Underwater detection equipment folding and unfolding frame for dual-body unmanned ship

Abstract

The underwater detection equipment collecting and releasing frame is based on the double-body unmanned ship, a winch is arranged on the rear side of the top of the double-body unmanned ship, the underwater detection equipment collecting and releasing frame is located between two ship bodies of the double-body unmanned ship, and the underwater detection equipment collecting and releasing frame comprises a base, a door frame, a bracket assembly, a cable limiting assembly and an electric push rod; the cross section of the base is in a concave shape, the portal is fixedly located on the front side of the top of the base, the cable limiting assembly is fixedly located on the rear side of the top of the base, and the rear side of the bracket assembly is rotationally located in a concave opening of the base. A U-shaped frame is fixedly arranged on the front side portion of the door frame, one end of the electric push rod is rotationally connected with the bottom of the U-shaped frame, and the end, away from the U-shaped frame, of the electric push rod is fixedly connected with the rear side of the top of the bracket assembly. The winch has the advantages that the cable is convenient to wind and unwind and guided to wind and unwind, acting force generated by the cable is prevented from directly acting on the winch, friction of the cable is reduced, and the service life of the winch is prolonged.

Description

Technical Field

[0001] The invention relates to the field of unmanned boat retraction and deployment, and in particular to a retracting and deploying rack for underwater detection equipment used in a catamaran unmanned boat. Background Art

[0002] When conducting underwater detection, an unmanned boat is used to carry the detection equipment for water operations. When lowering the underwater detection equipment, a winch is required to lower the cable, and the detection equipment on the other end of the cable is lowered.

[0003] However, the unmanned boat is on the water. When the unmanned boat is moving, the cable will swing with the water flow. In order to prevent the force generated by the cable from directly acting on the winch and reducing the service life of the winch, it is necessary to guide and limit the cable to facilitate the winch to retract and release the cable. Therefore, a retracting and releasing frame compatible with the winch is required. Summary of the invention

[0004] The purpose of the present invention is to provide an underwater detection equipment retracting and releasing rack for a catamaran unmanned ship, which has the advantages of protecting the underwater detection equipment, facilitating the retracting and releasing of cables, guiding the retracting and releasing of cables, preventing the underwater detection equipment from colliding with the hull during the retracting and releasing process, enabling the catamaran to travel at the maximum speed when the underwater equipment is in the bracket assembly and the bracket assembly is at 0°, avoiding the force generated by the cables from directly acting on the winch, and increasing the service life of the winch.

[0005] The above technical objectives of the present invention are achieved through the following technical solutions:

[0006] The catamaran unmanned ship uses an underwater detection equipment retracting and releasing rack. Based on the catamaran unmanned ship, a winch is provided on the top rear side of the catamaran unmanned ship. The underwater detection equipment retracting and releasing rack is located between the two hulls of the catamaran unmanned ship, including a base, a gantry, a bracket assembly, a cable limit assembly, and an electric push rod;

[0007] The cross section of the base is in a "concave" shape, the "concave" opening of the base faces forward, the door frame is fixed at the top front side of the base, the cable limit assembly is fixed at the top rear side of the base, and the rear side of the bracket assembly is rotatably located in the "concave" opening of the base;

[0008] A "U"-shaped frame is fixedly provided on the front side of the door frame, one end of the electric push rod is rotatably connected to the bottom of the "U"-shaped frame, and one end of the electric push rod away from the "U"-shaped frame is fixedly connected to the top rear side of the bracket assembly.

[0009] The preferred solutions are as follows:

[0010] Preferably: the bracket assembly includes a bracket, a plurality of left rollers, a plurality of right rollers, two first vertical rollers, a supporting roller assembly, a protective roller assembly, two second vertical rollers, and a supporting ring;

[0011] The bracket is a frame body with a "U" shape in vertical section, and first square tubes in a longitudinal direction are fixedly provided on the left and right sides of the top of the bracket, and the first square tubes are flush with the rear side of the bracket at a quarter of the distance from the back to the front, and second square tubes in a transverse direction are fixedly provided on the rear sides of the tops of the two first square tubes, and two first ear plates are fixedly provided on the bottoms of the second square tubes, and the top end of the telescopic rod of the electric push rod is rotatably connected between the two first ear plates;

[0012] The left and right sides of the front side of the bottom of the base are respectively fixed with bearing seats, each of the bearing seats is rotatably connected with a rotating shaft, and the two rotating shafts are respectively fixedly connected to the rear side of the left side portion and the rear side of the right side portion of the bracket;

[0013] A plurality of the left rollers are arranged in an array from front to back at an angle of 45° and are located on the left side of the interior of the bracket, and a plurality of the right rollers are arranged in an array from front to back at an angle of 45° and are located on the right side of the interior of the bracket;

[0014] The two first vertical rollers are vertically rotatably connected to the left and right sides of the front side of the bracket;

[0015] The roller assembly is located at the front side of the bracket, and the roller assembly is located between the two first vertical rollers;

[0016] The two second vertical rollers are vertically rotatably connected to the left and right sides of the upper end of the rear side of the bracket;

[0017] The protection roller assembly is located at the rear side of the bracket, and the protection roller assembly is located between the two second vertical rollers;

[0018] The support ring is fixed on the front side of the two second vertical rollers.

[0019] Preferably: a first bending plate is fixedly provided at the upper end of the left side and the right side of the front side portion of the bracket, a second bending plate is fixedly provided at the lower end of the left side and the right side of the front side portion of the bracket, the vertical cross-sections of the first bending plate and the second bending plate are both "L"-shaped, and the "L"-shaped openings are both downward, and the two first vertical rollers are respectively rotatably connected between their corresponding first bending plate and second bending plate.

[0020] Preferably: the roller assembly includes two third ear plates and two first transverse rollers, the two third ear plates are respectively fixed on the right side of the second bending plate on the left and the left side of the second bending plate on the right, and the two first transverse rollers are respectively rotatably connected to the front lower end and the rear upper end of the two third ear plates.

[0021] Preferably, two horizontal third-party tubes are fixedly provided on the left and right sides of the inner rear side of the bracket, a first clearance groove is provided on the right side of the rear side of the third-party tube on the left and the left side of the rear side of the third-party tube on the right, and the two second vertical rollers are respectively rotatably connected to the two first clearance grooves in a vertical shape;

[0022] The protective roller assembly includes two second ear plates and a plurality of V-shaped rollers. The two second ear plates are both fans with a central angle of 90°. If the two second ear plates are respectively fixedly connected to the rear sides of two third-party tubes and the rear sides of the bracket, the plurality of V-shaped rollers respectively rotate between the two second ear plates, and the plurality of V-shaped rollers are respectively arranged along the arc edge array corresponding to the central angle of the second ear plates.

[0023] Preferably, the support ring is in a circular ring shape, and a circular limiting rubber block is fixedly provided on the front side of the support ring.

[0024] Preferably: the "U"-shaped opening of the "U"-shaped frame faces backwards, two fifth ear plates are fixedly provided at the bottom of the front side of the "U"-shaped frame, and the end of the electric push rod away from the telescopic rod is located between the two fifth ear plates and is rotatably connected to the two fifth ear plates.

[0025] Preferably: the cable limiting assembly includes two sixth ear plates, two third vertical rollers, and two second transverse rollers, the two sixth ear plates are vertically fixed at the top of the base, the upper and lower ends between the two sixth ear plates are fixed with limiting plates, the two third vertical rollers are vertically rotatably connected to the left and right sides of the front side between the two limiting plates, and the two second transverse rollers are rotatably connected to the upper and lower ends of the rear sides of the two sixth ear plates.

[0026] Preferably: an acceleration / deceleration switch is provided between the left roller and the right roller located at the front, and an in-position switch is provided between the left roller and the right roller located at the rear.

[0027] In summary, the present invention has the following beneficial effects:

[0028] 1. The setting of the base can facilitate the fixing of the underwater detection equipment retractable rack;

[0029] 2. Through the setting of the gantry, bracket assembly and electric push rod, when the underwater detection equipment is lowered, the electric push rod drives the bracket assembly to tilt. At this time, the force generated by the cable is eliminated in the bracket assembly to avoid being transmitted to the winch. When the underwater detection equipment is retracted, the electric push rod drives the bracket to be flush, and part of the gravity of the underwater detection equipment acts on the front side of the bracket assembly;

[0030] 3. When the bracket assembly of the underwater detection equipment retracting and releasing rack is retracted at 90°, the underwater detection equipment can smoothly enter the bracket assembly, reduce the wear on the cable, increase the bending radius of the cable, and protect the cable; the increase / deceleration switch can effectively prevent the risk of collision between the underwater detection equipment and the bracket assembly at the extreme position due to too fast recovery speed; when the bracket assembly is flipped to 45°, retracting the cable can effectively reduce the force of the cable on the winch drum; finally, the bracket assembly is in the storage position at 0°. When sailing in this position, the underwater detection equipment will no longer exert force on the winch drum. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a front side view of the overall mechanism modeling schematic diagram of the embodiment;

[0032] Figure 2 It is a rear side view of the overall mechanism modeling schematic diagram of the embodiment;

[0033] Figure 3 Schematic diagram of the structure of the door frame, bracket assembly, electric push rod and "U"-shaped frame of the embodiment;

[0034] Figure 4 Schematic diagram of the structure of the door frame, electric push rod and "U"-shaped frame of the embodiment;

[0035] Figure 5 is a front side view of a schematic diagram of the overall structure of the bracket assembly of the embodiment;

[0036] Figure 6 is a rear side view of a schematic diagram of the overall structure of the bracket assembly of the embodiment;

[0037] Figure 7 is a front side view of a cable stop assembly of an embodiment;

[0038] Figure 8 is a rear side view of the cable limiting assembly of the embodiment;

[0039] Fig. 9 It is a schematic diagram of the working status of the embodiment applied on a catamaran unmanned ship.

[0040] In the figure, 1, base; 2, door frame; 3, bracket assembly; 4, cable limit assembly; 5, electric push rod; 6, "U"-shaped frame; 7, speed increase and deceleration switch; 8, in-position switch;

[0041] 111. bearing seat; 112. rotating shaft;

[0042] 311, bracket; 312, left roller; 313, right roller; 314, first vertical roller; 315, roller assembly; 316, protective roller assembly; 317, second vertical roller; 318, supporting ring; 319, first square tube; 320, second square tube; 321, first ear plate; 322, first bending plate; 323, second bending plate; 324, third ear plate; 325, first transverse roller; 326, third tube; 327, second ear plate; 328, V-shaped roller; 329, limiting rubber block;

[0043] 411, sixth ear plate; 412, third vertical roller; 413, second horizontal roller; 414, limit plate;

[0044] 611. Fifth ear plate. DETAILED DESCRIPTION

[0045] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0046] The same components are denoted by the same reference numerals. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to directions in the drawings.

[0047] The retractable rack for underwater detection equipment of a catamaran unmanned ship, such as Figure 1-Figure 9 As shown, based on a catamaran unmanned ship, a winch is provided on the top rear side of the catamaran unmanned ship, and the underwater detection equipment retracting and launching rack is located between the two hulls of the catamaran unmanned ship.

[0048] The underwater detection equipment retractable rack comprises a base 1, a door frame 2, a bracket assembly 3, a cable limit assembly 4, and an electric push rod 5;

[0049] The cross section of the base 1 is in a "concave" shape, the "concave" opening of the base 1 faces forward, the door frame 2 is fixed at the top front side of the base 1, the cable limit assembly 4 is fixed at the top rear side of the base 1, and the rear side of the bracket assembly 3 is rotated and located in the "concave" opening of the base 1;

[0050] A "U"-shaped frame 6 is fixedly provided on the front side of the door frame 2, one end of the electric push rod 5 is rotatably connected to the bottom of the "U"-shaped frame 6, and one end of the electric push rod 5 away from the "U"-shaped frame 6 is fixedly connected to the top rear side of the bracket assembly 3.

[0051] The bracket assembly 3 includes a bracket 311, a plurality of left rollers 312, a plurality of right rollers 313, two first vertical rollers 314, a supporting roller assembly 315, a protective roller assembly 316, two second vertical rollers 317, and a supporting ring 318;

[0052] The bracket 311 is a frame body with a "U"-shaped transverse vertical section. A longitudinal first square tube 319 is fixedly provided on the left and right sides of the top of the bracket 311. The first square tube 319 is flush with the rear side of the bracket 311 at a quarter of the distance from the back to the front. A transverse second square tube 320 is fixedly provided on the rear side of the top of the two first square tubes 319. Two first ear plates 321 are fixedly provided on the bottom of the second square tube 320. The top end of the telescopic rod of the electric push rod 5 is rotatably connected between the two first ear plates 321. The "U"-shaped opening of the "U"-shaped frame 6 faces backwards. Two fifth ear plates 611 are fixedly provided on the bottom of the front side of the "U"-shaped frame 6. The end of the electric push rod 5 away from the telescopic rod is located between the two fifth ear plates 611 and is rotatably connected to the two fifth ear plates 611.

[0053] Bearing seats 111 are fixedly provided on the left and right sides of the front bottom of the base 1, and a rotating shaft 112 is rotatably connected in each bearing seat 111. The two rotating shafts 112 are fixedly connected to the rear sides of the left and right sides of the bracket 311, respectively. When the telescopic rod of the electric push rod 5 is retracted, the two ends of the electric push rod 5 rotate along the "U"-shaped frame 6 and the first square tube 319, respectively, and the "U"-shaped frame 6 is fixed. At this time, the electric push rod 5 pulls the bracket assembly 3 to rotate along the bearing seat 111.

[0054] A plurality of left rollers 312 are arranged in an array from front to back at an angle of 45° and are located on the left side of the interior of the bracket 311. A plurality of right rollers 313 are arranged in an array from front to back at an angle of 45° and are located on the right side of the interior of the bracket 311. When the cable is shaking inside the bracket 311, the plurality of left rollers 312 and the plurality of right rollers 313 can prevent the cable from directly rubbing against the interior of the bracket 311. While avoiding friction, it is also convenient to guide the cable to be retracted and released.

[0055] An acceleration / deceleration switch 7 is provided between the left roller 312 and the right roller 313 at the front, and an in-position switch 8 is provided between the left roller 312 and the right roller 313 at the rear.

[0056] The two first vertical rollers 314 are vertically rotatably connected to the left and right sides of the front side of the bracket 311, and a first bending plate 322 is fixed to the upper ends of the left and right sides of the front side of the bracket 311, and a second bending plate 323 is fixed to the lower ends of the left and right sides of the front side of the bracket 311. The vertical sections of the first bending plate 322 and the second bending plate 323 are both "L"-shaped, and the "L"-shaped openings are both downward. The two first vertical rollers 314 are respectively rotatably connected between their corresponding first bending plates 322 and second bending plates 323. The two first vertical rollers 314 also guide the cable and prevent the cable from being damaged by friction.

[0057] The roller assembly 315 is located at the front side of the bracket 311, and the roller assembly 315 is located between the two first vertical rollers 314. The roller assembly 315 includes two third ear plates 324 and two first transverse rollers 325. The two third ear plates 324 are respectively fixed to the right side of the second bending plate 323 on the left and the left side of the second bending plate 323 on the right, and the two first transverse rollers 325 are respectively rotatably connected to the front lower end and the rear upper end of the two third ear plates 324. When the bracket assembly 3 is placed horizontally or tilted, the cable is in contact with the roller assembly 315, which prevents the cable from swaying left and right with the water after being lowered, and then contacting and rubbing with the bracket 311, and at the same time prevents the cable and the bracket 311 from directly rubbing against each other when the cable is retracted or released.

[0058] The two second vertical rollers 317 are vertically rotatably connected to the left and right sides of the upper end of the rear side of the bracket 311, and two horizontal third-party tubes 326 are fixedly provided on the left and right sides of the inner rear side of the bracket 311. The right side of the rear side of the third-party tube 326 on the left and the left side of the rear side of the third-party tube 326 on the right are both provided with first clearance grooves, and the two second vertical rollers 317 are respectively vertically rotatably connected to the two first clearance grooves, and the two second vertical rollers 317 play the effect of guiding the cable and preventing the cable from being damaged by friction.

[0059] The protective roller assembly 316 is located at the rear side of the bracket 311. The protective roller assembly 316 is located between the two second vertical rollers 317. The protective roller assembly 316 includes two second ear plates 327 and a plurality of V-shaped rollers 328. The two second ear plates 327 are both fans with a central angle of 90°. If the two second ear plates 327 are respectively fixedly connected to the rear sides of the two third-party tubes 326 and the rear side of the bracket 311, and the plurality of V-shaped rollers 328 respectively rotate between the two second ear plates 327, the plurality of V-shaped rollers 328 are respectively arranged along the arc edge array corresponding to the central angle of the second ear plates 327. When the bracket assembly 3 is tilted, that is, the underwater detection equipment is in working condition, the cable is located in the "V"-shaped groove of the plurality of V-shaped rollers 328, which limits the cable.

[0060] The support ring 318 is fixed on the front side of the two second vertical rollers 317, and the support ring 318 is fixed on the front side of the two third-party tubes 326. The support ring 318 is in a circular ring shape, and a circular limiting rubber block 329 is fixed on the front side of the support ring 318. When the cable shakes, it always shakes inside the support ring 318. At the same time, the limiting rubber block 329 can prevent the cable from directly rubbing against the front side of the support ring 318 when shaking.

[0061] The cable limiting assembly 4 includes two sixth ear plates 411, two third vertical rollers 412, and two second transverse rollers 413. The two sixth ear plates 411 are vertically fixed on the top of the base 1, and a limiting plate 414 is fixed at the upper and lower ends between the two sixth ear plates 411. The two third vertical rollers 412 are vertically rotatably connected to the left and right sides of the front side between the two limiting plates 414, and the two second transverse rollers 413 are rotatably connected to the upper and lower ends of the rear sides of the two sixth ear plates 411. The cable is limited up, down, left, and right by the cable limiting assembly 4.

[0062] When not in operation, the telescopic rod of the electric push rod 5 is extended, and the bracket assembly 3 is placed horizontally;

[0063] When the underwater detection equipment is working, the telescopic rod of the electric push rod 5 is retracted, and the two ends of the electric push rod 5 rotate along the "U"-shaped frame 6 and the first square tube 319 respectively. At this time, the electric push rod 5 pulls the bracket assembly 3 to rotate along the bearing seat 111. At this time, the cable contacts the "V"-shaped grooves of the several V-shaped rollers 328 of the protective roller assembly 316, and the winch continuously lowers the cable. The cable passes through the protective roller assembly 316, the two second vertical rollers 317, the supporting ring 318, the several left rollers 312, the several right rollers 313, the two first vertical rollers 314, and the roller assembly 315 of the bracket assembly 3 and descends.

[0064] Specific implementation process:

[0065] When placing underwater detection equipment into the water:

[0066] Step 1: The underwater detection device is now located at the in-place switch 8 of the bracket assembly 3;

[0067] Step 2: The winch slowly releases the cable to prevent the underwater detection equipment from being violently impacted in the bracket assembly 3. At the same time, the telescopic rod of the electric push rod 5 contracts to make the angle between the bracket assembly 3 and the base 1 45°;

[0068] Step 3: Continue to slowly release the cable, the underwater detection equipment contacts the speed increase / deceleration switch 7, at this time, the telescopic rod of the electric push rod 5 contracts, so that the angle between the bracket assembly 3 and the base 1 is 90°;

[0069] Step 4: Continue to slowly release the cable for 2 seconds, the underwater detection equipment leaves the bracket assembly 3, and then the winch quickly releases the cable;

[0070] When collecting underwater detection equipment;

[0071] Step 1: The included angle between the bracket assembly 3 and the base 1 is 90°, at this time, the winch quickly retracts the cable;

[0072] Step 2: The underwater detection device contacts the speed increase / deceleration switch 7, the winch slows down the speed of cable retraction, and continues to retract the cable for 2 seconds;

[0073] Step 3: Then, the telescopic rod of the electric push rod 5 is extended so that the angle between the bracket assembly 3 and the base 1 is 45°;

[0074] Step 4: The winch continues to slowly reel in the cable;

[0075] Step 5: The underwater detection device contacts the in-place switch 8, and the winch stops retracting the cable;

[0076] Step 6: The telescopic rod of the electric push rod 5 is extended so that the angle between the bracket assembly 3 and the base 1 is 0°, that is, the bracket assembly 3 is horizontal, the cable becomes loose, and the underwater detection device is not in contact with the in-place switch 8;

[0077] Step 7: The winch continues to slowly retract the cable, and the underwater detection device contacts the in-place switch 8 again, and the winch stops working.

[0078] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

Claims

1. A catamaran unmanned ship uses an underwater detection equipment retracting and releasing rack. Based on the catamaran unmanned ship, a winch is provided on the top rear side of the catamaran unmanned ship. The underwater detection equipment retracting and releasing rack is located between the two hulls of the catamaran unmanned ship. The characteristics are: It comprises a base (1), a door frame (2), a bracket assembly (3), a cable limit assembly (4), and an electric push rod (5); The cross section of the base (1) is concave in shape, the concave opening of the base (1) faces forward, the door frame (2) is fixedly located at the top front side of the base (1), the cable limit assembly (4) is fixedly located at the top rear side of the base (1), and the rear side of the bracket assembly (3) is rotatably located in the concave opening of the base (1); A "U"-shaped frame (6) is fixedly provided on the front side of the door frame (2), one end of the electric push rod (5) is rotatably connected to the bottom of the "U"-shaped frame (6), and one end of the electric push rod (5) away from the "U"-shaped frame (6) is fixedly connected to the top rear side of the bracket assembly (3).

2. The underwater detection equipment retracting and releasing rack for a catamaran unmanned ship according to claim 1, characterized in that: The bracket assembly (3) comprises a bracket (311), a plurality of left rollers (312), a plurality of right rollers (313), two first vertical rollers (314), a supporting roller assembly (315), a protective roller assembly (316), two second vertical rollers (317), and a supporting ring (318); The bracket (311) is a frame body with a "U"-shaped vertical section. A longitudinal first square tube (319) is fixedly provided on the left and right sides of the top of the bracket (311). The first square tube (319) is flush with the rear side of the bracket (311) at a quarter of the distance from the back to the front. A transverse second square tube (320) is fixedly provided on the rear sides of the tops of the two first square tubes (319). Two first ear plates (321) are fixedly provided on the bottoms of the second square tubes (320). The top end of the telescopic rod of the electric push rod (5) is rotatably connected between the two first ear plates (321). The left and right sides of the front bottom of the base (1) are respectively fixedly provided with bearing seats (111), each of the bearing seats (111) is rotatably connected with a rotating shaft (112), and the two rotating shafts (112) are respectively fixedly connected to the rear side of the left side portion and the rear side of the right side portion of the bracket (311); A plurality of left rollers (312) are arranged in an array at an angle of 45° from front to back and located on the left side of the interior of the bracket (311); a plurality of right rollers (313) are arranged in an array at an angle of 45° from front to back and located on the right side of the interior of the bracket (311); The two first vertical rollers (314) are vertically rotatably connected to the left and right sides of the front side of the bracket (311); The roller assembly (315) is located at the front side of the bracket (311), and the roller assembly (315) is located between the two first vertical rollers (314); The two second vertical rollers (317) are vertically rotatably connected to the left and right sides of the upper end of the rear side of the bracket (311); The protective roller assembly (316) is located at the rear side of the bracket (311), and the protective roller assembly (316) is located between the two second vertical rollers (317); The support ring (318) is fixedly located at the front side of the two second vertical rollers (317).

3. The underwater detection equipment retracting and releasing rack for a catamaran unmanned ship according to claim 2 is characterized in that: A first bending plate (322) is fixedly provided at the upper ends of the left and right sides of the front side of the bracket (311), and a second bending plate (323) is fixedly provided at the lower ends of the left and right sides of the front side of the bracket (311). The vertical cross-sections of the first bending plate (322) and the second bending plate (323) are both "L"-shaped, and the "L"-shaped openings are both downward. The two first vertical rollers (314) are respectively rotatably connected between the corresponding first bending plate (322) and the second bending plate (323).

4. The underwater detection equipment retracting and releasing rack for a catamaran unmanned ship according to claim 3 is characterized in that: The roller assembly (315) comprises two third ear plates (324) and two first transverse rollers (325); the two third ear plates (324) are respectively fixed to the right side of the second bending plate (323) on the left and the left side of the second bending plate (323) on the right; the two first transverse rollers (325) are respectively rotatably connected to the front lower ends and the rear upper ends of the two third ear plates (324).

5. The underwater detection equipment retracting and releasing rack for a catamaran unmanned ship according to claim 4 is characterized in that: Two horizontal third-party tubes (326) are fixedly provided on the left and right sides of the inner rear side of the bracket (311), and first clearance grooves are provided on the right side of the rear side of the third-party tube (326) on the left side and the left side of the rear side of the third-party tube (326) on the right side, respectively, and the two second vertical rollers (317) are respectively rotatably connected to the two first clearance grooves in a vertical shape; The protective roller assembly (316) includes two second ear plates (327) and a plurality of V-shaped rollers (328). The two second ear plates (327) are both fan-shaped with a central angle of 90°. If the two second ear plates (327) are respectively fixedly connected to the rear side portions of two third-party tubes (326) and the rear side portion of the bracket (311), the plurality of V-shaped rollers (328) respectively rotate between the two second ear plates (327), and the plurality of V-shaped rollers (328) are respectively arranged along the arc edge array corresponding to the central angle of the second ear plate (327).

6. The underwater detection equipment retracting and deploying rack for a catamaran unmanned ship according to claim 5, characterized in that: The support ring (318) is in the shape of a circular ring, and a circular limiting rubber block (329) is fixedly provided on the front side of the support ring (318).

7. The underwater detection equipment retracting and releasing rack for a catamaran unmanned ship according to claim 6, characterized in that: The U-shaped opening of the U-shaped frame (6) faces backwards, and two fifth ear plates (611) are fixedly provided at the bottom of the front side of the U-shaped frame (6). The end of the electric push rod (5) away from the telescopic rod is located between the two fifth ear plates (611) and is rotatably connected to the two fifth ear plates (611).

8. The underwater detection equipment retracting and releasing rack for a catamaran unmanned ship according to claim 1, characterized in that: The cable limiting assembly (4) comprises two sixth ear plates (411), two third vertical rollers (412), and two second transverse rollers (413); the two sixth ear plates (411) are vertically fixed on the top of the base (1); the upper end and the lower end between the two sixth ear plates (411) are fixedly provided with limiting plates (414); the two third vertical rollers (412) are vertically rotatably connected to the left and right sides of the front side between the two limiting plates (414); and the two second transverse rollers (413) are rotatably connected to the upper and lower ends of the rear sides of the two sixth ear plates (411).

9. The underwater detection equipment retracting and releasing rack for a catamaran unmanned ship according to claim 6, characterized in that: An acceleration / deceleration switch (7) is provided between the left roller (312) and the right roller (313) located at the frontmost side, and an in-position switch (8) is provided between the left roller (312) and the right roller (313) located at the rearmost side.

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