Underwater vehicle launching test device based on folding tail vane

Abstract

The invention relates to an underwater vehicle launching test device based on a folding tail vane, and belongs to the technical field of underwater vehicle launching tests. The system comprises a navigation body model and a launching tube. Wherein the tail part of the model is provided with a tail vane mechanism, a tail vane is driven to rapidly unfold through pre-tightening of a torsional spring and hydrodynamic force, and the swing angle of the tail vane is controlled by a servo steering engine to realize motion regulation and control. The rudder room adopts gear vertical transmission and eccentric shaft design, and the narrow space layout is optimized; a guide groove and a gas inlet are formed in the launching tube, so that linear launching and thrust efficiency are ensured; meanwhile, underwater sealing performance and data acquisition are guaranteed by using a watertight cable, a sealing ring and a pressure sensor. The device supports segmented assembly and multi-degree-of-freedom control, and is suitable for complex underwater ballistic tests.

Description

Technical Field

[0001] The present application relates to the technical field of underwater vehicle launch tests, and particularly to an underwater vehicle launch test device based on a folding tail rudder. Background Art

[0002] With the development of underwater vehicle launch technology, a technology for launching a vehicle using an underwater carrier has emerged. This technology has the characteristic that the folding tail rudder can be quickly deployed after launch to achieve control, thereby leading to relevant methods for carrying out hydrodynamic and ballistic tests on the underwater launch separation process in a pool or lake or sea environment.

[0003] In related technologies, usually, an underwater vehicle model with a folding tail rudder mechanism is designed under the limited scale conditions of a scaled model. The controllable tail rudder is arranged at the end of the model tail, and by reasonably designing the connection and transmission structure between the steering gear and the tail rudder, the folding and unfolding actions of the tail rudder are realized, so as to meet the requirements of the active control of the launch test device.

[0004] However, for the above-mentioned underwater vehicle model with a folding tail rudder mechanism, there is a problem that the steering gear layout space of the scaled model is limited, which increases the difficulty of selecting, installing the steering gear and the integrated design with other components. Summary of the Invention

[0005] Based on this, in view of the above problems, it is necessary to provide an underwater vehicle launch test device based on a folding tail rudder. The folding tail rudder is unfolded by a torsion spring, and after the tail rudder is unfolded, it is controlled by a servo steering gear to swing within a certain angle range to form the motion control of the vehicle. During the operation of the tail rudder, it is affected by the torsion spring and the backward hydrodynamic force and maintains a stable unfolded state, which can be used to carry out hydrodynamic and ballistic test research on the underwater launch of the vehicle and the active control process of the tail rudder.

[0006] An underwater vehicle launch test device based on a folding tail rudder includes:

[0007] A vehicle model, at the tail of which there is a tail rudder mechanism, and the tail rudder mechanism includes a rudder cabin, a rudder cover plate, a servo steering gear and a folding rudder mechanism;

[0008] A launch tube for accommodating the vehicle model and realizing its underwater launch;

[0009] The folding rudder mechanism includes a tail rudder, a torsion spring, a shaft pin, a turntable and a connecting plate; the tail rudder is hinged to the turntable through the shaft pin, the torsion spring is installed on the shaft pin and drives the tail rudder to unfold outwards; the turntable and the connecting plate are fixed by a rudder shaft locking screw, and the connecting plate is in transmission connection with the rudder shaft of the servo steering gear;

[0010] The servo steering gear includes a servo reduction motor, a gearbox and a transmission shaft. The transmission shaft changes the transmission direction through Gear 1 and Gear 2, and drives the rudder shaft to rotate to control the swing angle of the tail rudder.

[0011] After the navigation body model is launched out of the tube, the tail rudder unfolds to the 90° limit through the action of a torsion spring and hydrodynamic force, and is controlled by the servo steering gear to swing within a preset angle range to achieve the motion control of the navigation body model.

[0012] In one embodiment, a limit post is provided on the turntable to limit the position of the tail rudder when it unfolds to 90°; the turntable and the connecting plate are respectively provided with U-shaped groove 1 and U-shaped groove 2 to avoid the folding space of the tail rudder.

[0013] In one embodiment, the rudder cabin is of a cylindrical structure, and its surface is provided with a hollowed-out area and slats as a skeleton support; the rudder cover plate covers the hollowed-out part of the rudder cabin and is provided with a rudder unfolding groove for the tail rudder to pass through and fold and retract into the cylindrical envelope of the rudder cabin.

[0014] In one embodiment, the transmission shaft of the servo steering gear is an eccentric output shaft structure. The gearbox converts the horizontal transmission into the vertical direction through Gear 1 and Gear 2 to save the internal space of the rudder cabin; the rudder shaft is connected to the shaft hole of the connecting plate through a flat key to achieve power transmission.

[0015] In one embodiment, the launch tube includes a guide groove and a power gas inlet; a guide is provided at the front end of the navigation body model, and the guide is adapted to the guide groove to ensure the linear motion of the model during launch; the power gas inlet is used to input gas to push the navigation body model to launch.

[0016] In one embodiment, a watertight cable and a sealing ring 1 are provided inside the rudder cabin to ensure the sealing performance of the servo steering gear in the water-permeable cabin section; the rudder cover plate is fixedly connected to the mounting holes of the rudder cabin through the first rudder cabin fixing hole and the second rudder cabin fixing hole.

[0017] In one embodiment, the tail rudder mechanism includes four groups of independently controlled folding rudder mechanisms to form a cruciform tail rudder layout; the servo steering gear of each group of folding rudder mechanisms is fixed in the rudder cabin through the steering gear locking hole and the bulkhead fixing hole.

[0018] In one embodiment, a water-tight cabin section is provided at the tail of the navigation body model, and a pressure sensor is arranged inside it to collect hydrodynamic data; the water-tight cabin section is hermetically connected to the rudder cabin through an O-ring.

[0019] In one embodiment, a sealing film is provided at the nozzle of the launch tube to keep the navigation body model in a dry state before launch; the segmented flanges of the launch tube are connected by screws to facilitate segmented assembly and maintenance.

[0020] In one embodiment, the rudder shaft of the servo steering gear is fixed to the connecting plate by a turntable locking screw; the elastic force of the torsion spring and the hydrodynamic force act together to keep the tail rudder in a stable posture after deployment.

[0021] For the above-mentioned underwater vehicle launch test device based on a folding tail rudder, the tail rudder is hinged to the turntable by a shaft pin, and the pre-set elastic force of the torsion spring drives the tail rudder to deploy outward; after the vehicle is launched, the backward hydrodynamic force generated by the high-speed movement of the model further accelerates the deployment of the tail rudder, so as to ensure that the tail rudder quickly deploys to the 90° limit (fixed by a limit post) after leaving the tube. Combining the hydrodynamic force and the elastic force of the torsion spring, the deployment time is greatly shortened to meet the requirements of high-speed launch scenarios; at the same time, U-shaped groove one and U-shaped groove two are respectively provided on the turntable and the connecting plate to provide a physical avoidance space for the folding of the tail rudder, avoiding interference between the tail rudder and the cabin structure in the folded state, and ensuring the smoothness of the folding action.

[0022] This application also has the following advantages:

[0023] (1) The servo steering gear of this application uses a servo reduction motor to drive a transmission shaft with an eccentric output shaft, and converts the horizontal transmission into the vertical direction through gear one and gear two; it reduces the lateral occupied space of the steering gear, adapts to the narrow rudder cabin layout at the tail of the scaled model, and the vertical transmission design of the gearbox makes full use of the longitudinal space of the rudder cabin to avoid conflicts with the folding rudder mechanism; in addition, the rudder shaft is inserted into the shaft hole of the connecting plate through a flat key and fixed by a turntable locking screw, improving the reliability and accuracy of power transmission and preventing transmission slip.

[0024] (2) The inner wall of the launch tube of this application is provided with a guide groove, and the front end of the vehicle model is configured with a guide. The two cooperate to ensure the linear movement during launch, avoid the deflection of the model during the launch process, and improve the accuracy of the ballistic test data; at the same time, high-pressure gas is input through the power gas inlet to push the model to launch, and the nozzle sealing film ensures that the model is in a dry state before launch, which can simplify the underwater launch process and avoid the loss of gas thrust caused by the water medium.

[0025] (3) A watertight cabin section is provided at the tail of the vehicle model of this application, with a pressure sensor built-in to collect hydrodynamic data and sealed by an O-ring to protect precision components such as the steering gear from the influence of water pressure, and at the same time obtain test data in real time to support complex hydrodynamic analysis; in addition, the servo steering gear is equipped with a watertight cable and seal ring one, and the gearbox is double-sealed with the seal ring through bearing two to ensure the long-term stable operation of the steering gear in the water-permeable cabin section and avoid electrical failures caused by water leakage.

[0026] (4) The launch tube of this application is connected by segmented flanges and screws, supporting segmented assembly and rapid maintenance, facilitating the replacement of damaged components or the adjustment of the launch tube length, and reducing the maintenance cost of the test device.

[0027] (5) The four groups of folding rudder mechanisms of this application are independently installed in the rudder cabin to form a cruciform tail rudder layout. Each group of steering gears is fixed through the steering gear locking holes, supporting multi-degree-of-freedom motion control and meeting the requirements of complex underwater maneuvering tests;

[0028] (6) After the tail rudder of this application is deployed, the servo steering gear drives it to swing within a certain angle range. At the same time, the combined action of the torsion spring elasticity and hydrodynamic force maintains the stable attitude of the tail rudder, avoids the tail rudder jitter under high-speed movement, and improves the accuracy of the vehicle motion control;

[0029] (7) The overall structure of this application is compact. The hollow design of the rudder cabin combined with the support of the slat skeleton realizes high strength and lightweight within a limited space, is suitable for the launch tests of various scaled models, and expands the application range of the device. Brief Description of the Drawings

[0030] Figure 1 It is a schematic structural diagram of the tail rudder mechanism of this application.

[0031] Figure 2 It is a schematic structural diagram of the rudder cabin of this application.

[0032] Figure 3 It is a schematic structural diagram of the rudder cover plate of this application.

[0033] Figure 4 It is a schematic structural diagram of the servo steering gear of this application.

[0034] Figure 5 It is Figure 4 A cross-sectional view in the front view direction.

[0035] Figure 6 It is a schematic structural diagram of the folding rudder mechanism of this application.

[0036] Figure 7 It is a schematic structural diagram of the turntable of this application.

[0037] Figure 8 It is a schematic structural diagram of the connecting plate of this application.

[0038] Figure 9 It is a schematic structural diagram of the connecting plate of this application from another perspective.

[0039] Figure 10 It is the front view of the folding rudder mechanism of this application.

[0040] Figure 11 It is the side view of the folding rudder mechanism of this application.

[0041] Figure 12 It is the top view of the folding rudder mechanism of this application.

[0042] Figure 13Schematic diagram of the deployed state of the folding rudder mechanism of this application.

[0043] Figure 14 is Figure 1 front view.

[0044] Figure 15 is Figure 14 schematic diagram in the D direction in

[0045] Figure 16 Schematic diagram of the connection and assembly of the fixed block and the servo rudder of this application.

[0046] Figure 17 Schematic diagram of the structure of the fixed block of this application.

[0047] Figure 18 Schematic diagram of the installation of the vehicle model and the launch tube in this application.

[0048] Figure 19 Internal mating schematic diagram of the vehicle model and the launch tube in an embodiment of this application.

[0049] Figure 20 Schematic diagram of the rudder servo model in an embodiment of this application.

[0050] Wherein: 1. Tail rudder mechanism; 2. Rudder cabin; 3. Rudder cover plate; 4. Servo rudder; 5. Folding rudder mechanism; 6. Fixed block; 7. Launch tube; 8. Vehicle model; 9. Front section of the rudder servo; 10. Guide; 11. Rear cover of the rudder servo;

[0051] 201 Rudder cabin positioning groove 1; 202 Rudder cabin mounting hole 1; 203 Rudder cabin positioning groove 2; 204 Rudder cabin mounting hole 2; 205 Rudder servo locking hole; 206 Slat; 207 Section mounting ear; 208 Section ear hole;

[0052] 301. Rudder deployment groove; 302. Rudder cabin fixing hole 1; 303. Cabin fixing hole 2;

[0053] 401. Servo reduction motor; 402. Rudder shaft; 403. Output shaft boss; 404. Mounting ear 1; 405. Gearbox; 406. Mounting ear 2; 407. Watertight cable; 408. Transmission shaft; 409. Bearing 1; 4010. Gear 1; 4011. Gear 2; 4012. Bearing 2; 4013. Seal ring 1;

[0054] 501. Tail rudder; 502. Torsion spring; 503. Axle pin; 504. Turntable; 505. Connection plate; 506. Rudder shaft locking screw; 507. Limit post; 508. Turntable locking screw;

[0055] 50401. U-shaped groove 1; 50402. Double ears of the turntable;

[0056] 50501, U-shaped groove II; 50502, locking hole

[0057] 601, servo fixing hole; 602, bulkhead fixing hole

[0058] 701, flange of the launch pipe orifice; 702, wall of the launch pipe; 703, guide groove; 704, base of the launch pipe; 705, bottom flange of the launch pipe; 706, inlet of power gas; 707, screw; 708, sectional flange of the launch pipe; 709, sealing film at the orifice

[0059] 901, pressure sensor; 902, watertight compartment; 903, O-ring Detailed implementation manners

[0060] To make the above objects, features, and advantages of the present application more apparent and understandable, the following provides a detailed description of the specific implementation manners of the present application with reference to the accompanying drawings. A lot of specific details are set forth in the following description to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0061] In the description of the present application, it should be understood that if terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or positional relationship indicated by these terms is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0062] In addition, if terms such as "first" and "second" appear, these terms are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, if the term "plural" appears, the meaning of "plural" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0063] In this application, unless otherwise clearly stipulated and defined, if terms such as "installed", "connected", "linked", "fixed", etc. appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0064] In this application, unless otherwise clearly stipulated and defined, if there are descriptions such as a first feature being "on" or "under" a second feature, etc., its meaning can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over", and "on top of" the second feature can be that the first feature is directly above or obliquely above the second feature, or simply means that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath", and "below" the second feature can be that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower horizontal height than the second feature.

[0065] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there can also be an intermediate element. If an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. If so, the terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used in this application are only for the purpose of illustration and do not represent the only implementation.

[0066] Refer to Figure 1 、 Figure 14 、 Figure 15 and Figure 18 , which show the schematic structural diagram of the underwater vehicle launch test device based on a folding tail rudder in an embodiment of this application.

[0067] The underwater vehicle launch test device based on a folding tail rudder provided in an embodiment of this application includes:

[0068] A vehicle model 8, with a tail rudder mechanism 1 integrated at its tail for realizing the motion control after underwater launch;

[0069] A launch tube 7 for accommodating the vehicle model 8 and providing launch power;

[0070] The tail rudder mechanism 1 includes a rudder cabin 2, a rudder cover plate 3, a servo rudder machine 4, and a folding rudder mechanism 5 for folding, unfolding, and angle control of the tail rudder.

[0071] As Figure 18 shown, in some embodiments, a guide 10 is provided at the front end of the vehicle model 8, which is adapted to the guide groove 703 on the inner wall of the launch tube 7 to ensure linear motion during launch.

[0072] With reference to Figure 19 , a sealing film 709 is provided at the nozzle of the launch tube 7 to maintain a dry state before model launch.

[0073] As Figure 2 and Figure 3 shown, the rudder cabin 2 is of a cylindrical structure, and a hollowed-out area is provided on its surface. The hollowed-out area is supported by slats 206 as a framework to maintain structural strength.

[0074] In some embodiments, a first rudder cabin positioning groove 201, a first rudder cabin mounting hole 202, a second rudder cabin positioning groove 203, a second rudder cabin mounting hole 204, and a servo motor locking hole 205 are provided at the top of the rudder cabin 2 for positioning and fixing the servo rudder 4.

[0075] In some embodiments, the rudder cover plate 3 is fixedly connected to the mounting holes of the rudder cabin 2 through a first rudder cabin fixing hole 302 and a second rudder cabin fixing hole 303 to cover the hollowed-out part of the rudder cabin 2.

[0076] In some embodiments, a rudder unfolding groove 301 is provided on the rudder cover plate 3 for the tail rudder 501 to pass through the rudder unfolding groove 301 and fold into the cylindrical envelope of the rudder cabin 1.

[0077] As Figures 4 - 5 shown, in some embodiments, the servo rudder 4 includes a servo reduction motor 401, a rudder shaft 402, a gearbox 405, and a transmission shaft 408; among them, the transmission shaft 408 is an eccentric output shaft structure, which is fixed by a first bearing 409 and connected to a first gear 4010.

[0078] Further, the first gear 4010 is vertically meshed with the second gear 4011 to convert horizontal transmission into vertical direction and drive the rudder shaft 402 to rotate; the rudder shaft 402 is inserted into the shaft hole of the connection disk 505 through a flat key and fixed by a turntable locking screw 508 to ensure the reliability of power transmission. A watertight cable 407 and a first sealing ring 4013 are provided inside the servo rudder 4 to achieve sealing protection in the permeable cabin section.

[0079] As Figures 6 - 13 shown, the folding rudder mechanism 5 includes a tail rudder 501, a torsion spring 502, a shaft pin 503, a turntable 504, and a connection disk 505; among them, the tail rudder 501 is hinged to the double ears 50402 of the turntable through the shaft pin 503, and the torsion spring 502 is installed on the shaft pin 503 to provide a pre-tightening force for outward unfolding.

[0080] Further, the turntable 504 and the connecting plate 505 are fixed by a rudder shaft locking screw 506. Both are respectively provided with a first U-shaped groove 50401 and a second U-shaped groove 50501 to provide a clearance space for the folding of the tail rudder 501.

[0081] Further, a limit post 507 is also provided on the turntable 504. When the tail rudder 501 is deployed to 90°, the limit post 507 contacts the tail rudder 501 to prevent it from over-deploying.

[0082] As Figures 16 - 17 shown, the fixing block 6 includes a servo fixing hole 601 and a bulkhead fixing hole 602.

[0083] Further, the mounting hole of the second servo mounting ear 406 is fixedly connected to the rudder cabin mounting hole 204, the servo fixing hole 6,01 is fixedly connected to the first mounting ear 404, and the bulkhead fixing hole 602 is fixedly connected to the servo locking hole 205; the rudder cover plate 3 is buckled on the hollow position of the rudder cabin 2, and the first cover plate mounting hole 302 is fixedly connected to the first rudder cabin mounting hole 202, and the second cover plate mounting hole 303 is fixedly connected to the second rudder cabin mounting hole 204.

[0084] As Figures 18 - 19 shown, in some embodiments, the launch tube 7 is composed of a launch tube mouth flange 701, a launch tube wall 702, a guide groove 703 and a power gas inlet 706; wherein, the launch tube 7 is segmented and connected by a segmented flange 708 and a screw 707, which is convenient for assembly and maintenance.

[0085] Further, the power gas inlet (706) is used to input high-pressure gas to push the launch of the vehicle model (8).

[0086] In some embodiments, a watertight cabin section 9 is provided at the tail of the vehicle model 8, and a pressure sensor 901 is arranged inside for real-time acquisition of hydrodynamic data; the watertight cabin section 9 is hermetically connected to the rudder cabin 2 through an O-ring 903 to protect the internal precision components.

[0087] In other embodiments, the working process of the underwater vehicle launch test device based on the folding tail rudder of the present application is as follows:

[0088] Pre-launch preparation

[0089] The vehicle model 8 is loaded into the launch tube 7, and the tail rudder 501 is in a folded state under the restraint of the launch tube wall 702 and is received in the rudder cabin 2. The nozzle sealing film 709 keeps the model in a dry state, and the power gas inlet 706 is pre-charged with gas.

[0090] Deployment and control of the tail rudder 501

[0091] After the vehicle model 8 is launched out of the tube, the elastic force of the torsion spring 502 drives the tail rudder 501 to unfold outward, and at the same time, the backward hydrodynamic force generated by the high-speed movement of the model accelerates the unfolding process; when the tail rudder 501 unfolds to 90°, it is limited and fixed by the limit post 507; subsequently, the servo steering gear 4 drives the rudder shaft 402 to rotate through gear transmission, driving the tail rudder 501 to swing within a preset angle range to achieve the motion control of the vehicle model 8.

[0092] Data acquisition and maintenance

[0093] The pressure sensor 901 in the watertight compartment 9 records the hydrodynamic data in real time;

[0094] The segmented flange 708 of the launch tube 7 is designed to support quick disassembly, facilitating the replacement of components or the adjustment of the launch tube length.

[0095] The torsion spring 502 of the present application and the hydrodynamic force act together to ensure the rapid unfolding and stable limitation of the tail rudder 501; at the same time, the eccentric output shaft of the servo steering gear 4 is vertically transmitted with the gear to adapt to the narrow space at the tail of the scaled model; the multi-stage sealing is achieved by cooperating with the watertight cable 407, the first sealing ring 4013 and the O-ring 903 to ensure long-term operation in the underwater environment; finally, the connection design of the segmented flange 708 and the screw 707 of the launch tube 7 simplifies the maintenance process; the present application provides a highly reliable test platform for complex underwater ballistic tests and has practical application value.

[0096] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0097] The above-described embodiments merely represent several implementation manners of the present application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. An underwater vehicle launch test device based on a folding tail rudder, characterized in that include: A navigation body model (8) is provided with a tail rudder mechanism (1) at its tail, wherein the tail rudder mechanism (1) comprises a rudder cabin (2), a rudder cover plate (3), a servo rudder engine (4) and a folding rudder mechanism (5); A launching tube (7) for accommodating the vehicle model (8) and launching it underwater; The folding rudder mechanism (5) comprises a tail rudder (501), a torsion spring (502), an axle pin (503), a rotating disk (504) and a connecting disk (505); the tail rudder (501) is hinged on the rotating disk (504) via the axle pin (503); the torsion spring (502) is mounted on the axle pin (503) and drives the tail rudder (501) to unfold outward; the rotating disk (504) and the connecting disk (505) are fixed via a rudder shaft locking screw (506); the connecting disk (505) is drivingly connected to the rudder shaft (402) of the servo steering engine (4); The servo steering engine (4) comprises a servo reduction motor (401), a gear box (405) and a transmission shaft (408); the transmission shaft (408) changes the transmission direction through gear 1 (4010) and gear 2 (4011), and drives the rudder shaft (402) to rotate to control the swing angle of the tail rudder (501); After the navigation body model (8) is launched out of the tube, the tail rudder (501) is deployed to a 90° limit position through the torsion spring (502) and the hydrodynamic force, and is controlled by the servo steering engine (4) to swing within a preset angle range, thereby realizing motion control of the navigation body model.

2. The underwater vehicle launch test device based on a folding rudder according to claim 1, characterized in that The rotating disk (504) is provided with a limiting column (507) for limiting the position of the rudder (501) when it is unfolded to 90 degrees; the rotating disk (504) and the connecting disk (505) are respectively provided with a U-shaped groove 1 (50401) and a U-shaped groove 2 (50501) for avoiding the folding space of the rudder (501).

3. The underwater vehicle launch test device based on a folding rudder according to claim 1, characterized in that, The rudder cabin (2) is a cylindrical structure, and a hollow area and slats (206) are provided on its surface as a skeleton support; the rudder cover plate (3) is sealed on the hollow part of the rudder cabin (2), and is provided with a rudder slot (301) for the tail rudder (501) to pass through and be folded and stored in the cylindrical envelope of the rudder cabin (2).

4. The underwater vehicle launch test device based on a folding rudder according to claim 1, characterized in that, The transmission shaft (408) of the servo steering engine (4) is an eccentric output shaft structure, and the gear box (405) converts horizontal transmission into vertical direction through gear 1 (4010) and gear 2 (4011), so as to save the internal space of the steering cabin (2); The rudder shaft (402) is connected to the shaft hole of the connecting plate (505) via a flat key to achieve power transmission.

5. The underwater vehicle launch test device based on a folding tail rudder according to claim 1, characterized in that, The launch tube (7) comprises a guide groove (703) and a power gas inlet (706); The front end of the navigation body model (8) is provided with a guide (10), and the guide (10) is adapted to the guide groove (703) to ensure the linear motion of the model when it is launched; the power gas inlet (706) is used to input gas to propel the navigation body model (8) to launch.

6. The underwater vehicle launch test device based on a folding rudder according to claim 1, characterized in that, The interior of the steering cabin (2) is provided with a watertight cable (407) and a sealing ring (4013) to ensure the sealing of the servo steering engine (4) in the water-permeable cabin section; The rudder cover plate (3) is fixedly connected to the mounting holes of the rudder compartment (2) through the first rudder compartment fixing hole (302) and the second rudder compartment fixing hole (303).

7. The underwater vehicle launch test device based on a folding rudder according to claim 1, characterized in that, The tail rudder mechanism (1) includes four groups of independently controlled folding rudder mechanisms (5) to form a cruciform tail rudder layout; the servo rudder machine (4) of each group of folding rudder mechanisms (5) is fixed in the rudder compartment (2) through the rudder machine locking hole (205) and the bulkhead fixing hole (602).

8. The underwater vehicle launch test device based on a folding rudder according to claim 1, characterized in that, The tail of the vehicle model (8) is provided with a watertight compartment section (9), and a pressure sensor (901) is arranged inside it for collecting hydrodynamic data; the watertight compartment section (9) is hermetically connected to the rudder compartment (2) through an O-ring (903).

9. The underwater vehicle launch test device based on a folding rudder according to claim 1, wherein, A sealing film (709) is provided at the nozzle of the launch tube (7) to keep the vehicle model (8) in a dry state before launch; the segmented flange (708) of the launch tube (7) is connected by screws (707) to facilitate segmented assembly and maintenance.

10. The underwater vehicle launch test device based on a folding rudder according to claim 1, characterized in that, The rudder shaft (402) of the servo rudder machine (4) is fixed to the connecting disc (505) through a turntable locking screw (508); the elastic force of the torsion spring (502) and the hydrodynamic force act together to keep the tail rudder (501) in a stable posture after deployment.

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