A transition tank test system and method for single pressure reduction continuous testing

Abstract

The application provides a transition pool test system and method capable of single pressure reduction continuous test, and belongs to the technical field of marine engineering test. The application solves the problem of high cost and low efficiency caused by repeated pressure reduction in traditional test pools. The transition pool test system capable of single pressure reduction continuous test comprises a transfer cabin pool, a ground opening in communication with a ground working platform is arranged at the upper portion of the transfer cabin pool, a cabin door B capable of opening or closing the opening is arranged at the ground opening, a test cabin pool is in communication with the lower portion of the transfer cabin pool and a cabin door A capable of opening or closing the communication is arranged at the communication, and a navigation body moving platform. After the cabin door B is closed, the pressure reduction device reduces the pressure of the transfer cabin pool to a certain value, the cabin door A is opened, the navigation body moving platform moves to the ground opening, the cabin door B is opened, and the navigation body is recovered. The application is mainly used for marine engineering test.

Description

Technical Field

[0001] This invention belongs to the field of marine engineering testing technology, and in particular relates to a transition pool test system and method for continuous single decompression tests. Background Technology

[0002] During the underwater movement of a vehicle, the turbulence of the water medium creates localized low-pressure zones on its surface, leading to vaporization and cavitation. This significantly impacts the vehicle's underwater movement and structural safety, necessitating scaled-down model tests. To ensure the similarity of the scaled-down model test results, similar cavitation numbers are required, meaning the model tests must be conducted under depressurization. This implies that the tests must be performed in a completely sealed environment. Consequently, when conducting tests in depressurization tanks, depressurization chambers, or similar facilities, after each test, a degassing process is necessary. Once the environment returns to normal pressure, the vehicle must be manually retrieved, reloaded, and depressurized again before a second test can be conducted. This process is cumbersome, and the repeated depressurization and regassing significantly wastes time, greatly reducing the efficiency of model testing and increasing costs.

[0003] To further advance research on scaled-down model tests under decompression conditions and accelerate the development of marine engineering testing technology, there is an urgent need to establish a transition tank test system capable of continuous testing with a single decompression cycle. This would improve testing efficiency, reduce testing costs, and promote the development of underwater vehicle model testing technology. Patent CN116818270A discloses a device for testing underwater vehicles emerging from the water under decompression conditions. This patent satisfies the similarity theory between scaled-down model tests and prototype tests through decompression. However, after completing one emergence test, the device requires opening the decompression tank top cover to remove the vehicle, and after reloading, it needs to be decompressed again for the next test. This process consumes a significant amount of time, greatly increasing testing costs and resulting in low testing efficiency. Patent CN107860555A discloses a test tank for underwater vertical movement. This patent achieves personnel entry and model reloading by repeatedly exchanging water between the test tank and another storage tank. However, this also wastes considerable preparation time during the reloading phase, especially for large tanks, making this method particularly challenging. Therefore, in order to meet the actual needs of marine equipment development and promote the development of underwater vehicle model testing technology in the laboratory, it is necessary to develop an economical and efficient transition pool test system that can conduct continuous single decompression tests. Summary of the Invention

[0004] In view of this, the present invention aims to propose a transition water tank test system and method that can conduct continuous tests with a single decompression, so as to solve the problem of high cost and low efficiency caused by the need for repeated decompression in traditional test water tanks.

[0005] To achieve the above objectives, the present invention adopts the following technical solution. According to one aspect of the present invention, a transition water tank test system capable of continuous single-stage decompression testing is provided, comprising:

[0006] The transfer chamber water tank has a ground opening at the top that connects to the ground working platform. The ground opening is equipped with a door B that can open or close the opening. The transfer chamber water tank is connected to a pressure reduction device.

[0007] The test chamber water tank is connected to the lower part of the transfer chamber water tank, and a hatch A is provided at the connection point that can open or close the connection point;

[0008] The mobile platform for the vehicle is used to carry the vehicle into the ground opening and then sink to the bottom of the transfer chamber pool. After the door B is closed, the decompression device depressurizes the water in the transfer chamber pool to a certain value, and then the door A is opened. The mobile platform for the vehicle enters the test chamber pool and then the door A is closed to conduct the vehicle's water exit test. After the test, the door A is opened and closed after the mobile platform carrying the vehicle leaves. After the mobile platform moves to the ground opening, the door B is opened and the vehicle is recovered.

[0009] Furthermore, the upper end of the mobile platform of the vehicle is equipped with a vehicle recovery device for recovering the vehicle.

[0010] Furthermore, the ground work platform is equipped with ground work platform tracks, and the test chamber water tank is equipped with motion platform tracks.

[0011] Furthermore, the motion platform track is set on the motion platform, and the motion platform is connected to the bottom wall of the test chamber water tank.

[0012] Furthermore, a lifting mechanism is installed inside the transfer tank pool. The carrying mechanism of the lifting mechanism can move vertically within the transfer tank pool. A transfer and recovery device is installed on the carrying mechanism of the lifting mechanism. When the carrying mechanism moves to the height of the ground working platform, the docking layer track inside the transfer and recovery device is used to dock with the ground working platform track as the movement path of the mobile platform of the navigation body. When the carrying mechanism moves to the bottom of the transfer tank pool, the docking layer track is used to dock with the moving platform track as the movement path of the mobile platform of the navigation body.

[0013] Furthermore, the transfer and recycling device also includes a roller assembly, a motor, and a support platform. The lower end of the support platform is provided with a roller assembly, the rotating end of the motor is connected to the roller assembly, and the upper end of the support platform is provided with a docking layer track.

[0014] Furthermore, a translational layer platform, a support frame, and a docking layer platform are stacked sequentially between the bearing platform and the docking layer track, and the docking layer track is connected to the upper surface of the docking layer platform.

[0015] Furthermore, the transport mechanism includes a transport layer platform, a transport layer track disposed thereon, and a movable limiting device, wherein the movable limiting device is connected to the limiting track disposed within the lifting mechanism.

[0016] According to another aspect of the present invention, a method is provided for using a transition water tank test system capable of single-stage decompression continuous testing as described above, comprising the following steps:

[0017] S1, the vehicle is loaded on the ground and placed on the vehicle's mobile platform. The hatch B is opened and the docking layer track of the transfer and recovery device is docked with the track of the ground work platform.

[0018] S2, the mobile platform of the naval vessel moves to the transfer and recovery device;

[0019] S3, the transfer and recovery device disconnects from the ground work platform track and moves away from hatch B;

[0020] S4, the lifting mechanism lowers the transfer and recovery device to the bottom of the transfer chamber pool, and the hatch B closes;

[0021] S5, the water tank of the transfer chamber is depressurized to the test environment pressure, the door A is opened, and the docking layer track of the transfer and recovery device is docked with the track of the motion platform.

[0022] S6, the mobile platform of the aircraft moves to the track of the motion platform;

[0023] S7, the transfer and recovery device disconnects from the track of the motion platform and moves away from hatch A, hatch A closes, and the motion platform is ready for the test;

[0024] S8. After the test is completed, the vehicle lands on the vehicle recovery device, and the vehicle moving platform carries the vehicle to hatch A.

[0025] S9, hatch A opens, and the transfer and recovery device drives the docking layer track to dock with the motion platform track;

[0026] S10, the mobile platform of the vehicle moves to the docking layer track of the transfer and recovery device;

[0027] S11, after the transfer and recovery device disconnects from the motion platform track and moves away from hatch A, hatch A closes. The water pool in the transfer chamber returns to normal pressure, and hatch B opens;

[0028] S12, the transfer and recycling device is raised to the height of the ground working platform;

[0029] S13, the transfer and recovery device is docked with the track of the ground work platform;

[0030] S14, the mobile platform of the aircraft moves to the track of the ground work platform for loading.

[0031] Compared with the prior art, the beneficial effects of the present invention are:

[0032] 1. This water tank test system can recover the vehicle to the ground working platform through the transfer and recovery device and the transfer chamber water tank after a decompression operation is completed in the test water tank, without changing the environmental pressure of the test water tank, so as to complete the recovery and reloading of the vehicle. This allows the transition water tank test system to achieve continuous testing with a single decompression.

[0033] 2. This water tank test system utilizes a reciprocating transfer platform and a repeatedly depressurized transfer tank to achieve model recovery and secondary filling. Compared to other large water tanks and other depressurization testing techniques that involve repeated depressurization or water transfer within the main test tank, this system eliminates the need for repeated depressurization operations in the main tank. Because the air volume within the transfer tank is significantly smaller than that of the main test tank, the time required for depressurization and air return operations is greatly reduced, as are the times spent on loading and secondary filling, significantly lowering testing costs and improving efficiency.

[0034] 3. This water tank test system has a wide range of applications. It can be referenced and applied in other high-speed underwater model tests, such as high-speed water entry of vehicles and marine robots, as well as in the research on compression ratio test in related water conservancy and marine engineering. It has high practical engineering value. Attached Figure Description

[0035] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0036] Figure 1 This is a schematic diagram of the planar structure of a transition water tank test system capable of continuous single-stage decompression testing according to the present invention.

[0037] Figure 2 This is a three-dimensional structural diagram of a transition water tank test system capable of continuous single-stage decompression testing according to the present invention.

[0038] Figure 3 This is a schematic diagram showing the connection relationship between the transfer and recycling device and the transport mechanism described in this invention;

[0039] Figure 4 This is a schematic diagram of the structure of the transport mechanism described in this invention;

[0040] Figure 5 This is a schematic diagram of the transfer and recycling device described in this invention;

[0041] Figure 6 This is a schematic diagram of the lifting mechanism described in this invention within the transfer chamber water tank;

[0042] Figure 7 This is a schematic diagram of the structure of the mobile platform of the navigation body described in this invention on the motion platform;

[0043] Figure 8 This is a state diagram of S1 as described in this invention;

[0044] Figure 9 This is a state diagram of S2 as described in this invention;

[0045] Figure 10 This is a state diagram of S3 as described in this invention;

[0046] Figure 11 This is a state diagram of S4 as described in this invention;

[0047] Figure 12 This is a state diagram of S5 as described in this invention;

[0048] Figure 13 This is a state diagram of S6 as described in this invention;

[0049] Figure 14 This is a state diagram of S7 as described in this invention;

[0050] Figure 15 This is a state diagram of S8 as described in this invention;

[0051] Figure 16 This is a state diagram of S9 as described in the present invention;

[0052] Figure 17 This is a state diagram of S10 as described in this invention;

[0053] Figure 18 This is a state diagram of S11 as described in this invention;

[0054] Figure 19 This is a state diagram of S12 as described in this invention;

[0055] Figure 20 This is a state diagram of S13 as described in this invention;

[0056] Figure 21 This is a state diagram of S14 as described in this invention.

[0057] 1. Transfer and recovery device; 2. Transport layer platform; 3. Transport layer track; 4. Movable limit device; 5. Roller assembly; 6. Motor; 7. Bearing platform; 8. Translation layer platform; 9. Support frame; 10. Docking layer platform; 11. Docking layer track; 12. Transfer chamber water tank; 13. Test chamber water tank; 14. Lifting mechanism; 15. Transfer platform base; 16. Limit track; 17. Ground working platform; 18. Ground working platform track; 19. Motion platform; 20. Motion platform track; 21. Vehicle moving platform; 22. Vehicle; 23. Vehicle recovery device; 24. Door A; 25. Door B. Detailed Implementation

[0058] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other, and the described embodiments are only some embodiments of the present invention, not all embodiments.

[0059] It should be noted that the descriptions of "left," "right," "left side," "right side," "upper part," "lower part," "top," and "bottom" in this invention are defined based on the orientation or positional relationships shown in the accompanying drawings. They are merely for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the described structure must be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0060] In the description of this invention, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0061] Referring to the accompanying drawings, this embodiment of the invention provides a transition water tank test system capable of continuous single-stage decompression testing, comprising:

[0062] The transfer chamber water tank 12 has a ground opening at its upper part that connects to the ground working platform 17. A hatch B25, capable of opening and closing the opening, is provided at the ground opening. The transfer chamber water tank 12 is connected to a decompression device. The transfer chamber water tank 12 provides a transfer space for the mobile platform 21 of the aircraft. The size of the transfer chamber water tank 12 is much smaller than that of the test chamber water tank 13. Therefore, decompression of the transfer chamber water tank 12 does not require repeated regassing and decompression operations, resulting in lower cost, workload, and efficiency compared to operations performed on the test chamber water tank 13. This improves work efficiency and reduces testing costs. For the decompression device, existing decompression equipment, such as a vacuum pump, can be used, and will not be elaborated upon here.

[0063] The test chamber water tank 13 is connected to the lower part of the transfer chamber water tank 12, and a hatch A24 is provided at the connection point, which can be opened or closed. The hatch A24 and hatch B25 can be existing gates with sealing properties that can be opened or closed according to control commands. In order to save space, a vertical opening and closing method is adopted.

[0064] The mobile platform 21 carries the vehicle 22 through a ground opening and sinks to the bottom of the transfer chamber pool 12. After the hatch B25 closes, the decompression device depressurizes the transfer chamber pool 12 to a certain value, and then the hatch A24 opens. The mobile platform 21 enters the test chamber pool 13, and then the hatch A24 closes to conduct the vehicle 22's water exit test. After the test, the hatch A24 opens and closes after the mobile platform 21 carrying the vehicle 22 leaves. The mobile platform 21 moves to the ground opening, and then the hatch B25 opens to retrieve the vehicle 22. The mobile platform 21 uses a tracked robot, which can move autonomously on the track according to instructions, and existing technology can be used.

[0065] In this embodiment, a vehicle body recovery device 23 for supporting the vehicle body 22 is provided on the upper end of the vehicle body moving platform 21. The vehicle body recovery device 23 is provided to support the vehicle body 22, and by setting the vehicle body moving platform 21 in the form of a platform, it is easy to receive the vehicle body 22 after the vehicle body recovery device 23 moves, thereby completing the recovery of the vehicle body 22 and improving the convenience of recovering the vehicle body 22. The vehicle body recovery device 23 can choose existing technologies such as robotic arms to recover and grasp the vehicle body 22 as needed; existing technologies are sufficient.

[0066] In this embodiment, a ground work platform track 18 is provided on the ground work platform 17, and a motion platform track 20 is provided in the test chamber water tank 13. The arrangement of the ground work platform track 18 and the motion platform track 20 needs to be determined based on the docking layer track 11, and must meet the prerequisite of forming a mobile platform 21 for the vehicle body to move after docking with the docking layer track 11.

[0067] In this embodiment, the motion platform track 20 is mounted on the motion platform 19, which is connected to the bottom wall of the test chamber water tank 13. The motion platform 19 is fixed to the bottom wall of the test chamber water tank 13 to adjust the height of the motion platform track 20, enabling the motion platform track 20 to smoothly dock with the docking layer track 11.

[0068] In this embodiment, a lifting mechanism 14 is provided inside the transfer tank 12. The carrying mechanism of the lifting mechanism 14 can move vertically within the transfer tank 12. A transfer and recovery device 1 is provided on the carrying mechanism of the lifting mechanism 14. When the carrying mechanism moves to the height of the ground working platform 17, the docking layer track 11 provided in the transfer and recovery device 1 is used to dock with the ground working platform track 18 as the movement path of the mobile platform 21. When the carrying mechanism moves to the bottom of the transfer tank 12, the docking layer track 11 is used to dock with the moving platform track 20 as the movement path of the mobile platform 21. The purpose of the lifting mechanism 14 is to provide the power for the mobile platform 21 to move up and down within the tank. Here, there is no specific limitation on the form in which the lifting mechanism 14 drives the carrying mechanism to rise or fall; it can be specifically set according to actual needs and environment. As an example, the lower part of the lifting mechanism 14 is provided with a transfer platform base 15, which can support the limiting rail 16. The limiting rail 16 is located at the four corners of the transfer platform base 15, thus forming a stable lifting force structure. In order to improve the stability of the movement of the mobile platform 21, the docking layer rail 11 is set as a double rail. Therefore, other rails that dock with the docking layer rail 11 need to be set in the same form to facilitate docking and forming a movement path.

[0069] In this embodiment, the transfer and recovery device 1 further includes a roller assembly 5, a motor 6, and a support platform 7. The roller assembly 5 is disposed on the lower end surface of the support platform 7, and the rotating end of the motor 6 is connected to the roller assembly 5. A docking layer track 11 is disposed on the upper end of the support platform 7. The motor 6 drives the roller assembly 5 to move, enabling the roller assembly 5 to move autonomously on the transport layer track 3. Driven by the motor 6, the roller assembly 5 can drive the transfer and recovery device 1 to reciprocate, thereby enabling it to dock with the docking layer track 11 when necessary, or to smoothly dock with the motion platform track 20 after submerging.

[0070] In this embodiment, a translational layer platform 8, a support frame 9, and a docking layer platform 10 are also arranged sequentially between the supporting platform 7 and the docking layer track 11. The docking layer track 11 is connected to the upper end face of the docking layer platform 10. The translational layer platform 8 can drive the docking layer track 11 to move laterally. The movable end of the translational layer platform 8 can be a structure in which a hydraulic cylinder drives a slider to move the translational layer platform 8. A reasonable selection can be made according to actual needs.

[0071] In this embodiment, the transport mechanism includes a transport platform 2, a transport track 3 mounted thereon, and a movable limiting device 4. The movable limiting device 4 is connected to the limiting track 16 within the lifting mechanism 14. The purpose of the movable limiting device 4 is to ensure that the transport platform 2 can move vertically. Existing limiting technology can be used.

[0072] In this embodiment, a mobile platform 21 is provided at the lower part of the vehicle body 22. The mobile platform 21 can provide power for the movement of the vehicle body 22, and existing technology can be used. As for the loading method of the vehicle body 22, it can be manually loaded onto the vehicle body recovery device 23.

[0073] According to another aspect of the present invention, a method is provided for using the above-described transition water tank test system capable of single-stage decompression continuous testing, comprising the following steps:

[0074] S1, the vehicle body 22 is loaded on the ground and placed on the vehicle body mobile platform 21. The hatch B25 is opened and the docking layer track 11 of the transfer and recovery device 1 is docked with the ground work platform track 18.

[0075] S2, the mobile platform 21 of the navigating body moves to the transfer and recovery device 1;

[0076] S3, the transfer and recovery device 1 disconnects from the ground work platform track 18 and moves away from the hatch B25;

[0077] S4, the lifting mechanism 14 lowers the transfer and recovery device 1 to the bottom of the transfer chamber pool 12, and the hatch B25 closes;

[0078] S5, the water tank 12 of the transfer chamber is depressurized to the test environment pressure, the door A24 is opened, and the docking layer track 11 of the transfer and recovery device 1 docks with the motion platform track 20.

[0079] S6, the mobile platform 21 of the vehicle moves to the track 20 of the motion platform;

[0080] S7, the transfer and recovery device 1 disconnects from the motion platform track 20 and moves away from the hatch A24. The hatch A24 is closed, and the motion platform 19 is ready for the test.

[0081] S8. After the test is completed, the vehicle body 22 falls onto the vehicle body recovery device 23, and the vehicle body mobile platform 21 carries the vehicle body 22 to the hatch A24.

[0082] S9, hatch A24 opens, and transfer and recovery device 1 drives docking layer track 11 to dock with motion platform track 20;

[0083] S10, the mobile platform 21 of the vehicle moves to the docking layer track 11 of the transfer and recovery device 1;

[0084] S11, after the transfer and recovery device 1 disconnects from the motion platform track 20 and moves away from hatch A24, hatch A24 closes. The transfer tank water pool 12 returns to normal pressure, and hatch B25 opens;

[0085] S12, the transfer and recycling device 1 is raised to the height of the ground working platform 17;

[0086] S13, the transfer and recycling device 1 is connected to the ground work platform track 18;

[0087] S14, the mobile platform 21 of the aircraft moves to the ground work platform track 18 for loading.

[0088] The sensors, controllers, and control programs mentioned above are all existing technologies and will not be elaborated upon here.

[0089] The embodiments of the present invention disclosed above are merely illustrative of the invention. These embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention.

Claims

1. A transition water tank test system capable of continuous single-stage decompression testing, characterized in that, include: The transfer chamber water tank (12) has a ground opening at the top that connects to the ground work platform (17). The ground opening is equipped with a door B (25) that can open or close the opening. The transfer chamber water tank (12) is connected to a pressure reducing device. The test chamber water tank (13) is connected to the lower part of the transfer chamber water tank (12) and a door A (24) is provided at the connection point to open or close the connection point. The mobile platform (21) is used to carry the mobile body (22) into the ground opening and then sink to the bottom of the transfer chamber pool (12). After the door B (25) is closed, the decompression device decompresses the transfer chamber pool (12) to a certain value and then the door A (24) is opened. The mobile platform (21) enters the test chamber pool (13) and then the door A (24) is closed to conduct the water exit test of the mobile body (22). After the test, the door A (24) is opened and closed after the mobile platform (21) carries the mobile body (22) away. The mobile platform (21) moves to the ground opening and then the door B (25) is opened to recover the mobile body (22). The mobile platform (21) is equipped with a mobile body recovery device (23) for recovering the mobile body (22) at the upper end. The ground working platform (17) is equipped with a ground The working platform track (18) is provided, and the test chamber pool (13) is provided with a motion platform track (20); the transfer chamber pool (12) is provided with a lifting mechanism (14), and the carrying mechanism of the lifting mechanism (14) can move vertically in the transfer chamber pool (12). The carrying mechanism of the lifting mechanism (14) is provided with a transfer and recovery device (1). When the carrying mechanism moves to the height of the ground working platform (17), the docking layer track (11) provided in the transfer and recovery device (1) is used to dock with the ground working platform track (18) as the moving path of the mobile platform (21). When the carrying mechanism moves to the bottom of the transfer chamber pool (12), the docking layer track (11) is used to dock with the motion platform track (20) as the moving path of the mobile platform (21).

2. The transition water tank test system for single-stage decompression continuous testing according to claim 1, characterized in that: The motion platform track (20) is set on the motion platform (19), and the motion platform (19) is connected to the bottom wall of the test chamber water tank (13).

3. The transition water tank test system for single-stage decompression continuous testing according to claim 1, characterized in that: The transfer and recycling device (1) also includes a roller assembly (5), a motor (6) and a carrying platform (7). The roller assembly (5) is provided on the lower end surface of the carrying platform (7). The rotating end of the motor (6) is connected to the roller assembly (5). The upper end of the carrying platform (7) is provided with a docking layer track (11).

4. The transition water tank test system for continuous single-stage decompression testing according to claim 3, characterized in that: Between the bearing platform (7) and the docking layer track (11), there are also sequentially stacked translation layer platform (8), support frame (9) and docking layer platform (10), and the docking layer track (11) is connected to the upper surface of the docking layer platform (10).

5. The transition water tank test system for continuous single-stage decompression testing according to claim 1, characterized in that: The transport mechanism includes a transport layer platform (2), a transport layer track (3) set thereon, and a movable limiting device (4), wherein the movable limiting device (4) is connected to the limiting track (16) set inside the lifting mechanism (14).

6. A method for using a transition water tank test system capable of single-stage decompression continuous testing as described in claim 2, characterized in that, Includes the following steps: S1, the vehicle (22) is loaded on the ground and placed on the vehicle mobile platform (21). The hatch B (25) is opened and the docking layer track (11) of the transfer and recovery device (1) is docked with the ground work platform track (18). S2, the mobile platform (21) of the navigating body moves to the transfer and recovery device (1); S3, the transfer and recovery device (1) is disconnected from the ground work platform track (18) and moved away from the hatch B (25). S4, the lifting mechanism (14) lowers the transfer and recovery device (1) to the bottom of the transfer tank pool (12), and the hatch B (25) closes; S5, the water tank (12) of the transfer chamber is depressurized to the test environment pressure, the door A (24) is opened, and the docking layer track (11) of the transfer and recovery device (1) docks with the motion platform track (20); S6, the mobile platform (21) of the vehicle moves to the track (20) of the motion platform. S7, the transfer and recovery device (1) disconnects from the motion platform track (20) and moves away from the hatch A (24), the hatch A (24) is closed, and the motion platform (19) is ready for the test; S8. After the test is completed, the vehicle (22) lands on the vehicle recovery device (23), and the vehicle moving platform (21) carries the vehicle (22) to the hatch A (24). S9, hatch A (24) opens, and the transfer and recovery device (1) drives the docking layer track (11) to dock with the motion platform track (20); S10, the mobile platform (21) of the vehicle moves to the docking layer track (11) of the transfer and recovery device (1); S11, after the transfer and recovery device (1) disconnects from the motion platform track (20) and moves away from the hatch A (24), the hatch A (24) closes, the transfer tank pool (12) returns to normal pressure, and the hatch B (25) opens; S12, the transfer and recovery device (1) is raised to the height of the ground working platform (17); S13, the transfer and recovery device (1) docks with the ground work platform track (18); S14, the mobile platform (21) of the aircraft moves to the ground work platform track (18) for loading.

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