CN-117227942-B - Underwater simulation docking device and docking method for training

CN117227942BCN 117227942 BCN117227942 BCN 117227942BCN-117227942-B

Abstract

The utility model provides a training is with simulation interfacing apparatus under water and interfacing method, propulsion system, docking platform angle and position adjustment system, life support system, load substitution system and cabin pressure adjustment system etc. are connected with switch board, switch board through cable and pipeline, switch board and switch board pass through umbilical cable and are connected with surface of water unit, provide energy and control signal for each equipment, realize personnel's control and automatic control on the surface of water platform, realize high-efficient, controllable, and rescue scene and rescue training that rescue process covers entirely. Through surface of water remote control and automatic control, can realize under water that dock platform angle and position's real-time, accurate regulation shorten rescue operating mode conversion time by a wide margin, marine environment and submarine topography adaptability are strong, realize rescue scene and rescue process's full coverage, promote the controllability of training by a wide margin, improved training efficiency and training effect.

Inventors

HU ZHONGHUI
MA LING
GAO CHENGJUN
JIANG LEI
HE ZAIMING
WAN JIANGLONG
YANG SHENSHEN
HU ZHEN

Assignees

中国船舶科学研究中心

Dates

Publication Date: 20260508
Application Date: 20230928

Claims (10)

1. The underwater simulation docking device for training is characterized by comprising a load base (14), wherein four corners of the load base (14) are respectively provided with a hydraulic telescopic supporting leg (7), the upper surface of the load base (14) is provided with a rotating frame (11) in a matched manner, the upper surface of the rotating frame (11) is provided with a manned cabin (4) in a matched manner, two ends of the manned cabin (4) are rotatably connected to two end parts of the rotating frame (11), the upper surface of the rotating frame (11) is fixedly provided with an angle adjustment driving motor (10), the output end of the angle adjustment driving motor (10) is provided with a gear, the outer surface of the manned cabin (4) is provided with a toothed rail (9) meshed with the gear, The automatic water supply device is characterized by further comprising an azimuth adjustment driving motor (17), a rotating frame (11) can be driven to rotate, a high-pressure oxygen tank (8) and a high-pressure air tank (12) are further arranged on the upper surface of the rotating frame (11), a docking platform (2) and a hatch cover (3) are arranged on the top surface of a passenger cabin (4), buoyancy blocks (1) are respectively arranged above two ends of the passenger cabin (4), the buoyancy blocks (1) are simultaneously fixed on the rotating frame (11), vertical thrusters (5) and horizontal thrusters (6) are respectively arranged at four corners of the upper portion of the rotating frame (11), lateral thrusters (16) are arranged on the side portions of the buoyancy blocks (1), a sea water pump (15) and a hydraulic source (13) are arranged at the bottom of one buoyancy block (1), a water cabin (21) is arranged in the middle position inside the passenger cabin (4), and a life support control cabinet (19), a power distribution cabinet (20), a carbon dioxide absorption tank (24) and a control cabinet (22) are respectively arranged on two sides of the upper side of the water cabin (21).
2. An underwater simulation docking device for training as claimed in claim 1, characterized in that the manned capsule (4) is of an integral structure.
3. The underwater simulation docking device for training is characterized in that the manned cabin (4) comprises a cabin body (401), a hatch rail (402) and an angle rotating shaft (403), wherein the hatch rail (402) is arranged on the top of the cabin body (401), a hatch cover (3) is arranged on the hatch rail (402) to jointly form a closed space for bearing external pressure and internal pressure, the angle rotating shafts (403) are arranged at two ends of the cabin body (401), and the angle rotating shafts (403) are coaxial with the cabin body (401).
4. The underwater simulation docking device for training is characterized in that the rotating frame (11) is structurally characterized by comprising a frame body (1101), a cabin supporting frame (1102), an angle adjustment rotating bearing installation position (1103) and an azimuth adjustment rotating bearing installation position (1104), wherein the azimuth adjustment rotating bearing installation position (1104) is arranged below the frame body (1101), and the rotating frame (11) and the load base (14) are connected and matched through the rotating matching formed by the azimuth adjustment rotating bearing installation position (1104), the azimuth adjustment rotating bearing (18) and the azimuth rotation boss (1402); The two cabin body supporting frames (1102) are symmetrically arranged on the middle cross section of the rotating frame (1), the upper part of the cabin body supporting frames (1102) is provided with angle adjustment rotating bearing installation positions (1103), and the manned cabin (4) is connected and matched with the rotating frame (11) through rotating and matching formed by the angle rotating shafts (403), the angle adjustment rotating bearings (23) and the angle adjustment rotating bearing installation positions (1103).
5. The underwater simulation docking device for training of claim 4, wherein the load base (14) is composed of a base body (1401), an azimuth rotation boss (1402) and a telescopic hole (1403), the azimuth rotation boss (1402) is used for installing an azimuth adjustment rotation bearing (18), and the telescopic hole (1403) is used for stretching and retracting the hydraulic telescopic support leg (7).
6. A simulated underwater docking device for training as claimed in claim 1, wherein extension frames (1105) are provided on both sides of said turret (11).
7. A simulated underwater docking device for training as claimed in claim 1, wherein said docking platform (2) is a universal life-saving platform.
8. The underwater simulation docking device for training according to claim 1, wherein the toothed rail (9) is circumferentially arranged along the manned cabin (4), and the toothed rail (9) is in a circular arc structure.
9. The underwater simulation docking device for training is characterized in that the high-pressure oxygen tanks (8) are symmetrically arranged, the total number of the carbon dioxide absorption tanks (24) is two, the high-pressure oxygen tanks (8) are arranged in the manned cabin (4) and are arranged on two sides of the power distribution cabinet (20) through brackets, the high-pressure oxygen tanks (8), the carbon dioxide absorption tanks (24), the life support control cabinet (19), the power distribution cabinet (20) and the control cabinet (22) are connected with each other through cables and pipelines, the oxygen flow rate of the high-pressure oxygen tanks (8) input into the manned cabin (4) is controlled through the life support control cabinet (19), and the carbon dioxide absorption tanks (24) are controlled to remove carbon dioxide exhaled by people, so that a stable living environment is provided for the people in the manned cabin (4).
10. A docking method of an underwater simulation docking device for training as set forth in claim 1, characterized by comprising the following operation steps: S1, normal pressure rescue training: S1.1, personnel enter a manned cabin (4), and an underwater simulation docking device is deployed from a water surface platform; S1.2, a water surface person controls the underwater simulation docking device to a training preset point; S1.3, controlling the underwater simulation docking device to sit at the bottom by a water surface person, controlling a seawater pump (15) to inject a certain amount of seawater into a ballast water tank (21) by a load substitution control module in a control system, and adjusting the underwater simulation docking device to a negative buoyancy state; S1.4, controlling water surface personnel or controlling an automatic program, controlling a hydraulic source by a gesture and azimuth sensing module in a control system, driving hydraulic telescopic supporting legs 7 at four vertexes of a load base (14) to stretch and retract, and adjusting the load base (14) to be in a horizontal state; s1.5, controlling water surface personnel or controlling an automatic program, controlling an angle adjustment driving motor (10) to drive a manned cabin (4) to rotate around an axis by a gesture and azimuth sensing module in a control system according to a preset docking angle, and adjusting a docking platform (2) to a preset inclination angle; s1.6, controlling water surface personnel or automatically controlling by a program, controlling an azimuth adjustment driving motor (17) to drive a rotating frame (11) to rotate by an attitude and azimuth sensing module in a control system according to a preset azimuth angle, and adjusting a docking platform (2) to the preset azimuth angle until training preparation is completed; s1.7, arranging a rescue submersible from a water surface platform; S1.8, the rescue submersible vehicle is submerged, is in butt joint with an underwater simulation butt joint device, is transferred by personnel, is separated from the underwater simulation butt joint device and floats upwards, wherein the number of personnel transferred for a single time is determined according to the number of carrying persons of the underwater simulation butt joint device and the training times, and after the personnel transfer for one time is completed, the rest personnel are still kept in the underwater simulation butt joint device; s1.9, repeating S1.5-S1.6, and adjusting the docking platform (2) to a preset angle and a preset azimuth for the next training; s1.10, repeating the step S1.8; S1.11, repeating S1.9-S1.10 until all training contents are completed; S1.12, controlling water surface personnel or controlling by an automatic program, controlling a seawater pump (15) to discharge a certain amount of seawater in a water carrying cabin (21) by a load substitution control module in a control system, and adjusting an underwater simulation docking device to a neutral buoyancy state; s1.13, controlling the underwater simulation docking device to float to the water surface and recycling; s2, carrying out rescue training under pressure: S2.1, people enter the manned cabin (4), high-pressure air is input into the manned cabin (4) according to a boosting program, the flow of the air output by the high-pressure air tank (12) is controlled by the cabin pressure adjusting control module, and the pressure in the manned cabin (4) is increased to a training preset pressure; s2.2, laying an underwater simulation docking device from a water surface platform; s2.3, controlling the underwater simulation docking device to a training preset point by a water surface person; S2.4, controlling the underwater simulation docking device to sit at the bottom by a water surface person, and controlling a seawater pump (15) to inject a certain amount of seawater into a ballast water tank (21) by a load substitution control module in a control system so as to enable the underwater simulation docking device to be in a negative buoyancy state; S2.5, controlling water surface personnel or controlling an automatic program, controlling a hydraulic source by a gesture and azimuth sensing module in a control system, driving hydraulic telescopic supporting legs (7) at four vertexes of a load base (14) to stretch and retract, and adjusting the load base (14) to be in a horizontal state; S2.6, controlling water surface personnel or controlling an automatic program, controlling an angle adjustment driving motor (10) to drive a manned cabin (4) to rotate around an axis by a gesture and azimuth sensing module in a control system according to a preset docking angle, and adjusting the docking platform (2) to a preset inclination angle; S2.7, controlling or automatically controlling by personnel on the water surface, controlling an azimuth adjustment driving motor (17) to drive a rotating frame (11) to rotate by an attitude and azimuth sensing module in a control system according to a preset azimuth angle, and adjusting a docking platform (2) to the preset azimuth angle until training is finished; s2.8, arranging a rescue submersible from the water surface platform; S2.9, the rescue submersible vehicle is submerged, is in butt joint with an underwater simulation butt joint device, is transferred by personnel, is separated from the underwater simulation butt joint device and floats upwards, wherein the number of personnel transferred for a single time is determined according to the number of carrying personnel of the underwater simulation butt joint device and the training times, and after the personnel transfer for a time is completed, the rest personnel are still kept in the underwater simulation butt joint device; s2.10, repeating the steps S2.6-S2.7, and adjusting the docking platform to a preset angle and a preset azimuth for the next training; s2.11, repeating the step S2.9; s2.12, repeating the steps S2.10-S2.11 until all training contents are completed; s2.13, controlling water surface personnel or controlling by an automatic program, controlling a seawater pump (15) to discharge a certain amount of seawater in a water carrying cabin (21) by a load substitution control module in a control system, and adjusting the underwater simulation docking device to a neutral buoyancy state; s2.14, controlling the underwater simulation docking device to float to the water surface and recycling.

Description

Underwater simulation docking device and docking method for training Technical Field The invention relates to the technical field of underwater rescue equipment of deep sea manned equipment, in particular to a underwater simulation docking device and a docking method for training. Background When a large-scale deep sea manned submersible vehicle loses the accident, rescue is usually carried out by adopting a rescue submersible vehicle, and the rescue submersible vehicle establishes a personnel transfer channel by being in butt joint with a rescue platform of the accident submersible vehicle so as to transfer trapped personnel in the accident submersible vehicle to a surface ship. The rescue scene mainly comprises normal pressure rescue and pressure rescue, and the rescue process mainly comprises submergence, docking with a accident-prone device, personnel transfer, separation from the accident-prone device and floating. To ensure success of rescue, rescue training is required. At present, a widely adopted rescue training method is to simulate docking training under water. By simulating docking training, rescue personnel can master the control key of the rescue diving device and the capability of completing rescue operation tasks. The simulated docking training mainly uses an underwater simulated docking platform to carry out training. By adjusting the inclination angle of the docking plane of the underwater simulation docking platform, the posture of the rescue platform of the accident-prone device after the accident is simulated, and rescue personnel control the rescue-prone device to dock with the rescue-prone device for rescue training. The following problems exist in using a subsurface analog docking platform to perform training: (1) The underwater simulation docking platform can only perform normal-pressure rescue training and cannot perform the under-pressure rescue training; (2) The underwater simulation docking platform can only simulate the gesture of the rescue platform of the accident-prone device, does not have the training condition of personnel transfer, and cannot cover the whole rescue process; (3) The angle adjustment of the underwater simulation docking platform needs to be completed on the deck of the mother ship, and the underwater simulation docking platform does not have the capability of real-time adjustment under water; (4) The underwater simulation docking platform does not have power and control capability, and the arrangement point positions of the underwater simulation docking platform and the final docking angle of the docking platform are large in randomness and uncontrollable due to the fact that the marine environment and the topography and the landform of the seabed are complex and various. Disclosure of Invention Aiming at the defects in the prior art, the inventor provides an underwater simulation docking device for training and a docking method, thereby realizing high-efficiency and controllable rescue training work with full coverage of rescue scenes and rescue processes through remote control and automatic control on the water surface. The technical scheme adopted by the invention is as follows: The underwater simulation docking device for training comprises a load base, wherein four corners of the load base are respectively provided with hydraulic telescopic supporting legs, a rotating frame is installed on the upper surface of the load base in a matched mode, a manned cabin is installed on the upper surface of the rotating frame in a matched mode, two ends of the manned cabin are rotatably connected to two end portions of the rotating frame, an angle adjustment driving motor is fixedly arranged on the upper surface of the rotating frame, a gear is installed at the output end of the angle adjustment driving motor, a toothed rail meshed with the gear is arranged on the outer surface of the manned cabin, a high-pressure oxygen tank and a high-pressure air tank are further installed on the upper surface of the rotating frame, a docking platform and a hatch cover are arranged on the top surface of the manned cabin, buoyancy blocks are respectively arranged above two ends of the manned cabin, meanwhile, the buoyancy blocks are fixed on the rotating frame, a vertical propeller and a horizontal propeller are respectively installed on the four corners of the upper portion of the rotating frame, a side portion of one buoyancy block is provided with a side propeller, a sea water pump and a hydraulic source are installed on the bottom of one buoyancy block, ballast water tank is arranged in the middle position inside the manned cabin, a life control cabinet, a carbon dioxide absorption tank and a life control cabinet are respectively arranged on the two sides of the water tank. The further technical scheme is as follows: The manned cabin is of an integrated structure. The manned cabin is structurally characterized by comprising a cabin body, a hatch coaming and an angle rotating