Underwater manned docking positioning and locking device and operation process

Abstract

The invention discloses an underwater manned docking positioning and locking device and an operation process. The underwater manned docking positioning and locking device comprises a carrier structure, a guide mechanism, a locking mechanism and a control module. The carrier structure comprises a frame and a skin, and is connected with a mounting base on the manned equipment; the guide mechanism comprises a guide groove and an acousto-optic integrated sensor; the two locking mechanisms are symmetrically arranged about the cross section in the device, and each locking mechanism comprises a sliding block, a sliding plate, a longitudinal push rod, a vertical push rod, a spring, a first pressure sensor and a second pressure sensor. And the control module is connected with the electric equipment and a control system of the equipment where people stay through cables. By means of the synergistic effect of the guide mechanism and the locking mechanism, centering positioning and locking of the shuttle carrier in the butt joint process are automatically achieved, the environment adaptability, reliability and safety of butt joint operation are improved, the butt joint difficulty is reduced, and the butt joint efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of underwater docking equipment, in particular to an underwater docking positioning and locking device for a person carrying a human being and an operating procedure. Background Art

[0002] The ocean is a valuable asset and expandable space for the sustainable development of human society. It contains rich biological and mineral resources. As an important tool for marine research and development, large-scale deep-sea manned equipment has developed rapidly, gradually accelerating the pace of human understanding and development of the ocean. The shuttle carrier is one of the important support equipment for large-scale deep-sea manned equipment. It can dock with manned equipment and establish a personnel transfer channel to realize the functions of outbound operations, personnel rotation, and material supply for the crew of manned equipment.

[0003] The underwater docking technology is one of the keys to achieve the above functions. At present, the underwater docking technology in the prior art mainly adopts the docking skirt docking method, and the shuttle carrier is fixed on the docking platform by forming a pressure difference inside and outside the docking skirt. During the docking process, although the shuttle carrier has a certain position-keeping ability, due to the complex and changeable underwater environment, the position of the shuttle carrier will fluctuate within a certain range, which makes it very difficult to center the docking skirt and the docking platform. Even if the docking skirt mouth contacts the docking platform in a centered state, it may also slip relative to the change of the ocean current, resulting in the failure of centering positioning, and it often takes multiple attempts to succeed. In addition, in order to form a sufficient internal and external pressure difference, the docking skirt docking method has certain restrictions on the operating depth, especially when operating at a small depth, the reliability and safety of the docking will be reduced. At the same time, for the mission of the shuttle carrier, it is required to dock and fix it on the back of the manned equipment for piggyback sailing. The docking method that simply relies on the docking skirt can no longer meet the safety requirements during navigation. Summary of the invention

[0004] In view of the shortcomings of the above-mentioned existing production technology, the applicant provides an underwater manned docking positioning and locking device and an operation process, which can automatically realize the centering positioning and locking of the shuttle carrier during the docking process and work reliably.

[0005] The technical solution adopted by the present invention is as follows:

[0006] An underwater manned docking positioning and locking device, comprising a docking locking device installed on the top surface of a manned station device through a docking platform and a mounting base, a shuttle carrier is installed on the top surface of the docking locking device, a docking skirt is provided at the bottom of the shuttle carrier, and the docking skirt is sealed and connected to the docking platform;

[0007] The structure of the docking locking device is as follows: it includes a frame, the outside of the frame is covered with a skin, a guide groove is installed in the upper middle position of the frame, the guide groove cooperates with the base bracket of the shuttle carrier, and sound and light integrated sensors are symmetrically installed at both ends of the top surface of the guide groove; locking mechanisms are symmetrically arranged inside the frame, and the structure of a single locking mechanism is as follows: it includes a longitudinal push rod and a vertical push rod fixed inside the frame and arranged perpendicular to each other, and a slider is fixed at the output ends of the longitudinal push rod and the vertical push rod at the same time, and a No. 1 pressure sensor and a No. 2 pressure sensor are installed on the slider; a control module is also installed under the frame, and the control module is connected to the longitudinal push rod, the vertical push rod, the sound and light integrated sensor, the pressure sensor and the control system of the manned equipment through cables.

[0008] Its further technical solution is:

[0009] The frame is the installation base of the entire device, and the bottom surface of the frame is fixed to the installation base.

[0010] The guide groove is an integrated structure.

[0011] The structure of the guide groove is as follows: it comprises two parts connected together, the upper part is a trapezoidal groove, the lower part is a square groove, and the guide groove is fixed on the frame through the upper plane.

[0012] The slider has a pentagonal three-dimensional structure and is provided with a slider inclined surface, which is coplanar with the inclined surfaces at both ends of the trapezoidal groove. A sliding cylinder is arranged inside the slider, and the axis of the sliding cylinder coincides with the middle longitudinal section of the slider. A slider vertical moving hole is provided on the side of the slider, and a slider square groove and a slider longitudinal moving hole are provided at the bottom of the slider.

[0013] A coaxial sliding plate is arranged inside the sliding cylinder to form circumferential limiting and axial movement cooperation for the sliding plate. A sliding plate square groove is arranged inside the sliding plate, and a sliding plate vertical movement hole is arranged on one side plane of the sliding plate.

[0014] The longitudinal push rod is fixed on the mounting plate of the frame. The cross section of the longitudinal push rod body is square, which respectively forms lateral limit and longitudinal and vertical movement cooperation with the vertical movement hole of the slider and the vertical movement hole of the sliding plate.

[0015] The vertical push rod is fixed on the mounting plate of the frame. The cross section of the vertical push rod body of the vertical push rod is square, and forms a lateral limit and longitudinal and vertical movement cooperation with the longitudinal movement hole of the slider.

[0016] The utility model also comprises a spring which is arranged in the sliding cylinder and between the sliding plate and the sliding cylinder, and the spring provides a driving force for returning the sliding block.

[0017] An operation flow of a docking positioning and locking device for a submersible man includes the following steps:

[0018] Docking of shuttle vehicle and manned equipment:

[0019] The shuttle carrier continuously receives the signal from the integrated sound and light sensor, obtains the relative position information between the shuttle carrier and the docking locking device in real time, and guides the shuttle carrier to navigate to the docking platform of the manned equipment until the four base supports of the shuttle carrier are respectively guided to the range of the corresponding trapezoidal grooves, and the base supports are guided to enter the square grooves through the trapezoidal grooves. When the front and rear surfaces of the base supports contact the inclined surface of the slider of the slider, the slider moves toward the end along the longitudinal direction of the docking locking device under the action of the extrusion force, and the spring is compressed. The control module receives the signal of the base support passing the slider through the No. 1 pressure sensor. When the base support completely passes the slider, the slider returns to its initial position driven by the spring. , and the signal received by the No. 1 pressure sensor disappears, the control module automatically determines that the bottom bracket has completely entered the square groove, completing the centering positioning of the docking skirt of the shuttle vehicle and the docking platform of the manned equipment. The control module controls the vertical push rod to retract according to the judgment, driving the slider to move downward until the bottom surface of the slider contacts the upper surface of the bottom bracket. The control module receives the pressure data between the slider and the bottom bracket through the No. 2 pressure sensor, and the vertical push rod continues to retract, driving the docking skirt to contact the docking platform. When the pressure data received by the control module reaches the preset pressure value, the vertical push rod is controlled to stop retracting, the docking skirt completes the docking with the docking platform, and the shuttle vehicle is locked;

[0020] Shuttle vehicle detaches from manned equipment:

[0021] The control module receives the signal that the shuttle vehicle is disengaged from the manned equipment, and controls the vertical push rod to extend outward until the pressure data received by the control module through the No. 2 pressure sensor is zero. The control module automatically determines that the bottom surface of the slider is disengaged from the upper surface of the base support, and controls the longitudinal push rod to retract until the slider leaves the square groove, forming an unobstructed passage for the base support; the shuttle vehicle is controlled to make the base support disengage from the square groove. During the disengagement process, the control module receives the signal that the base support passes through the slider through the No. 1 pressure sensor. When the base support completely passes through the slider, the control module automatically determines that the base support has completely disengaged from the square groove, and the control module controls the longitudinal push rod to drive the slider to return to its initial position.

[0022] The beneficial effects of the present invention are as follows:

[0023] The present invention has a compact and reasonable structure and is easy to operate. Through the coordinated cooperation among components such as the carrier structure, the guide mechanism, the locking mechanism and the control module, and the coordinated action of the guide mechanism and the locking mechanism, the centering positioning and locking of the shuttle carrier during the docking process are automatically realized, thereby improving the environmental adaptability, reliability and safety of the docking operation, reducing the difficulty of docking, and improving the docking efficiency. At the same time, the device of the present invention has a compact structure, a high degree of integration, and is self-contained. It can be configured in quantity according to demand, and has high versatility and flexibility.

[0024] At the same time, the present invention also has the following advantages:

[0025] 1) The device of the present invention utilizes the coordinated cooperation of the guide mechanism and the locking mechanism to stably realize the centering positioning of the docking skirt of the shuttle carrier and the docking platform, thereby improving the environmental adaptability of the docking operation, reducing the difficulty of docking, and improving the docking efficiency;

[0026] 2) Through the coordinated cooperation between multiple devices of the present invention, the shuttle vehicle can be locked on the docking platform of the manned equipment, thereby improving the reliability and safety of the docking;

[0027] 3) Through the coordinated cooperation between the device of the present invention and the docking skirt, a stable locking force can be provided for the shuttle vehicle, ensuring the docking firmness between the docking skirt of the shuttle vehicle and the docking platform of the manned equipment, which is not affected by the operating depth and can achieve full depth coverage;

[0028] 4) The device of the present invention has a simple structure, is easy to operate and maintain;

[0029] 5) The device of the present invention has a compact structure, high integration, and is self-contained as a module. The quantity can be configured according to demand, and it has high versatility and flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a structural schematic diagram of the docking locking device of the present invention.

[0031] Figure 2 for Figure 1 Exploded view of.

[0032] Figure 3 It is the front view of the present invention (excluding the skin and guide grooves, showing the internal structure).

[0033] Figure 4 It is a top view of the present invention (excluding the skin and guide grooves, showing the internal structure).

[0034] Figure 5 It is a working schematic diagram of the present invention.

[0035] Figure 6 for Figure 5 main view.

[0036] Figure 7 for Figure 5 Side view of.

[0037] Figure 8 for Figure 7 A partial enlarged view of part I in the middle.

[0038] Fig. 9 It is a schematic diagram of the mechanism of the guide groove of the present invention.

[0039] Fig.10 It is a cross-sectional view of the guide groove of the present invention.

[0040] Fig.11 It is a cross-sectional view of the sliding plate of the present invention.

[0041] Fig.12 It is a structural schematic diagram of the slider of the present invention.

[0042] Fig.13 It is a schematic structural diagram of the longitudinal push rod of the present invention.

[0043] Fig.14 It is a schematic structural diagram of the vertical push rod of the present invention.

[0044] in:

[0045] 1. Frame; 2. Guide groove; 3. Sound and light integrated sensor; 4. No. 1 pressure sensor; 5. Spring; 6. Sliding plate; 7. Longitudinal push rod; 8. Control module; 9. Skin; 10. Vertical push rod; 11. No. 2 pressure sensor; 12. Sliding block; 13. Docking skirt; 14. Docking platform; 15. Mounting base; 16. Bottom bracket; 17. Docking locking device;

[0046] 201, trapezoidal groove; 202, square groove;

[0047] 601, square groove of sliding plate; 602, vertical moving hole of sliding plate;

[0048] 701, longitudinal push rod body; 702, longitudinal push rod square block;

[0049] 1001, a vertical push rod body; 1002, a vertical push rod square block;

[0050] 1201, inclined surface of the slider; 1202, sliding cylinder; 1203, vertical movement hole of the slider; 1204, square groove of the slider; 1205, longitudinal movement hole of the slider. DETAILED DESCRIPTION

[0051] The specific implementation of the present invention is described below in conjunction with the accompanying drawings.

[0052] like Figure 1-Figure 14 As shown, the underwater manned docking positioning and locking device of this embodiment includes a docking locking device 17 installed on the top surface of the manned residence device through a docking platform 14 and a mounting base 15, a shuttle carrier is installed on the top surface of the docking locking device 17, a docking skirt 13 is provided at the bottom of the shuttle carrier, and the docking skirt 13 is sealed and connected to the docking platform 14.

[0053] The structure of the docking locking device 17 is as follows: it includes a frame 1, the outside of the frame 1 is covered with a skin 9, a guide groove 2 is installed in the middle position above the frame 1, the guide groove 2 cooperates with the base bracket 16 of the shuttle carrier, and sound and light integrated sensors 3 are symmetrically installed at both ends of the top surface of the guide groove 2; locking mechanisms are symmetrically arranged inside the frame 1, and the structure of a single locking mechanism is as follows: it includes a longitudinal push rod 7 and a vertical push rod 10 fixed inside the frame 1 and arranged perpendicular to each other, and the output ends of the longitudinal push rod 7 and the vertical push rod 10 are simultaneously fixed with a slider 12, and a No. 1 pressure sensor 4 and a No. 2 pressure sensor 11 are installed on the slider 12; a control module 8 is also installed below the frame 1, and the control module 8 is connected to the longitudinal push rod 7, the vertical push rod 10, the sound and light integrated sensor 3, the pressure sensor and the control system of the manned equipment through cables.

[0054] The frame 1 is the installation base of the entire device, and the bottom surface of the frame 1 is fixed to the installation base 15 .

[0055] The guide groove 2 is an integrated structure.

[0056] The structure of the guide groove 2 is as follows: it includes two parts connected together, the upper part is a trapezoidal groove 201, and the lower part is a square groove 202. The guide groove 2 is fixed on the frame 1 through the upper plane.

[0057] The slider 12 is a pentagonal three-dimensional structure, and a slider inclined surface 1201 is provided on the slider 12. The slider inclined surface 1201 is coplanar with the inclined surfaces at both ends of the trapezoidal groove 201. A sliding cylinder 1202 is arranged inside the slider 12. The axis of the sliding cylinder 1202 coincides with the middle longitudinal section of the slider 12. A slider vertical moving hole 1203 is provided on the side of the slider 12, and a slider square groove 1204 and a slider longitudinal moving hole 1205 are provided at the bottom of the slider 12.

[0058] A coaxial sliding plate 6 is arranged inside the sliding cylinder 1202 to form circumferential limiting and axial movement cooperation for the sliding plate 6. A sliding plate square groove 601 is set inside the sliding plate 6, and a sliding plate vertical movement hole 602 is set on one side plane of the sliding plate 6.

[0059] The longitudinal push rod 7 is fixed on the mounting plate of the frame 1. The cross section of the longitudinal push rod body 701 of the longitudinal push rod 7 is square, and forms lateral limit and longitudinal and vertical movement cooperation with the vertical movement hole 1203 of the slider and the vertical movement hole 602 of the sliding plate respectively.

[0060] The vertical push rod 10 is installed and fixed on the mounting plate of the frame 1. The cross section of the vertical push rod body 1001 of the vertical push rod 10 is square, which cooperates with the longitudinal movement hole 1205 of the slider to form a lateral limit and longitudinal and vertical movement.

[0061] It also includes a spring 5 that is arranged in the sliding cylinder 1202 and between the sliding plate 6 and the sliding cylinder 1202. The spring 5 provides a driving force for the sliding block 12 to return to its original position.

[0062] The specific structure and function of the underwater man docking positioning and locking device described in the present invention are as follows:

[0063] It mainly includes a carrier structure, a guide mechanism, a locking mechanism and a control module 8.

[0064] The carrier structure includes a frame 1 and a skin 9. The frame 1 provides a mounting base for the equipment, and its bottom is connected to a mounting base 15 provided on the manned equipment. The skin 9 is laid on the outside of the frame 1 to provide protection for the internal equipment.

[0065] The guide mechanism includes a guide groove 2 and an acoustic-optic integrated sensor 3. The guide groove 2 includes two parts, the upper part is a trapezoidal groove 201, and the lower part is a square groove 202, which are arranged symmetrically with respect to the middle cross section and the middle longitudinal section of the device of the present invention, and the guide groove 2 is fixed on the frame 1 through the upper plane; the upper plane of the guide groove 2 is provided with through holes symmetrically with respect to the middle cross section, and a total of two acoustic-optic integrated sensors 3 are provided, which are arranged symmetrically with respect to the middle cross section of the device of the present invention; the acoustic-optic integrated sensor 3 is coaxial with the through hole provided on the upper surface of the guide groove 2; the connecting line of the two acoustic-optic integrated sensors 3 coincides with the middle longitudinal section of the guide groove 2; the acoustic-optic integrated sensor 3 is connected to the frame 1 through a mounting bracket.

[0066] Among them, there are two sets of locking mechanisms, which are symmetrically arranged in the cross-section of the device of the present invention. A single set of locking mechanisms includes a slider 12, a sliding plate 6, a longitudinal push rod 7, a vertical push rod 10, a spring 5, a No. 1 pressure sensor 4 and a No. 2 pressure sensor 11.

[0067] A slider slope 1201 is set on one side of the slider 12, and the slider slope 1201 is coplanar with the slope of the trapezoidal groove 201; a sliding cylinder 1202 is set inside the slider 12, and the axis of the sliding cylinder 1202 coincides with the mid-longitudinal section of the slider 12; a slider vertical moving hole 1203 is set on the side of the slider 12, and the mid-longitudinal section of the slider vertical moving hole 1203 coincides with the mid-longitudinal section of the slider 12; a slider square groove 1204 is set at the bottom of the slider 12, and the mid-longitudinal section of the slider square groove 1204 coincides with the mid-longitudinal section of the slider 12; a slider longitudinal moving hole 1205 is set on the bottom surface of the slider 12, and the mid-longitudinal section of the slider longitudinal moving hole 1205 coincides with the mid-longitudinal section of the slider 12.

[0068] The sliding plate 6 is arranged inside the sliding cylinder 1202, and the sliding plate 6 is coaxial with the sliding cylinder 1202, constituting circumferential limiting and axial movement cooperation for the sliding plate 6; a sliding plate square groove 601 is arranged inside the sliding plate 6, and the sliding plate square groove 601 is symmetrical with respect to the middle longitudinal section and the horizontal plane of the sliding plate 6; a sliding plate vertical movement hole 602 is arranged on a side plane of the sliding plate 6, and the sliding plate vertical movement hole 602 is symmetrical with respect to the middle longitudinal section and the horizontal plane of the sliding plate 6.

[0069] The longitudinal push rod 7 is installed and fixed on the mounting plate of the frame 1; the cross-section of the longitudinal push rod body 701 of the longitudinal push rod 7 is square, which respectively forms a lateral limit and longitudinal and vertical movement cooperation with the vertical movement hole 1203 of the slider and the vertical movement hole 602 of the sliding plate; a longitudinal push rod square block 702 is set at the end of the longitudinal push rod body 701, and the longitudinal push rod square block 702 and the sliding plate square groove 601 form a longitudinal limit.

[0070] The vertical push rod 10 is installed and fixed on the mounting plate of the frame 1; the cross-section of the vertical push rod body 1001 of the vertical push rod 10 is square, which forms a lateral limit and longitudinal and vertical movement cooperation with the longitudinal movement hole 1205 of the slider; a vertical push rod square block 1002 is set at the end of the vertical push rod body 1001, and the vertical push rod square block 1002 and the sliding plate square groove 601 form a longitudinal limit.

[0071] The longitudinal and vertical movements of the slider 6 are achieved through the cooperation between the longitudinal push rod 7 , the vertical push rod 10 and the slider 6 .

[0072] The spring 5 is arranged in the sliding cylinder 1202 and between the sliding plate 6 and the sliding cylinder 1202 to provide a driving force for the reset of the sliding block 6 .

[0073] The No. 1 pressure sensor 4 is disposed on one side of the slider 12 . When the base support 16 contacts the No. 1 pressure sensor 4 , a signal indicating that the base support 16 passes through the slider 12 can be obtained.

[0074] The second pressure sensor 11 is disposed on the other side of the slider 12 . When the base support 16 contacts the second pressure sensor 11 , the pressure data between the slider 12 and the base support 16 can be obtained.

[0075] The control module 8 is connected to the longitudinal push rod 7, the vertical push rod 10, the sound and light integrated sensor 3, the first pressure sensor 4, the second pressure sensor 11 and the control system of the manned equipment through cables.

[0076] In the actual work process, the work is completed through the following process:

[0077] (1) Docking of shuttle vehicle and manned stationed equipment;

[0078] The shuttle vehicle continuously receives the signal from the sound and light integrated sensor 3, obtains the relative position information between the shuttle vehicle and the device of the present invention in real time, and guides the shuttle vehicle to sail toward the docking platform 14 of the manned equipment until the four bottom brackets 16 of the shuttle vehicle are respectively guided into the range of the corresponding trapezoidal grooves 201. The bottom brackets 16 are guided to enter the square grooves 202 through the trapezoidal grooves 201. When the front and rear surfaces of the bottom brackets 16 contact the slider slope 1201 of the slider 12, the slider 12 moves toward the end along the longitudinal direction of the device of the present invention under the action of the extrusion force, the spring 5 is compressed, and the control module 8 receives the signal of the bottom bracket 16 passing through the slider 12 through the first pressure sensor 4. When the bottom bracket 16 completely passes through the slider 12, the slider 12 returns to the initial position under the drive of the spring 5, and the signal received by the first pressure sensor 4 disappears, and the control module 8 automatically determines that the bottom bracket 16 has completely entered the square groove 202, completing the centering positioning of the docking skirt 13 of the shuttle vehicle and the docking platform 14 of the manned equipment. The control module 8 controls the vertical push rod 10 to retract according to the judgment, driving the slider 12 to move downward until the bottom surface of the slider 12 contacts the upper surface of the bottom bracket 16. The control module 8 receives the pressure data between the slider 12 and the bottom bracket 16 through the second pressure sensor 11. The vertical push rod 10 continues to retract, driving the docking skirt 13 to contact the docking platform 14 and compressing the lip seal ring. When the pressure data received by the control module 8 reaches the preset pressure value, the vertical push rod 10 is controlled to stop retracting, and the docking skirt 13 and the docking platform 14 complete docking, and the shuttle carrier is locked. In this process, through the coordinated cooperation of multiple devices of the present invention, the docking skirt 13 and the docking platform 14 are always kept in a centered positioning state.

[0079] (2) The shuttle vehicle is separated from the manned equipment;

[0080] The control module 8 of the device of the present invention receives a signal that the shuttle carrier is separated from the manned equipment, controls the vertical push rod 10 to extend outward, until the pressure data received by the control module 8 through the second pressure sensor 11 is zero, and the control module 8 automatically determines that the bottom surface of the slider 12 is separated from the upper surface of the bottom support 16. The control module 8 controls the longitudinal push rod 7 to retract until the slider 12 leaves the square groove 202, forming an unobstructed passage for the bottom support 16. The shuttle carrier is manipulated to make the bottom support 16 separate from the square groove 202. During the separation process, the control module 8 receives a signal that the bottom support 16 passes through the slider 12 through the first pressure sensor 4. When the bottom support 16 completely passes through the slider 12, the control module 8 automatically determines that the bottom support 16 has completely separated from the square groove 202, and the control module 8 controls the longitudinal push rod 7 to drive the slider 12 to return to the initial position. Through the coordinated cooperation of multiple devices of the present invention, the separation of the shuttle carrier and the manned equipment is achieved.

[0081] The above description is an explanation of the present invention, not a limitation of the present invention. The scope of the present invention is defined in the claims. Any form of modification may be made within the scope of protection of the present invention.

Claims

1. A docking positioning and locking device for underwater personnel, characterized in that: It comprises a docking locking device (17) installed on the top surface of the manned station device through a docking platform (14) and a mounting base (15); a shuttle carrier is installed on the top surface of the docking locking device (17); a docking skirt (13) is arranged at the bottom of the shuttle carrier; and the docking skirt (13) is sealedly connected to the docking platform (14); The structure of the docking locking device (17) is as follows: it comprises a frame (1), the outer surface of the frame (1) is covered with a skin (9), a guide groove (2) is installed in the middle position above the frame (1), the guide groove (2) cooperates with a base bracket (16) of the shuttle carrier, and sound and light integrated sensors (3) are symmetrically installed at both ends of the top surface of the guide groove (2); a locking mechanism is symmetrically arranged inside the frame (1), and the structure of a single locking mechanism is as follows: it comprises a longitudinal push rod (7) and a vertical push rod (10) fixed inside the frame (1) and arranged perpendicular to each other, a slider (12) is fixed at the output ends of the longitudinal push rod (7) and the vertical push rod (10), and a first pressure sensor (4) and a second pressure sensor (11) are installed on the slider (12); a control module (8) is also installed below the frame (1), and the control module (8) is connected to the longitudinal push rod (7), the vertical push rod (10), the sound and light integrated sensor (3), the pressure sensor and the control system of the manned resident equipment through cables.

2. The underwater docking positioning and locking device according to claim 1, characterized in that: The frame (1) is the installation base of the entire device, and the bottom surface of the frame (1) is fixed to the installation base (15).

3. The underwater docking positioning and locking device according to claim 1, characterized in that: The guide groove (2) is an integrated structure.

4. The underwater docking positioning and locking device according to claim 1, characterized in that: The guide groove (2) has a structure comprising two connected upper and lower parts, the upper part being a trapezoidal groove (201) and the lower part being a square groove (202), and the guide groove (2) is fixed on the frame (1) via an upper plane.

5. The underwater docking positioning and locking device as claimed in claim 4, characterized in that: The slider (12) is in a pentagonal three-dimensional structure, and a slider inclined surface (1201) is arranged on the slider (12), the slider inclined surface (1201) and the inclined surfaces at both ends of the trapezoidal groove (201) are coplanar, a sliding cylinder (1202) is arranged inside the slider (12), the axis of the sliding cylinder (1202) coincides with the middle longitudinal section of the slider (12), a slider vertical moving hole (1203) is arranged on the side of the slider (12), and a slider square groove (1204) and a slider longitudinal moving hole (1205) are arranged at the bottom of the slider (12).

6. The underwater docking positioning and locking device as claimed in claim 5, characterized in that: A coaxial sliding plate (6) is arranged inside the sliding cylinder (1202) to form a circumferential limit and axial movement match for the sliding plate (6); a sliding plate square groove (601) is arranged inside the sliding plate (6), and a sliding plate vertical movement hole (602) is arranged on a side plane of the sliding plate (6).

7. The underwater docking positioning and locking device according to claim 6, characterized in that: The longitudinal push rod (7) is fixedly mounted on the mounting plate of the frame (1); the longitudinal push rod body (701) of the longitudinal push rod (7) has a square cross section and forms a lateral limit and longitudinal and vertical movement cooperation with the vertical movement hole (1203) of the slider and the vertical movement hole (602) of the sliding plate, respectively.

8. The underwater docking positioning and locking device according to claim 7, characterized in that: The vertical push rod (10) is fixedly mounted on a mounting plate of the frame (1); the vertical push rod body (1001) of the vertical push rod (10) has a square cross section and cooperates with the longitudinal movement hole (1205) of the slider to form a lateral limit and longitudinal and vertical movement cooperation.

9. The underwater docking positioning and locking device as claimed in claim 8, characterized in that: It also includes a spring (5) arranged in the sliding cylinder (1202) and between the sliding plate (6) and the sliding cylinder (1202), and the spring (5) provides a driving force for the sliding block (12) to return to its original position.

10. An operation flow of the underwater man docking positioning and locking device according to claim 9, characterized in that: The process includes the following: Docking of shuttle vehicle and manned equipment: The shuttle vehicle continuously receives the signal from the sound and light integrated sensor (3), obtains the relative position information between the shuttle vehicle and the docking locking device (17) in real time, and guides the shuttle vehicle to navigate toward the docking platform (14) of the manned equipment until the four base brackets (16) of the shuttle vehicle are respectively guided into the range of the corresponding trapezoidal grooves (201), and the base brackets (16) are guided to enter the square grooves (202) through the trapezoidal grooves (201). When the front and rear surfaces of the base brackets (16) contact the slider inclined surface (1201) of the slider (12), the slider (12) moves toward the end along the longitudinal direction of the docking locking device (17) under the action of the squeezing force, and the spring (5) is compressed. The control module (8) receives the signal of the base bracket (16) passing through the slider (12) through the No. 1 pressure sensor (4). When the base bracket (16) completely passes through the slider (12), the slider (12) returns to its initial position under the drive of the spring (5). position, and the signal received by the No. 1 pressure sensor (4) disappears, the control module (8) automatically determines that the base support (16) has completely entered the square groove (202), completing the centering positioning of the docking skirt (13) of the shuttle vehicle and the docking platform (14) of the manned equipment, and the control module (8) controls the vertical push rod (10) to retract according to the judgment, driving the slider (12) to move downward until the bottom surface of the slider (12) contacts the upper surface of the base support (16), the control module (8) receives the pressure data between the slider (12) and the base support (16) through the No. 2 pressure sensor (11), the vertical push rod (10) continues to retract, driving the docking skirt (13) to contact the docking platform (14), and when the pressure data received by the control module (8) reaches the preset pressure value, the vertical push rod (10) is controlled to stop retracting, the docking skirt (13) and the docking platform (14) are docked, and the shuttle vehicle is locked; Shuttle vehicle detaches from manned equipment: The control module (8) receives a signal that the shuttle vehicle is separated from the manned station equipment, and controls the vertical push rod (10) to extend outward until the pressure data received by the control module (8) through the second pressure sensor (11) is zero, and the control module (8) automatically determines that the bottom surface of the slider (12) is separated from the upper surface of the bottom support (16), and the control module (8) controls the longitudinal push rod (7) to retract until the slider (12) leaves the square groove (202) to form a barrier-free passage for the bottom support (16); the shuttle vehicle is controlled to make the bottom support (16) separate from the square groove (202). During the separation process, the control module (8) receives a signal that the bottom support (16) passes through the slider (12) through the first pressure sensor (4). When the bottom support (16) completely passes through the slider (12), the control module (8) automatically determines that the bottom support (16) has completely separated from the square groove (202), and the control module (8) controls the longitudinal push rod (7) to drive the slider (12) to return to the initial position.

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