An underwater firearm recovery device

Abstract

The present application relates to underwater salvage technical field, specifically underwater gun salvage equipment, including floating on the water surface of the water surface ship, still including buoyancy and auxiliary power device and salvage device, the water surface ship is connected with buoyancy and auxiliary power device through cable line, the buoyancy and auxiliary power device and salvage device are connected through flexible chain and cable, the buoyancy and auxiliary power device is immersed in water, and the salvage device is located in the bottom of water.The buoyancy and auxiliary power device and salvage device are arranged separately, the buoyancy and auxiliary power device is immersed in water, the salvage device is located in the bottom of water, the problem that the visibility is further made poor can be effectively avoided because the propulsion power of salvage main body is stirred muddy in the bottom of water;the buoyancy and auxiliary power device and salvage device are connected through flexible chain and cable, and the problem of salvage in complex bottom topography is solved.

Description

Technical Field

[0001] This invention relates to the field of underwater salvage technology, and in particular to an underwater gun salvage device. Background Technology

[0002] Underwater salvage refers to the engineering work of retrieving objects sunken underwater, including ships, aircraft, cargo, and corpses. Salvage operations in waterways and port areas primarily aim to clear navigational obstacles. Salvage is a comprehensive and highly technical undertaking, involving skills such as surveying, diving, underwater cutting, sealing, underwater blasting, and underwater welding.

[0003] Conventional underwater salvage operations typically involve manual diving, which carries high risks and has significant limitations in areas with complex underwater topography or deep waters. Some underwater salvage operations utilize robots, but these require high-performance robots and are expensive. When dealing with valuable but relatively small objects, such as firearms or daggers, even greater manpower and time costs are often required.

[0004] CN112429173A discloses an underwater salvage device for heavy objects. A crane on a salvage vessel is connected to a grab bucket via a salvage rope. The grab bucket includes: a pair of bucket-shaped jaw plates, a base serving as a carrier for the jaw plates, and a hydraulic mechanism for adjusting the closure degree of the jaw plates. The two bucket-shaped jaw plates are symmetrically distributed and mounted on the base in a cross-shaped manner. Each jaw plate is pivotally mounted on the base with its center of gravity biased towards the tooth end under normal conditions, allowing the two grab buckets to hinge towards the tooth end under their own weight. The salvage rope branches at its ends and connects to the end of each jaw plate furthest from the tooth. The hydraulic mechanism is located on both sides of the base, with one end hinged to the base and the other end hinged to the end of the jaw plate furthest from the tooth. This device solves the problem of salvaging heavy objects to a certain extent. However, for relatively small objects such as guns and daggers, which are often buried or covered on the seabed, positioning is difficult, making direct grabbing and salvage by the grab bucket impossible. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides an underwater gun retrieval device with good visibility and wide adaptability to various terrains, thereby solving the problem that the underwater visibility is further reduced when the retrieval body is propelled by its own power unit; and further solving the problem of the difficulty in operating and retrieving the retrieval body in complex underwater terrain conditions.

[0006] The technical solution adopted by the present invention to solve its technical problem is: an underwater gun salvage device, including a surface boat floating on the water surface, a buoyancy and auxiliary power device and a salvage device, wherein the surface boat is electrically connected to the buoyancy and auxiliary power device through a cable line, the buoyancy and auxiliary power device and the salvage device are connected through a flexible chain and a cable, the buoyancy and auxiliary power device is submerged in water, and the salvage device is located at the bottom of the water;

[0007] The buoyancy and auxiliary power device is shell-shaped and equipped with a power mechanism and a gravity balance mechanism to improve its own power and buoyancy and the salvage device. The bottom of the buoyancy and auxiliary power device is also equipped with a telescopic arm. The telescopic arm is connected to the top of the salvage device by a flexible chain. The inside of the telescopic arm is a sealed structure for setting up an electronic control system. The telescopic arm can be extended and retracted in real time through electrical signals, thereby correcting the contact position between the salvage device and the bottom of the water. This makes it easier for the salvage device to avoid uneven obstacles on the bottom of the water and keep the salvage device in a state of light contact with the bottom of the water.

[0008] The external structure of the salvage device is a frame structure with arc-shaped ends. The frame is made of stainless steel or aluminum alloy skin and skeleton. The internal structure of the salvage device is equipped with multiple electromagnets and permanent magnets. The electromagnets are in fixed contact with the inside of the frame, and the permanent magnets are fixed inside the frame by a lifting mechanism. The lifting mechanism can control the contact state between the permanent magnets and the inner wall of the frame by lifting. The electromagnets and permanent magnets are electrically connected to the buoyancy and auxiliary power devices, respectively. Under normal circumstances, the electromagnets are energized and the permanent magnets are not in contact with the inner wall of the frame.

[0009] The power mechanism includes adjustable vertical and horizontal wings installed outside the buoyancy and auxiliary power device, and propellers installed on the left and right sides of the front end; the gravity balance mechanism includes a compressed air bottle installed at the tail end of the buoyancy and auxiliary power device and a buoyancy water tank inside, which can adjust the overall buoyancy of the buoyancy and auxiliary power device and the salvage device by injecting water or air into the buoyancy water tank, so that the whole is in a state of slightly heavier than water.

[0010] Furthermore, the lifting mechanism includes a controller, a hydraulic transmission rod, and a lifting groove. The controller is connected in sequence to the buoyancy and auxiliary power device and the surface vessel via cable lines. One end of the hydraulic transmission rod can move up and down in the base groove, and the other end is connected to the lifting groove. A permanent magnet is installed in the opening of the lifting groove.

[0011] Furthermore, the lifting mechanism is provided with two sets that operate synchronously, each set including two identical components.

[0012] Furthermore, multiple cameras are installed on the outer side of the buoyancy and auxiliary power device housing, which can monitor the surrounding environment and the salvage device.

[0013] Furthermore, a transparent confirmation window is provided at the center of the bottom of the buoyancy and auxiliary power device. The transparent confirmation window is equipped with a fixed-focus lens and a lighting lamp, which can provide real-time images of the salvage device at its bottom.

[0014] Furthermore, a sonar device is provided at the bottom of the buoyancy and auxiliary power device for sensing the underwater terrain.

[0015] Furthermore, the metal material of the frame is stainless steel or aluminum alloy skin.

[0016] Furthermore, the surface vessel is a mother ship, which is equipped with a power supply system, a scanning sonar, an imaging sonar, and an operating platform, providing underwater electronic maps, power, and electrical operation support for underwater buoyancy and auxiliary power devices and underwater salvage devices.

[0017] The beneficial effects of this invention are reflected in the following aspects:

[0018] (1) By separating the buoyancy and auxiliary power device and the salvage device, the present invention can effectively avoid the problem that the image sensing device becomes unusable due to the propulsion power of the salvage body stirring up the bottom water and further reducing visibility. The buoyancy and auxiliary power device are immersed in the water and have a certain distance from the bottom, while the salvage device is located at the bottom of the water.

[0019] (2) The buoyancy and auxiliary power device and the salvage device of the present invention are connected by a flexible chain and a cable. The flexible chain is connected to the telescopic arm at the bottom of the buoyancy and auxiliary power device. The telescopic arm can drive the salvage device to extend and retract, and control the salvage device to operate in a state of lightly touching the bottom of the water, thus solving the problem of salvage in complex underwater terrain.

[0020] (3) The salvage device of the present invention is equipped with an electromagnet and a permanent magnet. The electromagnet is in fixed contact with the inside of the frame of the salvage device. The permanent magnet is fixed inside the frame by a lifting mechanism. The lifting mechanism can control the contact state between the permanent magnet and the inner wall of the frame by lifting. Through the combination of the electromagnet and the permanent magnet, the electromagnet is energized to perform metal detection. When the feedback current is abnormal, the lifting mechanism lowers the permanent magnet to contact the inner wall of the frame, and the permanent magnet attracts the suspected target gun.

[0021] (4) Buoyancy and auxiliary power device / The bottom of the surface vessel is equipped with a buoy device, which can be used to sense the terrain of the bottom and provide support for the operation route of the salvage device.

[0022] (5) The bottom of the buoyancy and auxiliary power device is equipped with a fixed-focus lens and a lighting lamp, and cameras are installed around it. It can provide real-time images of the salvage device, making it easy to adjust the operating route and underwater position of the salvage device in a timely manner. When the current feedback of the electromagnet for metal detection is abnormal, it can be preliminarily determined whether the target gun has been encountered. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of embodiments 1-3 of the present invention;

[0024] Figure 2 for Figure 1 The diagram shows the connection structure of the buoyancy and auxiliary power device and the salvage device in embodiments 1-3.

[0025] Figure 3 for Figure 1 The schematic diagram of the buoyancy and auxiliary power device in Embodiment 2 is shown below;

[0026] Figure 4 for Figure 1 The diagram shows the structure of the salvage device in Examples 1-3.

[0027] Figure 5 for Figure 4 Schematic diagram of the cross-sectional structure of the salvage device;

[0028] Figure 6 for Figure 5 Schematic diagram of the lifting mechanism;

[0029] Figure 7 for Figure 4 A schematic diagram of the salvage device after the frame has been removed.

[0030] Reference numerals: 1. Surface vessel, 2. Buoyancy and auxiliary power unit, 2-1. Vertical wing, 2-2. Horizontal wing, 2-3. Propeller, 2-4. Telescopic arm, 2-5. Transparent confirmation window, 2-6. Fixed-focus lens and lighting, 2-7. Compressed air cylinder, 3. Salvage device, 3-1. Frame, 3-2. Electromagnet, 3-3. Permanent magnet, 3-4. Lifting mechanism, 3-41. Hydraulic transmission rod, 3-42. Lifting slot, 3-43. Base slot, 4. Cable line, 5. Flexible chain. Detailed Implementation

[0031] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0032] Example 1

[0033] Reference Figure 1-24-7, This embodiment includes a surface vessel 1, a buoyancy and auxiliary power unit 2, and a salvage device 3. The surface vessel 1 floats on the water surface and is electrically connected to the buoyancy and auxiliary power unit 2 via a cable line 4, enabling the transmission of power and signals. The buoyancy and auxiliary power unit 2 and the salvage device 3 are connected via a flexible chain 5 and a cable (not shown in the figure). The buoyancy and auxiliary power unit 2 is submerged in water at a certain distance from the bottom, while the salvage device 3 is located at the bottom.

[0034] The surface vessel 1 provides power, and the buoyancy and auxiliary power unit 2 drive the salvage device 3 to move along the seabed in various directions.

[0035] The buoyancy and auxiliary power unit 2 has a shell-like appearance. It is equipped with an adjustable vertical wing 2-1 and a horizontal wing 2-2 on its exterior. Two propellers 2-3 are installed on each of the left and right front sides. A compressed air bottle 2-7 is provided at the tail. The compressed air bottle 2-7 is connected to the internal buoyancy tank (not shown in the figure). The overall buoyancy of the buoyancy and auxiliary power unit 2 and the salvage device 3 can be adjusted by injecting water or air into the buoyancy tank, so that the whole is in a state of slightly heavier than water, thereby controlling the salvage device 3 to keep it in a state of lightly touching the bottom of the water.

[0036] Several cameras are installed on the hull of the buoyancy and auxiliary power unit 2 to monitor the surrounding environment and the salvage device.

[0037] The bottom of the buoyancy and auxiliary power device 2 is equipped with telescopic arms 2-4, which are connected to the top of the salvage device 3 via flexible chains 5. In this embodiment, it is preferably configured with four telescopic arms 2-4 and flexible chains 5, located at the four corners of the bottom of the buoyancy and auxiliary power device 2 and the top of the salvage device 3, respectively. The interior of the telescopic arms 2-4 is a sealed structure for housing an electrical control system (not shown in the figure). The electrical control system is connected to the surface vessel 1, which can control the extension and retraction of the telescopic arms 2-4 in real time via electrical signals, thereby correcting the contact position between the salvage device 3 and the bottom of the water, making it easier for the salvage device 3 to avoid uneven obstacles on the bottom and keep the salvage device 3 in a state of light contact with the bottom.

[0038] The external structure of the salvage device 3 is similar to a sled, with curved ends. The frame 3-1 is made of stainless steel or aluminum alloy skin and skeleton, facilitating sliding on the seabed. Inside the salvage device are multiple electromagnets 3-2 and permanent magnets 3-3. The electromagnets 3-2 are in fixed contact with the interior of the frame 3-1, while the permanent magnets 3-3 are fixed inside the frame 3-1 via a lifting mechanism 3-4. The electromagnets 3-2 and permanent magnets 3-3 are electrically connected to the buoyancy and auxiliary power devices 2, respectively. During salvage, under normal conditions, the electromagnets 3-2 are energized, and the permanent magnets 3-3 are located inside the frame 3-1, not in contact with the inner wall of the frame 3-1. The electromagnets 3-3 scan and attract potential magnetic materials on the seabed. When the salvage device 3 passes through the salvage area, small ferromagnetic materials are attracted to the electromagnets 3-3 due to the magnetic attraction. By observing changes in the current, it is determined whether a suspected salvaged firearm has been attracted.

[0039] In this embodiment, the lifting mechanism 3-4 is provided in two sets, each set including two sets of identical components, specifically including a controller (not shown in the figure), a hydraulic transmission rod 3-41 and a lifting groove 3-42. The controller is connected to the buoyancy and auxiliary power device 2 and the surface boat 1 in sequence through cable lines. One end of the hydraulic transmission rod 3-41 can move up and down in the base groove 3-43, and the other end is connected to the lifting groove 3-42. A permanent magnet 3-3 is fixedly installed in the groove of the lifting groove 3-42.

[0040] When the current of electromagnet 3-3 is abnormal, it is highly likely that it has encountered a firearm that needs to be retrieved. At this time, the abnormal current signal is fed back to the buoyancy and auxiliary power device 2 and the surface vessel 1 through the cable. The surface vessel 1 then inputs a signal to control the permanent magnet 3-3 to descend. The permanent magnet 3-3 contacts the inner wall of the frame 3-1, and the strong magnetism provided by the permanent magnet 3-3 attracts the potential firearm to the outer surface of the frame 3-1 of the retrieval device 3.

[0041] This embodiment employs a combination of electromagnet 3-3 and permanent magnet 3-3. This is because using only one electromagnet 3-3 or permanent magnet 3-3 cannot solve the problems of insufficient or excessive adsorption capacity. Insufficient adsorption capacity prevents the successful attraction of the salvaged firearm to the water surface, while excessive adsorption capacity leads to the accumulation of magnetic impurities on the surface of the salvage device 3 before the target is even encountered, making further salvage impossible upon target detection. This embodiment utilizes a combination of electromagnet 3-3 and permanent magnet 3-3. The electromagnet 3-3 detects the target object. When the target object is detected, the telescopic arm 2-4 moves, rapidly lowering the permanent magnet 3-3 a preset distance, using its strong attraction to lift the target object. During this process, if excessive material accumulates on the surface of the salvage device while the electromagnet 3-3 is detecting material, the electromagnet can be de-energized to remove magnetic impurities from the surface of the salvage device 3. During this process, because the magnetism of a permanent magnet is strongly correlated with the operating distance, when the electromagnet is working, the telescopic arms 2-4 are in a retracted state, and the permanent magnet is at a certain distance from the operating surface (the bottom of the water). At this time, the substances in the water can hardly sense the magnetic force of the permanent magnet. When a target object is detected, the telescopic arms extend, the distance between the permanent magnet and the operating surface decreases, and the magnetic attraction of the permanent magnet to the substances in the water is greatly enhanced. Relying on this strong attraction, the target object is attracted and pulled to the surface. In addition, when a large target object is encountered, the current of the electromagnet will change. By detecting the change in the electromagnet current, it is possible to detect whether a target object has been detected.

[0042] The surface vessel 1 is the mother ship, which is equipped with a power supply system, a scanning sonar, an imaging sonar, an operating platform and other equipment (not shown in the figure), providing underwater electronic maps, power, electricity and related operational support for the underwater buoyancy and auxiliary power device 2 and the underwater salvage device 3.

[0043] The working principle and process of this embodiment:

[0044] During operation, the high-precision underwater sonar mounted on the surface vessel 1 first uses imaging sonar to scan the underwater topography of the area to be salvaged, providing underwater topographic images for underwater salvage. The buoyancy and auxiliary power unit 2 provides neutral buoyancy to the salvage device 3 based on water depth and pressure, keeping the device slightly touching the bottom. Power is supplied by the buoyancy and auxiliary power unit 2. Initially, the electromagnets 3-2 inside the salvage device 3 begin to operate, and the towing power provided by the surface vessel 1 enables the buoyancy and auxiliary power unit to operate. The buoyancy and auxiliary power device 2 and the salvage device 3 move simultaneously underwater. They are connected by a flexible chain 5 and a cable. When the buoyancy and auxiliary power device 2 is towing the salvage device 3, if it encounters small ferromagnetic substances, they will adhere to the electromagnet, but this has little impact on the electromagnet's current. However, if it encounters large ferromagnetic substances, the electromagnet's current will become abnormal. Upon detecting this abnormality, the telescopic arm at the bottom of the auxiliary power device 2 is extended, reducing the distance between the permanent magnet and the bottom surface. The permanent magnet is then used to retrieve the target object. The target object is pulled out. When adjusting the distance between the permanent magnet and the bottom surface, there are two adjustment methods: one is by adjusting the telescopic arm, and the other is by adjusting the length of the flexible chain through a winch. The reason for combining these two adjustment methods to adjust the distance between the permanent magnet and the bottom surface in this application is that the telescopic arm adjustment has a faster response speed. It can quickly adjust after detecting an abnormal current signal, almost without delay, to prevent the retrieval device from moving out of the target object's effective range under the drag of buoyancy and auxiliary power device 2 before the permanent magnet is lowered. However, the adjustment distance of the telescopic arm is limited. Therefore, the length of the flexible chain 5 in this embodiment is adjustable. By adjusting the flexible chain 5, the buoyancy and the distance between the auxiliary power device 2 and the retrieval device 5 can be adjusted during normal operation. On the other hand, after detecting an abnormality, the length of the flexible chain 5 can be adjusted simultaneously with the adjustment of the telescopic arm. The appropriate magnetic force can be provided according to the size of the target object and the depth of the target object buried in the water to ensure that the target object can be pulled out.

[0045] In this embodiment, the flexible chain 5 is connected to the telescopic arm 2-4 at the bottom of the buoyancy and auxiliary power device 2. The telescopic arm 2-4 can drive the salvage device 3 to extend and retract. At the same time, the rear propeller 2-3 and the head propeller 2-3 on the buoyancy and auxiliary power device 2 provide auxiliary fine-tuning of the movement direction of the salvage device 3 working underwater, controlling the salvage device 3 to maintain a state of lightly touching the bottom underwater, so as to ensure that the salvage device 3 moves along the set route underwater.

[0046] Under normal circumstances, the energized electromagnet 3-2 is used for detection. Buoyancy and auxiliary power device 2 monitor the surface of the salvage device 3. When its surface is covered with metallic impurities, magnetic fragments, etc., the electromagnet 3-2 can be de-energized. Then, the salvage device 3 can be towed 0.5-1m to disperse most of the adsorbed metallic impurities and magnetic fragments, eliminating the need to pull the device 3 out of the water for cleaning. When the energized electromagnet 3-2 is activated, the surface vessel 1 monitors the energization of the electromagnet 3-2 via cable line 4. In case of an abnormal flow, the surface vessel 1 lowers the lifting mechanism 3-4 in the salvage device 3 via signal control. The hydraulic transmission rod 3-41 drives the permanent magnet 3-3 in the lifting groove 3-42 to descend, causing the permanent magnet 3-3 to contact the inner wall of the frame 3-1, providing a strong magnetic attraction to the frame 3-1 of the salvage device 3, attracting the suspected target gun. Then, the surface vessel 1 can tow the buoyancy and auxiliary power device 2 and the salvage device 3 to rise, completing the salvage. When the magnetic force is insufficient, the length of the flexible chain can be reduced to further reduce the distance between the permanent magnet and the bottom of the water, thereby enhancing the magnetic force.

[0047] Example 2

[0048] Reference Figure 3 The difference between this embodiment and Embodiment 1 is that a transparent confirmation window 2-5 is also provided at the center of the bottom of the buoyancy and auxiliary power device 2. The transparent confirmation window 2-5 is equipped with a fixed-focus lens and an illumination lamp 2-6, which can provide a real-time image of the salvage device 3 at its bottom, making it convenient to adjust the running route and underwater position of the salvage device 3 in a timely manner. The rest is the same as in Embodiment 1.

[0049] In this embodiment, the buoyancy and auxiliary power device 2 and the salvage device 3 are set separately and are a certain distance apart. Therefore, when the buoyancy and auxiliary power device 2 starts its propeller and moves forward in the water, the buoyancy and auxiliary power device 2 will not cause too much disturbance to the bottom of the water, and the water surface is not easily turbid. Therefore, the camera can be used to image the bottom of the water directly, and obstacles can be identified through image recognition, which helps the buoyancy and auxiliary power device 2 to avoid obstacles.

[0050] In this embodiment, in addition to using sonar to construct an underwater topographic map, and the buoyancy and propulsion assist device using this map for navigation and obstacle avoidance, a transparent viewing window and a camera are also installed on the buoyancy and propulsion assist device. The camera provides real-time imaging of the underwater surface, analyzes and judges obstacles, and allows for timely obstacle avoidance. The reason for including a camera is that the underwater topographic map formed by sonar imaging is not real-time; it is generally updated only once a month. This means that the judgment of obstacles is not real-time and accurate, and accidents and collisions are still possible.

[0051] Example 3

[0052] The difference between this embodiment and Embodiment 1 is that a sonar device (not shown in the figure) is provided at the bottom of the buoyancy and auxiliary power device 2 to sense the underwater terrain. Since the buoyancy and auxiliary power device is submerged in water, the sonar device has a better effect on sensing the terrain and can better sense the underwater terrain, providing support for the operation route of the salvage device 3. The rest is the same as in Embodiment 1.

[0053] In the description of the embodiments of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "center," "top," "bottom," "top," "bottom," "inner," "outer," "inner side," and "outer side," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying 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, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. "Inner side" refers to the interior or enclosed area or space. "Outer perimeter" refers to the area surrounding a specific component or specific area.

[0054] In the description of embodiments of the present invention, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first," "second," "third," or "fourth" may explicitly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise stated, "a plurality of" means two or more.

[0055] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "assembly" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0056] In the description of embodiments of the present invention, specific features, structures, materials or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0057] In the description of the embodiments of the present invention, it should be understood that "-" and "~" represent a range of two values, and this range includes the endpoints. For example, "AB" represents a range greater than or equal to A and less than or equal to B. "A~B" represents a range greater than or equal to A and less than or equal to B.

[0058] In the description of embodiments of the present invention, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0059] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An underwater gun salvage device, comprising a surface vessel floating on the water surface, characterized in that, It also includes a buoyancy and auxiliary power unit and a salvage device. The surface vessel is electrically connected to the buoyancy and auxiliary power unit via a cable line. The buoyancy and auxiliary power unit is connected to the salvage device via a flexible chain and a cable. The buoyancy and auxiliary power unit is submerged in water, and the salvage device is located at the bottom of the water. The buoyancy and auxiliary power unit is equipped with a power mechanism and a gravity balance mechanism to provide power and buoyancy for itself and the salvage device. A telescopic arm is also located at the bottom of the buoyancy and auxiliary power unit, connected to the top of the salvage device via a flexible chain. The telescopic arm has a sealed interior for housing an electrical control system, which can control the extension and retraction of the telescopic arm in real time via electrical signals. This corrects the contact position between the salvage device and the bottom, allowing the salvage device to avoid uneven obstacles on the bottom and maintain a state of light contact with the bottom. The external structure of the salvage device is a frame structure with arc-shaped end faces. The frame is made of stainless steel or aluminum alloy skin and skeleton. The internal structure of the salvage device includes electromagnets and permanent magnets. The electromagnets are connected to the frame... The permanent magnet is fixed inside the frame via a lifting mechanism. The lifting mechanism can control the contact state between the permanent magnet and the inner wall of the frame. The electromagnet and the permanent magnet are electrically connected to the buoyancy and auxiliary power devices, respectively. Under normal circumstances, the electromagnet is energized and the permanent magnet is not in contact with the inner wall of the frame. The power mechanism includes adjustable vertical and horizontal wings installed outside the buoyancy and auxiliary power devices, and propellers installed on the left and right sides of the front end. The gravity balance mechanism includes a compressed air bottle installed at the tail end of the buoyancy and auxiliary power devices and an internal buoyancy water tank. The overall buoyancy of the buoyancy and auxiliary power devices and the salvage device can be adjusted by injecting water or air into the buoyancy water tank, so that the overall density is slightly heavier than water.

2. The underwater gun retrieval equipment according to claim 1, characterized in that, The lifting mechanism includes a controller, a hydraulic transmission rod, and a lifting groove. The controller is connected in sequence to the buoyancy and auxiliary power device and the surface vessel via cable lines. One end of the hydraulic transmission rod can move up and down in the base groove, and the other end is connected to the lifting groove. A permanent magnet is installed in the opening of the lifting groove.

3. The underwater gun retrieval equipment according to claim 2, characterized in that, The lifting mechanism is provided with two sets that operate synchronously, each set including two identical components.

4. The underwater gun retrieval equipment according to claim 3, characterized in that, Multiple cameras are installed on the outer side of the buoyancy and auxiliary power device, which can monitor the surrounding environment and the salvage device, and help identify obstacles.

5. The underwater gun retrieval equipment according to claim 4, characterized in that, The bottom center of the buoyancy and auxiliary power device is also provided with a transparent confirmation window. The transparent confirmation window is equipped with a fixed-focus lens and a lighting lamp, which can provide real-time images of the salvage device at its bottom.

6. The underwater gun retrieval equipment according to claim 5, characterized in that, The bottom of the buoyancy and auxiliary power device is equipped with a sonar device for sensing the underwater topography.

7. The underwater gun retrieval equipment according to claim 6, characterized in that, The length of the flexible chain is adjustable.

8. The underwater gun retrieval equipment according to any one of claims 1-7, characterized in that, The surface vessel is a mother ship, equipped with a power supply system, scanning sonar, imaging sonar, and operating platform equipment, providing underwater electronic maps, power, and electricity operation support for underwater buoyancy and auxiliary power devices and underwater salvage devices.

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