Underwater flush launching device and method capable of simulating transverse and longitudinal shaking of ship body and changing volume of air chamber

Abstract

The invention provides an underwater flush launching device and method capable of simulating transverse and longitudinal shaking of a ship body and changing the volume of an air chamber, and belongs to the field of underwater ejection experiments. The device comprises a water tank, a horizontal movement mechanism, a launching mechanism and a launching cylinder distance adjusting mechanism. Synchronous belt lifting mechanisms are arranged on the two sides outside the water tank, a supporting frame is arranged between the water tank and the synchronous belt lifting mechanisms, and a fixed pulley is installed at the top end of the supporting frame. The horizontal movement mechanism is installed on a rail support at the bottom of the water tank. The rail support is connected with the synchronous belt lifting system by winding a traction rope around a fixed pulley. The launching cylinder spacing adjusting mechanism provided with the launching mechanism is arranged on the horizontal movement mechanism; the launching mechanism comprises a launching cylinder device, an air chamber adjusting device is arranged in the launching cylinder device, and a launching cylinder transverse and longitudinal shaking simulation base is installed at the bottom of the launching cylinder device. The device can change the launching speed by regulating and controlling the internal volume of the launching cylinder; meanwhile, the real environment of underwater launching can be simulated, and the influence of transverse and longitudinal shaking of the ship body on launching is explored.

Description

Technical Field

[0001] The invention belongs to the field of underwater ejection test, and relates to an underwater salvo launching device, and in particular to an underwater salvo launching device and method for simulating the lateral and longitudinal rolling of a ship and having a variable air chamber volume. Background Art

[0002] Underwater launch is a method of launching a project object using an underwater platform or device. The development of underwater launch technology is of great significance to improving the efficiency and safety of underwater operations, and it also promotes the progress of marine scientific research and underwater resource development. With the continuous development and innovation of technology, underwater launch technology will have more extensive applications and development in the future.

[0003] The launch tube device is an important component in underwater launch experiments. At present, most of the launch tube devices used in simulation experiments do not have the function of adjusting the volume of the air chamber in the launch tube, so it is impossible to explore the effect of the air chamber volume on underwater salvos. In order to explore this law, a launch tube with adjustable air chamber volume needs to be designed. In order to better simulate the real environment of underwater launch, specifically involving the impact of the hull's pitch and roll on the launch, most traditional launch tube devices ignore this point.

[0004] The launch tube cover of the existing experimental device is mostly connected by threaded connection, which is not only difficult to disassemble and assemble, but also the threads are worn during each disassembly and assembly. Therefore, in order to ensure the normal progress of the experiment, the device needs to be replaced regularly every time, which is quite troublesome. The existing device is relatively cumbersome for disassembling and assembling the navigation body in the launch tube during the experiment, which consumes a lot of manpower and material resources. Summary of the invention

[0005] The present invention proposes an underwater salvo launching device which can simulate the lateral and longitudinal rolling of a ship and has a variable air chamber volume, so as to solve the problems that the current experimental device cannot change the air chamber volume in the launching tube and cannot simulate the lateral and longitudinal rolling of the ship in the actual launching situation.

[0006] The present invention provides an underwater salvo launching device with variable air chamber volume and simulating the lateral and longitudinal roll of a ship, comprising a water tank, a horizontal motion mechanism, a synchronous belt lifting mechanism, a launching mechanism, and a launching tube spacing adjustment mechanism; a track bracket is provided at the bottom of the water tank, and an underwater motor is installed between the track bracket and the water tank; synchronous belt lifting mechanisms are installed on both sides outside the water tank, a support frame is provided between the water tank and the synchronous belt lifting mechanism, and a fixed pulley is installed at the top of the support frame; the horizontal motion mechanism is installed on the track bracket, and the track bracket is connected to the synchronous belt lifting mechanism by a traction rope passing around the fixed pulley; the launching tube spacing adjustment mechanism installed with the launching mechanism is arranged on the horizontal motion mechanism; the launching mechanism comprises a launching tube device and a launching tube lateral and longitudinal roll simulation base located at the bottom of the launching tube device, and an air chamber adjustment device for controlling the air chamber volume of the launching tube is provided in the launching tube device.

[0007] Furthermore, the synchronous belt lifting mechanism includes a mounting base plate, a driving wheel, a driven wheel, and a climbing block; the driving wheel is driven by a synchronous belt drive motor arranged on the mounting base plate; the driving wheel and the driven wheel are transmitted through a synchronous belt; the driven wheel is provided with a transmission bearing and a driven rod; a fixed block is installed on the climbing block, and a rope mounting piece is provided on the fixed block.

[0008] Furthermore, the horizontal motion mechanism includes two slide rails; the two slide rails are installed on the track bracket, and a slider is installed on the slide rail; a launch tube mounting plate is provided on the top surface of the slider, and the slider is connected to the launch tube mounting plate; a lead screw is provided between the two slide rails, and a bearing seat for installing a thrust bearing is provided on the lead screw.

[0009] Furthermore, the launch tube roll simulation base includes a roll simulation top plate and a roll simulation bottom plate; a rotating shaft is arranged on the roll simulation top plate; an electric push rod that reciprocates in a fixed slide is provided on the roll simulation top plate, and the bottom of the electric push rod is installed on the roll simulation bottom plate; a launch tube device is provided on the top of the launch tube roll simulation base.

[0010] Furthermore, when simulating pan and tilt, the electric push rod on one side contracts and the electric push rod on the other side extends, and the pan and tilt sway simulation top plate rotates an angle around the rotating axis as the electric push rods on both sides extend and retract; then the contracted side of the electric push rod extends and the extended side of the electric push rod extends and retracts, and the pan and tilt sway simulation top plate rotates an angle in the opposite direction around the rotating axis as the electric push rods on both sides extend and retract; in this way, the reciprocating pan and tilt sway simulation top plate can simulate a pitch angle of 0° to 30° on one side along the rotating axis.

[0011] Furthermore, the launch tube device also includes a launch tube body; a launch tube cover is installed on the top of the launch tube body, and a bayonet connection is adopted between the launch tube cover and the launch tube body; a limit block and a positioning hole are arranged on the inner side of the launch tube cover; a limit block and a retractable positioning pin are arranged on the inner side of the launch tube body; when installing, the limit block on the launch tube cover is inserted into the gap of the upper limit block of the launch tube body; the retractable positioning pin on the launch tube body is inserted into the positioning hole on the launch tube cover; when the launch tube cover needs to be removed , press the launch tube cover removal button on the launch tube body, at this time the retractable positioning pin shrinks, and the launch tube cover is taken out in the vertical direction; the air chamber adjustment device includes an air chamber adjustment tube body, an air chamber adjustment gasket, a tube height adjustment gasket, and a tube cover; the air chamber adjustment device includes an air chamber adjustment tube body, and the air chamber adjustment tube body is arranged in the launch tube body; an air chamber height adjustment threaded section is provided at the bottom of the air chamber adjustment tube body, an air chamber adjustment gasket is installed on the air chamber height adjustment threaded section, and a tube height adjustment gasket is installed on the outer side of the air chamber adjustment gasket.

[0012] Furthermore, an air storage tank connected through an air intake pipe is provided on one side of the launch tube device; a one-way valve is provided on the air intake pipe; and a navigation body is arranged inside the launch tube device.

[0013] Furthermore, the launch tube spacing adjustment mechanism includes a launch tube mounting base with a track; the horizontal movement mechanism is equipped with a launch tube mounting base fixed by a tripod, and a launch mechanism connected by a bolt mounting assembly is arranged on the launch tube mounting base; the launch mechanism is installed on the launch tube mounting base with a track.

[0014] Furthermore, all parts of the underwater salvo launching device are made of waterproof and corrosion-resistant metal material.

[0015] The present invention provides a method for simulating the lateral and pitching of a ship and an underwater salvo launching device with a variable air chamber volume, the method comprising the following steps:

[0016] Step 1: Install the navigation body on the launch tube device, connect the gas tank and the launch tube device, and adjust the positions of the two launch mechanisms through the launch tube spacing adjustment mechanism;

[0017] Step 2: Fill the gas tank with high-pressure gas. When the gas pressure is reached, the motor of the horizontal motion mechanism rotates to drive the launching mechanism to move horizontally. The electric push rod in the simulated lateral and longitudinal swaying device starts to move. The lateral and longitudinal swaying simulation top plate can swing along the rotating shaft. At the same time, the lateral and longitudinal swaying simulation top plate drives the top launching tube device to move, simulating the lateral and longitudinal swaying of the ship.

[0018] Step 3: When the horizontal motion mechanism reaches the specified speed, the one-way valve on the air inlet pipe opens, and high-pressure gas enters the bottom of the launch tube device. Subsequently, under the action of the high-pressure gas, the navigation body in the launch tube device is ejected; when it is necessary to change the volume of the launch tube air chamber, unscrew the air chamber adjustment cylinder, and at the same time screw on the air chamber adjustment gasket and the tube height adjustment gasket to complete the adjustment of the launch tube air chamber volume.

[0019] The beneficial effects are:

[0020] The invention can be used in underwater environments and under reduced pressure conditions. The camera and lighting systems of this device are placed outside the water tank, and no sealing treatment is required. The operation is convenient, the experimental efficiency is high, and clear image information can be obtained simply and quickly. The invention uses compressed gas as a power source, and the speed of the navigation body out of the barrel can be changed by adjusting the pressure in the gas tank. Compared with the gunpowder power device, it has higher safety and reliability, lower cost and higher efficiency.

[0021] A launch tube roll simulation base is designed in the device of the present invention, which can be used to simulate the impact of the roll of the hull and better simulate the real underwater environment; the launch tube in the present invention can adjust the air chamber height in the range of 1-10mm, increase the pressure in the launch tube, and provide energy for launching; the launch tube of the present invention can adjust the distance between the two launch tubes during salvo firing.

[0022] The launch tube of the device of the present invention adopts a snap-on tube cover, which can realize the rapid disassembly and installation of the tube cover. The present invention can realize repeated loading of the navigation body, and the installed launch device can be put into or removed from the water tank as a whole by using a synchronous belt lifting mechanism, which is more convenient.

[0023] This device can also adjust the spacing between the launch tubes, including adjustment along the horizontal movement direction, adjustment perpendicular to the horizontal movement direction, and arbitrary adjustment along the circular arc track on both sides. It can realize multi-dimensional change of the launch tube spacing, so as to explore the influence of different directions and different launch tube spacings on the flow field interference during the launch of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic structural diagram of a salvo firing device for simulating the lateral and pitching of a ship and having a variable air chamber volume according to the present invention;

[0025] Figure 2 It is a schematic diagram of the synchronous belt lifting mechanism of the present invention;

[0026] Figure 3 It is a schematic diagram of the structure of the horizontal motion mechanism of the present invention;

[0027] Figure 4 It is a schematic diagram of the launching mechanism of the present invention;

[0028] Figure 5 It is a schematic diagram of the launch tube device of the present invention;

[0029] Figure 6 It is a schematic diagram of the launch tube pitch simulation base of the present invention;

[0030] Figure 7 It is a schematic diagram of the air chamber regulating device of the present invention;

[0031] Figure 8 It is a schematic diagram of the launch tube spacing adjustment mechanism of the present invention;

[0032] Fig. 9 This is a schematic diagram of the launch tube cover described in the present invention. DETAILED DESCRIPTION

[0033] The present invention is further described below in conjunction with the accompanying drawings.

[0034] Combination Figure 1 To illustrate this embodiment, the underwater salvo launching device that simulates the lateral and longitudinal rolling of the ship and has a variable air chamber volume includes a water tank 1, an aluminum profile support frame 2, an aluminum profile track bracket 3, an underwater motor 4, a fixed pulley 5, a traction rope 6 and a limit block 7. The underwater motor 4 is installed on the right side of the bottom of the water tank 1, the aluminum profile track bracket 3 is installed at the bottom of the water tank 1, and 6 limit blocks 7 are placed on both sides. The synchronous belt lifting system is installed on both sides of the water tank 1, the aluminum profile support frame 2 is installed between the water tank 1 and the synchronous belt lifting system, the fixed pulley 5 is installed on the upper side of the aluminum profile support frame 2, and the limit blocks 7 are installed at the bottom of the water tank. The underwater salvo launching device that simulates the hull roll and has a variable air chamber volume also includes a synchronous belt lifting mechanism, a horizontal movement mechanism, and a launching mechanism; the launching mechanism includes a launching tube mounting part 29-3, a launching tube device 23 and a launching tube roll simulation base, and the aluminum profile track bracket 3 is connected to the synchronous belt lifting mechanism by a traction rope 6 bypassing the fixed pulley 5, the launching mechanism is installed on the aluminum profile track bracket 3, the launching tube device 23 is installed on the launching tube mounting part 29-3, and a launching tube roll simulation base is arranged in the launching tube mounting part 29-3.

[0035] Combination Figure 2 To illustrate this embodiment, the synchronous belt lifting mechanism includes a mounting base plate 8, a synchronous belt driving motor 9, a driving wheel 10, a driven wheel 11, a synchronous belt 12, a transmission bearing 13, a driven rod 14, a climbing block 15, a fixed block 16 and a rope mounting member 17. The synchronous belt driving motor 9 is mounted on the mounting base plate 8, the synchronous belt driving motor 9 cooperates with the driving wheel 10, the driving wheel 10 and the driven wheel 11 are transmitted through the synchronous belt 12, a driven rod 14 and a transmission bearing 13 are installed in the driven wheel 11, the fixed block 16 is connected to the climbing block 15 by a threaded connection, and the rope mounting member 17 is mounted on the fixed block 16 by a threaded connection.

[0036] Combination Figure 3 To illustrate this embodiment, the horizontal motion mechanism includes a thrust bearing 18, two slide rails 19, four sliders 20, a lead screw nut 21, a launch tube mounting plate 22, a lead screw 32, and a bearing seat 33. The slide rail 19 is installed on the aluminum profile rail bracket 3 through a threaded connection, and there are four sliders 20 that match it on the slide rail 19, and the sliders 20 and the launch tube mounting plate 22 are also connected through threads; a lead screw 32 is provided between the two slide rails 19, and a bearing seat 33 of the thrust bearing 18 is installed on the lead screw 32; the right side of the lead screw 32 is connected to the underwater motor 4, and the lead screw nut 21 is installed on the lead screw 32 and fixedly connected to the launch tube mounting plate 22.

[0037] Combination Figure 4To illustrate this embodiment, the launching mechanism also includes a launching tube spacing adjustment mechanism 29, an air tank 24, an air intake pipe 25, a one-way valve 26 and a navigation body 27. The launching tube device 23 and the air tank 24 are connected via the air intake pipe 25, the one-way valve 26 is installed on the air intake pipe 25, and the navigation body 27 is placed inside the launching tube device 23.

[0038] Combination Figure 5 To illustrate this embodiment, the launch tube device 23 also includes a launch tube base 23-1. An air chamber adjustment device 28 with a variable launch tube air chamber volume is provided inside the launch tube device 23. The air chamber adjustment device 28 is connected to the launch tube pitch simulation base by threads, and this connection method is convenient for adjusting the launch tube air chamber volume. The top is a launch tube cover 30, and a bayonet connection method is adopted between the cover 30 and the launch tube body, which can realize the rapid installation and removal of the cover 30. It is mainly used for underwater ejection tests.

[0039] Combination Figure 6 To illustrate this embodiment, the pan-tilt simulation base includes four electric push rods 23-1-1, a pan-tilt simulation bottom plate 23-1-2, a pan-tilt simulation top plate 23-1-3 and a rotating shaft 23-1-4. The lower end of the electric push rod 23-1-1 is installed on the pan-tilt simulation bottom plate 23-1-2 by welding, and the round head of the upper end can reciprocate on the slideway in the pan-tilt simulation top plate 23-1-3. When simulating the pan-tilt, the electric push rod 23-1-1 at the left end contracts and the electric push rod 23-1-1 at the right end extends, and then the electric push rod 23-1-1 at the right end contracts and the electric push rod 23-1-1 at the left end extends. In this way, the reciprocating pan-tilt simulation plate 23-1-3 can simulate a pan-tilt with a pitch angle of 60° along the rotating shaft 23-1-4.

[0040] Combination Figure 7 and Fig. 9In this embodiment, the air chamber adjustment device 28 includes an air chamber adjustment cylinder 28-1, a 1mm air chamber adjustment gasket 28-2, a 2mm air chamber adjustment gasket 28-3, and a 1mm barrel height adjustment gasket 28-4 and a 2mm barrel height adjustment gasket 28-5 adapted thereto. The air chamber adjustment function can achieve a change in the air chamber height within a range of 1mm-10mm. At the same time, in order to ensure that the relative barrel height of the launch barrel does not change, when increasing the air chamber height, it is necessary to increase the launch barrel height at the same time. Two 1mm air chamber adjustment gaskets 28-2 and four 2mm air chamber adjustment gaskets 28-3 are used, and an air chamber height adjustment threaded section 23-2 is provided at the bottom of the air chamber adjustment cylinder 28-1. The air chamber adjustment gasket and the air chamber height adjustment threaded section 23-2 are threadedly connected. By continuously stacking, the air chamber height can be gradually increased with 1mm as the minimum unit. Similarly, the barrel height adjustment gasket matched with the air chamber adjustment gasket is continuously stacked on the launching barrel height adjustment threaded section 23-3. The volume adjustment of the air chamber can be achieved in the above manner; the air chamber height adjustment gasket is installed on the air chamber height adjustment threaded section 23-2, and the barrel height adjustment gasket is installed on the outside of the air chamber adjustment gasket.

[0041] Combination Figure 8 To explain this embodiment, the launch tube spacing adjustment mechanism 29 includes a launch tube mounting aluminum profile base 29-1, a tripod 29-2 with bolts for mounting the aluminum profile, a launch tube mounting piece 29-3, and a mounting bolt assembly 29-4. The launch tube spacing adjustment mechanism 29 can adjust the launch tube spacing for volley firing, and the launch mechanism can move along the predetermined track of the launch tube mounting aluminum profile base 29-1 to adjust the launch tube spacing. The launch tube mounting aluminum profile base 29-1 is connected to the launch tube mounting plate 22 through the tripod 29-2, the launch tube base 23-1 is connected to the launch tube mounting piece 29-3 through threads, and the launch tube mounting piece 29-3 is connected to the mounting aluminum profile 29-1 through the bolt mounting assembly 29-4.

[0042] Combination Fig. 9 In this embodiment, the launch tube cover 30 includes a tube body stopper 30-1 and a positioning hole 30-2. The launch tube cover is connected to the launch tube body by a bayonet method. The specific embodiment is that during installation, the positioning groove 28-7 between the tube body stopper 30-1 on the launch tube cover 30 and the tube cover stopper on the launch tube body is inserted alternately, so that the retractable positioning pin 28-6 on the launch tube body is inserted into the positioning hole 30-2 on the launch tube cover 30 to complete the installation.

[0043] When it is necessary to remove the launch tube cover, press the launch tube cover removal button 28-8 on the launch tube body. At this time, the positioning pin 28-6 will shrink, and then the launch tube cover 30 can be taken out in the vertical direction. When the two limit blocks are staggered, the tube cover 30 can be taken out in the vertical direction to complete the removal of the tube cover 30.

[0044] In order to meet the underwater operation requirements of the device, all parts of the underwater salvo launching device are made of aluminum alloy.

[0045] Before the experiment begins, the synchronous lifting mechanisms on both sides pull the aluminum profile track bracket 3 to the top of the water tank 1 through the ropes wound around the aluminum profile support frame 2. At this time, on the top of the water tank 1, the launch tube device 23 equipped with the navigation body 27 is screwed onto the launch tube mounting piece 29-3, and the positions of the two launch tube mounting pieces 29-3 are adjusted to change the spacing between the launch mechanisms to the experimental requirements, and then the launch tube mounting piece 29-3 is fixed. Then, the gas tank 24 and the launch tube mounting piece 29-3 are connected. After confirmation, the synchronous belt lifting mechanism lowers the horizontal motion mechanism and makes it land between the six limit blocks 7 to complete the positioning of the horizontal motion mechanism. Subsequently, the gas tank 24 is filled with high-pressure gas. After reaching the experimental air pressure, the motor of the horizontal motion mechanism rotates to drive the launch tube to move horizontally, and at the same time, the launch tube The electric push rod 23-1-1 in the simulated transverse and longitudinal swaying device starts to move, simulating the transverse and longitudinal swaying of the hull. When the horizontal motion mechanism reaches the specified speed, the one-way valve 26 opens, and the high-pressure gas enters the bottom of the launch tube device 23. Subsequently, under the action of the high-pressure gas, the navigation body in the launch tube device 23 is ejected to complete the launch. The entire experimental process is captured by a high-speed camera. After the experiment is completed, the synchronous lifting mechanism moves to lift the horizontal motion mechanism to the top of the water tank 1. At this time, the navigation body is fished out and the above actions are repeated to complete the loading of the bullet. When it is necessary to change the volume of the launch tube air chamber, the launch tube cover 30 is unscrewed, and the air chamber adjustment gasket and the tube height adjustment gasket are screwed on to complete the launch tube air chamber adjustment. Thereafter, the launch mechanism is installed on the horizontal motion mechanism, and the above actions are repeated to complete the experiment.

[0046] The controllers, sensors and control programs that may be involved in the above description are all existing technologies and will not be described in detail here.

[0047] The embodiments of the present invention disclosed above are only used to illustrate the present invention, and do not describe all the details in detail, nor limit the present invention to the specific implementation methods described. According to the content of this specification, various modifications and changes can be made to the present invention. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that professionals in the technical field can fully understand and apply the present invention.

Claims

1. An underwater salvo launching device simulating the lateral and pitching of a ship and having a variable air chamber volume, characterized in that: It comprises a water tank (1), a horizontal movement mechanism, a synchronous belt lifting mechanism, a launching mechanism, and a launching tube spacing adjustment mechanism; A track bracket (3) is provided at the bottom of the water tank (1), and an underwater motor (4) is installed between the track bracket (3) and the water tank (1); a synchronous belt lifting mechanism is installed on both sides of the outside of the water tank (1), a support frame (2) is provided between the water tank (1) and the synchronous belt lifting mechanism, and a fixed pulley (5) is installed at the top of the support frame (2); the horizontal motion mechanism is installed on the track bracket (3), and the track bracket (3) is connected to the synchronous belt lifting system by a traction rope (6) passing around the fixed pulley (5); the launch tube spacing adjustment mechanism installed with the launch mechanism is arranged on the horizontal motion mechanism; the launch mechanism includes a launch tube device (23) and a launch tube horizontal and vertical pan simulation base located at the bottom of the launch tube device (23), and an air chamber adjustment device (28) for controlling the volume of the launch tube air chamber is provided in the launch tube device (23).

2. The underwater salvo launching device simulating the hull pitching and having a variable air chamber volume according to claim 1, characterized in that: The synchronous belt lifting mechanism comprises a mounting base plate (8), a driving wheel (10), a driven wheel (11), and a climbing block (15); The driving wheel (10) is driven by a synchronous belt drive motor (9) arranged on a mounting base plate (8); the driving wheel (10) and the driven wheel (11) are driven by a synchronous belt (12); a transmission bearing (13) and a driven rod (14) are provided on the driven wheel (11); a fixing block (16) is installed on the climbing block (15), and a rope mounting member (17) is provided on the fixing block (16).

3. The underwater salvo launching device simulating the hull rolling and having a variable air chamber volume according to claim 1, characterized in that: The horizontal motion mechanism comprises two slide rails (19); The two slide rails (19) are both mounted on the track bracket (3), and a slider is mounted on the slide rail (19); a launch tube mounting plate (22) is provided on the top surface of the slider, and the slider is connected to the launch tube mounting plate (22); a lead screw (32) is provided between the two slide rails (19), and a bearing seat (33) for mounting a thrust bearing (18) is provided on the lead screw (32).

4. The underwater salvo launching device simulating the hull pitching and having a variable air chamber volume according to claim 1, characterized in that: The launch tube roll simulation base comprises a roll simulation bottom plate (23-1-2) and a roll simulation top plate (23-1-3); A rotating shaft (23-1-4) is arranged on the roll simulation top plate (23-1-3); an electric push rod that reciprocates in a fixed slide is arranged on the roll simulation top plate (23-1-3), and the bottom of the electric push rod is installed on the roll simulation bottom plate (23-1-2); a launch tube device (23) is arranged on the top of the roll simulation base of the launch tube.

5. The underwater salvo launching device simulating the hull pitching and having a variable air chamber volume according to claim 4, characterized in that: When simulating panning and tilting, the electric push rod on one side contracts and the electric push rod on the other side extends, and the panning and tilting simulation top plate (23-1-3) rotates an angle around the rotation axis (23-1-4) as the electric push rods on both sides extend and retract; then the side where the electric push rod contracts extends and the side where the electric push rod extends and retracts, and the panning and tilting simulation top plate (23-1-3) rotates an angle in the opposite direction around the rotation axis (23-1-4) as the electric push rods on both sides extend and retract; in this way, the panning and tilting simulation top plate (23-1-3) can simulate a pitch angle of 0° to 30° on one side along the rotation axis (23-1-4).

6. The underwater salvo launching device simulating the hull pitching and having a variable air chamber volume according to claim 4, characterized in that: The launch tube device also includes a launch tube body; a launch tube cover (30) is installed on the top of the launch tube body, and a bayonet connection is adopted between the launch tube cover (30) and the launch tube body; a limit block and a positioning hole (30-2) are provided on the inner side of the launch tube cover (30); a limit block and a retractable positioning pin (28-6) are provided on the inner side of the launch tube body; During installation, the stop block on the launch tube cover (30) is inserted into the gap of the upper stop block on the launch tube body; the retractable positioning pin (28-6) on the launch tube body is inserted into the positioning hole (30-2) on the launch tube cover (30); when it is necessary to remove the launch tube cover (30), the launch tube cover (30) removal button (28-8) on the launch tube body is pressed, and the retractable positioning pin (28-6) is retracted, and the launch tube cover (30) is taken out in the vertical direction; The air chamber adjustment device (28) comprises an air chamber adjustment cylinder (28-1), an air chamber adjustment gasket and a barrel height adjustment gasket; the air chamber adjustment device comprises an air chamber adjustment cylinder (28-1), and the air chamber adjustment cylinder (28-1) is arranged in the launch barrel; an air chamber height adjustment threaded section (23-2) is provided at the bottom of the air chamber adjustment cylinder (28-1), an air chamber adjustment gasket is installed on the air chamber height adjustment threaded section (23-2), and a barrel height adjustment gasket is installed outside the air chamber adjustment gasket.

7. The underwater salvo launching device simulating the hull pitching and having a variable air chamber volume according to claim 6, characterized in that: An air storage tank (24) connected via an air intake pipe (25) is provided on one side of the launch tube device (23); a one-way valve (26) is provided on the air intake pipe (25); and a navigation body (27) is arranged inside the launch tube device (23).

8. The underwater salvo launching device simulating the hull pitching and having a variable air chamber volume according to claim 1, characterized in that: The launch tube spacing adjustment mechanism comprises a launch tube mounting base (29-1) with a track; A launch tube mounting base (29-1) fixed by a tripod (29-2) is installed on the horizontal movement mechanism, and a launch mechanism connected by a bolt mounting assembly (29-4) is arranged on the launch tube mounting base (29-1); the launch mechanism is installed on the launch tube mounting base (29-1) with a track.

9. The underwater salvo launching device simulating the hull pitching and having a variable air chamber volume according to claim 1, characterized in that: All parts of the underwater salvo launching device are made of waterproof and corrosion-resistant metal.

10. A method for simulating the hull pitching and underwater salvo launching device with variable air chamber volume as claimed in claim 7, characterized in that: The method comprises the following steps: Step 1: Install the navigation body (27) on the launch tube device (23), connect the gas tank (24) and the launch tube device (23), and adjust the positions of the two launch mechanisms through the launch tube spacing adjustment mechanism; Step 2: Fill the gas storage tank (24) with high pressure gas. When the gas pressure reaches a certain level, the motor of the horizontal motion mechanism rotates to drive the launching mechanism to move horizontally. The electric push rod in the simulated lateral and longitudinal swaying device starts to move. The lateral and longitudinal swaying simulation top plate (23-1-3) can swing along the rotating shaft (23-1-4). At the same time, the lateral and longitudinal swaying simulation top plate (23-1-3) drives the top launch tube device (23) to move, simulating the lateral and longitudinal swaying of the ship. Step 3: When the horizontal motion mechanism reaches the specified speed, the one-way valve (26) on the air inlet pipe (25) opens, and the high-pressure gas enters the bottom of the launch tube device (23). Subsequently, under the action of the high-pressure gas, the navigation body (27) in the launch tube device (23) is ejected; when it is necessary to change the volume of the launch tube air chamber, the air chamber adjustment cylinder (28-1) is unscrewed, and the air chamber adjustment gasket (28-3) and the cylinder height adjustment gasket (28-4) are screwed on to complete the launch tube air chamber volume adjustment.

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