An underwater salvo launching device and method that simulates ship roll and pitch and variable air chamber volume

Abstract

This invention proposes an underwater salvo launching device and method that simulates the rolling and pitching of a ship and allows for variable air chamber volume, belonging to the field of underwater catapult experiments. The device includes a water tank, a horizontal movement mechanism, a launching mechanism, and a launching tube spacing adjustment mechanism. Synchronous belt lifting mechanisms are located on both sides of the water tank, and a support frame is provided between the water tank and the synchronous belt lifting mechanisms. A fixed pulley is installed at the top of the support frame. The horizontal movement mechanism is mounted on a track support at the bottom of the water tank, and the track support is connected to the synchronous belt lifting system via a traction rope passing over the fixed pulley. The launching tube spacing adjustment mechanism, which houses the launching mechanism, is arranged on the horizontal movement mechanism. The launching mechanism includes a launching tube assembly, which contains an air chamber adjustment device, and a launching tube rolling and pitching simulation base is installed at the bottom of the launching tube assembly. This device can change the launching speed by adjusting the internal volume of the launching tubes; simultaneously, it can simulate the real environment of underwater launching and explore the influence of the ship's rolling and pitching on the launching process.

Description

Technical Field

[0001] This invention belongs to the field of underwater catapult testing and relates to an underwater salvo launching device, specifically an underwater salvo launching device and method that simulates the roll and pitch of a ship and has a variable air chamber volume. Background Technology

[0002] Underwater launch is the process of launching project objects using an underwater platform or device. The development of underwater launch technology is of great significance for improving the efficiency and safety of underwater operations, and also promotes progress in marine scientific research and underwater resource development. With continuous technological development and innovation, underwater launch technology will have wider applications and development in the future.

[0003] The launch tube is a crucial component in underwater launch experiments. Currently, most simulation experiments use launch tubes that lack adjustable air chamber volume, making it impossible to investigate the effect of air chamber volume on underwater salvo firing. To explore this effect, a launch tube with adjustable air chamber volume needs to be designed. Furthermore, to better simulate the real environment of underwater launches, specifically the impact of ship roll and pitch on the launch, a point largely overlooked by traditional launch tube designs.

[0004] Most existing experimental devices use threaded connections for the launch tube caps. This method is not only difficult to assemble and disassemble, but the threads also wear down with each assembly and disassembly. Therefore, to ensure the normal operation of the experiment, the device needs to be replaced periodically, which is quite troublesome. The existing devices are also cumbersome to assemble and disassemble the launch vehicle inside the launch tube during the experiment, resulting in a significant consumption of manpower and resources. Summary of the Invention

[0005] This invention proposes an underwater salvo launching device that simulates the rolling and pitching of a ship and has a variable air chamber volume, in order to solve the problems of current experimental devices being unable to change the air chamber volume inside the launch tube and being unable to simulate the rolling and pitching of the ship in actual launch situations.

[0006] This invention provides an underwater salvo launching device that simulates the rolling and pitching of a ship and has a variable air chamber volume. It includes a water tank, a horizontal movement mechanism, a synchronous belt lifting mechanism, a launching mechanism, and a launching tube spacing adjustment mechanism. A track support is provided at the bottom of the water tank, and an underwater motor is installed between the track support and the water tank. Synchronous belt lifting mechanisms are installed on both sides of the water tank, and a support frame is provided between the water tank and the synchronous belt lifting mechanisms. A fixed pulley is installed at the top of the support frame. The horizontal movement mechanism is mounted on the track support, and the track support is connected to the synchronous belt lifting mechanism via a traction rope passing over the fixed pulley. The launching tube spacing adjustment mechanism, which houses the launching mechanism, is arranged on the horizontal movement mechanism. The launching mechanism includes a launching tube assembly and a launching tube rolling and pitching simulation base located at the bottom of the launching tube assembly. An air chamber adjustment device for controlling the air chamber volume of the launching tubes is provided inside the launching tube assembly.

[0007] Furthermore, the synchronous belt lifting mechanism includes a mounting base plate, a drive wheel, a driven wheel, and a climbing block; the drive wheel is driven by a synchronous belt drive motor arranged on the mounting base plate; the drive 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 fixing block is installed on the climbing block, and a rope mounting component is provided on the fixing block.

[0008] Furthermore, the horizontal motion mechanism includes two slide rails; both slide rails are mounted on a track support, and sliders are mounted on the slide rails; the top surface of the slider is provided with a launch tube mounting plate, 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 mounting a thrust bearing is provided on the lead screw.

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

[0010] Furthermore, when simulating yaw and pitch, one side of the electric push rod retracts while the other side extends, causing the simulated yaw and pitch top plate to rotate around the axis by an angle as the electric push rods on both sides extend and retract. Subsequently, the side with the retracted electric push rod extends, and the side with the extended electric push rod extends and retracts, causing the simulated yaw and pitch top plate to rotate in the opposite direction around the axis by an angle as the electric push rods on both sides extend and retract. This process is repeated, and the simulated yaw and pitch top plate can simulate a pitch angle of 0° to 30° on one side of the axis.

[0011] Furthermore, the launching tube device also includes a launching tube body; a launching tube cover is installed at the top of the launching tube body, and the launching tube cover and the launching tube body are connected by a bayonet connection; a limiting block and a positioning hole are provided on the inner side of the launching tube cover; a retractable positioning pin is provided on the inner side of the launching tube body; during installation, the limiting block on the launching tube cover is inserted into the gap of the upper limiting block on the launching tube body; the retractable positioning pin on the launching tube body is inserted into the positioning hole on the launching tube cover; when it is necessary to remove the launching tube cover... Press the launch tube cover removal button on the launch tube body. At this time, the telescopic positioning pin retracts, and the launch tube cover is taken out vertically. The air chamber adjustment device includes an air chamber adjustment cylinder, an air chamber adjustment shim, a tube height adjustment shim, and a tube cover. The air chamber adjustment device includes an air chamber adjustment cylinder, which is arranged inside the launch tube body. The bottom of the air chamber adjustment cylinder is provided with an air chamber height adjustment threaded section, on which an air chamber adjustment shim is installed. A tube height adjustment shim is installed on the outside of the air chamber adjustment shim.

[0012] Furthermore, a gas storage tank connected to the launch tube device is provided on one side via an air intake pipe; a one-way valve is provided on the air intake pipe; and a navigator 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 mounted on the launch tube mounting base fixed by a tripod, and the launch tube mounting base is arranged with a launch mechanism connected by a bolt mounting assembly; the launch mechanism is mounted 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 materials.

[0015] This invention provides a method for an underwater salvo launching device that simulates the rolling and pitching of a ship and has a variable air chamber volume, the method comprising the following steps:

[0016] Step 1: Install the aircraft onto the launch tube device, connect the gas tank to the launch tube device, and adjust the position of the two launch mechanisms through the launch tube spacing adjustment mechanism;

[0017] Step 2: High-pressure gas is filled into the gas tank. After the gas pressure is reached, the motor of the horizontal motion mechanism rotates and drives the launching mechanism to move horizontally. The electric push rod in the simulated lateral and longitudinal sway device begins to extend and retract. The simulated lateral and longitudinal sway top plate can swing along the rotating axis. At the same time, the simulated lateral and longitudinal sway top plate drives the top launching tube device to move, simulating the lateral and longitudinal sway 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. Then, under the action of the high-pressure gas, the launch vehicle inside the launch tube device is ejected. When it is necessary to change the volume of the launch tube air chamber, unscrew the air chamber adjusting cylinder and screw on the air chamber adjusting shim and the cylinder height adjusting shim at the same time to complete the adjustment of the launch tube air chamber volume.

[0019] The beneficial effects are:

[0020] This invention can be used in underwater environments and under decompression conditions. The camera and lighting systems of this device are located outside the water tank, requiring no sealing, making operation convenient, experimental efficiency high, and obtaining clear image information quickly and easily. This invention utilizes compressed gas as a power source; the exit velocity of the vehicle can be changed by adjusting the pressure inside the gas tank. Compared to gunpowder-powered devices, it offers higher safety and reliability, lower cost, and higher efficiency.

[0021] The device of this invention is designed with a launch tube roll and pitch simulation base, which can be used to simulate the effects of the roll and pitch of the ship's hull and better simulate the real underwater environment; the launch tube of this invention can realize the adjustment of the height of the air chamber inside the tube within the range of 1-10mm, increasing the pressure inside the launch tube and providing energy for launch; the launch tube of this invention can realize the adjustment of the distance between the two launch tubes during salvo firing.

[0022] The launch tube of this invention uses a snap-on cap, which allows for quick disassembly and installation. This invention enables repeated loading of the launch vehicle and allows the installed launch device to be conveniently placed into or removed from the water tank using a synchronous belt lifting mechanism.

[0023] This device can also adjust the distance between the launch tubes, including adjusting along the horizontal direction of movement, adjusting perpendicular to the horizontal direction of movement, and adjusting arbitrarily along the circular arc tracks on both sides. It can realize multiple changes in the distance between the launch tubes, thereby exploring the influence of different directions and different distances between the launch tubes on the flow field interference during the launch of the vehicle. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of a salvo device for simulating the roll and pitch of a ship and having a variable air chamber volume, as described in this invention.

[0025] Figure 2 This is a schematic diagram of the synchronous belt lifting mechanism described in this invention;

[0026] Figure 3 This is a schematic diagram of the horizontal motion mechanism described in this invention;

[0027] Figure 4 This is a schematic diagram of the launching mechanism described in this invention;

[0028] Figure 5 This is a schematic diagram of the launching tube device described in this invention;

[0029] Figure 6 This is a schematic diagram of the launch tube roll-and-roll simulation base described in this invention;

[0030] Figure 7 This is a schematic diagram of the air chamber regulating device described in this invention;

[0031] Figure 8 This is a schematic diagram of the launch tube spacing adjustment mechanism described in this invention;

[0032] Figure 9 This is a schematic diagram of the launch tube cover according to the present invention. Detailed Implementation

[0033] The present invention will now be further described with reference to the accompanying drawings.

[0034] Combination Figure 1 This embodiment describes an underwater salvo launching device that simulates the rolling and pitching of a ship and has a variable air chamber volume, comprising a water tank 1, an aluminum profile support frame 2, an aluminum profile track support 3, an underwater motor 4, a fixed pulley 5, a traction rope 6, and a limiting block 7. The underwater motor 4 is installed on the bottom right side of the water tank 1, the aluminum profile track bracket 3 is installed on the bottom of the water tank 1, and six limiting 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 limiting blocks 7 are installed on the bottom of the water tank. The underwater salvo launching device that simulates the hull roll and pitch 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 and pitch simulation base. The aluminum profile track bracket 3 is connected to the synchronous belt lifting mechanism by a traction rope 6 passing around 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 the launching tube roll and pitch simulation base is arranged inside the launching tube mounting part 29-3.

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

[0036] Combination Figure 3 In 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 rails 19 are threadedly connected to the aluminum profile track support 3. Four sliders 20 mate with the slide rails 19, and the sliders 20 are also threadedly connected to the launch tube mounting plate 22. A lead screw 32 is located between the two slide rails 19, and the bearing seat 33 of the thrust bearing 18 is mounted 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 mounted on the lead screw 32 and fixedly connected to the launch tube mounting plate 22.

[0037] Combination Figure 4In this embodiment, the launching mechanism further includes a launching tube spacing adjustment mechanism 29, an air tank 24, an air inlet pipe 25, a one-way valve 26, and a launch vehicle 27. The launching tube device 23 and the air tank 24 are connected by the air inlet pipe 25. The one-way valve 26 is installed on the air inlet pipe 25, and the launch vehicle 27 is placed inside the launching tube device 23.

[0038] Combination Figure 5 In this embodiment, the launch tube device 23 further includes a launch tube base 23-1. The launch tube device 23 contains a variable-volume air chamber adjustment device 28. The air chamber adjustment device 28 is threadedly connected to the launch tube roll / swing simulation base, facilitating adjustment of the launch tube air chamber volume. The top is a launch tube cover 30, which is connected to the launch tube body via a bayonet connection, allowing for quick installation and removal of the cover 30. It is primarily used for underwater catapult tests.

[0039] Combination Figure 6 This embodiment describes a roll / tilt simulation base comprising four electric push rods 23-1-1, a roll / tilt simulation base plate 23-1-2, a roll / tilt simulation top plate 23-1-3, and a rotating shaft 23-1-4. The lower ends of the electric push rods 23-1-1 are welded to the roll / tilt simulation base plate 23-1-2, while their upper rounded ends can reciprocate along a slide rail within the roll / tilt simulation top plate 23-1-3. During roll / tilt simulation, the left-hand electric push rod 23-1-1 retracts, and the right-hand electric push rod 23-1-1 extends. Subsequently, the right-hand electric push rod 23-1-1 retracts, and the left-hand electric push rod 23-1-1 extends. This reciprocating motion allows the roll / tilt simulation plate 23-1-3 to simulate a 60° pitch angle along the rotating shaft 23-1-4.

[0040] Combination Figure 7 and Figure 9In this embodiment, the air chamber adjustment device 28 includes an air chamber adjustment cylinder 28-1, a 1mm air chamber adjustment shim 28-2, a 2mm air chamber adjustment shim 28-3, and matching 1mm cylinder height adjustment shims 28-4 and 2mm cylinder height adjustment shims 28-5. This air chamber adjustment function allows for variations in air chamber height within a range of 1mm to 10mm. To ensure that the relative height of the launch tube remains unchanged, the launch tube height must be increased simultaneously when the air chamber height is increased. Using two 1mm air chamber adjusting shims 28-2 and four 2mm air chamber adjusting shims 28-3, the bottom of the air chamber adjusting cylinder 28-1 is provided with an air chamber height adjusting threaded section 23-2. The air chamber adjusting shims and the air chamber height adjusting threaded section 23-2 are connected by threads. By continuously stacking, the air chamber height can be gradually increased in 1mm increments. Similarly, the cylinder height adjusting shims matched with the air chamber adjusting shims are continuously stacked on the launch tube height adjusting threaded section 23-3. The volume of the air chamber can be adjusted in the above way. Air chamber adjusting shims are installed on the air chamber height adjusting threaded section 23-2, and cylinder height adjusting shims are installed on the outside of the air chamber adjusting shims.

[0041] Combination Figure 8 In 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 component 29-3, and a mounting bolt assembly 29-4. The launch tube spacing adjustment mechanism 29 can adjust the spacing between salvo launch tubes. The launching mechanism can move along a 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 via the tripod 29-2. The launch tube base 29-1 is threadedly connected to the launch tube mounting component 29-3. The launch tube mounting component 29-3 is connected to the mounting aluminum profile 29-1 via the bolt mounting assembly 29-4.

[0042] Combination Figure 9 In this embodiment, the launch tube cover 30 includes a tube body limiting block 30-1 and a positioning hole 30-2. The launch tube cover and the launch tube body are connected by a bayonet joint. Specifically, during installation, the positioning grooves 28-7 between the tube body limiting block 30-1 on the launch tube cover 30 and the cover limiting block on the launch tube body are interleaved, allowing the retractable positioning pin 28-6 on the launch tube body to be 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 retracts, and then the launch tube cover 30 is taken out vertically. When the two limit blocks intersect, the cover can be taken out vertically to complete the removal of the cover 30.

[0044] To meet the requirements for underwater operation, 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 support 3 to the top of the water tank 1 via ropes wrapped around the aluminum profile support frame 2. At this time, at the top of the water tank 1, the launch tube device 23 with the launch vehicle 27 is screwed onto the launch tube mounting part 29-3. The positions of the two launch tube mounting parts 29-3 are adjusted to change the distance between the launch mechanisms to the experimental requirements, and then the launch tube mounting parts 29-3 are fixed. After that, the gas tank 24 is connected to the launch tube mounting part 29-3. After confirming that everything is correct, the synchronous belt lifting mechanism lowers the horizontal movement mechanism, making it descend between the six limit blocks 7, completing the positioning of the horizontal movement mechanism. Then, high-pressure gas is filled into the gas tank 24. After reaching the experimental gas pressure, the motor of the horizontal movement mechanism rotates, driving the launch tube to move horizontally. At the same time, the launch tube... The electric push rod 23-1-1 inside the simulated lateral and longitudinal rocking device starts to move, simulating the lateral and longitudinal rocking of the ship. When the horizontal motion mechanism reaches the specified speed, the one-way valve 26 opens, and high-pressure gas enters the bottom of the launch tube device 23. Subsequently, under the action of the high-pressure gas, the launch vehicle inside the launch tube device 23 is ejected, completing 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 launch vehicle is retrieved, and the above actions are repeated to complete the loading of the projectile. 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 shim and the tube height adjustment shim are screwed on at the same time to complete the adjustment of the launch tube air chamber. Then, 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 mentioned above are all existing technologies and will not be elaborated upon here.

[0047] The embodiments of the present invention disclosed above are for illustrative purposes only and do not exhaustively describe all details, nor do they limit the present invention to the specific embodiments described. Various modifications and variations can be made to the present invention based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the present invention, enabling those skilled in the art to fully understand and apply the present invention.

Claims

1. An underwater salvo launching device which simulates ship roll and pitch and has variable air chamber volume, characterised in that, Includes a water tank (1), a horizontal movement mechanism, a synchronous belt lifting mechanism, a launching mechanism, and a launching tube spacing adjustment mechanism; The bottom of the water tank (1) is provided with a track support (3), and an underwater motor (4) is installed between the track support (3) and the water tank (1); a synchronous belt lifting mechanism is installed on both sides of the water tank (1), and 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 movement mechanism is installed on the track support (3), and the track support (3) is connected to the synchronous belt lifting system by passing around the fixed pulley (5) through the traction rope (6); the launch tube spacing adjustment mechanism with the launch mechanism is arranged on the horizontal movement mechanism; the launch mechanism includes a launch tube device (23) and a launch tube horizontal and vertical rocking simulation base located at the bottom of the launch tube device (23), and a chamber adjustment device (28) for controlling the volume of the launch tube chamber is provided inside the launch tube device (23). The launch tube roll and pitch simulation base includes a roll and pitch simulation base plate (23-1-2) and a roll and pitch simulation top plate (23-1-3); a rotating shaft (23-1-4) is arranged on the roll and pitch simulation top plate (23-1-3); an electric push rod that reciprocates in a fixed slide is provided on the roll and pitch simulation top plate (23-1-3), and the bottom of the electric push rod is installed on the roll and pitch simulation base plate (23-1-2); a launch tube device (23) is provided at the top of the launch tube roll and pitch simulation base; when simulating roll and pitch, one side of the electric push rod... As the rod retracts, the electric push rod on the other side extends, and the horizontal and vertical swaying simulated top plate (23-1-3) rotates around the pivot (23-1-4) by an angle as the electric push rods on both sides extend and retract; then the side with the retracted electric push rod extends, and the side with the extended electric push rod extends and retracts, and the horizontal and vertical swaying simulated top plate (23-1-3) rotates in the opposite direction around the pivot (23-1-4) by an angle as the electric push rods on both sides extend and retract; this repeated horizontal and vertical swaying simulated top plate (23-1-3) can simulate a pitch angle of 0°~30° on one side along the pivot (23-1-4); The air chamber adjustment device (28) includes an air chamber adjustment cylinder (28-1), an air chamber adjustment shim, and a cylinder height adjustment shim; the air chamber adjustment device includes an air chamber adjustment cylinder (28-1), which is arranged inside the launch tube; the bottom of the air chamber adjustment cylinder (28-1) is provided with an air chamber height adjustment threaded section (23-2), an air chamber adjustment shim is installed on the air chamber height adjustment threaded section (23-2), and a cylinder height adjustment shim is installed on the outside of the air chamber adjustment shim.

2. An underwater salvo launcher for simulating ship roll and variable volume air chamber according to claim 1, characterized in that, The synchronous belt lifting mechanism includes a mounting base plate (8), a drive wheel (10), a driven wheel (11), and a climbing block (15). The drive wheel (10) is driven by a synchronous belt drive motor (9) arranged on the mounting base plate (8); the drive wheel (10) and the driven wheel (11) are driven by a synchronous belt (12); the driven wheel (11) is provided with a transmission bearing (13) and a driven rod (14); the climbing block (15) is equipped with a fixing block (16), and the fixing block (16) is provided with a rope mounting component (17).

3. The underwater salvo launching device for simulating ship roll and pitch and with variable air chamber volume according to claim 1, characterized in that, The horizontal motion mechanism includes two slide rails (19). Both slide rails (19) are mounted on the track support (3), and a slider is mounted on the slide rail (19); the top surface of the slider is provided with a launch tube mounting plate (22), 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 for simulating ship roll and pitch and with variable air chamber volume according to claim 1, characterized in that, The launching tube device also includes a launching tube body; a launching tube cover (30) is installed at the top of the launching tube body, and the launching tube cover (30) and the launching tube body are connected by a bayonet connection; a limiting block and a positioning hole (30-2) are provided on the inner side of the launching tube cover (30); a limiting block and a retractable positioning pin (28-6) are provided on the inner side of the launching tube body. During installation, the limiting block on the launch tube cover (30) is inserted into the gap of the upper limiting 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), press the launch tube cover (30) removal button (28-8) on the launch tube body, at which time the retractable positioning pin (28-6) retracts and the launch tube cover (30) is taken out in the vertical direction.

5. The underwater salvo launching device for simulating ship roll and pitch and with variable air chamber volume according to claim 4, characterized in that, The launch tube device (23) has an air tank (24) connected to an air inlet pipe (25) on one side; a one-way valve (26) is provided on the air inlet pipe (25); and a navigator (27) is arranged inside the launch tube device (23).

6. The underwater salvo launching device for simulating ship roll and pitch and with variable air chamber volume according to claim 1, characterized in that, The launch tube spacing adjustment mechanism includes a launch tube mounting base (29-1) with a track. The horizontal motion mechanism is equipped with a launch tube mounting base (29-1) fixed by a tripod (29-2), and the launch mechanism is arranged on the launch tube mounting base (29-1) and connected by a bolt mounting assembly (29-4); the launch mechanism is mounted on the launch tube mounting base (29-1) with a track.

7. The underwater salvo launching device for simulating ship roll and pitch and with 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.

8. A method for an underwater salvo launching device that simulates ship hull roll and pitch and has a variable air chamber volume, as described in any one of claims 1 to 7, characterized in that... The method includes the following steps: Step 1: Install the vehicle (27) on the launch tube device (23), connect the gas tank (24) and the launch tube device (23), and adjust the position of the two launch mechanisms through the launch tube spacing adjustment mechanism; Step 2: High-pressure gas is filled into the gas storage tank (24). After the gas pressure is reached, the motor of the horizontal motion mechanism rotates and drives the launching mechanism to move horizontally. The electric push rod in the simulated horizontal and vertical swaying device begins to extend and retract. The simulated horizontal and vertical swaying top plate (23-1-3) can swing along the rotating shaft (23-1-4). At the same time, the simulated horizontal and vertical swaying top plate (23-1-3) drives the top launching tube device (23) to move, simulating the horizontal and vertical 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 high-pressure gas enters the bottom of the launch tube device (23). Then, under the action of high-pressure gas, the launch vehicle (27) inside the launch tube device (23) is ejected. When it is necessary to change the volume of the launch tube air chamber, unscrew the air chamber adjusting cylinder (28-1) and screw on the air chamber adjusting shim (28-3) and the cylinder height adjusting shim (28-4) at the same time to complete the adjustment of the launch tube air chamber volume.

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