Research On The Performance Of The Underwater Docking Device For Small Manned Submersibles Based On Androgynous Peripheral

With the development of science and technology and the increase in energy consumption,mankind has set its sights on the oceans,which are rich in a wide variety of resources.Deep-sea equipment is the key factor limiting human exploration of the oceans and seas,which cover 71 per cent of the Earth’s surface and have been explored by humans for only 5per cent of the total area of the oceans and seas.However,including nuclear submarines,humans can stay underwater for about 40 days at most,which severely limits the ability of people to explore the oceans;therefore,the deep-sea space station is a fortress for the future exploration of the oceans.While establishing the deep-sea space station,the docking of manned submersibles and the deep-sea space station is equally important,and an atmospheric sealed dry channel capable of exchanging personnel and materials is an important part of the role of the deep-sea space station,and also one of the important research directions in the related technology of the deep-sea space station.Due to the limitation of existing technology,the development of underwater docking technology is not smooth.In this paper,by comparing space docking technology,rescue diving technology and recovery and deployment technology of small submersible,a docking device based on androgynous peripheral docking structure and six-dof hydraulic platform is designed for the docking environment and docking requirements of small manned submersible and deep-sea space station,and the scheme design of the docking device is carried out..According to the different functions,the overall docking device is divided into the initial connection part and the channel establishment part.The initial connection part cooperates with the power system of the small manned submersible to complete the contact,correction,buffer and initial connection of the docking process,and the channel establishment part completes the final atmospheric pressure sealed dry channel and sets the structural lock to increase the reliability of the docking skirt.The docking range of the whole docking device is mainly determined by the six-dof hydraulic motion platform,through the analysis of positive and inverse kinematics of the platform,a mathematical model of the platform positional positive and negative solution was established and verified.The trend of the spatial error finally determined the parameters of the six-dof hydraulic motion platform.During the docking process,the collision contact of the structure has a great influence on the device,in order to enhance the reliability of the docking,the type of the first collision of the docking structure was analyzed,a mathematical model of the possible collision region was established,and the first contact collision force as a simulation function,based on the response surface method and two experimental design methods,the use of ADAMS simulation,the docking conditions to obtain the peak of the first contact collision force,and as a result of this The structural parameters of the guiding disc were optimized on the basis,and finally the parameter conditions that make the peak first contact collision force result optimal were obtained.Finally,the modal analysis of the docking ring and guide flap was conducted to analyze their inherent frequencies and inherent vibration patterns;the vibration of the docking ring and guide flap under different conditions was discussed to determine the degree of influence.Using the common EXCO test in materials science to test the corrosion resistance of two common stainless steel materials against seawater,to determine the lower corrosion rate of stainless steel as the docking structure material.