Research On The Key Technology Of Double DOF Rotary Spherical Shell Docking Skirt

Underwater docking technology is an important technology for the personnel and material transfer of the deep-sea space station and the rescue of trapped submarines.Although China's underwater docking technology has started,there is still a big gap with foreign technologies.In order to continue to promote the development of underwater docking technology,based on the research of rotary docking skirt,the key technologies of the double DOF rotary spherical shell docking skirt are studied and tested.According to the deep-sea working environment of the double DOF rotary spherical shell docking skirt,the best operation mode is determined as the top-flow operation.The key technologies are studied,the structure of the joints and the sealing mechanism are designed,the overall scheme and the material used by the main body are determined.The multi-objective genetic algorithm is used to optimize the initial parameters of the fixed skirt,the direction skirt and the angle skirt to reduce the weight under the working condition.The sealing effect of the double DOF rotary spherical shell docking skirt is analyzed.Based on the working environment,the sealing structure between the fixed skirt and the rescue submarine is simulated by finite element method,and the "dangerous section" of the sealing structure is obtained.Then,taking the "dangerous section" as the research object,the influence of different numbers of bolt pre-compression O-rings on the sealing effect is analyzed.The sealing structure of the fixed skirt and the direction skirt is simulated by finite element method.The O-ring's "self-sealing" effect is analyzed at three different compression rates.According to the working principle of the double DOF rotary spherical shell docking skirt,the kinematic model of the double DOF rotary spherical shell docking skirt is deduced by using the D-H transformation matrix.The relationship between the angle of the directional skirt and the angle skirt and the vertical and heel angles of the docking skirt was obtained.The 3D curves are obtained by programming with MATLAB,The shortest distance of the life-saving submarine need to travel is obtained when the interface between the double DOF rotary spherical shell docking skirt and the crash submarine are docked.The experimental research on the double DOF rotary spherical shell docking skirt is carried out.The sealing methods between the fixed skirt and the life-saving submarine are tested and verified,and the sealing methods of the fixed skirt and the direction skirt are tested.Both sealing methods all passed the water tightness test,the external pressure resistance test of the double DOF rotary spherical shell docking skirt is carried out.The test shows that it is in good condition and with no damage,which proves the correctness of the sealing method and structure designed in this paper.In this paper,the structural design,finite element simulation,theoretical derivation,kinematics simulation and experimental verification are carried out on the key technologies of double DOF rotary spherical shell docking skirt.It provides a certain reference for the sea trial of the engineering prototype with double DOF rotary spherical shell docking skirt.