating position deviation in the underwater butt joint process, one end of the adjusting mechanism 507 is connected with the rotating pin 505 and rotates synchronously with the rotating pin 505, and the other end of the adjusting mechanism 507 is connected with one end of the water permeable adaptor 508. The adjusting mechanism 507 includes a protective cover 5071, an adapting shaft 5072, a universal coupling 5073 and an adjusting spring 5074, wherein the upper and lower sides of the universal coupling 5073 are respectively provided with the adapting shaft 5072, the axial section of the adapting shaft 5072 is in a 'T' shape, the vertical side of the 'T' shape is provided with a pin hole 50721 for pin connection with the universal coupling 5073, the upper and lower sides of the universal coupling 5073 are respectively pin connected with one end of the two adapting shafts 5072 through a positioning pin, and the other end of the two adapting shafts 5072 is respectively fixedly connected with the protective cover 5071 through a bolt. The upper protective cover 5071 is fixedly connected to the pivot pin 505 by a screw connection, and the lower protective cover 5071 is fixedly connected to the water-permeable connection 508 by a screw connection. An adjustment spring 5074 is provided between the boots 5071 on both sides and fitted around the transfer shaft 5072 and the universal joint 5073, and both ends of the adjustment spring 5074 are in contact with the boots 5071 on both sides, respectively, so that the adjustment spring 5074 is always in a compressed state. One side of the protective cover 5071 is formed with a groove 50711 and a ring 50712 which are concentrically arranged, the other end of the coupling shaft 5072 is received in the groove 50711, and the end of the adjusting spring 5074 is received in the ring 50712. A bolt hole 50713 communicating with the groove 50711 is formed in the protective cover 5071, and the protective cover 5071 is fixedly connected to the adapter shaft 5072 by a bolt in the bolt hole 50713.

One end of the water-permeable adapter 508 is connected to a lower protective cover 5071 of the adjustment mechanism 507, and the other end is connected to an adapter cabin 509. The water-permeable adapter 508 includes four support columns 5081 and two end flanges 5082, two ends of the four support columns 5081 are connected with annular end flanges 5082, the end flange 5082 at one end is fixedly connected with a protective cover 5071 located below in the adjusting mechanism 507, and the end flange 5082 at the other end is fixedly connected with the adapter cabin 509.

One end of the adapting cabin 509 is provided with a watertight connector tail wire 512, the watertight connector tail wire 512 is led out to the power supply equipment through a permeable adaptor 508, the other end of the adapting cabin 509 is connected with a watertight pluggable connector 511, the watertight pluggable connector 511 and the underwater docking equipment can realize plugging and unplugging actions, and the integrated tail wire of the underwater docking equipment is electrically connected with the watertight connector tail wire 512 in the adapting cabin 509.

The communication control system 6 is installed in the sealed cabin 208, one end of the sealed cabin 208 is provided with a connecting hole, and the sealed cabin 208 is fixedly connected with the aluminum frame 201 in the protection mechanism 2 through bolt connection. The remote guiding equipment and the communication control system 6 are connected with the controller.

The working principle of the invention is as follows:

the invention is arranged under water and is connected to a shore base through a photoelectric composite cable. And in the initial state, all hydraulic cylinders of the underwater docking device are in a retracting state. The underwater mobile carrier sails from a distance and gradually approaches the underwater docking device through the remote guiding equipment. When the underwater moving carrier reaches the vicinity of the underwater docking device, the underwater moving carrier enters the protection mechanism 2 through the guide mechanism 1.

After the underwater moving carrier reaches the designated position, the bow part 7 of the underwater moving carrier enters the surrounding range of the surrounding parts at two sides of the main frame 301 in the circumferential positioning mechanism 3, and the hydraulic cylinders A305 at two sides of the main frame 301 are used for synchronously driving the connecting rod mechanisms at two sides, so that the bow part 7 of the underwater moving carrier is surrounded by the arc plates 311 at two sides; the positioning pins 313 of the surrounding parts at two sides respectively enter the range of the triangular grooves 323 arranged at two sides of the bow part 7 of the underwater moving carrier, so that the circumferential primary positioning of the underwater moving carrier is realized. After the circumferential positioning mechanism 3 is in place, the axial positioning mechanism 4 executes an extending action to gradually push the underwater moving carrier backwards into a preset position; in the process, the positioning pin 313 on each side limits the movement of the triangular groove 323 on the same side, and the circumferential correction of the bow 7 of the underwater moving carrier is realized; when the positioning pin 313 reaches the top end of the triangular groove 323, the circumferential and axial positioning of the underwater moving carrier is realized. After the underwater mobile carrier is accurately positioned, the plug-in mechanism 5 executes stretching action, and realizes the underwater accurate butt joint of the watertight pluggable connector assembly 11 through the self-adjusting capacity of the plug-in mechanism, thereby realizing the supplement of electric energy and data uploading for the underwater mobile carrier.

The plugging mechanism 5 selects the hydraulic cylinder C502 as a power source, and underwater accurate butt joint can be realized by controlling the extension length and the thrust of the hydraulic cylinder C502. The hydraulic cylinder C502 can accurately control the stroke, and underwater docking action is realized by controlling the stroke. Meanwhile, the maximum thrust can be accurately controlled by the underwater hydraulic system, the basic plugging force required by underwater butt joint equipment can be ensured by controlling the maximum thrust, and meanwhile, the safety of the underwater butt joint equipment can be effectively protected.

The underwater docking equipment can usually allow set angular deviation, and the plugging mechanism 5 effectively controls the rotation angle by using the limiting piece 506 and the rotation pin 505, so that the underwater docking equipment meets the requirements of the underwater docking equipment.

The adjusting spring 5074 in the adjusting mechanism 507, which is always in a compressed state, has required rigidity, can realize a set bending angle, and can realize deviation angle and displacement of underwater docking equipment. The universal joint 5073 mainly takes up the tensile forces and bends with the adjustment spring 5074. When the underwater docking equipment performs the pulling-out action, the universal coupling 5073 can bear the pulling force provided by the hydraulic cylinder C502.

The watertight connector tail 512 on the adapter enclosure 509 may be routed through the water permeable adapter 508. The two ends of the adapting cabin 509 are provided with light holes, one end of the adapting cabin can be in watertight connection with underwater docking equipment, and the other end of the adapting cabin can be in watertight connection with a watertight connector.

After the underwater moving carrier finishes charging and data transmission, the plug-pull mechanism 5, the axial positioning mechanism 4 and the circumferential positioning mechanism 3 sequentially execute retraction actions, and the underwater moving carrier reversely rotates through the propeller to exit the underwater docking device.

Claims (14)

1. An underwater docking device, characterized in that: the underwater vehicle guiding device comprises a guiding mechanism (1), a protecting mechanism (2), a circumferential positioning mechanism (3), an axial positioning mechanism (4) and a plugging mechanism (5), wherein the protecting mechanism (2) is placed under the water, one end of the guiding mechanism (1) is connected with one end of the protecting mechanism (2), and the other end of the guiding mechanism is a free end for guiding the underwater vehicle to sail in place; the other end of the protection mechanism (2) is provided with an axial positioning mechanism (4), and the upper part of the protection mechanism (2) is provided with a circumferential positioning mechanism (3); the underwater moving carrier enters the protection mechanism (2) through the guiding of the guiding mechanism (1) and is axially positioned through the axial positioning mechanism (4); the circumferential positioning mechanism (3) comprises a main frame (301) arranged on the protection mechanism (2), the two sides of the main frame (301) are identical in structure and symmetrically arranged, each side of the main frame comprises a hydraulic cylinder A (305), a connecting rod mechanism and an encircling part, one end of the hydraulic cylinder A (305) is hinged to the main frame (1), the other end of the hydraulic cylinder A is connected with the connecting rod mechanism, the encircling part is connected to the bottom of the connecting rod mechanism, and the underwater moving carrier bow part (7) is circumferentially positioned by the two sides through the driving of the hydraulic cylinder A (305); the upper end of the plugging mechanism (5) is installed on the main frame (301), the lower end of the plugging mechanism is connected with a watertight pluggable connector (511), and the watertight pluggable connector (511) is plugged with an underwater mobile carrier after the underwater mobile carrier is positioned by the circumferential positioning mechanism (3) and the axial positioning mechanism (4);
the connecting rod mechanism comprises a connecting rod A (306), a connecting rod B (308) and a connecting frame (309), one end of the connecting rod A (306) and one end of the connecting rod B (308) are respectively hinged to the main frame (301), the other end of the connecting rod A (306) and the other end of the connecting rod B (308) are respectively hinged to the upper end and the lower end of the connecting frame (309), and the other end of the hydraulic cylinder A (305) is hinged to the connecting rod A (306); the encircling part comprises an arc plate (311) and a positioning pin (313), one end of the arc plate (311) is installed at the bottom end of the connecting frame (309), and the other end of the arc plate is arc-shaped and is provided with the positioning pin (313); after the underwater moving carrier bow (7) enters the surrounding range of surrounding parts on two sides of the main frame (301), the hydraulic cylinders A (305) on two sides synchronously drive the link mechanisms on two sides, and the link mechanisms on two sides synchronously drive the arc plate (311) to surround the underwater moving carrier bow (7); triangular grooves (323) are arranged on two sides of the underwater moving carrier bow part (7), and the positioning pins (313) on the arc plates (311) enter the triangular grooves (323) when surrounding the underwater moving carrier bow part (7), so that the circumferential positioning of the underwater moving carrier bow part (7) is realized.
2. The underwater docking device of claim 1, wherein: one end of the hydraulic cylinder A (305) is connected with the main frame (301) through a T-shaped plate (303), a vertical plate of the T-shaped plate (303) is connected with the main frame (301), a base (304) is installed on the horizontal plate, and one end of the hydraulic cylinder A (305) is hinged to the base (304); be equipped with intermediate lamella (302) between the riser of T template (303) and main frame (301), set up threaded hole A (316) on this intermediate lamella (302), set up bar hole A (315) with threaded hole A (316) on the riser of T template (303) correspondingly, this T template (303) can reciprocate through bar hole A (315) and threaded hole A (316), and then realize the increase or the reduction of diameter are embraced in arc board (311).
3. The underwater docking device of claim 1, wherein: one end of the arc plate (311) is a flat plate, a base plate (310) is arranged between the flat plate and the bottom end of the connecting frame (309), and threaded holes B (320) and threaded holes C (322) which are uniformly distributed along the vertical direction and the transverse direction are respectively formed in the base plate (310); a strip-shaped hole B (319) corresponding to the threaded hole B (320) is vertically formed in the flat plate at one end of the arc plate (311), and the arc plate (311) can move up and down in the surrounding part through the strip-shaped hole B (319) and the threaded hole B (320); a strip-shaped hole C (321) corresponding to the threaded hole C (322) is transversely formed in the bottom end of the connecting frame (309), the backing plate (310) moves left and right through the strip-shaped hole C (321) and the threaded hole C (322), and therefore the position of the positioning pin (313) can be adjusted; an arc-shaped nylon plate (312) is arranged on the outer surface of the other end of the arc plate (311), and the nylon plate (312) is connected with the other end of the arc plate (311) through a positioning pin (313).
4. The underwater docking device of claim 1, wherein: the rear row of the encircling part, namely the backward moving direction of the bow part (7) of the underwater moving carrier is provided with an auxiliary righting encircling part arranged on a connecting frame (309), the auxiliary righting encircling part comprises an arc plate (311) and a nylon plate (312), one end of the arc plate (311) is a flat plate, a backing plate (310) is arranged between the flat plate and the bottom end of the connecting frame (309), and threaded holes B (320) and threaded holes C (322) are respectively formed in the backing plate (310) and are uniformly distributed along the vertical direction; a strip-shaped hole B (319) corresponding to the threaded hole B (320) is vertically formed in the flat plate at one end of the arc plate (311), and the arc plate (311) can move up and down in the surrounding part through the strip-shaped hole B (319) and the threaded hole B (320); a strip-shaped hole C (321) corresponding to the threaded hole C (322) is transversely formed in the bottom end of the connecting frame (309), and the backing plate (310) moves left and right through the strip-shaped hole C (321) and the threaded hole C (322); the other end of the arc plate (311) is arc-shaped, and the nylon plate (312) is also arc-shaped and is arranged at the other end of the arc plate (311).
5. The underwater docking device of claim 1, wherein: the axial positioning mechanism (4) comprises a rear connecting hinge plate (401), a hydraulic cylinder B (403), a support frame A (404), a guide shaft (405), a support rod (406), a support frame B (407), a front connecting hinge plate (408), a bow dome (413) and a sliding assembly, wherein the support frame A (404) is connected with the support frame B (407) through the support rod (406), and the guide shaft (405) is arranged between the support frame A (404) and the support frame B (407); the sliding assembly is connected with the guide shaft (405) in a sliding mode, the rear connecting hinge plate (401) is installed on the support frame A (404), the front connecting hinge plate (408) is installed on the sliding assembly, two ends of the hydraulic cylinder B (403) are hinged to the front connecting hinge plate (408) and the rear connecting hinge plate (403) respectively, and the sliding assembly is driven to move back and forth between the support frame A (404) and the support frame B (407) along the guide shaft (405); the sliding assembly comprises a front sliding ring and a rear sliding ring which are connected with each other, suspension supporting blocks which are connected with the guide shaft (405) in a sliding mode are connected to the front sliding ring and the rear sliding ring, the front connecting hinge plate (408) is installed on the front sliding ring, and a bow dome (413) is installed on the rear sliding ring.
6. The underwater docking device of claim 5, wherein: the rear sliding ring is divided into a fixed ring A (412) and a fixed ring B (414), the fixed ring A (412) and the fixed ring B (414) are connected with each other, a suspension support block A (411) which is connected with the guide shaft (405) in a sliding manner is connected to the fixed ring A (412), and a suspension support block B (415) which is connected with the guide shaft (405) in a sliding manner is connected to the fixed ring B (414); the fixing ring A (412) and the fixing ring B (414) are semicircular and are fixedly connected together through a slipknot bolt, a pin shaft, a split pin and a nut to form a circular rear sliding ring.
7. The underwater docking device of claim 5, wherein: the front slip ring is divided into a fixed ring C (418) and a fixed ring D (409), the fixed ring C (418) and the fixed ring D (409) are connected with each other, a suspension support block B (415) which is connected with the guide shaft (405) in a sliding mode is connected to the fixed ring C (418), and a suspension support block A (411) which is connected with the guide shaft (405) in the sliding mode is connected to the fixed ring D (409); the fixing ring C (418) and the fixing ring D (409) are semicircular and are fixedly connected together through a slipknot bolt, a pin shaft, a split pin and a nut to form a circular front sliding ring.
8. The underwater docking device of claim 5, wherein: the suspension supporting block A (411) and the suspension supporting block B (415) are respectively connected with the guide shaft (405) in a sliding mode through a copper bush A (410) and a copper bush B (417), and the suspension supporting block A (411) and the suspension supporting block B (415) are respectively provided with a shaft hole F (424) or a shaft hole G (426) for accommodating the copper bush A (410) or the copper bush B (417); the copper bush A (410) is of a hollow structure, and the axial section of the copper bush A is T-shaped; the copper bush B (417) is of a hollow structure, the axial section of the copper bush B (417) is T-shaped, and a U-shaped opening C (428) is arranged on the copper bush B (417) along the axial direction; an opening A (425) is correspondingly formed in a shaft hole G (426) in the hanging support block B (415), and when the copper bush B (417) is installed on the hanging support block B (415), the direction of the opening A (425) is the same as that of the opening C (428).
9. The underwater docking device of claim 5, wherein: the supporting frame A (404) and the supporting frame B (407) are both circular rings, planes (420) are arranged on the circumferences, and after the supporting frame A (404) and the supporting frame B (407) are connected, the respective planes (420) are coplanar; the support frame A (404) and the support frame B (407) are respectively provided with a shaft hole C (421) connected with the support rod (406) and a shaft hole D (422) for the guide shaft (405) to pass through, the outer edge of any shaft hole D (422) on the support frame A (404) or the support frame B (407) is provided with an opening B (427), and the opening B (427) is connected with a guide shaft fixing frame (419).
10. The underwater docking device of claim 1, wherein: the plugging mechanism (5) comprises an installation base (501), a hydraulic cylinder C (502), a horizontal base (503), a pressing flange (504), a rotating pin (505), a limiting piece (506), an adjusting mechanism (507), a water permeable adapter (508) and an adapter cabin body (509), wherein one end of the installation base (501) is installed on the main frame (301), a cylinder body of the hydraulic cylinder C (502) is hinged to the other end of the installation base (501), the end part of a hydraulic rod (510) of the hydraulic cylinder C (502) is connected with the rotating pin (505), one end of the horizontal base (503) is installed on the main frame (301), and the other end of the horizontal base is connected with the pressing flange (504) to realize the guiding and fixing of the hydraulic cylinder C (502); a limiting piece (506) installed on the main frame (301) is arranged on one side of the rotating pin (505), and the rotating pin (505) realizes the limitation of the rotating angle through the limiting piece (506); the rotating pin (505) is connected with an adjusting mechanism (507) for compensating position deviation in the underwater butt joint process, one end of the adjusting mechanism (507) is connected with the rotating pin (505) and rotates synchronously with the rotating pin (505), the other end of the adjusting mechanism (507) is connected with one end of the water permeable adapter (508), the other end of the water-permeable adapter (508) is connected with an adapter cabin body (509), one end of the adapter cabin body (509) is provided with a watertight connector tail wire (512), the watertight connector tail wire (512) is led out to the power supply equipment through the water permeable adapter piece (508), the other end of the adapting cabin body (509) is connected with a watertight pluggable connector assembly (511), the watertight pluggable connector (511) is plugged into and unplugged from underwater docking equipment, and the underwater docking equipment integrated tail wire is electrically connected with the watertight connector tail wire (512) in the adapting cabin body (509).
11. The underwater docking device of claim 10, wherein: one end of the horizontal base (503) is a T-shaped plate (5031), the other end of the horizontal base is connected with an arc-shaped plate (5032), one surface of a T-shaped transverse edge of the T-shaped plate (5031) is arranged on the underwater fixed structure frame, a rigid edge is connected with the arc-shaped plate (5032), and two sides of the arc-shaped plate (5032) are both provided with connecting lugs (5033) used for being connected with the pressing flange (504); the middle of the pressing flange (504) is an arc shape corresponding to the arc-shaped plate (5032), and two sides of the arc shape are provided with connecting lugs; the arc-shaped plate (5032) and the pressing flange (504) clamp and fix the hydraulic cylinder C (502).
12. The underwater docking device of claim 10, wherein: a threaded hole (5052) in threaded connection with the hydraulic rod (510) is formed in the middle of the rotating pin (505), and a pin rod (5051) is arranged on one side, close to the limiting piece (506), of the rotating pin (505); the limiting piece (506) is provided with a flat plate and two parallel rigid plates arranged below the flat plate, the rotating pin (505) rotates and axially moves along with the hydraulic rod (510), and the rotating pin (505) is inserted between the two rigid plates through the pin rod (5051) to limit the rotating angle of the rotating pin (505).
13. The underwater docking device of claim 10, wherein: the adjusting mechanism (507) comprises a protective cover (5071), a transfer shaft (5072), a universal coupling (5073) and an adjusting spring (5074), wherein the transfer shaft (5072) is arranged on each of the upper side and the lower side of the universal coupling (5073), one end of each transfer shaft (5072) on each side is respectively in pin joint with the universal coupling (5073), the other end of each transfer shaft is connected with the protective cover (5071), the protective cover (5071) on one side is connected with the rotating pin (505), and the protective cover (5071) on the other side is connected with the water permeable adapter (508); an adjusting spring (5074) sleeved outside the transfer shaft (5072) and the universal joint (5073) is arranged between the protective covers (5071) at the two sides, and the two ends of the adjusting spring (5074) are respectively abutted against the protective covers (5071) at the two sides; one side of the protective cover (5071) is respectively provided with a groove (50711) and an annular groove (50712) which are concentrically arranged, the other end of the transfer shaft (5072) is accommodated in the groove (50711), and the end part of the adjusting spring (5074) is accommodated in the annular groove (50712); the protective cover (5071) is provided with a bolt hole (50713) communicating with the groove (50711), and the protective cover (5071) is connected to the transfer shaft (5072) by a bolt in the bolt hole (50713).
14. The underwater docking device of claim 1, wherein: the remote guiding device is characterized in that a remote guiding device is installed on the guiding mechanism (1), a communication control system (6) is installed on the upper portion of the protection mechanism (2), and the remote guiding device and the communication control system (6) are connected with the controller.
CN201711329091.3A 2017-12-13 2017-12-13 Underwater butt joint device CN109921233B (en)

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