A portable AUV retractable rack

Abstract

The present invention discloses a portable AUV storage and deployment rack, including an integrated bracket, a driving mechanism is fixedly installed at the front and rear ends of the top of the integrated bracket, an adjusting mechanism is fixedly connected to the bottom of the driving mechanism, two groups of flat circular rings arranged front and back are fixedly connected to the bottom of the adjusting mechanism, both sides of the two groups of flat circular rings are fixedly installed with connecting long plates, and the opposite sides of the two groups of connecting long plates are fixedly installed with two groups of waterproof multi-section electric push rods arranged front and back. In the present invention, the two groups of arc frames are separated, and then the deployment mode of the AUV device being autonomously lowered and the push-type deployment of the push guide plate from the back to the front inside the two groups of arc frames are applied in coordination with each other. In addition, before the push-type deployment, the two groups of arc frames can be adjusted to a tilted state gradually downward from the back to the front, so as to provide the AUV with autonomous sliding power, thereby effectively reducing the resistance encountered when the first servo motor drives the push guide plate to move forward.

Description

Technical Field

[0001] The invention relates to the technical field of AUV retractable racks, in particular to a portable AUV retractable rack. Background Art

[0002] With the gradual progress of my country's ocean exploration and the continuous development of marine technology, AUVs are playing an increasingly important role in exploring the ocean and ensuring national security. Due to the limitations of battery energy, AUVs need to be recovered, replenished with energy, read information, download new tasks, and prepare for the next release after performing underwater operations for a period of time. Therefore, AUVs need to be equipped with surface unmanned vehicles and retractable racks for deployment and recovery.

[0003] In the prior art, the AUV is deployed inside the storage rack by driving a manipulator through a power mechanism to control the bottom of the two combined arc frames to gradually open, and then the AUV inside the space of the two arc frames is deployed in a descending manner. However, since the bottom walls of the two arc frames are affected by the gravity of the AUV itself, the gravity is fed back to the power mechanism and the manipulator, which increases the difficulty of expanding the manipulator and reduces its expansion rate. In addition, the power mechanism and the manipulator are affected by the greater gravity during expansion, which affects their service life. Summary of the invention

[0004] The object of the present invention is to provide a portable AUV storage and deployment rack to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a portable AUV storage and deployment rack, comprising an integrated bracket, a driving mechanism is fixedly installed at the front and rear ends of the top of the integrated bracket, an adjusting mechanism is fixedly connected to the bottom of the driving mechanism, two groups of front-to-back arranged flat circular rings are fixedly connected to the bottom of the adjusting mechanism, both sides of the two groups of flat circular rings are fixedly installed with connecting long plates, two groups of front-to-back arranged waterproof multi-section electric push rods are fixedly installed on the opposite sides of the two groups of connecting long plates, the telescopic ends of the four groups of waterproof multi-section electric push rods are fixedly installed with C-shaped frame plates, the interiors of the two groups of flat circular rings are slidably connected with two groups of mirror-arranged arc frames, and the two groups of arc frames The opposite sides of the frames are respectively fixedly connected to the outer surfaces of the C-shaped frame plates arranged front and back in pairs, the front sides of the two groups of the arc frames are fixedly connected with guide semi-rings, the insides of the two groups of the arc frames are slidably connected with the AUV body, a depth controller is fixedly installed in the middle of the top of the integrated support, and the depth controller is electrically connected to the driving mechanism, a circular baffle is fixedly installed on the back of one group of the arc frames, and the diameter of the circular baffle is consistent with the diameter of the circle of the combination of the two groups of arc frames, and the diameter of the circular baffle is less than half of the inner circle spacing of the flat circular ring, buoyancy components are fixedly installed on both sides of the integrated support, and the opposite sides of the two groups of the arc frames are opened An adjusting slot is provided, an integrated plate is fixedly installed on one side of the circular baffle, a first servo motor is fixedly connected to the back of the integrated plate, a bidirectional screw is fixedly connected to the output end of the first servo motor, and one end of the bidirectional screw passes through the interior of one group of adjusting slots, a guide round rod is fixedly connected between the front wall and the rear wall of another group of adjusting slots, a pushing guide plate is slidably connected between the two groups of arc frames, receiving grooves are provided on both sides of the pushing guide plate, and T-shaped plates are slidably connected to the inner walls of the two groups of receiving grooves, a sliding cylinder is fixedly installed on one end of one group of T-shaped plates away from the pushing guide plate, and the sliding cylinder is threadedly sleeved on the outer surface of the bidirectional screw, and another group A ring is fixedly installed at one end of the T-plate away from the pushing guide plate, and the ring is slidably sleeved on the outer surface of the guide round rod. The structure of the adjustment mechanism includes an integrated plate, an upright suspension rod, a waterproof hydraulic cylinder, a double-section chain ring and a straight strip plate. The integrated plate is fixedly installed at the bottom of the driving mechanism, and the waterproof hydraulic cylinder and the upright suspension rod are both fixedly installed at the bottom of the integrated plate, and the waterproof hydraulic cylinder is located behind the upright suspension rod. The number of the double-section chain rings is two groups, and the two groups of double-section chain rings are both fixedly installed on the top of the straight strip plate, and the tops of the two groups of double-section chain rings are respectively fixedly connected to the bottoms of the upright suspension rod and the waterproof hydraulic cylinder, and the straight strip plate is fixedly installed on the tops of the two groups of flat circular rings.

[0006] Preferably, the structure of the driving mechanism includes a vertical plate, a second servo motor and a rotating shaft. There are two groups of vertical plates, and both groups of vertical plates are fixedly mounted on the top of the integrated bracket. The second servo motor is fixedly mounted on the back side of a group of vertical plates at the rear. The rotating shaft is fixedly mounted on the output end of the second servo motor, and the front rotation of the rotating shaft passes through the interior of the two groups of vertical plates.

[0007] Preferably, the structure of the adjustment mechanism also includes two groups of steel cables, both groups of steel cables are fixedly installed on the outer surface of the rotating shaft, and the bottoms of the two groups of steel cables are fixedly connected to the top of the integrated board.

[0008] Preferably, the structure of the buoyancy assembly includes buoyancy cylinders and bending rods, the number of the buoyancy cylinders is two groups, the number of the bending rods is four groups, the two groups of the buoyancy cylinders are respectively arranged on both sides of the integrated bracket, the four groups of the bending rods are respectively fixedly installed on the front and back sides of the two groups of buoyancy cylinders, and one end of the four groups of bending rods are respectively fixedly connected to the outer surface of the integrated bracket.

[0009] Preferably, the structure of the integrated bracket includes a return rod, a vertical support frame, a reinforcement rod, a fixed angle rod and a hanging point ring. The number of the vertical support frames is three groups, and the three groups of vertical support frames are arranged front and back on the return rod. The number of the reinforcement rods and the fixed angle rods is six groups. The six groups of reinforcement rods are respectively fixedly installed on the two sides and top of the two adjacent groups of vertical support frames in front and back, and the six groups of fixed angle rods are respectively fixedly installed at two groups of angles of the three groups of vertical support frames. The number of the hanging point rings is four groups, and the four groups of hanging point rings are fixedly connected to the four groups of corners at the top of the integrated bracket.

[0010] Compared with the prior art, the present invention has the following beneficial effects:

[0011] 1. In the present invention, four groups of waterproof multi-section electric push rods are synchronously extended outward or retracted inward, so that the two groups of arc frames are driven by the four groups of C-shaped frame plates to gradually separate or merge into a group of cylindrical AUV frames, thereby facilitating the recovery and release of the AUV body placed inside the cylindrical AUV frame. The waterproof multi-section electric push rods are used to control the adjustment of the spacing between the two groups of arc frames to achieve the opening and closing of the two groups of arc frames. The overall flexibility is high, the operation steps are relatively simple, and it has relatively good limitation and safety. At the same time, it drives the two groups of arc frames to separate horizontally, which is less affected by the gravity of the AUV device.

[0012] 2. In the present invention, in addition to controlling the separation of the two groups of arc-shaped frames by the extension and retraction of four groups of waterproof multi-section electric push rods to facilitate the autonomous lowering of the AUV device, the first servo motor can also be operated to cause the slide to move from back to front along the rotating bidirectional screw surface, so that the push guide plate generates a forward propulsion force on the AUV body inside the two groups of arc-shaped frames in a merged state, so as to assist the AUV body to be pushed from back to front inside the two groups of merged arc-shaped frames for deployment. The two groups of deployment methods are used in combination with each other. When one group of deployment components fails, the other group of deployment components can be used as a replacement to avoid delaying the deployment operation.

[0013] 3. In the present invention, the waterproof hydraulic cylinder is used to perform an upward retraction operation, so that the comprehensive length of the waterproof hydraulic cylinder is smaller than the length of the upright boom, thereby adjusting the horizontal straight strip board to an inclined state gradually downward from back to front, which can provide the AUV with autonomous sliding power when the AUV body is deployed forward by the AUV storage rack, thereby effectively reducing the resistance encountered when the guide plate is pushed forward by the operation of the first servo motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0015] Figure 2 It is a schematic diagram of the installation structure of the arc frame and the push guide plate of the present invention;

[0016] Figure 3 This is a schematic diagram of the split structure of the push guide plate and the T-shaped plate of the present invention;

[0017] Figure 4 It is a structural schematic diagram of the first servo motor and the bidirectional lead screw of the present invention;

[0018] Figure 5 It is a schematic diagram of the installation structure of the C-shaped frame plate and the arc frame of the present invention;

[0019] Figure 6 It is a schematic diagram of the installation structure of the flat circular ring and the arc frame of the present invention;

[0020] Figure 7 It is a structural schematic diagram of the regulating mechanism of the present invention;

[0021] Figure 8 It is a structural schematic diagram of the driving mechanism of the present invention;

[0022] Fig. 9 It is a schematic diagram of the structure of the comprehensive support of the present invention.

[0023] In the figure: 1. integrated bracket; 2. driving mechanism; 3. adjusting mechanism; 4. flat circular ring; 5. connecting long board; 6. waterproof multi-section electric push rod; 7. C-shaped frame; 8. arc frame; 9. guide semi-ring; 10. AUV body; 11. depth controller; 12. circular baffle; 13. adjusting slot; 14. integrated board; 15. first servo motor; 16. bidirectional screw rod; 17. guide circular rod; 18. push guide plate; 19 , storage groove; 20, T-plate; 21, slide; 22, ring; 23, integrated board; 24, upright suspension rod; 25, waterproof hydraulic cylinder; 26, double-section chain link; 27, straight strip board; 28, vertical board; 29, second servo motor; 30, rotating shaft; 31, steel cable; 32, buoyancy cylinder; 33, bending rod; 34, return rod; 35, vertical support frame; 36, reinforcement rod; 37, fixed angle rod; 38, lifting point ring. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0026] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] See also Figure 1-Figure 9 , an embodiment provided by the present invention:

[0028] A portable AUV storage and deployment rack comprises an integrated bracket 1, a driving mechanism 2 is fixedly installed at the front and rear ends of the top of the integrated bracket 1, an adjusting mechanism 3 is fixedly connected to the bottom of the driving mechanism 2, two groups of front-to-back arranged flat circular rings 4 are fixedly connected to the bottom of the adjusting mechanism 3, both sides of the two groups of flat circular rings 4 are fixedly installed with connecting long plates 5, two groups of front-to-back arranged waterproof multi-section electric push rods 6 are fixedly installed on the opposite sides of the two groups of connecting long plates 5, and the telescopic ends of the four groups of waterproof multi-section electric push rods 6 are fixedly installed with C-shaped frame plates 7, the insides of the two groups of flat circular rings 4 are slidably connected with two groups of mirror-arranged arc frames 8, and the opposite sides of the two groups of arc frames 8 are divided into The two arc frames 8 are respectively fixedly connected to the outer surfaces of the C-shaped frame plates 7 arranged front and back in pairs, the front sides of the two arc frames 8 are fixedly connected with the guide semi-rings 9, the insides of the two arc frames 8 are slidably connected with the AUV body 10, a depth controller 11 is fixedly installed in the middle of the top of the integrated bracket 1, and the depth controller 11 is electrically connected to the driving mechanism 2, a circular baffle 12 is fixedly installed on the back side of one group of the arc frames 8, and the diameter of the circular baffle 12 is consistent with the diameter of the circle formed by the combination of the two groups of arc frames 8, and the diameter of the circular baffle 12 is less than half of the inner circle spacing of the flat circular ring 4, and buoyancy components are fixedly installed on both sides of the integrated bracket 1.

[0029] After the AUV retractable frame arrives at the deployment sea area, a signal is sent through the depth controller 11 to prompt the driving mechanism 2 electrically connected thereto to operate, so that the adjusting mechanism 3 drives the two groups of flat circular rings 4 to move downward, so that the AUV frame formed by the two groups of arc frames 8 sinks into the water, and then the four groups of waterproof multi-section electric push rods 6 are synchronously operated to make them retract inward accordingly, and the two groups of arc frames 8 are driven to gradually separate through the four groups of C-shaped frame plates 7. When the distance between the bottom walls of the two groups of arc frames 8 is greater than the diameter of the AUV body 10, the AUV body 10 inside the AUV frame drives straight down and away, and then the four groups of waterproof multi-section electric push rods 6 return to their original state, prompting the two groups of separated arc frames 8 to recombine into a cylindrical AUV frame. The controller 8 sends a signal again to make the driving assembly 2 run again, and drives the AUV frame to move upward to the water surface through the adjustment mechanism 3. Since the two groups of buoyancy components themselves have a large buoyancy value, after the AUV retractable and launching frame is launched, the components above the buoyancy components are all above the water surface. The two groups of guide semi-rings 9 can be combined into a group of trumpet-shaped ring bodies with a larger diameter at the opening. When the AUV body 10 is ready to be recovered, the two groups of arc-shaped frames 8 sink into the water, and then the AUV body 10 enters the area where the retractable and launching frame is located with a certain posture and sailing speed. Under the action of its own power, the AUV body 10 quickly enters the interior of the two groups of arc-shaped frames 8 along the trumpet-shaped ring body composed of the two groups of guide semi-rings 9 to complete the recovery operation of the AUV body 10.

[0030] Adjustment slots 13 are provided on opposite sides of the two groups of arc frames 8, an integrated plate 14 is fixedly installed on one side of the circular baffle 12, a first servo motor 15 is fixedly connected to the back of the integrated plate 14, a bidirectional lead screw 16 is fixedly connected to the output end of the first servo motor 15, and one end of the bidirectional lead screw 16 passes through the interior of one group of adjustment slots 13, a guide round rod 17 is fixedly connected between the front wall and the rear wall of the other group of adjustment slots 13, a pushing guide plate 18 is slidably connected between the two groups of arc frames 8, storage slots 19 are provided on both sides of the pushing guide plate 18, and T-shaped plates 20 are slidably connected to the inner walls of the two groups of storage slots 19, one end of one group of T-shaped plates 20 away from the pushing guide plate 18 is fixedly installed with a slide cylinder 21, and the slide cylinder 21 is threadedly sleeved on the outer surface of the bidirectional lead screw 16, and the other end of the T-shaped plates 20 away from the pushing guide plate 18 is fixedly installed with a ring 22, and the ring 22 is slidably sleeved on the outer surface of the guide round rod 17.

[0031] The integrated plate 14 provides a relatively suitable and sufficient space for the assembly of the first servo motor 15. In the present AUV storage rack, the AUV is placed inside the two sets of arc frames 8. In addition to the two sets of arc frames 8 being separated and then the AUV device 10 being lowered autonomously, when the two sets of arc frames 8 are merged, the first servo motor 15 is operated to cause the bidirectional lead screw 16 installed at its output end to rotate in a set direction, so that the slide 21 can be moved from back to front along the outer surface of the bidirectional lead screw 16, and the collar 22 follows and moves from back to front along the outer surface of the guide round rod 17, so as to cause the push guide plate 18 to push the AUV inside the two sets of arc frames 8 in a merged state. The UV device body 10 generates a forward propulsion force to assist the AUV device body 10 to be deployed by being pushed from the back to the front inside the two sets of combined arc-shaped frames 8, thereby providing another deployment method of the AUV device body 10 for this storage rack, wherein the two sets of deployment methods are used in combination with each other, and when one set of deployment components fails, the other set of deployment components can be used as a replacement to avoid delaying the deployment operation. In addition, after the push-type deployment is completed, the first servo motor 15 runs here, prompting the bidirectional screw rod 16 to rotate in the opposite direction to the original direction, thereby adjusting the push guide plate 18 to the original position, and the first servo motor 15 in the technical solution is a waterproof motor, which does not affect the use in water.

[0032] The structure of the adjustment mechanism 3 includes an integrated plate 23, an upright suspension rod 24, a waterproof hydraulic cylinder 25, a double-section chain ring 26 and a straight strip plate 27. The integrated plate 23 is fixedly mounted at the bottom of the driving mechanism 2. The waterproof hydraulic cylinder 25 and the upright suspension rod 24 are both fixedly mounted at the bottom of the integrated plate 23, and the waterproof hydraulic cylinder 25 is located behind the upright suspension rod 24. There are two groups of double-section chain rings 26. The two groups of double-section chain rings 26 are both fixedly mounted on the top of the straight strip plate 27, and the tops of the two groups of double-section chain rings 26 are respectively fixedly connected to the bottoms of the upright suspension rod 24 and the waterproof hydraulic cylinder 25. The straight strip plate 27 is fixedly mounted on the tops of the two groups of flat circular rings 4.

[0033] Setting: The telescopic end of the waterproof hydraulic cylinder 25 extends downward by half of its length, so that the comprehensive length of the waterproof hydraulic cylinder 25 is consistent with the length of the upright suspension rod 24, and the straight strip 27 remains in a horizontal state;

[0034] Before the AUV body 10 is deployed forward by running the first servo motor 15, the waterproof hydraulic cylinder 25 is operated to cause it to retract upward, so that the comprehensive length of the waterproof hydraulic cylinder 25 is less than the length of the upright boom 24, thereby adjusting the horizontal straight strip 27 to a tilted state gradually downward from back to front, which can provide the AUV with autonomous sliding power during the forward push deployment of the AUV body 10, and then effectively reduce the resistance encountered when the guide plate 18 is pushed forward by the operation of the first servo motor 15. The application of the double-section chain link 26 allows the waterproof hydraulic cylinder 25, the upright boom 24 and the straight strip 27 to have mobility.

[0035] The structure of the driving mechanism 2 includes vertical plates 28, a second servo motor 29 and a rotating shaft 30. The number of the vertical plates 28 is two groups, and the two groups of vertical plates 28 are fixedly installed on the top of the integrated bracket 1. The second servo motor 29 is fixedly installed on the back of a group of vertical plates 28 at the rear. The rotating shaft 30 is fixedly installed at the output end of the second servo motor 29, and the front rotation of the rotating shaft 30 passes through the interior of the two groups of vertical plates 28. The structure of the adjusting mechanism 3 also includes steel cables 31. The number of the steel cables 31 is two groups, and the two groups of steel cables 31 are fixedly installed on the outer surface of the rotating shaft 30, and the bottoms of the two groups of steel cables 31 are fixedly connected to the top of the integrated board 23.

[0036] By running the second servo motor 29, it drives the rotating shaft 30 to rotate in the set direction, which can prompt the two groups of steel cables 31 to perform winding or unwinding operations accordingly, thereby driving the adjustment mechanism 3 and the components below it to adjust their height positions upward or downward. In addition, all electrical components in the retractable rack are waterproof, and the two groups of vertical plates 28 provide the rotating shaft 30 with the support force required for operation.

[0037] The structure of the buoyancy assembly includes a buoyancy cylinder 32 and a bending rod 33. The number of the buoyancy cylinder 32 is two groups, and the number of the bending rod 33 is four groups. The two groups of buoyancy cylinders 32 are respectively arranged on both sides of the integrated bracket 1. The four groups of bending rods 33 are respectively fixedly installed on the front and back sides of the two groups of buoyancy cylinders 32, and one end of the four groups of bending rods 33 is respectively fixedly connected to the outer surface of the integrated bracket 1. The structure of the integrated bracket 1 includes a return rod 34, a vertical support frame 35, a reinforcement rod 36, a fixed angle rod 37 and There are three groups of lifting point rings 38 and vertical support frames 35, which are arranged front and back on the return rod 34. There are six groups of reinforcement rods 36 and fixed angle rods 37, which are respectively fixedly installed on the two sides and tops of the two adjacent groups of vertical support frames 35 in front and back. The six groups of fixed angle rods 37 are respectively fixedly installed at the two groups of included angles of the three groups of vertical support frames 35. There are four groups of lifting point rings 38, which are fixedly connected to the four groups of corners at the top of the integrated bracket 1.

[0038] The bending rod 33 is used to connect the buoyancy cylinder 32 and the integrated bracket 1, and the buoyancy cylinder 32 provides a certain amount of buoyancy for the AUV retractable rack, so that it can be placed in the water and float on the water surface under the action of the buoyancy of the two groups of buoyancy cylinders 32. The return rod 34 and the three groups of vertical support frames 35 can be combined into the basic structure of the integrated bracket 1. In addition, with the use of multiple groups of reinforcement rods 36 and fixed angle rods 37, the structural strength of the integrated bracket 1 can be effectively increased. In addition, with the use of four groups of hanging point rings 38, it is convenient to combine the AUV retractable rack with unmanned boats or other carrying equipment, making the AUV retractable rack portable.

[0039] Working principle: After the AUV retractable and deploying frame arrives at the deployment sea area, a signal is sent through the depth controller 11 to prompt the second servo motor 29 in the driving mechanism 2 electrically connected thereto to operate, so that the two sets of steel cables 31 on the outer surface of the rotating shaft 30 are reeled and unreeled, so as to sink the AUV frame formed by the two sets of arc frames 8 at the bottom of the adjustment mechanism 3 into the water, and then the waterproof multi-section electric push rod 6 is selected to contract inward to drive the two sets of combined arc frames 8 to separate, and then the AUV body 10 between the two sets of arc frames 8 is deployed in a way of falling straight down, or by running the first servo motor 15, The slide 21 is moved from back to front along the outer surface of the rotating bidirectional screw 16 to push the AUV body 8 between the two sets of arc frames 8 forward, so as to achieve the purpose of push-type deployment. Before the push-type deployment, the waterproof hydraulic cylinder 25 is used to retract inward to adjust the horizontal straight strip 27 to a tilted state gradually downward from back to front, which can provide the AUV with autonomous sliding power in the process of selecting the forward push-type deployment of the AUV body 10, thereby effectively reducing the resistance encountered when the first servo motor 15 drives the guide plate 18 to move forward.

[0040] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A portable AUV storage and deployment rack, comprising an integrated bracket (1), characterized in that: The front and rear ends of the top of the integrated support (1) are fixedly installed with a driving mechanism (2), the bottom of the driving mechanism (2) is fixedly connected with an adjusting mechanism (3), the bottom of the adjusting mechanism (3) is fixedly connected with two groups of flat circular rings (4) arranged front and back, both sides of the two groups of flat circular rings (4) are fixedly installed with connecting long plates (5), the opposite sides of the two groups of connecting long plates (5) are fixedly installed with two groups of waterproof multi-section electric push rods (6) arranged front and back, the telescopic ends of the four groups of waterproof multi-section electric push rods (6) are fixedly installed with C-shaped frame plates (7), the inside of the two groups of flat circular rings (4) are slidably connected with two groups of mirror-arranged arc frames (8), and the opposite sides of the two groups of arc frames (8) are respectively connected with the C-shaped frame plates (7) arranged front and back in pairs. ), the front sides of the two groups of arc frames (8) are fixedly connected with guide semi-rings (9), the interiors of the two groups of arc frames (8) are slidably connected with AUV bodies (10), a depth controller (11) is fixedly installed in the middle of the top of the integrated support (1), and the depth controller (11) is electrically connected to the driving mechanism (2), a circular baffle (12) is fixedly installed on the back side of one group of the arc frames (8), and the diameter of the circular baffle (12) is consistent with the diameter of the circle formed by the combination of the two groups of arc frames (8), and the diameter of the circular baffle (12) is less than half of the inner circle spacing of the flat circular ring (4), buoyancy components are fixedly installed on both sides of the integrated support (1), and the two groups of arc frames (8) are fixedly connected with the guide semi-rings (9), the interiors of the two groups of arc frames (8) are slidably connected with AUV bodies (10), a depth controller (11) is fixedly installed in the middle of the top of the integrated support (1), and the depth controller (11) is electrically connected to the driving mechanism (2), a circular baffle (12) is fixedly installed on the back side of one group of the arc frames (8), and the diameter of the circular baffle (12) is consistent with the diameter of the circle formed by the combination of the two groups of arc frames (8), and the diameter of the circular baffle (12) is less than half of the inner circle spacing of the flat circular ring (4), a buoyancy component is fixedly installed on both sides of the integrated support (1), and the two groups of arc frames (8) are fixedly connected with the guide semi-rings (9), the interiors of the two groups of arc frames (8) are slidably connected with the AUV body (10), a depth controller (11) is fixedly installed in the middle of the top of the integrated support (1), and the depth controller (11) is electrically connected to the driving mechanism (2), a circular baffle (12 ) are provided with adjustment slots (13) on opposite sides of the circular baffle (12), an integrated plate (14) is fixedly installed on one side of the circular baffle (12), a first servo motor (15) is fixedly connected to the back side of the integrated plate (14), a bidirectional screw rod (16) is fixedly connected to the output end of the first servo motor (15), and one end of the bidirectional screw rod (16) passes through the interior of one group of adjustment slots (13), a guide round rod (17) is fixedly connected between the front wall and the rear wall of the other group of adjustment slots (13), a pushing guide plate (18) is slidably connected between the two groups of the arc-shaped frames (8), storage slots (19) are provided on both sides of the pushing guide plate (18), and T-shaped plates (20) are slidably connected to the inner walls of the two groups of storage slots (19) , one group of the T-shaped plates (20) is fixedly installed with a slide tube (21) at one end away from the pushing guide plate (18), and the slide tube (21) is threadedly sleeved on the outer surface of the bidirectional screw rod (16); another group of the T-shaped plates (20) is fixedly installed with a collar (22) at one end away from the pushing guide plate (18), and the collar (22) is slidably sleeved on the outer surface of the guide round rod (17); the structure of the adjustment mechanism (3) includes an integrated plate (23), an upright suspension rod (24), a waterproof hydraulic cylinder (25), a double-section chain ring (26) and a straight strip plate (27); the integrated plate (23) is fixedly installed at the bottom of the driving mechanism (2); the waterproof hydraulic cylinder (25) and the upright suspension rod (24) are both fixedly installed at the bottom of the integrated plate (23);The waterproof hydraulic cylinder (25) is located behind the upright suspension rod (24), the double-section chain ring (26) is in two groups, the two groups of double-section chain rings (26) are fixedly mounted on the top of the straight strip plate (27), and the tops of the two groups of double-section chain rings (26) are respectively fixedly connected to the upright suspension rod (24) and the bottom of the waterproof hydraulic cylinder (25), and the straight strip plate (27) is fixedly mounted on the tops of the two groups of flat circular rings (4).

2. The AUV portable stowage rack according to claim 1, characterized in that: The driving mechanism (2) comprises a vertical plate (28), a second servo motor (29) and a rotating shaft (30). The number of the vertical plates (28) is two groups. Both groups of the vertical plates (28) are fixedly mounted on the top of the integrated bracket (1). The second servo motor (29) is fixedly mounted on the back of a group of vertical plates (28) at the rear. The rotating shaft (30) is fixedly mounted on the output end of the second servo motor (29), and the front side of the rotating shaft (30) rotates through the interior of the two groups of vertical plates (28).

3. The AUV portable stowage and deployment rack according to claim 1, characterized in that: The structure of the adjustment mechanism (3) also includes steel cables (31). The number of the steel cables (31) is two groups. The two groups of steel cables (31) are fixedly installed on the outer surface of the rotating shaft (30), and the bottoms of the two groups of steel cables (31) are fixedly connected to the top of the integrated board (23).

4. The AUV portable stowage and deployment rack according to claim 1, characterized in that: The structure of the buoyancy assembly includes a buoyancy cylinder (32) and a bending rod (33). The number of the buoyancy cylinder (32) is two groups, and the number of the bending rod (33) is four groups. The two groups of the buoyancy cylinder (32) are respectively arranged on both sides of the integrated support (1), and the four groups of the bending rod (33) are respectively fixedly installed on the front and back sides of the two groups of the buoyancy cylinder (32), and one end of the four groups of the bending rod (33) is respectively fixedly connected to the outer surface of the integrated support (1).

5. The AUV portable stowage and deployment rack according to claim 1, characterized in that: The structure of the integrated support (1) comprises a return rod (34), a vertical support frame (35), a reinforcement rod (36), an angle rod (37) and a suspension point ring (38). The number of the vertical support frames (35) is three groups, and the three groups of vertical support frames (35) are arranged front and back on the return rod (34). The number of the reinforcement rods (36) and the angle rods (37) are six groups. The six groups of reinforcement rods (36) are respectively fixedly installed on the two sides and the top of the two adjacent groups of vertical support frames (35) in the front and back. The six groups of angle rods (37) are respectively fixedly installed at the two groups of included angles of the three groups of vertical support frames (35). The number of the suspension point rings (38) is four groups, and the four groups of suspension point rings (38) are fixedly connected to the four groups of corners at the top of the integrated support (1).

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