Underwater docking device and docking method for training

Abstract

A kind of underwater simulation docking device for training and docking method, propulsion system, docking platform angle and azimuth adjustment system, life support system, load substitution system and cabin pressure adjustment system are connected with control cabinet and switch board through cable and pipeline, control cabinet and switch board are connected with water surface unit through umbilical cable, energy and control signal are provided for each equipment, personnel control on water surface platform and automatic control are realized, efficient, controllable, and rescue training with full coverage of rescue scene and rescue process is realized.Through water surface remote control and automatic control, real-time and accurate adjustment of docking platform angle and azimuth can be realized underwater, rescue working condition conversion time is greatly shortened, ocean environment and seabed topography adaptability is strong, full coverage of rescue scene and rescue process is realized, controllability of training is greatly improved, training efficiency and training effect are improved.

Description

Technical Field

[0001] This invention relates to the field of underwater rescue equipment for deep-sea manned equipment, and in particular to a training underwater simulation docking device and docking method. Background Technology

[0002] When a large deep-sea manned submersible malfunctions, a rescue submersible is typically used for rescue operations. The rescue submersible docks with the malfunctioning submersible's rescue platform to establish a personnel transfer channel, transferring the trapped personnel from the malfunctioning submersible to a surface vessel. Rescue scenarios primarily include atmospheric pressure rescue and pressurized rescue. The rescue process mainly includes descent, docking with the malfunctioning submersible, personnel transfer, detachment from the malfunctioning submersible, and surfacing. To ensure a successful rescue, rescue training is necessary. Currently, the widely used rescue training method is underwater simulated docking training. Through simulated docking training, rescue personnel master the operation techniques of the rescue submersible and the ability to complete rescue operations.

[0003] Simulated docking training primarily utilizes underwater simulated docking platforms. By adjusting the tilt angle of the docking plane on the platform, the posture of a distressed submersible rescue platform after a malfunction is simulated, allowing rescue personnel to maneuver their rescue submersible to dock with it for rescue training. However, using underwater simulated docking platforms for training presents the following problems:

[0004] (1) The underwater simulated docking platform can only conduct normal pressure rescue training and cannot carry out pressurized rescue training;

[0005] (2) The underwater simulation docking platform can only simulate the attitude of the rescue platform of the wrecked submersible, and does not have the training conditions for personnel transfer, and cannot cover the entire rescue process;

[0006] (3) The angle adjustment of the underwater simulation docking platform needs to be completed on the mother ship deck and does not have the ability to adjust it in real time underwater;

[0007] (4) The underwater simulation docking platform does not have power and control capabilities. Due to the complex and diverse marine environment and seabed topography, the location of its underwater layout and the final docking angle of the docking platform are highly random and uncontrollable. Summary of the Invention

[0008] In response to the shortcomings of the existing production technology, the applicant provides a training underwater simulation docking device and docking method, thereby achieving efficient, controllable, and comprehensive rescue training covering all rescue scenarios and processes through remote and automatic control from the water surface.

[0009] The technical solution adopted in this invention is as follows:

[0010] A training underwater simulated docking device includes a load base, with hydraulic telescopic support legs installed at each of the four corners of the load base. A rotating frame is mounted on the upper surface of the load base, and a manned cabin is mounted on the upper surface of the rotating frame. The two ends of the manned cabin are rotatably connected to the two ends of the rotating frame. An angle adjustment drive motor is fixed on the upper surface of the rotating frame, and a gear is installed at the output end of the angle adjustment drive motor. A geared rail that meshes with the gear is provided on the outer surface of the manned cabin. A high-pressure oxygen tank and a high-pressure oxygen tank are also mounted on the upper surface of the rotating frame. Compressed air tank; the top surface of the manned cabin is equipped with a docking platform and hatch cover, and buoyancy blocks are respectively installed above both ends of the manned cabin. The buoyancy blocks are fixed on the rotating frame. Vertical thrusters and horizontal thrusters are respectively installed at the four corners of the upper part of the rotating frame. Lateral thrusters are installed on the side of the buoyancy blocks. A seawater pump and hydraulic source are installed at the bottom of one of the buoyancy blocks; a ballast water tank is located in the middle of the interior of the manned cabin. Life support control cabinet, power distribution cabinet, carbon dioxide absorption tank and control cabinet are respectively installed on both sides above the ballast water tank.

[0011] Its further technical solution lies in:

[0012] The manned cabin is a one-piece structure.

[0013] The structure of the manned cabin is as follows: it includes a cabin body, a hatch enclosure, and an angle rotation shaft. The hatch enclosure is set on the top of the cabin body, and a hatch cover is set on the hatch enclosure. Together, they form a closed space that can withstand both external and internal pressure. An angle rotation shaft is provided at both ends of the cabin body, and the angle rotation shaft is coaxial with the cabin body.

[0014] The structure of the rotating frame is as follows: it includes a frame body, a cabin support frame, an angle adjustment rotating bearing mounting position and an orientation adjustment rotating bearing mounting position. The orientation adjustment rotating bearing mounting position is located below the frame body. The rotating frame and the load base are connected by the rotational fit formed by the orientation adjustment rotating bearing mounting position, the orientation adjustment rotating bearing and the orientation rotating boss.

[0015] There are two cabin support frames, symmetrically arranged about the middle cross section of the rotating frame; the upper part of the cabin support frame is provided with an angle adjustment rotating bearing mounting position. The manned cabin is connected to the rotating frame through the rotational fit formed by the angle rotating shaft, the angle adjustment rotating bearing and the angle adjustment rotating bearing mounting position.

[0016] The structure of the load base includes a base body, an orientation rotation boss, and a telescopic hole. The orientation rotation boss is used to install the orientation adjustment rotation bearing, and the telescopic hole is used for the extension and retraction of the hydraulic telescopic support leg.

[0017] Extension frames are provided on both sides of the rotating frame.

[0018] The docking platform is a general-purpose lifesaving platform.

[0019] The toothed rail is arranged around the perimeter of the manned cabin and has an arc-shaped structure.

[0020] Two high-pressure oxygen tanks and two carbon dioxide absorption tanks are symmetrically arranged inside the manned cabin and mounted on both sides of the power distribution cabinet via brackets. The high-pressure oxygen tanks, carbon dioxide absorption tanks, life support control cabinet, power distribution cabinet, and control cabinet are connected to each other via cables and pipelines. The life support control cabinet controls the oxygen flow rate from the high-pressure oxygen tanks into the manned cabin and controls the carbon dioxide absorption tanks to remove carbon dioxide exhaled by personnel, providing a stable living environment for the personnel inside the manned cabin.

[0021] A docking method using an underwater simulated docking device for training includes the following steps:

[0022] S1. Normal Pressure Rescue Training:

[0023] S1.1 Personnel enter the manned cabin and deploy the underwater simulated docking device from the surface platform;

[0024] S1.2 Surface personnel operate the underwater simulated docking device to the preset training point;

[0025] S1.3, the surface personnel control the underwater simulated docking device to sit on the bottom, and the load replacement control module in the control system controls the seawater pump to inject a certain amount of seawater into the ballast water tank, adjusting the underwater simulated docking device to a negative buoyancy state.

[0026] S1.4. The hydraulic source is controlled by the attitude and orientation sensing module in the control system to drive the hydraulic telescopic support legs 7 at the four vertices of the load base to extend and retract, and adjust the load base to a horizontal state.

[0027] S1.5. The crew is controlled by personnel on the water or by an automatic program. According to the preset docking angle, the attitude and orientation sensing module in the control system controls the angle adjustment drive motor to drive the manned cabin to rotate around the axis and adjust the docking platform to the preset tilt angle.

[0028] S1.6. The personnel on the water operate or the automatic program controls the orientation adjustment drive motor to drive the rotating frame to rotate according to the preset orientation angle, and adjust the docking platform to the preset orientation angle. At this point, the training preparation is complete.

[0029] S1.7 Deploy the rescue submersible from the surface platform;

[0030] S1.8 The rescue submersible descends, docks with the underwater simulated docking device, transfers personnel, detaches from the underwater simulated docking device, and surfaces. The number of personnel transferred in a single operation is determined based on the number of personnel carried by the device and the number of training sessions. After one personnel transfer is completed, the remaining personnel remain inside the underwater simulated docking device. Simultaneously with the personnel transfer, the system is operated by surface personnel or controlled by an automatic program. The load substitution control module in the control system controls the seawater pump to inject seawater into the ballast tank in an amount equal to the weight of the personnel being transferred, keeping the underwater simulated docking device in a state of negative buoyancy.

[0031] S1.9 Repeat S5-S6, adjusting the docking platform to the next preset angle and orientation for training;

[0032] S1.10, repeat S8;

[0033] S1.11. Repeat S9 to S10 until all training content is completed;

[0034] S1.12. The system is operated by personnel on the water or controlled by an automatic program. The load replacement control module in the control system controls the seawater pump to discharge a certain amount of seawater from the water tank and adjust the underwater simulated docking device to a neutral buoyancy state.

[0035] S1.13. Control the underwater simulated docking device to rise to the surface and recover it.

[0036] As a further improvement to the above technical solution:

[0037] According to the pressurization procedure, high-pressure air is input into the manned cabin, and the flow rate of air output from the high-pressure air tank is controlled by the cabin pressure adjustment control module to raise the pressure in the manned cabin to the predetermined training pressure.

[0038] S2.2 Deploy the underwater simulated docking device from the surface platform;

[0039] S2.3 Surface personnel operate the underwater simulated docking device to the preset training point;

[0040] S2.4. The surface personnel control the underwater simulated docking device to sit on the bottom. The load replacement control module in the control system controls the seawater pump to inject a certain amount of seawater into the ballast water tank, so that the underwater simulated docking device is in a negative buoyancy state.

[0041] S2.5. The hydraulic source is controlled by the attitude and orientation sensing module in the control system to drive the hydraulic telescopic legs at the four vertices of the load base to extend and retract, and adjust the load base to a horizontal state.

[0042] S2.6. The crew is controlled by the water surface personnel or by the automatic program. According to the preset docking angle, the attitude and orientation sensing module in the control system controls the angle adjustment drive motor to drive the manned cabin to rotate around the axis and adjust the docking platform to the preset tilt angle.

[0043] S2.7. The personnel on the water operate or the automatic program controls the orientation adjustment drive motor to drive the rotating frame to rotate according to the preset orientation angle, and adjust the docking platform to the preset orientation angle. At this point, the training preparation is complete.

[0044] S2.8 Deploy the rescue submersible from the surface platform;

[0045] S2.9 The rescue submersible descends, docks with the underwater simulated docking device, transfers personnel, detaches from the underwater simulated docking device, and surfaces. The number of personnel transferred in a single operation is determined based on the device's carrying capacity and the number of training sessions. After one personnel transfer is completed, the remaining personnel remain inside the underwater simulated docking device. Simultaneously with the personnel transfer, the load substitution control module in the control system controls a seawater pump to inject seawater equal to the weight of the transferred personnel into the ballast tank, maintaining the underwater simulated docking device in a state of negative buoyancy. The tank pressure adjustment system automatically maintains stable pressure within the tank.

[0046] S2.10. Repeat S6 to S7, and adjust the docking platform to the next preset angle and preset orientation for training.

[0047] S2.11, Repeat S9;

[0048] S2.12, Repeat S10 to S11 until all training content is completed;

[0049] S2.13. The system is operated by personnel on the water or controlled by an automatic program. The load replacement control module in the control system controls the seawater pump to discharge a certain amount of seawater from the water tank and adjust the underwater simulated docking device to a neutral buoyancy state.

[0050] S2.14. Control the underwater simulated docking device to rise to the surface and recover it.

[0051] The beneficial effects of this invention are as follows:

[0052] This invention features a compact and rational structure, and is easy to operate. Through cables and pipelines, the propulsion system, docking platform angle and orientation adjustment system, life support system, payload replacement system, and cabin pressure adjustment system are connected to the control cabinet and power distribution cabinet. The control cabinet and power distribution cabinet are connected to the surface unit via umbilical cables, providing energy and control signals to each device. This enables personnel to operate and automatically control the equipment from the surface platform, achieving efficient, controllable, and comprehensive rescue training covering all rescue scenarios and processes. Through remote and automatic control from the surface, the docking platform's angle and orientation can be adjusted in real-time and accurately underwater, significantly shortening rescue condition transition time. It exhibits strong adaptability to marine environments and seabed topography, achieving full coverage of rescue scenarios and processes, greatly improving training controllability, efficiency, and effectiveness.

[0053] In addition, the present invention also has the following advantages:

[0054] 1) This invention enables real-time and accurate adjustment of the docking platform's angle and orientation underwater, significantly shortening the time required for switching between rescue conditions and improving training efficiency and effectiveness;

[0055] 2) This invention has power and remote control functions, strong adaptability to marine environment and seabed topography, and greatly improves the controllability of training;

[0056] 3) This invention has the capability of both atmospheric pressure rescue training and pressurized rescue training, achieving full coverage of rescue scenarios;

[0057] 4) This invention simulates the entire rescue process, achieving full coverage of the rescue process and greatly improving training effectiveness. Attached Figure Description

[0058] Figure 1 This is a schematic diagram of the structure of the present invention.

[0059] Figure 2 for Figure 1 The main view.

[0060] Figure 3 for Figure 1 The right view.

[0061] Figure 4 This is a schematic diagram of the internal structure of the present invention.

[0062] Figure 5 for Figure 1 A schematic diagram of the manned cabin in the image.

[0063] Figure 6 for Figure 1 A schematic diagram of the rotating frame in the diagram.

[0064] Figure 7 for Figure 1A structural schematic diagram of the rotating frame from another perspective.

[0065] Figure 8 for Figure 1 A schematic diagram of the load base structure.

[0066] The components include: 1. Buoyancy block; 2. Docking platform; 3. Hatch cover; 4. Crew cabin; 5. Vertical thruster; 6. Horizontal thruster; 7. Hydraulic telescopic outriggers; 8. High-pressure oxygen tank; 9. Gear rack; 10. Angle adjustment drive motor; 11. Rotating frame; 12. High-pressure air tank; 13. Hydraulic source; 14. Load base; 15. Seawater pump; 16. Lateral thruster; 17. Azimuth adjustment drive motor; 18. Azimuth adjustment rotary bearing; 19. Life support control cabinet; 20. Power distribution cabinet; 21. Ballast water tank; 22. Control cabinet; 23. Angle adjustment rotary bearing; 24. Carbon dioxide absorption tank.

[0067] 401. Hull; 402. Hatch railing; 403. Angle rotation shaft;

[0068] 1101. Frame; 1102. Hull support frame; 1103. Angle adjustment rotating bearing mounting position; 1104. Orientation adjustment rotating bearing mounting position; 1105. Extension frame;

[0069] 1401. Base body; 1402. Orientation rotation boss; 1403. Expansion hole. Detailed Implementation

[0070] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0071] like Figures 1-8As shown, the underwater simulation docking device for training in this embodiment includes a load base 14, with hydraulic telescopic support legs 7 installed at the four corners of the load base 14. A rotating frame 11 is fitted onto the upper surface of the load base 14, and a manned cabin 4 is fitted onto the upper surface of the rotating frame 11. The two ends of the manned cabin 4 are rotatably connected to the two ends of the rotating frame 11. An angle adjustment drive motor 10 is fixed to the upper surface of the rotating frame 11, and a gear is installed at the output end of the angle adjustment drive motor 10. A gear rail 9 that meshes with the gear is provided on the outer surface of the manned cabin 4. A high-pressure oxygen tank 8 and a high-pressure air tank 1 are also installed on the upper surface of the rotating frame 11. 2; The top surface of the manned cabin 4 is equipped with a docking platform 2 and a hatch cover 3. Buoyancy blocks 1 are respectively installed above both ends of the manned cabin 4. The buoyancy blocks 1 are fixed on the rotating frame 11. Vertical thrusters 5 and horizontal thrusters 6 are respectively installed at the four corners of the upper part of the rotating frame 11. Lateral thrusters 16 are installed on the side of the buoyancy blocks 1. A seawater pump 15 and a hydraulic source 13 are installed at the bottom of one of the buoyancy blocks 1. A ballast water tank 21 is located in the middle of the interior of the manned cabin 4. A life support control cabinet 19, a power distribution cabinet 20, a carbon dioxide absorption tank 24 and a control cabinet 22 are respectively installed on both sides above the ballast water tank 21.

[0072] The manned cabin 4 is a one-piece structure.

[0073] The structure of the manned cabin 4 is as follows: it includes a cabin body 401, a hatch enclosure 402 and an angle rotation shaft 403. The hatch enclosure 402 is set on the top of the cabin body 401, and a hatch cover 3 is set on the hatch enclosure 402. Together, they form a closed space that can withstand both external and internal pressure. Angle rotation shafts 403 are provided at both ends of the cabin body 401, and the angle rotation shafts 403 are coaxial with the cabin body 401.

[0074] The structure of the rotating frame 11 includes a frame body 1101, a cabin support frame 1102, an angle adjustment rotating bearing mounting position 1103, and an azimuth adjustment rotating bearing mounting position 1104. The azimuth adjustment rotating bearing mounting position 1104 is located below the frame body 1101. Through the rotational engagement formed by the azimuth adjustment rotating bearing mounting position 1104, the azimuth adjustment rotating bearing 18, and the azimuth rotation boss 1402, the rotating frame 11 and the load base 14 are connected.

[0075] There are two cabin support frames 1102, which are symmetrically arranged about the middle cross section of the rotating frame 11. The upper part of the cabin support frame 1102 is provided with an angle adjustment rotating bearing mounting position 1103. The manned cabin 4 is connected to the rotating frame 11 through the rotational engagement formed by the angle rotating shaft 403, the angle adjustment rotating bearing 23 and the angle adjustment rotating bearing mounting position 1103.

[0076] The structure of the load base 14 includes a base body 1401, an orientation rotation boss 1402, and a telescopic hole 1403. The orientation rotation boss 1402 is used to install the orientation adjustment rotation bearing 18, and the telescopic hole 1403 is used for the extension and retraction of the hydraulic telescopic support leg 7.

[0077] Extension frames 1105 are provided on both sides of the rotating frame 11.

[0078] Platform 2 is a general-purpose lifesaving platform.

[0079] The rack 9 is arranged around the manned cabin 4, and the rack 9 has an arc structure.

[0080] Two high-pressure oxygen tanks 8 are symmetrically arranged, and there are two carbon dioxide absorption tanks 24. They are installed inside the manned cabin 4 and mounted on both sides of the power distribution cabinet 20 via brackets. The high-pressure oxygen tanks 8, carbon dioxide absorption tanks 24, life support control cabinet 19, power distribution cabinet 20 and control cabinet 22 are connected to each other by cables and pipelines. The life support control cabinet 19 controls the oxygen flow rate of the high-pressure oxygen tanks 8 into the manned cabin 4 and controls the carbon dioxide absorption tanks 24 to remove the carbon dioxide exhaled by the personnel, so as to provide a stable living environment for the personnel in the manned cabin 4.

[0081] The specific structure and function of the underwater simulated docking device for training described in this invention are as follows:

[0082] It mainly includes the carrier structure, propulsion system, docking platform angle and orientation adjustment system, life support system, payload replacement system, cabin pressure adjustment system and control system.

[0083] The carrier structure includes a manned cabin 4, a hatch cover 3, a load base 14, a rotating frame 11, and a buoyancy block 1.

[0084] The manned cabin 4 is a pressure-bearing structure, consisting of a cabin body 401, a hatch enclosure 402, and an angle rotation shaft 403. The hatch enclosure 402 is located on the top of the cabin body 401, and a hatch cover 3 is installed on the hatch enclosure 402, together forming a closed space that can withstand both external and internal pressure. Angle rotation shafts 403 are provided at both ends of the cabin body 401, and the angle rotation shafts 403 are coaxial with the cabin body 401. The load base 14 is the basic structure of the device of the present invention, consisting of a base body 1401, an orientation rotation boss 1402, and a telescopic hole 1403. The orientation rotation boss 1402 is used to install the orientation adjustment rotation bearing 18, and the telescopic hole 1403 is used for the extension and retraction of the hydraulic telescopic support leg 7. The rotating frame 11 provides an installation base for the equipment that rotates with it, consisting of a frame body 1101, a cabin support frame 1102, and an angle adjustment rotation bearing mounting position 11. The device consists of a 03 and an azimuth adjustment rotating bearing mounting position 1104. The azimuth adjustment rotating bearing mounting position 1104 is located below the frame 1101. Through the rotational engagement formed by the azimuth adjustment rotating bearing mounting position 1104, the azimuth adjustment rotating bearing 18, and the azimuth rotation boss 1402, the rotating frame 11 and the load base 14 are connected. There are two cabin support frames 1102, which are symmetrically arranged about the middle cross section of the rotating frame 11. Angle adjustment rotating bearing mounting position 1103 is provided on the upper part of the cabin support frame 1102. The manned cabin 4 is connected to the rotating frame 11 through the rotational engagement formed by the angle rotation shaft 403, the angle adjustment rotating bearing 23, and the angle adjustment rotating bearing mounting position 1103. The buoyancy block 1 is fixed on the rotating frame 11 by a bracket to provide fixed buoyancy for the device of the present invention and ensure that the device is balanced in the water.

[0085] The propulsion system includes four horizontal thrusters 6, four vertical thrusters 5, and two lateral thrusters 16. The four horizontal thrusters 6 are arranged in a vectored configuration and fixed to the rotating frame 11 by brackets; the four vertical thrusters 5 are fixed to the buoyancy block 1 by brackets; and the two lateral thrusters 16 are arranged front and rear and fixed to the hull support frame 1102 by brackets. These thrusters, through the navigation control module in the control cabinet 22, enable the device to move forward, backward, left, right, turn left, turn right, surface, and submerge. Simultaneously, through automatic control, it can achieve automatic orientation, automatic depth control, automatic altitude control, and underwater hovering functions.

[0086] The docking platform angle and orientation adjustment system includes a docking platform 2, a gear rail 9, an angle adjustment rotating bearing 23, an angle adjustment drive motor 10, an orientation adjustment rotating bearing 18, an orientation adjustment drive motor 17, a hydraulic source 13, a hydraulic telescopic support leg 7, and an attitude and orientation control module. The docking platform 2 is a general-purpose rescue platform, located on top of the manned cabin 4, and welded to the cabin body 401 via a wall. The gear rail 9 is arranged circumferentially around the manned cabin 4, welded to the cabin body 401, and coaxial with it. Four angle adjustment rotating bearings 23 are arranged in two groups (two in each group) at both ends of the rotating frame 11, installed in the grooves of the angle adjustment rotating bearing mounting positions 1103, and connected to the angle rotation shafts 403 at both ends of the manned cabin 4, forming a rotational fit. Two angle adjustment drive motors 10 are mounted on the rotating frame 11, symmetrically arranged about the longitudinal section of the device, and mesh with the gear rail 9. The rotation of the angle adjustment drive motors 10 is controlled by the attitude and orientation control module in the control cabinet 22, thus precisely adjusting the angle of the docking platform 2. The outer ring of the orientation adjustment rotating bearing 18 is arranged circumferentially... A rack is embedded in the orientation adjustment rotating bearing mounting position 1104 below the rotating frame 11, and is connected to the load base 14 via the orientation rotation boss 1402, so that the rotating frame 11 and the load base 14 form a rotational engagement; the orientation adjustment drive motor 17 is mounted on the load base 14 and meshes with the rack of the orientation adjustment rotating bearing 18. The orientation adjustment drive motor 17 is controlled by the attitude and orientation control module in the control cabinet 22 to precisely adjust the orientation of the docking platform 2; the hydraulic source 13 is located outside the manned cabin 4 and on the rotating frame 11, and is connected and fixed to the rotating frame 11 via a bracket; there are 4 hydraulic telescopic support legs 7, which are located at the four vertices of the load base 14, symmetrically arranged about the mid-longitudinal section and mid-transverse section of the load base 14, and coaxial with the telescopic hole 1403; the attitude and orientation sensing module is integrated in the control cabinet 22.

[0087] The life support system includes two high-pressure oxygen tanks (8), two carbon dioxide absorption tanks (24), and a life support control cabinet (19). Two high-pressure oxygen tanks (8) are located outside the manned cabin (4) on the rotating frame (11), symmetrically arranged in the longitudinal section of the device. Two carbon dioxide absorption tanks (24) are located inside the manned cabin (4), mounted on both sides of the power distribution cabinet (20) via brackets. The life support control cabinet (19) is located inside the manned cabin (4) and is fixed to the inner wall of the manned cabin (4) via brackets. The high-pressure oxygen tanks (8), carbon dioxide absorption tanks (24), life support control cabinet (19), power distribution cabinet (20), and control cabinet (22) are interconnected via cables and pipelines. The life support control cabinet (19) controls the oxygen flow rate from the high-pressure oxygen tanks (8) into the manned cabin (4) and controls the carbon dioxide absorption tanks (24) to remove carbon dioxide exhaled by personnel, providing a stable living environment for the personnel inside the manned cabin (4).

[0088] The load replacement system includes ballast water tanks 21, seawater pumps 15, and a load replacement control module. The seawater pumps 15 are mounted on the rotating frame 11 outside the manned cabin 4 and are fixed to the rotating frame 11 via brackets. The load replacement control module is integrated into the control cabinet 22. Two sets of ballast water tanks 21 are located inside the manned cabin 4, symmetrically arranged about the longitudinal section of the cabin, and also serve as seats for personnel. The ballast water tanks 21, seawater pumps 15, hydraulic power source 13, power distribution cabinet 20, and control cabinet 22 are interconnected via cables and pipes. The power distribution cabinet 20 converts electrical energy into hydraulic energy through the hydraulic power source 13, driving the seawater pumps 15 to inject and discharge seawater into the ballast water tanks 21 according to changes in the load on the personnel inside the manned cabin 4, ensuring the device remains balanced underwater.

[0089] The cabin pressure adjustment system includes two high-pressure air tanks 12 and a cabin pressure adjustment control module. Two high-pressure air tanks 12 are located outside the manned cabin 4 on the rotating frame 11, arranged symmetrically about the longitudinal section of the manned cabin 4. The cabin pressure control module is integrated into the control cabinet 22. The high-pressure air tanks 12, the power distribution cabinet 20, and the control cabinet 22 are connected to each other via cables and pipes. The cabin pressure control module in the control cabinet 22 controls the flow rate of air output from the high-pressure air tanks 12, increasing the pressure inside the manned cabin 4 to establish a pressurized rescue scenario.

[0090] The control system includes a control cabinet 22 and a power distribution cabinet 20 located within the manned cabin 4. The control cabinet 22 integrates a flight control module, an attitude and bearing control module, a payload substitution control module, and a cabin pressure control module. The propulsion system, docking platform angle and bearing adjustment system, life support system, payload substitution system, and cabin pressure adjustment system are connected to the control cabinet 22 and power distribution cabinet 20 via cables and conduits. The control cabinet 22 and power distribution cabinet 20 are connected to the surface unit via umbilical cables, providing energy and control signals to each device, enabling personnel to operate and automatically control the equipment on the surface platform.

[0091] A docking method for a training underwater simulated docking device mainly includes the following processes:

[0092] (I) Atmospheric Pressure Rescue Training:

[0093] Step 1: Personnel enter manned cabin 4, and the underwater simulated docking device is deployed from the surface platform;

[0094] Step 2: Surface personnel operate the underwater simulated docking device to the pre-set training location;

[0095] Step 3: The surface personnel operate the underwater simulated docking device to sit on the bottom. The load replacement control module in the control system controls the seawater pump 15 to inject a certain amount of seawater into the ballast water tank 21, and adjust the underwater simulated docking device to a negative buoyancy state.

[0096] Step 4: The hydraulic source 13 is controlled by the attitude and orientation sensor module in the control system to drive the hydraulic telescopic support legs 7 at the four vertices of the load base 14 to extend and retract, and adjust the load base 14 to a horizontal state.

[0097] Step 5: The crew on the water or the automatic program controls the angle adjustment drive motor 10 to drive the manned cabin 4 to rotate around the axis according to the preset docking angle, and adjust the docking platform 2 to the preset tilt angle.

[0098] Step Six: The personnel on the water operate or the automatic program controls the orientation adjustment drive motor 17 to drive the rotating frame 11 to rotate according to the preset orientation angle, and adjust the docking platform 2 to the preset orientation angle. At this point, the training preparation is complete.

[0099] Step 7: Deploy the rescue submersible from the surface platform;

[0100] Step 8: The rescue submersible descends, docks with the underwater simulated docking device, transfers personnel, detaches from the underwater simulated docking device, and surfaces. The number of personnel transferred in a single operation is determined based on the number of personnel carried by the device and the number of training sessions. After one personnel transfer is completed, the remaining personnel remain inside the underwater simulated docking device. Simultaneously with the personnel transfer, the load replacement control module in the control system controls the seawater pump 15 to inject seawater equal to the weight of the transferred personnel into the ballast tank 21, maintaining the underwater simulated docking device in a state of negative buoyancy.

[0101] Step 9: Repeat steps 5 and 6 to adjust docking platform 2 to the next preset angle and orientation for training;

[0102] Step 10: Repeat step 8;

[0103] Step 11: Repeat steps 9 and 10 until all training content is completed;

[0104] Step 12: The surface personnel operate or the automatic program controls the load replacement control module in the control system to control the seawater pump 15 to discharge a certain amount of seawater from the ballast water tank 21 and adjust the underwater simulated docking device to a neutral buoyancy state.

[0105] Step 13: Maneuver the underwater simulated docking device to the surface and retrieve it.

[0106] (II) Pressure Rescue Training:

[0107] Step 1: Personnel enter the manned cabin 4 and pressurize it according to the pressurization procedure. High-pressure air is introduced into the manned cabin 4. The flow rate of air output from the high-pressure air tank 12 is controlled by the cabin pressure adjustment control module to raise the pressure in the manned cabin 4 to the predetermined training pressure.

[0108] Step 2: Deploy the underwater simulated docking device from the surface platform;

[0109] Step 3: Surface personnel operate the underwater simulated docking device to the preset training location;

[0110] Step 4: The surface personnel operate the underwater simulated docking device to sit on the bottom. The load replacement control module in the control system controls the seawater pump 15 to inject a certain amount of seawater into the ballast water tank 21, so that the underwater simulated docking device is in a negative buoyancy state.

[0111] Step 5: The hydraulic source is controlled by the attitude and orientation sensor module in the control system to drive the hydraulic telescopic legs 7 at the four vertices of the load base 14 to extend and retract, and adjust the load base 14 to a horizontal state.

[0112] Step Six: The crew on the water is operated or the automatic program is controlled. According to the preset docking angle, the attitude and orientation sensing module in the control system controls the angle adjustment drive motor 10 to drive the manned cabin 4 to rotate around the axis, and adjust the docking platform 2 to the preset tilt angle.

[0113] Step 7: The personnel on the water operate or the automatic program controls the orientation adjustment drive motor 17 to drive the rotating frame 11 to rotate according to the preset orientation angle, and adjust the docking platform 2 to the preset orientation angle. At this point, the training preparation is complete.

[0114] Step 8: Deploy the rescue submersible from the surface platform;

[0115] Step Nine: The rescue submersible descends, docks with the underwater simulated docking device, transfers personnel, detaches from the underwater simulated docking device, and surfaces. The number of personnel transferred in a single operation is determined based on the device's carrying capacity and the number of training sessions. After one personnel transfer is completed, the remaining personnel remain inside the underwater simulated docking device. Simultaneously with the personnel transfer, the load substitution control module in the control system controls the seawater pump 15 to inject seawater equal to the weight of the transferred personnel into the ballast tank 21, maintaining the underwater simulated docking device in a state of negative buoyancy. The tank pressure adjustment system automatically maintains stable pressure within the tank.

[0116] Step 10: Repeat steps 6 and 7 to adjust docking platform 2 to the next preset angle and orientation for training;

[0117] Step 11: Repeat step 9;

[0118] Step 12: Repeat steps 10 and 11 until all training content is completed;

[0119] Step 13: The surface personnel operate or the automatic program controls the load replacement control module in the control system to control the seawater pump 15 to discharge a certain amount of seawater from the ballast water tank 21 and adjust the underwater simulated docking device to a neutral buoyancy state.

[0120] Step Fourteen: Maneuver the underwater simulated docking device to the surface and retrieve it.

[0121] The above description is an explanation of the present invention and not a limitation thereof. The scope of the present invention is defined by the claims. Within the scope of protection of the present invention, any form of modification may be made.

[0122] The above description is an explanation of the present invention and not a limitation thereof. The scope of the present invention is defined by the claims. Within the scope of protection of the present invention, any form of modification may be made.

Claims

1. A training underwater simulated docking device, characterized in that: The system includes a load base (14), with hydraulic telescopic support legs (7) installed at the four corners of the load base (14). A rotating frame (11) is installed on the upper surface of the load base (14), and a manned cabin (4) is installed on the upper surface of the rotating frame (11). The two ends of the manned cabin (4) are rotatably connected to the two ends of the rotating frame (11). An angle adjustment drive motor (10) is fixed on the upper surface of the rotating frame (11). A gear is installed at the output end of the angle adjustment drive motor (10), and a gear rail (9) meshing with the gear is provided on the outer surface of the manned cabin (4). It also includes an orientation adjustment drive motor (17) that can drive the rotating frame (11) to rotate. The upper surface of the rotating frame (11) is also equipped with a high-pressure oxygen tank (8) and a high-pressure air tank (12). The top surface of the manned cabin (4) is provided with a docking platform (2) and a hatch cover (3). Buoyancy blocks (1) are respectively provided above the two ends of the manned cabin (4). At the same time, the buoyancy blocks (1) are fixed on the rotating frame (11). Vertical thrusters (5) and horizontal thrusters (6) are respectively installed at the four corners of the upper part of the rotating frame (11). Lateral thrusters (16) are provided on the side of the buoyancy blocks (1). A seawater pump (15) and a hydraulic source (13) are installed at the bottom of one of the buoyancy blocks (1). A ballast water tank (21) is provided in the middle of the interior of the manned cabin (4). A life support control cabinet (19), a power distribution cabinet (20), a carbon dioxide absorption tank (24) and a control cabinet (22) are respectively provided on both sides above the ballast water tank (21).

2. The underwater simulation docking device for training as described in claim 1, characterized in that: The manned cabin (4) is an integrated structure.

3. The underwater simulation docking device for training as described in claim 2, characterized in that: The structure of the manned cabin (4) is as follows: it includes a cabin body (401), a hatch fence (402) and an angle rotation shaft (403). The hatch fence (402) is set on the top of the cabin body (401), and a hatch cover (3) is set on the hatch fence (402). Together they form a closed space that can withstand both external and internal pressure. An angle rotation shaft (403) is provided at both ends of the cabin body (401). The angle rotation shaft (403) is coaxial with the cabin body (401).

4. The underwater simulation docking device for training as described in claim 3, characterized in that: The structure of the rotating frame (11) includes a frame body (1101), a cabin support frame (1102), an angle adjustment rotating bearing mounting position (1103), and an azimuth adjustment rotating bearing mounting position (1104). The azimuth adjustment rotating bearing mounting position (1104) is located below the frame body (1101). Through the rotational fit formed by the azimuth adjustment rotating bearing mounting position (1104), the azimuth adjustment rotating bearing (18), and the azimuth rotation boss (1402), the rotating frame (11) and the load base (14) form a connection fit. There are two cabin support frames (1102), which are symmetrically arranged about the middle cross section of the rotating frame (1); the upper part of the cabin support frame (1102) is provided with an angle adjustment rotating bearing mounting position (1103). The manned cabin (4) is connected to the rotating frame (11) through the rotational fit of the angle rotating shaft (403), the angle adjustment rotating bearing (23) and the angle adjustment rotating bearing mounting position (1103).

5. The underwater simulation docking device for training as described in claim 4, characterized in that: The structure of the load base (14) includes a base body (1401), an orientation rotation boss (1402), and a telescopic hole (1403). The orientation rotation boss (1402) is used to install the orientation adjustment rotation bearing (18), and the telescopic hole (1403) is used for the extension and retraction of the hydraulic telescopic support leg (7).

6. The underwater simulation docking device for training as described in claim 1, characterized in that: Extension frames (1105) are provided on both sides of the rotating frame (11).

7. The underwater simulation docking device for training as described in claim 1, characterized in that: The docking platform (2) is a general-purpose lifesaving platform.

8. The underwater simulation docking device for training as described in claim 1, characterized in that: The toothed rail (9) is arranged around the manned cabin (4) and has an arc-shaped structure.

9. A training underwater simulation docking device as described in claim 1, characterized in that: Two high-pressure oxygen tanks (8) are symmetrically arranged, and two carbon dioxide absorption tanks (24) are set inside the manned cabin (4) and installed on both sides of the power distribution cabinet (20) by brackets. The high-pressure oxygen tanks (8), carbon dioxide absorption tanks (24), life support control cabinet (19), power distribution cabinet (20) and control cabinet (22) are connected to each other by cables and pipelines. The life support control cabinet (19) controls the oxygen flow rate of the high-pressure oxygen tanks (8) into the manned cabin (4) and controls the carbon dioxide absorption tanks (24) to remove the carbon dioxide exhaled by the personnel, so as to provide a stable living environment for the personnel in the manned cabin (4).

10. A docking method using a training underwater simulation docking device as described in claim 1, characterized in that: The following steps are included: S1. Normal Pressure Rescue Training: S1.1 Personnel enter the manned cabin (4) and deploy the underwater simulated docking device from the water surface platform; S1.2 Surface personnel operate the underwater simulated docking device to the preset training point; S1.3, the surface personnel control the underwater simulated docking device to sit on the bottom, and the load substitution control module in the control system controls the seawater pump (15) to inject a certain amount of seawater into the ballast water tank (21) to adjust the underwater simulated docking device to a negative buoyancy state. S1.4, Water surface personnel operation or automatic program control, the attitude and orientation sensing module in the control system controls the hydraulic source to drive the hydraulic telescopic support legs 7 at the four vertices of the load base (14) to extend and retract, and adjust the load base (14) to a horizontal state. S1.

5. The personnel on the water surface or the automatic program control, according to the preset docking angle, the attitude and orientation sensing module in the control system controls the angle adjustment drive motor (10) to drive the manned cabin (4) to rotate around the axis and adjust the docking platform (2) to the preset tilt angle. S1.

6. The personnel on the water surface operate or the automatic program controls the orientation adjustment drive motor (17) to drive the rotating frame (11) to rotate according to the preset orientation angle, and adjust the docking platform (2) to the preset orientation angle. At this point, the training preparation is complete. S1.7 Deploy the rescue submersible from the surface platform; S1.8, the rescue submersible dives, docks with the underwater simulation docking device, transfers personnel, detaches from the underwater simulation docking device and surfaces. The number of personnel transferred in a single operation is determined based on the number of personnel carried by the underwater simulation docking device and the number of training sessions. After a personnel transfer is completed, the remaining personnel remain inside the underwater simulation docking device. During the personnel transfer, the surface personnel operate or the automatic program controls the load substitution control module in the control system to control the seawater pump (15) to inject seawater equal to the weight of the transferred personnel into the ballast tank (21) to keep the underwater simulation docking device in a state of negative buoyancy. S1.9, Repeat S1.5~S1.6, and adjust the docking platform (2) to the next training preset angle and preset orientation; S1.10, repeat S1.8; S1.11, Repeat S1.9~S1.10 until all training content is completed; S1.12, Surface personnel control or automatic program control, the load replacement control module in the control system controls the seawater pump (15) to discharge a certain amount of seawater in the water tank (21) and adjust the underwater simulated docking device to a neutral buoyancy state; S1.13, Control the underwater simulated docking device to rise to the surface and recover it; S2. Pressure Rescue Training: S2.

1. Personnel enter the manned cabin (4), pressurize the manned cabin (4) according to the pressurization procedure, input high-pressure air into the manned cabin (4), control the air flow rate output by the high-pressure air tank (12) through the cabin pressure adjustment control module, and raise the pressure in the manned cabin (4) to the predetermined training pressure. S2.2 Deploy the underwater simulated docking device from the surface platform; S2.3 Surface personnel operate the underwater simulated docking device to the preset training point; S2.

4. The surface personnel control the underwater simulated docking device to sit on the bottom. The load substitution control module in the control system controls the seawater pump (15) to inject a certain amount of seawater into the ballast tank (21) so that the underwater simulated docking device is in a negative buoyancy state. S2.5, Water surface personnel operation or automatic program control, the attitude and orientation sensing module in the control system controls the hydraulic source to drive the hydraulic telescopic support legs (7) at the four vertices of the load base (14) to extend and retract, and adjust the load base (14) to a horizontal state; S2.

6. The personnel on the water or the automatic program control, according to the preset docking angle, the attitude and orientation sensing module in the control system controls the angle adjustment drive motor (10) to drive the manned cabin (4) to rotate around the axis and adjust the docking platform (2) to the preset tilt angle. S2.

7. The personnel on the water surface operate or the automatic program controls the orientation adjustment drive motor (17) to drive the rotating frame (11) to rotate according to the preset orientation angle, and adjust the docking platform (2) to the preset orientation angle. At this point, the training preparation is complete. S2.8 Deploy the rescue submersible from the surface platform; S2.9, the rescue submersible dives, docks with the underwater simulation docking device, transfers personnel, detaches from the underwater simulation docking device and surfaces. The number of personnel transferred in a single operation is determined based on the number of personnel carried by the underwater simulation docking device and the number of training sessions. After one personnel transfer is completed, the remaining personnel remain inside the underwater simulation docking device. During the personnel transfer, the surface personnel operate or the automatic program controls the load substitution control module in the control system to control the seawater pump (15) to inject seawater equal to the weight of the transferred personnel into the ballast tank (21) to keep the underwater simulation docking device in a negative buoyancy state. The tank pressure adjustment system automatically keeps the tank pressure stable. S2.10, Repeat S2.6~S2.7, and adjust the docking platform to the next preset angle and preset orientation for training; S2.11, repeat S2.9; S2.12, Repeat S2.10~S2.11 until all training content is completed; S2.13, Surface personnel control or automatic program control, the load replacement control module in the control system controls the seawater pump (15) to discharge a certain amount of seawater in the water tank (21) and adjust the underwater simulated docking device to a neutral buoyancy state; S2.

14. Control the underwater simulated docking device to rise to the surface and recover it.

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