Design Of Docking Device For Small Manned Carrier And Performance Analysis

With the emergence of new global ocean affairs,marine threats and a number of new sea power countries,the traditional ocean order is changing.In order to cope with the increasingly diversified threats to maritime security,countries are investing more and more in marine equipment.One of the most striking phenomena is the re-emergence of frogman's carrying equipment.As a kind of underwater personnel delivery equipment,the water downloader carrier has a natural concealed advantage and also can be used for underwater patrol and rescue in peacetime.Limited to the manned carrier voyage,in order to achieve remote delivery,it needs to be delivered to the mission edge area by the parent platform.The delivery and recovery of the carrier by the underwater mother platform is very concealed and is the main delivery method adopted by various countries.Currently,the delivery and recycling process of the carrier requires the diver's outbound operation,which takes a long time and increases the length of time the transport platform in the hazardous area.In order to efficiently complete the carrying and docking tasks of the carrier and reduce the mission risk,a special auxiliary equipment is needed.This paper absorbs the advantages of existing carrying and docking devices.For the needs of the device to complete the task of underwater carrying,delivery and recycling of the carrier,a piggyback-type docking scheme is proposed and a preliminary structural design is carried out.The whole set consists of two parts: the carrying device and the auxiliary docking device.The former securely connects the carrier with the transporting mother ship during the carrier loading phase.The latter can assist the carrier dynamic positioning system to correct the posture and position of the carrier during the recovery phase.On the basis of fulfilling the functional requirements of the carrying device,the link portion of the device is optimized in order to reduce the required driving torque during the pretensioning of the mounted device.The pre-tightening force is provided by the disc spring.Firstly,the finite element software is used to analyze the stiffness characteristics of the disc springs of different combinations,and the suitable disc spring combination for the structure is selected.According to the determined combination of the disc spring,the mathematical model between the required driving torque and the main rod length in the pre-tightening process is established,and the optimal link length parameter is obtained finally.In order to reduce the impact of the carrier on the transport mother during the recovery docking process,the buffer structure is optimized.Firstly,the suitable contact force model is used to analyze the collision process.Based on the response surface method and the Central Composite Design test design method,the explicit relationship between the contact force and the initial docking parameters is obtained,and the initial docking conditions with the largest contact force are finally obtained.According to the determined conditions,the explicit relationship between the total impulse and the parameters of the buffer structure in the docking process is obtained by the same method,and the optimal buffer structure parameters are finally obtained.At the end of the paper,the whole system is divided appropriately,and the virtual prototype of each subsystem is established by using dynamic analysis software.Through the simulation test of the virtual prototype,the performance limit of each subsystem is determined,which provides reference for the later improvement work and prototype test.