CN114802669A - Lockable frame type underwater butt joint device - Google Patents

Abstract

The invention belongs to the technical field of underwater butt joint devices, and particularly relates to a lockable framework type underwater butt joint device which comprises a conical guide cover, a butt joint framework, a gear and rack centering mechanism, a support platform and a butt joint claw, wherein one end of the butt joint framework is connected with the conical guide cover, and the other end of the butt joint framework is provided with the butt joint claw for butt joint with a submarine; and a supporting platform is arranged in the middle of the butt joint frame, a gear and rack centering mechanism is arranged on the supporting platform, and the gear and rack centering mechanism is connected with a driving mechanism so as to fix the submarine. The invention has the advantages that the invention can restrain the butt joint of all degrees of freedom, the centering and the fixing are simple and reliable, the energy supplement and the information exchange can be carried out after the butt joint is successful, and the problems of low working efficiency and single function of the submarine in water are solved; meanwhile, the invention also has the advantages of simple and convenient operation, clear working thought and convenient auxiliary device allocation.

Description

Lockable frame type underwater butt joint device

Technical Field

The invention relates to the technical field of underwater butt joint devices, in particular to a lockable frame type underwater butt joint device.

Background

In recent years, with the increasing global demand for marine exploration, submarines are widely used in the military fields such as hydrological observation, marine monitoring, geological and biological investigation. However, because the submarine needs to consume a large amount of energy in underwater operation and the energy which can be carried by the submarine is limited, the submarine must return to the surface workbench for energy supplement before the energy of the submarine is consumed every time, so that the marine environment detection capability of the submarine is greatly limited, and meanwhile, a large amount of manpower and material resources are consumed by circularly reciprocating energy supplement. Therefore, how to solve the problem of energy supply of the submarine has very important significance for ocean exploration of the submarine. At present, an underwater docking energy station is arranged to provide underwater energy support for the AUV, and the underwater docking energy station is a better solution for solving the problem.

At present, a large number of researchers at home and abroad in related fields are researching and developing underwater docking devices capable of transmitting information and energy. However, the existing butt joint device has certain problems in the longitudinal view, a butt joint guide device is lacked, the water resistance is too large, the neutralization and locking cannot be simply realized, and the development cost is high. Therefore, how to develop a butt joint device which has certain guiding capacity, is convenient for butt joint operation, adapts to water resistance and is convenient for centering and locking is a key problem for solving the butt joint of the submarine.

At present, the butt joint device of the submarine can be divided into three types: the underwater platform is a capture type docking mode taking a rope as a docking target, an accommodation type docking mode taking a conical guide cover as a docking target, and a sitting type docking mode taking an underwater platform as a docking target. Among them, the contained docking method using the conical guide cover as the docking target is most widely used, for example, the seeker developed by the Shenyang automation research institute of the Chinese academy of sciences, dolphin No. II developed by Zhejiang university, and dolphin No. developed by Harbin engineering university are all contained docking methods using the conical guide cover as the docking target. However, the fixing mode of the docking systems is single, the centering and locking modes are complex and unstable, and few enterprises spend manpower and material resources on research and development of the docking systems, so that the positioning research and development strength of the underwater docking technology of the submarine is weak, a certain professional technical talent is lacked, and the service life and the overall performance of the underwater docking device are seriously restricted. Nowadays, with the rapid development of the submarine widely applied to the underwater docking technology, various large underwater instrument manufacturers at home and abroad are continuously pursuing underwater docking devices with higher reliability, economy and simplicity, which have higher requirements on the convenience, stability and operability of the underwater docking devices. The traditional butt joint device for fixing the submarine through two clamping hands has no obvious competitiveness, and the market and technical advantages of the original product are seriously threatened. Therefore, an underwater butt joint device which is easy to fix, simple to operate and strong in stability is designed, and the underwater butt joint device plays a vital role in the development of submarines.

Disclosure of Invention

In view of the above disadvantages and shortcomings of the prior art, the present invention provides a lockable frame-type underwater docking device, which solves the problems of single fixing mode, complicated centering and locking modes, and unstable structure of the conventional docking device, and the frame-type structure of the present invention also conforms to the structural characteristics of hydrodynamics.

In order to achieve the purpose, the invention adopts the main technical scheme that:

the embodiment of the invention provides a lockable frame type underwater docking device which comprises a conical guide cover, a docking frame, a gear rack centering mechanism, a support table and a docking claw, wherein one end of the docking frame is connected with the conical guide cover, and the other end of the docking frame is provided with the docking claw for docking a submarine; and a supporting platform is arranged in the middle of the butt joint frame, a gear and rack centering mechanism is arranged on the supporting platform, and the gear and rack centering mechanism is connected with a driving mechanism so as to fix the submarine.

Furthermore, the integral structure of the conical guide cover is a conical or arc-shaped strip-shaped frame, and the small-diameter end of the conical guide cover is fixed with the butt-joint frame.

Further, the tapered guide cover comprises a plurality of circular strip portions and a plurality of long strip portions, the circular strip portions are arranged along the circumferential direction of the tapered guide cover, and the long strip portions are arranged along the normal direction of the tapered guide cover; the circular strip portion is used for fixing the plurality of long strip portions.

Furthermore, the butt-joint frame is an open cuboid frame, a through hole for butt-joint of the submarine is formed in one end face of the butt-joint frame, and a conical guide cover is fixed on the outer side of one end face of the butt-joint frame; a plurality of first drainage holes are formed in the other end face of the butt joint frame, and a butt joint claw is arranged on the inner side of the other end face of the butt joint frame; one end face and the other end face of the butt joint frame are connected through a long strip rod to form the side face of the butt joint frame.

Further, the gear and rack centering mechanism comprises a first gear, a second gear, a left rack, a middle rack, a right rack, a left slide rod, a middle slide rod, a right slide rod, an upper centering rod and a lower centering rod; a left rack is fixed on the inner side of the left sliding rod, a right rack is fixed on the inner side of the right sliding rod, and middle racks are fixed on two sides of the middle sliding rod; the first gear is meshed with the left rack and the middle rack, the second gear is meshed with the right gear and the middle gear, and the first gear and the second gear are both connected with the driving mechanism; the lower parts of the left sliding rod and the right sliding rod are connected with a lower centering rod, and the outer side of the left sliding rod and the outer side of the right sliding rod are respectively connected with the butt joint frame and the support platform; an upper centering rod is fixed at the lower end of the middle sliding rod, and two ends of the upper centering rod are sleeved at the lower parts of the left sliding rod and the right sliding rod respectively; the driving mechanism drives the first gear and the second gear to rotate, so that the middle slide rod and the upper centering rod are driven to move up and down, and the submarine is fastened through the matching of the upper centering rod and the lower centering rod.

Furthermore, the middle parts of the upper centering rod and the lower centering rod are both arc-shaped, and the radian of the arc-shaped is consistent with that of the submarine shell.

Furthermore, the support table comprises a transverse plate and two vertical plates, the two vertical plates are both connected with the inner side surface of the butt joint frame, and the upper ends of the two vertical plates are connected through the transverse plate; round holes and second drain holes for ensuring the submarine to pass through are formed in the two vertical plates, and mounting holes for mounting the gear and rack centering mechanism are formed in the transverse plate.

Furthermore, the heights of the two vertical plates are higher than that of the butt joint frame, so that a certain gap is ensured between the transverse plate and the butt joint frame, and the resistance of the submarine in butt joint is reduced.

Further, the butt-joint claw comprises a shell, a rotating shaft, a double-arm pin and an inner claw; the inner claw is sleeved on the rotating shaft, two ends of the rotating shaft are connected with the shell, and the double-arm pin is connected with the shell in a sliding manner; two strip-shaped arms are arranged on the double-arm pin, and the distance between the two strip-shaped arms is greater than the height of the inner claw, so that the inner claw is positioned between the two strip-shaped arms; the upper part of one end of the inner claw, which is close to the double-arm pin, is provided with a concave platform; and pushing the inner claws of the butt-joint claws on the butt-joint frame to rotate through the inner claws of the butt-joint claws on the submarine, so that the concave platforms on the inner claws rotate between the two strip-shaped arms, and the two strip-shaped arms fall down to position the inner claws.

Furthermore, a convex key is arranged on the double-arm pin, and a groove matched with the convex key is arranged on the shell to prevent the double-arm pin from rotating.

The invention has the beneficial effects that:

1. the invention can restrain the butt joint of all degrees of freedom, has simple and reliable centering and fixing, can carry out energy supplement and information exchange after being successfully butted, and solves the problems of low working efficiency and single function of the submarine in water; meanwhile, the invention also has the advantages of simple and convenient operation, clear working thought and convenient auxiliary device allocation.

2. The invention has the advantages of rapidness, high efficiency, strong stability and wide applicability in the butt joint process of the underwater unmanned submarine.

3. The underwater docking device is frame-type in appearance, can effectively reduce the resistance in the docking process, and meets the basic requirements of structural design.

4. The guide cover is conical, so that the track guide can be perfectly carried out, and the guide cover is arranged in a frame shape, so that the basic requirements of underwater structure dynamics are met.

Drawings

FIG. 1 is a schematic diagram of an overall structure of a lockable frame-type underwater docking device according to the present invention;

FIG. 2 is a schematic diagram of the overall structure of a lockable frame-type underwater docking device of the present invention connected to a submarine;

FIG. 3 is a side view of the overall structure of a lockable frame-type underwater docking device according to the present invention;

FIG. 4 is a top view of the overall structure of a lockable frame-type underwater docking device according to the present invention;

FIG. 5 is a front view of the overall structure of a lockable frame-type underwater docking device according to the present invention;

FIG. 6 is a rear view of the overall structure of a lockable frame-type underwater docking device according to the present invention;

FIG. 7 is a schematic view of the initial state of the rack and pinion centering mechanism of the present invention;

FIG. 8 is a schematic view of the operation of the rack and pinion centering mechanism of the present invention;

FIG. 9 is a top view of the rack and pinion centering mechanism of the present invention;

FIG. 10 is a schematic view of the initial state of the butt-joint jaw of the present invention;

FIG. 11 is a schematic view of the butt-joint claw of the present invention in an operating state;

FIG. 12 is a cross-sectional view of a butt-joint jaw of the present invention;

FIG. 13 is a schematic view of the docking of two docking jaws of the present invention;

FIG. 14 is a top view of the mating of two mating jaws of the present invention.

In the figure: 1. a conical guide housing; 1A, a round bar part; 1B, long bar parts; 2. a docking frame; 2A, a through hole; 2B, a first drain hole; 2C, a long bar; 3. a rack and pinion centering mechanism; 4. a support table; 4A, a transverse plate; 4B, a vertical plate; 4C, a round hole; 4D, a second drain hole; 4E, mounting holes; 5. a butt joint claw; 6. a submarine; 7. a middle slide rod; 8. a first gear; 9. a second gear; 10. a left rack; 11. a middle rack; 12. a right rack; 13. a left slide bar; 14. a right slide bar; 15. an upper centering rod; 16. a lower centering rod; 17. a housing; 18. a rotating shaft; 19. a bell pin; 20. an inner jaw; 21. a strip-shaped arm; 22. a concave platform; 23. a convex key; 24. and (4) a groove.

Detailed Description

For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings. As used herein, the terms "upper", "lower", and the like are used with reference to the orientation of FIG. 1.

The lockable frame type underwater butt joint device provided by the embodiment of the invention can realize butt joint with a submarine through a simple and effective mechanism, provides conditions for subsequent work such as energy supplement and information exchange of the submarine, solves the problems of low efficiency and single function of the submarine in water work, and simultaneously has a frame type structure in accordance with the structural characteristics of hydrodynamics.

Example 1:

referring to fig. 1 to 6, the present invention provides a lockable frame type underwater docking device. The butt joint device comprises a conical guide cover 1, a butt joint frame 2, a gear and rack centering mechanism 3, a support table 4 and a butt joint claw 5. One end of the butt joint frame 2 is connected with the conical guide cover 1, and the other end of the butt joint frame 2 is provided with a butt joint claw 5 for butt joint of the submarine. A supporting table 4 is arranged in the middle of the butt joint frame 2, and a gear rack centering mechanism 3 is arranged on the supporting table 4. The gear rack centering mechanism 3 is connected with the driving mechanism, and the gear rack centering mechanism 3 is driven to move through the driving mechanism so as to fix the submarine. The submarine is a torpedo-shaped submarine, the tail part of the submarine is provided with a certain number of tail wings, and the head part of the submarine is provided with a butt joint claw 5 which is used for being connected with the butt joint claw 5 in the butt joint frame 2. The two butting claws 5 are identical in structure.

Referring to fig. 3 to 6, the overall structure of the conical guide cover 1 is a conical or arc-shaped strip frame, and the small-diameter end of the conical guide cover 1 is fixed to the butt-joint frame 2. Specifically, the tapered guide cover 1 includes a plurality of circular bar portions 1A and a plurality of long bar portions 1B, the plurality of circular bar portions 1A being provided along a circumferential direction of the tapered guide cover 1, the plurality of long bar portions 1B being provided along a normal direction of the tapered guide cover 1; the round bar 1A is used to fix the plurality of long bars 1B. The conical guide cover 1 with the structure can guide the track of the submarine. And the conical guide cover 1 is arranged into a strip-shaped frame, so that the resistance of seawater in the butt joint of the submarine can be reduced, and the basic requirements of underwater structure dynamics are met.

Referring to fig. 3 to 6, the docking frame 2 is an open rectangular parallelepiped frame. One end face of the butt joint frame 2 is provided with a through hole 2A for butt joint of a submarine, and the outer side of one end face of the butt joint frame 2 is fixed with the conical guide cover 1. A plurality of first drainage holes 2B are formed in the other end face of the butt joint frame 2, and a butt joint claw 5 is arranged on the inner side of the other end face of the butt joint frame 2. One end face and the other end face of the butt joint frame 2 are connected through a long rod 2C to form the side face of the butt joint frame 2. Specifically, the upper side, the left side, the lower side and the right side of the butt joint frame 2 have the same structure and are all surfaces formed by splicing long bars 2C; a certain gap is formed between the two long rods 2C, so that the resistance of seawater in butt joint of the submarines can be reduced. The front side surface of the butt joint frame 2 is a rectangular surface, the middle part is provided with a through hole 2A, and the outer surface of the through hole 2A is fixedly connected with the conical guide cover 1. The back side of the butt-joint frame 2 is a rectangular surface, a plurality of first drainage holes 2B are arranged on the rectangular surface, and the middle part of the inner side of the rectangular surface is fixedly connected with a butt-joint claw 5.

Referring to fig. 7 to 9, the rack-and-pinion centering mechanism 3 includes a first gear 8, a second gear 9, a left rack 10, a middle rack 11, a right rack 12, a left slide bar 13, a middle slide bar 7, a right slide bar 14, an upper centering bar 15, and a lower centering bar 16. The left rack 10 is fixed on the inner side of the left slide rod 13, the right rack 12 is fixed on the inner side of the right slide rod 14, and the middle rack 11 is fixed on both sides of the middle slide rod 7. The first gear 8 is meshed with the left rack 10 and the middle rack 11, the second gear 9 is meshed with the right gear and the middle gear, and the first gear 8 and the second gear 9 are both connected with the driving mechanism. The lower parts of the left slide rod 13 and the right slide rod 14 are connected with a lower centering rod 16, and the outer side of the left slide rod 13 and the outer side of the right slide rod 14 are respectively connected with the butt joint frame 2 and the support table 4. An upper centering rod 15 is fixed at the lower end of the middle slide rod 7, and two ends of the upper centering rod 15 are respectively sleeved at the lower parts of the left slide rod 13 and the right slide rod 14. The first gear 8 and the second gear 9 are driven to rotate by the driving mechanism, so that the middle slide rod 7 and the upper centering rod 15 are driven to move up and down, and the submarine is fastened by the cooperation of the upper centering rod 15 and the lower centering rod 16. Specifically, the middle of the upper centering rod 15 and the middle of the lower centering rod 16 are both arc-shaped, and the radian of the arc-shaped is consistent with that of the submarine shell so as to fix the submarine.

Referring to fig. 1 to 6, the support table 4 is erected in the middle of the docking frame 2, and the support table 4 includes a horizontal plate 4A and two vertical plates 4B. Two risers 4B all are connected with the medial surface of butt joint frame 2, and two risers 4B's upper end is connected through diaphragm 4A. Round holes 4C and second drain holes 4D for ensuring the submarine to pass through are formed in the two vertical plates 4B, and mounting holes 4E for mounting the gear rack centering mechanism 3 are formed in the transverse plate 4A. And other devices such as a driving mechanism, a charging mechanism, a transmission mechanism and the like can be arranged above the transverse plate 4A. The driving mechanism can be a motor, the charging mechanism can provide electric energy for the driving mechanism and the submarine, and the transmission mechanism can exchange information with the submarine. The driving mechanism, the charging mechanism and the transmission mechanism are all the prior art, and the specific structure thereof is not described herein again. Specifically, the heights of the two vertical plates 4B are higher than that of the butt joint frame 2, so that a certain gap is formed between the transverse plate 4A and the butt joint frame 2, and the resistance of the submarine in butt joint is reduced.

With reference to fig. 10-14, the docking claws 5 in the docking frame 2 are the same in structure as the docking claws 5 of the submarine head. The docking jaw 5 comprises a housing 17, a spindle 18, a bell pin 19 and an inner jaw 20. The inner claw 20 is sleeved on the rotating shaft 18, and two ends of the rotating shaft 18 are connected with the shell 17. Specifically, the inner claw 20 is fixed to the rotating shaft 18, and both ends of the rotating shaft 18 are connected to the housing 17 through bearings, so that the inner claw 20 can rotate relative to the housing 17. Of course, the inner claw 20 of the present invention may also be connected to the rotating shaft 18 through a bearing, and both ends of the rotating shaft 18 are fixed to the housing 17, so that the inner claw 20 can be rotated relative to the housing 17. The bell pin 19 is slidably connected to the housing 17 so that the bell pin 19 can only move on the housing 17 in its axial direction but cannot rotate. Specifically, the bell pin 19 is provided with a key 23, and the housing 17 is provided with a groove 24 matching the key 23 to prevent the bell pin 19 from rotating. Alternatively, the bell pin 19 is provided with a groove 24 and the housing 17 is provided with a key 23 matching the groove 24 to prevent the bell pin 19 from rotating. The double-armed pin 19 is provided with two strip-shaped arms 21, and the distance between the two strip-shaped arms 21 is larger than the height of the inner claw 20, so that the inner claw 20 is positioned between the two strip-shaped arms 21. The upper part of one end of the inner claw 20 close to the double-arm pin 19 is provided with a concave platform 22; the inner claw 20 of the butt joint claw 5 on the butt joint frame 2 is pushed to rotate by the inner claw 20 of the butt joint claw 5 on the submarine, so that the concave platform 22 on the inner claw 20 rotates between the two strip-shaped arms 21, and the two strip-shaped arms 21 fall down to position the inner claw 20. Specifically, the double-arm pin 19 can be made of a material with a relatively high density, and can freely fall in water. Or the double-arm pin 19 can be externally connected with a motor drive or a hydraulic drive, and further drives the double-arm pin 19 to move up and down. After the inner claws 20 on the submarine and the inner claws 20 on the butt joint frame 2 are contacted, the inner claws 20 on the submarine and the inner claws 20 on the butt joint frame 2 push each other, and when the two inner claws 20 are parallel, the fixing is finished.

The working principle of the invention is explained below with reference to the attached drawings:

as shown in fig. 1 to 6, the overall structure of the docking device is schematically illustrated. The butt joint device is integrally frame-type, and the submarine enters the butt joint device from the front. A conical guide cover is arranged in front of the butt joint device and can guide the submarine to smoothly enter the butt joint frame. When the submarine enters the butt joint frame, the submarine continues to move forward, the butt joint claws on the submarine automatically butt joint with the butt joint claws in the butt joint frame after the submarine approaches the tail of the butt joint frame, and then the gear rack centering mechanism works to lock the submarine to complete butt joint.

Fig. 7 to 9 are schematic structural views of a gear and rack centering mechanism. The gear rack centering mechanism consists of two groups of gear rack mechanisms, wherein the middle slide rod, the middle rack and the upper centering rod are fixed together. And after the submarine finishes the butt joint of the butt joint claws, the gear rack centering mechanism starts to work. The motor drives the two gears to rotate, the gears drive the racks to move, the middle rack moves downwards, the left rack and the right rack move upwards, meanwhile, the middle rack drives the sliding rod to move downwards, the middle sliding rod drives the upper centering rod to move downwards, and finally, the upper centering rod and the lower centering rod lock the submarine through the arc-shaped structure in the middle part to fix the residual degree of freedom after the submarine is butted.

As shown in FIGS. 10-14, the structure of the butt-joint claw is schematically illustrated. The butt-joint claw consists of a shell, a rotating shaft, two arm pins and an inner claw, wherein the submarine and the butt-joint frame are respectively provided with one butt-joint claw. When the submarine moves to the tail part of the butt-joint frame, the inner claws of the two butt-joint claws are firstly pushed in a contact manner, and the tail part of the G-shaped inner claw is pushed to rotate due to the G-shaped inner claw, so that the forward thrust of the submarine is converted into the translation and rotation of the inner claws until the two inner claws are parallel. At this time, since the inner jaw is rotated by a certain angle, the concave platform on the inner jaw is aligned with the bell pin, the bell pin will slide down because there is no support under it, and the housing will limit the upper limit of the movement of the bell pin. Finally, the two butt-joint claws are butted and the degree of freedom is limited. After the transmission of energy and information of the submarine is finished, the double-arm pin can be driven to move upwards by means of motor driving or hydraulic driving and the like, and then the inner claw is shifted inwards, so that the submarine can be separated by retreating.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (10)

1. The utility model provides a can lock frame-type interfacing apparatus under water which characterized in that: the submarine butt joint device comprises a conical guide cover (1), a butt joint frame (2), a gear and rack centering mechanism (3), a support table (4) and butt joint claws (5), wherein one end of the butt joint frame (2) is connected with the conical guide cover (1), and the other end of the butt joint frame (2) is provided with the butt joint claws (5) for butt joint with a submarine (6); a supporting table (4) is arranged in the middle of the butt joint frame (2), a gear and rack centering mechanism (3) is arranged on the supporting table (4), and the gear and rack centering mechanism (3) is connected with a driving mechanism to fix the submarine (6).

2. A lockable frame underwater docking device as claimed in claim 1 wherein: the integral structure of the conical guide cover (1) is a conical or arc-shaped strip-shaped frame, and the small-diameter end of the conical guide cover (1) is fixed with the butt-joint frame (2).

3. A lockable frame-type underwater docking apparatus as claimed in claim 2, wherein: the conical guide cover (1) comprises a plurality of circular strip portions (1A) and a plurality of long strip portions (1B), the circular strip portions (1A) are arranged along the circumferential direction of the conical guide cover (1), and the long strip portions (1B) are arranged along the normal direction of the conical guide cover (1); the round bar (1A) is used for fixing a plurality of long bars (1B).

4. A lockable frame-type underwater docking device as claimed in claim 1, wherein: the butt joint frame (2) is an open cuboid frame, a through hole (2A) for butt joint of the submarine (6) is formed in one end face of the butt joint frame (2), and a conical guide cover (1) is fixed on the outer side of one end face of the butt joint frame (2); a plurality of first drainage holes (2B) are formed in the other end face of the butt joint frame (2), and a butt joint claw (5) is arranged on the inner side of the other end face of the butt joint frame (2); one end face and the other end face of the butt joint frame (2) are connected through a long rod (2C) to form the side face of the butt joint frame (2).

5. A lockable frame-type underwater docking device as claimed in claim 1, wherein: the gear and rack centering mechanism (3) comprises a first gear (8), a second gear (9), a left rack (10), a middle rack (11), a right rack (12), a left sliding rod (13), a middle sliding rod (7), a right sliding rod (14), an upper centering rod (15) and a lower centering rod (16); a left rack (10) is fixed on the inner side of the left slide rod (13), a right rack (12) is fixed on the inner side of the right slide rod (14), and middle racks (11) are fixed on both sides of the middle slide rod (7); the first gear (8) is meshed with the left rack (10) and the middle rack (11), the second gear (9) is meshed with the right gear and the middle gear, and the first gear (8) and the second gear (9) are both connected with the driving mechanism; the lower parts of the left sliding rod (13) and the right sliding rod (14) are connected with a lower centering rod (16), and the outer side of the left sliding rod (13) and the outer side of the right sliding rod (14) are respectively connected with the butt joint frame (2) and the support table (4); an upper centering rod (15) is fixed at the lower end of the middle sliding rod (7), and two ends of the upper centering rod (15) are sleeved at the lower parts of the left sliding rod (13) and the right sliding rod (14) respectively; the first gear (8) and the second gear (9) are driven to rotate through the driving mechanism, the middle slide rod (7) and the upper centering rod (15) are driven to move up and down, and the submarine (6) is fastened through the matching of the upper centering rod (15) and the lower centering rod (16).

6. A lockable frame underwater docking device as claimed in claim 5 wherein: the middle parts of the upper centering rod (15) and the lower centering rod (16) are arc-shaped, and the radian of the arc-shaped is consistent with that of the submarine (6) shell.

7. A lockable frame underwater docking device as claimed in claim 1 wherein: the supporting table (4) comprises a transverse plate (4A) and two vertical plates (4B), the two vertical plates (4B) are connected with the inner side face of the butt-joint frame (2), and the upper ends of the two vertical plates (4B) are connected through the transverse plate (4A); round holes (4C) and second drain holes (4D) which can ensure the submarine (6) to pass through are formed in the two vertical plates (4B), and mounting holes (4E) for mounting the gear and rack centering mechanism (3) are formed in the transverse plate (4A).

8. A lockable frame underwater docking device as claimed in claim 7 wherein: the heights of the two vertical plates (4B) are higher than that of the butt joint frame (2), so that a certain gap is ensured between the transverse plate (4A) and the butt joint frame (2) to reduce the resistance of the submarine (6) in butt joint.

9. A lockable frame underwater docking device as claimed in claim 1 wherein: the butt joint claw (5) comprises a shell (17), a rotating shaft (18), a double-arm pin (19) and an inner claw (20); the inner claw (20) is sleeved on the rotating shaft (18), two ends of the rotating shaft (18) are connected with the shell (17), and the double-arm pin (19) is connected with the shell (17) in a sliding manner; two strip-shaped arms (21) are arranged on the double-arm pin (19), and the distance between the two strip-shaped arms (21) is greater than the height of the inner claw (20), so that the inner claw (20) is positioned between the two strip-shaped arms (21); a concave platform (22) is arranged at the upper part of one end of the inner claw (20) close to the double-arm pin (19); the inner claw (20) of the butt joint claw (5) on the butt joint frame (2) is pushed to rotate through the inner claw (20) of the butt joint claw (5) on the submarine (6), so that the concave table (22) on the inner claw (20) rotates between the two strip-shaped arms (21), and the two strip-shaped arms (21) fall down to position the inner claw (20).

10. A lockable frame underwater docking device as claimed in claim 9 wherein: a convex key (23) is arranged on the double-arm pin (19), and a groove (24) matched with the convex key (23) is arranged on the shell (17) to prevent the double-arm pin (19) from rotating.

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