An aerodynamic cable-retracting device for underwater vehicles and a method for retracting and releasing a cable

Abstract

The present application relates to a kind of pneumatic cable-releasing device suitable for underwater vehicle, and the device includes buoy, cable winding device, shell, ejection chamber, air source and control part and cable; Buoy is installed in the inner cavity of shell, and the bottom is sealingly connected with cable winding device, and the bottom of buoy and the top of cable winding device form airtight ejection chamber, air source and control part are set outside cable winding device, compressed air can be led to ejection chamber, cable is set in the inner cavity of cable winding device, and two ends are fixedly connected with buoy and cable winding device respectively.Before the operation of the device, air source and control part store a certain amount of compressed air; When vehicle is recovered, compressed air enters ejection chamber and generates thrust on buoy, ejects and throws out buoy and cable; When vehicle is deployed, cable is used to hang cloth, and cable and buoy are retracted into the device.The device has the characteristics of high integration degree, stable function, long cable-releasing distance, high safety, wide application and other characteristics, and can meet the needs of underwater vehicle in complex sea conditions.

Description

Technical Field

[0001] This invention relates to the field of underwater vehicle technology, and in particular to a pneumatic cable deployment and retrieval device and method suitable for underwater vehicles. Background Technology

[0002] With the high-level deployment of the national maritime strategy, the demand for underwater vehicles in the marine field is increasing, and their equipment structures are becoming more diversified, system applications are becoming more practical, and scientific exploration is becoming more serialized. However, under the requirement of less-manned operation in marine operations, the safe and convenient recovery of underwater vehicles has become a common problem both domestically and internationally.

[0003] For a long time, the deployment and recovery of underwater vehicles have relied heavily on divers. During the operation, simple actions on land become extremely difficult on the surface and underwater due to the combined effects of waves, surges and turbulence. At the same time, there are serious safety issues for both the products and personnel. Therefore, the safe and convenient deployment and recovery of underwater vehicles has become a problem that has hindered the development of the industry and has also limited customers' use of the vehicles.

[0004] Currently, there are three main methods for recovering underwater vehicles: First, underwater docking and recovery operations are carried out using floating docks and lifting platforms. However, this method requires a dedicated mother ship, which is expensive to build and use. Furthermore, docking and securing the vehicle to the floating dock is difficult and poses certain safety hazards, making it unsuitable for the current situation in China. Second, recovery is carried out in a moon pool amidships. Although this avoids the impact of waves, the moon pool has limited size and is only suitable for small-scale, regularly shaped underwater vehicles. Third, recovery is carried out on the water surface using a mother ship for lifting. This requires staff to approach the underwater vehicle by motorboat to complete the docking. This method is greatly affected by wind and waves, and equipment damage and personnel injury are likely to occur when sea conditions are poor.

[0005] Therefore, establishing a physical connection between the underwater vehicle and the deployment platform, improving the miniaturization, universality, and modularity of the catapult device, achieving highly reliable catapult launch, long launch distance, buoy floating and accurate positioning, completing the precise and rapid capture of the cable and buoy, and docking the buoy with the capture device, enabling the underwater vehicle to be moored in complex sea conditions, ensuring the safety of the vehicle, and achieving the goal of "product replacing human" are the key to solving the safety and convenient recovery of underwater vehicles, and are also technical problems that the industry urgently needs to solve.

[0006] To address these issues, researchers have made a series of attempts. For example, patent application "A Navigation Cable Throwing Device for Underwater Platforms with Buoys" (CN108454783A) discloses a navigation cable throwing device for underwater platforms with buoys, including a trigger release unit, spring, cable, buoy assembly, cable storage cavity, and pull rod. However, these devices still have many shortcomings. For instance, the integration level of the cable launching and retrieval device is low, requiring more space and complex connections during installation; in complex marine environments, long-term use may lead to problems such as electromagnet failure and seal damage, affecting the reliability and safety of the device; using a spring as an energy storage mechanism results in a short launching distance, and the limitations imposed by spring material and size make it difficult to achieve long-distance cable launching; relying on buoy signals for positioning requires the mother ship to locate and manually or otherwise recover the vehicle; the cable launching, retrieval, and management methods are relatively simple, and problems such as cable entanglement are prone to occur during recovery. Therefore, there is an urgent need to develop a more integrated, more stable, and more widely applicable cable launching and retrieval device to better meet the needs of underwater vehicles in complex sea conditions. Summary of the Invention

[0007] To overcome the shortcomings of the prior art, the present invention provides a new pneumatic cable deployment and retrieval device and method suitable for underwater vehicles.

[0008] This invention provides a pneumatic cable deployment and retrieval device suitable for underwater vehicles. The device includes a buoy A, a cable reeling device B, a housing C, an ejection cavity D, an air source and control unit E, and a cable F. The buoy A is installed inside the housing C. The bottom of the housing C is sealed and fixedly connected to the cable reeling device B. The bottom of the buoy A and the top of the cable reeling device B form a sealed ejection cavity D. The air source and control unit E is located outside the cable reeling device B and can controllably supply compressed air to the ejection cavity D. The cable F is located inside the cable reeling device B, with one end fixedly connected to the buoy A and the other end fixedly connected to the cable reeling device B. Before operation, the air source and control unit E stores a certain amount of compressed air. When retrieving the target, the compressed air enters the ejection cavity D and generates thrust on the buoy A, ejecting the buoy A and the cable F. The buoy A floats a long distance on the water surface. When deploying the target, the cable reeling device B retracts the cable F into its own housing and the buoy A into the housing C.

[0009] Preferably, in the pneumatic cable deployment and retrieval device of the present invention, the buoy A includes a buoy seat A1, a positioning damping assembly A2, a buoyancy material A3, a docking ring A4, a first sealing ring A5, and a mooring post A6; wherein, the buoy seat A1 is a rotating body composed of a main body A11 and a coaxial inner ring A12 and an outer ring A13 disposed at the bottom of the main body A11, and a plurality of radially arranged reinforcing ribs A14 are provided between the inner ring A12 and the outer ring A13 to improve the compressive strength of the buoy seat A1 and reduce the mass of the buoy seat A1; a plurality of radially evenly distributed positioning ribs A15 are provided between the inner ring A12 and the outer ring A13, and each positioning rib A15 is provided with a radially arranged positioning damping mounting hole A16, and the positioning damping assembly A2 is disposed in the positioning damping mounting hole A16; the upper end of the main body A11 of the buoy seat A1 is provided with a plurality of circumferentially evenly distributed non-penetrating first screw holes A17. The lower end of the body base A11 is provided with multiple non-penetrating second screw holes A18 evenly distributed along the circumference. An annular first sealing groove A19 is provided on the outer circumference of the body base A11, and a first sealing ring A5 is installed within the first sealing groove A19. The buoyancy material A3 is a rotating inverted cone A33, larger at the top and smaller at the bottom, which improves the automatic centering capability of the buoy A during cable retrieval. A docking mounting hole A31 is provided at the top, and a disc-shaped docking ring A4 is installed within the docking mounting hole A31. Multiple circumferentially distributed first fastening holes A32 are provided at the bottom of the buoyancy material A3. Matching the first screw hole A17; the mooring post A6 is a rotating body, and from top to bottom are arranged a mooring post flange A61, a straight section A63, a tapered section A64 (larger at the top and smaller at the bottom), and a first sealing shaft A65. The mooring post flange A61 is provided with multiple second fastening holes A62 evenly distributed along the circumference. The second fastening holes A62 match the second screw hole A18. The mooring post A6 has a first mooring hole A66 inside, which is fixedly connected to one end of the cable F. The tapered section A64 (larger at the top and smaller at the bottom) improves the automatic centering capability of the buoy A during the cable retrieval process.

[0010] Preferably, in the pneumatic cable reeling and launching device of the present invention, the buoyancy material A3 is made of glass microspheres bonded to epoxy resin material, and the surface is coated with polyurea elastomer; this buoyancy material has a low density (density can reach 400 kg / m³). 2 It features high pressure resistance, low water absorption, etc.; ensuring that buoy A has positive buoyancy, and that buoy A floats on the water surface after being ejected; buoyancy material A3 is set on the top of buoy A, with the center of buoyancy of buoy A at the top and the center of mass at the bottom, ensuring the vertical attitude of buoy A.

[0011] Preferably, in the pneumatic cable deployment and retrieval device of the present invention, the docking ring A4 is made of a permanent magnet (neodymium iron boron NdFeB35). The permanent magnet carried by the UAV or docking equipment automatically docks with the docking ring A4 of the buoy A, thereby completing the precise and rapid capture of the buoy A, realizing the mooring of the underwater vehicle in complex sea conditions, and establishing a physical connection between the vehicle and the deployment platform.

[0012] Preferably, in the pneumatic cable retraction device of the present invention, the positioning damping group A2 is a retractable and positionable clamping component, including a threaded sleeve A21, a steel ball A22, a compression spring A23, and an adjusting screw A24; the threaded sleeve A21 is an externally threaded rotating body with a conical step in its inner cavity; the steel ball A22 is installed in the inner cavity of the threaded sleeve A21 and contacts the conical step of the threaded sleeve A21; the conical step of the threaded sleeve A21 ensures that the steel ball A22 protrudes from the front end face of the threaded sleeve A21 while preventing the steel ball A22 from falling out of the conical step; one end of the compression spring A23 contacts the steel ball A22, and the other end contacts the adjusting screw A24; by rotating... Adjusting screw A24 can adjust the compression of spring A23 and the force applied to steel ball A22, thereby adjusting the starting pressure of the ejection buoy A in ejection chamber D, and thus controlling the ejection distance of buoy A; the positioning damping mounting hole A16 is provided on the positioning rib A15 of buoy seat A1, and along the radial direction of buoy seat A1 from the outside to the inside are provided threaded sleeve hole A161, spring hole A162 and adjusting screw hole A163; threaded sleeve A21 is installed in threaded sleeve hole A161, steel ball A22 and spring A23 are installed in spring hole A162, and adjusting screw A24 is installed in adjusting screw hole A163.

[0013] Preferably, in the pneumatic cable winding and unwinding device of the present invention, the cable winding device B includes a cable winding base B1, a second sealing ring B2, a third sealing ring B3, a fourth sealing ring B4, an end cap B5, a rotating shaft B6, a motor B7, and a fifth sealing ring B8; the cable winding base B1 is provided with a rotating upper flange B11, a rotating connecting column B12, and a rotating cable cavity B13 arranged sequentially from top to bottom, the rotation axes of the upper flange B11 and the connecting column B12 are collinear, and the rotation axes of the upper flange B11, the connecting column B12, and the cable cavity B13 are perpendicular to each other and intersect each other; the upper flange B11 is a rotating body with multiple steps, the outer steps are provided with multiple third fastening holes B111 evenly distributed along the circumference, and the outer circle of the inner steps is provided with an annular second sealing groove. B112, the second sealing groove B112 is provided with a first sealing ring A5. The upper flange B11 on the outside of the connecting column B12 is provided with a through air inlet B116. The axis of the upper flange B11 is provided with a hole that penetrates the cable cavity B13. This hole includes a tapered hole B113 (larger at the top and smaller at the bottom) and a straight hole B114 from top to bottom. The straight hole B114 is provided with an annular third sealing groove B115. The third sealing ring B3 is provided in the third sealing groove B115. The sealing of the ejection cavity D is achieved through the third sealing groove B115, the third sealing ring B3 and the first sealing shaft A65. The tapered hole B113 matches the tapered section A64. The cable cavity B13 is a rotating body surrounded by the end plate B131 and the side wall B132. The end plate B131 has a first sealing hole B133 at its axial position, an annular fourth sealing groove B134 inside the first sealing hole B133, and a fifth sealing ring B8 inside the fourth sealing groove B134. A motor boss B135 is provided on the outer side of the end plate B131, and a motor B7 is mounted on the motor boss B135. An air passage boss B136 is provided on the outer side of the end plate B131, and an air source and control unit E are mounted on the air passage boss B136. An annular fifth sealing groove B137 and multiple circumferentially distributed third screw holes B138 are provided on the outer side of the fifth sealing groove B137. A fourth sealing ring B4 is installed inside the fifth sealing groove B137. The cover B5 is a rotating body with multiple fifth fastening holes B51 evenly distributed around the circumference on its end face. The fifth fastening holes B51 match the third screw holes B138. A non-penetrating shaft hole B52 is provided at the axis. The fifth sealing groove B137, the fourth sealing ring B4, and the end face of the end cover B5 achieve the sealing of the inner cavity of the cable winding device B. The rotating shaft B6 is a rotating body with a second sealing shaft B61, a second end plate B66, a first end plate B65, and a rotating shaft end B63 arranged sequentially from one end to the other. The second sealing shaft B61 matches the first sealing hole B133. The second sealing shaft B61, the first sealing hole B133, and the fifth sealing ring B8 achieve the sealing of the inner cavity of the cable winding device B. The rotating shaft end B63 matches the shaft hole B52.One end of the rotating shaft B6 is provided with a square hole B62, which matches the output shaft of the motor B7. The motor B7 is a non-self-locking motor that can drive the rotating shaft B6 to rotate, and can also rotate with the rotating shaft B6. When the cable is retracted, the output shaft of the motor B7 rotates and drives the rotating shaft B6 to rotate, thereby retracting the cable. When the cable is released, since the motor B7 is a non-self-locking motor, the motor B7 can rotate with the rotating shaft B6 without obstruction. A second cable-tying hole B64 is provided between the second end plate B66 and the first end plate B65 of the rotating shaft B6. The other end of the cable F is fixed to the second cable-tying hole B64, and the cable F is wound in a spiral manner from the inside to the outside between the second end plate B66 and the first end plate B65.

[0014] Preferably, in the pneumatic cable retraction device of the present invention, the outer shell C includes a body seat C1 and a sixth sealing ring C2; wherein, the body seat C1 is a hollow rotating body, and its outer surface is provided with a body flange C11 and a plurality of annular sixth sealing grooves C13 from top to bottom; the inner cavity is provided with an inverted conical hole C14 (larger at the top and smaller at the bottom) and a second sealing hole C15 from top to bottom; a semi-circular positioning annular groove C16 is provided on the second sealing hole C15; a plurality of fourth screw holes C17 are provided on the bottom end face of the body seat C1; a plurality of sixth fastening holes C12 are provided on the body flange C11; wherein, the sixth sealing ring C2 is provided in the sixth sealing groove C13, and the fourth screw holes C17 and the sixth sealing ring C2 are provided in the sixth sealing groove C13. The first screw hole A17 matches, the inverted conical hole C14 matches the inverted conical hole A33, and the second sealing hole C15, the first sealing ring A5, and the first sealing groove A19 seal the ejection chamber D, ensuring that the cable F does not get wet or lose the vehicle's displacement during navigation and operation. The positioning annular groove C16 matches the steel ball A22, and the steel ball A22 is inserted into the positioning annular groove C16 to position the buoy A in the axial position. When the vehicle needs to drop the cable, compressed air enters the ejection chamber D, and due to the damping effect of the positioning damping group A2, the pressure in the ejection chamber D accumulates to a sufficient pressure value. The steel ball A22 compresses the compression spring A23 and disengages from the positioning annular groove C16, and the buoy A is ejected further and higher under sufficient pressure.

[0015] Preferably, in the pneumatic cable retraction device of the present invention, the air source and control unit E includes an air cylinder E1, a solenoid valve E2, a first air pipe E3, a second air pipe E4, and a quick-connect connector E5; the air cylinder E1 and the solenoid valve E2 are installed on the air passage boss B136; the air cylinder E1 is a spherical air cylinder for storing compressed air and is provided with an air inlet E11; the solenoid valve E2 is a three-way solenoid valve and is provided with an air inlet E21, an air outlet E22, and an air filling port E23; one end of the first air pipe E3 is connected to the air inlet E21, and the other end is connected to the air outlet E11; one end of the second air pipe E4 is connected to the air outlet E22, and the other end is connected to the quick-connect connector E5, which is installed on the air inlet B116; the air filling port E23 is used to replenish the compressed air in the air cylinder E1.

[0016] Preferably, in the pneumatic cable retraction and deployment device of the present invention, the cable F is made of Kevlar rope, which has the characteristics of high load-bearing capacity and high flexibility.

[0017] Preferably, in the pneumatic cable retraction and deployment device of the present invention, the ejection cavity D is formed by the bottom surface of the main body seat A11, the inner surface of the inner ring A12, and the top surface of the upper flange B11.

[0018] Preferably, the pneumatic cable retraction device of the present invention is installed on the vehicle shell G; the vehicle shell G is provided with a third sealing hole G1 and a plurality of fifth screw holes G2 evenly distributed along the circumference; the third sealing hole G1, the sixth sealing groove C13 and the sixth sealing ring C2 realize the sealing between the pneumatic cable retraction device and the inner cavity of the vehicle; the fifth screw holes G2 are matched with the sixth fastening holes C12.

[0019] Preferably, in the pneumatic cable deployment and retrieval device of the present invention, the angle between the axis of the third sealing hole G1 and the longitudinal plane of the vehicle shell G is 5° to 10°. Setting an angle deviating from the longitudinal plane of the vehicle shell serves two purposes: firstly, to ensure the safety of the vehicle and prevent the launched buoy A from hitting and damaging it after falling; secondly, to ensure that the launched buoy A is as far away from the vehicle as possible, making it easier for the UAV or docking equipment to capture the buoy A; and thirdly, to set an angle that is not too large deviating from the longitudinal plane of the vehicle shell, ensuring that the upper end of the outer shell C is a certain distance from the waterline during the vehicle's stoppage and waiting for recovery, and preventing water from entering the inner cavity of the cable winding device B.

[0020] On the other hand, the present invention also provides a cable winding and unwinding method for the above-mentioned pneumatic cable winding and unwinding device, comprising the following steps: Step 1: Inflate; Connect the air inlet E21 of the control solenoid valve E2 to the air inlet E23, and inflate from the air inlet E23. Compressed air enters the gas cylinder E1 in sequence through the air inlet E21, the first air pipe E3, and the air outlet E11. Step 2: Lock the air; disconnect the air inlet E21 of the control solenoid valve E2 from the air filling port E23, and seal the air filling port E23 with a special plug; the compressed air will be locked and stored in the gas cylinder E1; Step 3: Deployment; Before the vehicle I performs the mission, pull buoy A and cable F out of the device, and wind cable F and buoy A into winch H1; start winch H1 to release cable F from winch H1, and hoist vehicle I to the sea surface, detaching buoy A and cable F from winch H1; or partially pull buoy A and cable F out of the device, fix cable F at the end of buoy A to the deployment platform H gantry H2, start motor B7 to release cable F from the cable winding device B, and at the same time hoist vehicle I to the sea surface, detaching buoy A and cable F from deployment platform H gantry H2; Step 4: Reel in the cable; Start motor B7 to reel in cable F into cable reel device B and buoy A into outer casing C; Step 5: Casting the cable; After the mission is completed, the vehicle I rises and floats on the sea surface. The air inlet E21 and outlet E22 of the control solenoid valve E2 are connected. Compressed air from the gas cylinder E1 enters the ejection chamber D rapidly through the air inlet E11, the first air pipe E3, the air inlet E21, the outlet E22, the second air pipe E4, and the quick-connect connector E5. The pressure in the ejection chamber D rises rapidly, generating thrust on the bottom surface of buoy A. When the pressure in the ejection chamber D accumulates to a sufficient value, the steel ball A22 compresses the spring A23 and disengages from the positioning annular groove C16. After buoy A accelerates through the axial length of the second sealing hole C15, it ejects buoy A and the driving cable F obliquely upward. Since the density of the buoyant material A3 is less than that of water, and the density of buoy A is also less than that of water, and at the same time, the stable structure of buoy A with its center of buoyancy higher and its center of mass lower ensures that buoy A floats on the sea surface in a vertical posture after being ejected. Step 6: Docking; The UAV J carrying the permanent magnet J1 or the docking equipment automatically docks with the docking ring A4 of buoy A; the buoy A is accurately and quickly captured, enabling the underwater vehicle to moor in complex sea conditions and establishing a physical connection between the vehicle I and the deployment platform H; the winch H1 of the deployment platform H is used to retrieve the cable F and retrieve the cable F into the winch H1; or the motor B7 is started to retrieve the cable F into the cable reeling device B; or the motor B7 and the winch H1 are started simultaneously to retrieve the cable F into the cable reeling device B and the winch H1; the vehicle I is pulled closer to the deployment platform H; Step 7: Recover the aircraft; use the winch H1 on the deployment platform H to retrieve cable F and retrieve cable F into the winch H1; or start motor B7 to retrieve cable F into the cable reeling device B; or start motor B7 and winch H1 simultaneously to retrieve cable F into the cable reeling device B and winch H1; lift the aircraft I onto the deployment platform H.

[0021] In summary, the present invention is applicable to the pneumatic cable deployment and retrieval device for underwater vehicles and has the following advantages: 1. This device has both the function of suspending the fabric for the aircraft and the function of retrieving the aircraft. It is suitable for the protection of the aircraft throughout the entire working process. It is a versatile device that can "solve problems". In addition, this device uses a winch on the deployment platform to retrieve or release the cable; or a cable reeling device to retrieve or release the cable; or a winch and a cable reeling device to retrieve or release the cable in both directions at the same time. It has multiple retrieval or release modes, making it flexible to use and adaptable to a variety of operating scenarios.

[0022] 2. This invention adjusts the compression of the spring and the force applied to the steel ball by rotating the adjusting screw, thereby adjusting the starting pressure of the ejection chamber to launch the buoy, thus controlling the ejection distance of the buoy; on the other hand, this invention can also control the ejection distance of the buoy by adjusting the pre-stored compressed air pressure in the compressed air storage chamber, realizing adjustable and controllable ejection distance and diversifying the means of adjusting the buoy ejection distance.

[0023] 3. This invention uses a drone or docking equipment carrying a permanent magnet to automatically dock with a buoy, enabling underwater vehicles to moor in complex sea conditions and establishing a physical connection between the vehicle and the deployment platform; it can achieve precise and rapid capture, as well as the purpose of "product replacing human".

[0024] 4. This device adopts a structural layout in which the direction of cable throwing is perpendicular to the direction of cable reeling, making the cable less prone to knotting and twisting, and making cable throwing and reeling smoother.

[0025] 5. This device adopts a structure in which the solenoid valve and control are integrated into the cable winding device, which has the advantages of compact structure, high degree of integration, small space occupation, and convenient installation and layout of aircraft.

[0026] 6. This device adopts a multi-layer sealing structure to fully ensure the safety of the vehicle and equipment; the device adopts a structure in which the direction of the cable throwing is at a certain angle to the longitudinal plane of the vehicle, so that after the buoy is launched, it falls away from the vehicle, which fully ensures the safety of the vehicle and equipment.

[0027] 7. This invention is derived from a full consideration of the dangers and complexities of marine recovery operations, combined with practical experience in marine operations. It has a simple and reliable structure and low cost. Attached Figure Description

[0028] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the structure of the pneumatic cable take-up and release device according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the buoy structure of the pneumatic cable deployment and retrieval device according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the buoy seat structure of the pneumatic cable deployment and retrieval device according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the buoyancy material structure of the pneumatic cable deployment and retrieval device according to an embodiment of the present invention; Figure 5 for Figure 2 Enlarged view of part I in the image; Figure 6 for Figure 3 Enlarged view of part II in the image; Figure 7 This is a schematic diagram of the mooring post structure of the pneumatic cable retraction and deployment device according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the cable winding device structure of the pneumatic cable winding and unwinding device according to an embodiment of the present invention; Figure 9 This is a schematic diagram of the cable reel base structure of the pneumatic cable reeling device according to an embodiment of the present invention; Figure 10 This is a schematic diagram of the end cap structure of the pneumatic cable take-up and take-down device according to an embodiment of the present invention; Figure 11 This is a schematic diagram of the rotating shaft structure of the pneumatic cable take-up and release device according to an embodiment of the present invention; Figure 12 This is a schematic diagram of the outer shell structure of the pneumatic cable take-up and take-down device according to an embodiment of the present invention; Figure 13 This is a schematic diagram of the air source and control unit of the pneumatic cable take-up and take-up device according to an embodiment of the present invention; Figure 14 This is a schematic diagram of the installation of the pneumatic cable deployment and take-up device on a spacecraft according to an embodiment of the present invention; Figure 15 This is a schematic diagram of the aircraft hull structure of the pneumatic cable deployment and retrieval device according to an embodiment of the present invention; Figure 16 This is a diagram showing the working position relationship of the pneumatic cable winding and unwinding device according to an embodiment of the present invention.

[0030] In the diagram, A-buoy, B-reeling device, C-outer shell, D-ejection chamber, E-air source and control unit, F-cable, G-vehicle hull, H-deployment platform, I-vehicle, J-UAV, A1-buoy seat, A2-positioning damping assembly, A3-buoyancy material, A4-docking ring, A5-first sealing ring, A6-mooring post, A11-body seat, A12-inner ring, A13-outer ring, A14-reinforcing rib, A15-positioning rib, A16-positioning damping mounting hole, A17-first screw hole, A18-second screw hole, A19-first sealing groove, A21-screw sleeve, A22-steel ball, A23-compression spring, A24-adjusting screw. A31 - Butt mounting hole, A32 - First fastening hole, A33 - Reverse cone, A161 - Screw hole for threaded sleeve, A162 - Compression spring hole, A163 - Adjusting screw hole, A61 - Cable post flange, A62 - Second fastening hole, A63 - Straight section, A64 - Conical section, A65 - First sealing shaft, A66 - First cable tethering hole, B1 - Cable reel seat, B2 - Second sealing ring, B3 - Third sealing ring, B4 - Fourth sealing ring, B5 - End cap, B6 - Rotating shaft, B7 - Motor, B8 - Fifth sealing ring, B11 - Upper flange, B12 - Connecting post, B13 - Cable cavity, B111 - Third fastening hole, B112 - Second sealing groove, B113 - Conical hole, B114 - Straight hole, B115 - Third sealing groove, B116 - Air inlet, B131 - End plate, B132 -Side wall, B133-First sealing hole, B134-Fourth sealing groove, B135-Motor boss, B136-Air passage boss, B137-Fifth sealing groove, B138-Third screw hole, B51-Fifth fastening hole, B52-Shaft hole, B61-Second sealing shaft, B62-Square hole end, B63-Rotating shaft end, B64-Second cable tethering hole, B65-First end plate, B66-Second end plate, C1-Body seat, C2-Sixth sealing ring, C11-Body flange, C12-Sixth fastening hole, C13-Sixth sealing groove, C14-Inverted conical hole, C15-Second sealing hole, C16-Positioning annular groove, C17-Fourth screw hole, E1-Gas cylinder, E2-Solenoid valve, E3-First air pipe, E4-Second air pipe, E5-Quick connector, E11-Ventilation port E21 - Air inlet, E22 - Air outlet, E23 - Air filling port, G1 - Third sealing hole, G2 - Fifth screw hole, H1 - Winch, H2 - Hanger, J1 - Permanent magnet. Detailed Implementation

[0031] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0032] It should be noted that, unless otherwise specified, the following embodiments and features can be combined with each other; and, based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0033] It should be noted that various aspects of the embodiments described below are within the scope of the appended claims. It is obvious that the aspects described herein can be embodied in many forms, and any particular structure and / or function described herein is merely illustrative. Based on this disclosure, those skilled in the art will understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects set forth herein can be used to implement the device and / or practice the method. Additionally, this device and / or method can be implemented using structures and / or functionalities other than one or more of the aspects set forth herein.

[0034] This invention provides a pneumatic cable deployment and retrieval device suitable for underwater vehicles, such as... Figure 1 As shown, the device includes a buoy A, a cable reeling device B, a housing C, a launch chamber D, an air source and control unit E, and a cable F. The buoy A is installed inside the housing C. The bottom of the housing C is sealed and fixedly connected to the cable reeling device B. The bottom of the buoy A and the top of the cable reeling device B form a sealed launch chamber D. The air source and control unit E is located outside the cable reeling device B and can controllably supply compressed air to the launch chamber D. The cable F is located inside the cable reeling device B, with one end fixedly connected to the buoy A and the other end fixedly connected to the cable reeling device B. Before operation, the air source and control unit E stores a certain amount of compressed air. When retrieving the target, the compressed air enters the launch chamber D and generates thrust on the buoy A, launching the buoy A and the cable F. The buoy A floats a long distance on the water surface. When deploying the target, the cable reeling device B retracts the cable F into its own housing and the buoy A into the housing C.

[0035] like Figure 2 As shown, in the pneumatic cable deployment and retrieval device of the present invention, buoy A includes a buoy seat A1, a positioning damping assembly A2, a buoyancy material A3, a docking ring A4, a first sealing ring A5, and a mooring post A6. Wherein, as... Figure 3As shown, the buoy seat A1 is a rotating body composed of a main body A11 and a coaxial inner ring A12 and an outer ring A13 disposed at the bottom of the main body A11. Multiple radially arranged reinforcing ribs A14 are provided between the inner ring A12 and the outer ring A13 to improve the compressive strength of the buoy seat A1 and reduce its mass. Multiple radially evenly distributed positioning ribs A15 are provided between the inner ring A12 and the outer ring A13. Each positioning rib A15 has a radially arranged positioning damping mounting hole A16, and the positioning damping assembly A2 is disposed within the positioning damping mounting hole A16. The upper end of the main body A11 of the buoy seat A1 has multiple circumferentially evenly distributed non-penetrating first screw holes A17, and the lower end of the main body A11 has multiple circumferentially evenly distributed non-penetrating second screw holes A18. An annular first sealing groove A19 is provided on the outer circumference of the main body A11, and a first sealing ring A5 is disposed within the first sealing groove A19. Figure 4 As shown, the buoyancy material A3 is a rotating inverted cone A33, wider at the top and narrower at the bottom, which improves the automatic centering capability of buoy A during cable retrieval. A docking mounting hole A31 is provided at the top, and a disc-shaped docking ring A4 is installed inside the docking mounting hole A31. Multiple first fastening holes A32 are evenly distributed along the circumference at the bottom of the buoyancy material A3, and the first fastening holes A32 match the first screw holes A17. For example... Figure 7 As shown, the mooring post A6 is a rotating body, and from top to bottom, it is provided with a mooring post flange A61, a straight section A63, a tapered section A64 (larger at the top and smaller at the bottom), and a first sealing shaft A65. The mooring post flange A61 is provided with multiple second fastening holes A62 evenly distributed along the circumference. The second fastening holes A62 match the second screw holes A18. The mooring post A6 has a first mooring hole A66 inside, which is fixedly connected to one end of the cable F. The tapered section A64 (larger at the top and smaller at the bottom) improves the automatic centering capability of the buoy A during the cable retrieval process.

[0036] In the pneumatic cable deployment and retrieval device of this invention, the buoyancy material A3 is made of glass microspheres bonded to epoxy resin, and its surface is coated with polyurea elastomer; this buoyancy material has a low density (density can reach 400 kg / m³). 2 It features high pressure resistance, low water absorption, etc.; ensuring that buoy A has positive buoyancy, and that buoy A floats on the water surface after being ejected; buoyancy material A3 is set on the top of buoy A, with the center of buoyancy of buoy A at the top and the center of mass at the bottom, ensuring the vertical attitude of buoy A.

[0037] In the pneumatic cable deployment and retrieval device of this invention, the docking ring A4 is made of permanent magnet (neodymium iron boron NdFeB35). The permanent magnet carried by the UAV or docking equipment automatically docks with the docking ring A4 of the buoy A, completing the precise and rapid capture of the buoy A, realizing the mooring of the underwater vehicle in complex sea conditions, and establishing a physical connection between the vehicle and the deployment platform.

[0038] like Figure 5As shown, in the pneumatic cable deployment and retrieval device of the present invention, the positioning damping group A2 is a retractable and positionable clamping component, including a threaded sleeve A21, a steel ball A22, a compression spring A23, and an adjusting screw A24. The threaded sleeve A21 is an externally threaded rotating body with a conical step in its inner cavity. The steel ball A22 is installed in the inner cavity of the threaded sleeve A21 and contacts the conical step of the threaded sleeve A21. The conical step of the threaded sleeve A21 ensures that the steel ball A22 protrudes from the front end face of the threaded sleeve A21 while preventing the steel ball A22 from falling out of the conical step. One end of the compression spring A23 contacts the steel ball A22, and the other end contacts the adjusting screw A24. By rotating the adjusting screw A24, the compression of the compression spring A23 and the force applied to the steel ball A22 can be adjusted, thereby adjusting the starting pressure of the ejection buoy A in the ejection chamber D, and thus controlling the ejection distance of the buoy A. Figure 6 As shown, the positioning damping mounting hole A16 is provided on the positioning rib A15 of the buoy seat A1. Along the radial direction of the buoy seat A1, from the outside to the inside, there are threaded sleeve hole A161, spring hole A162 and adjusting screw hole A163. The threaded sleeve A21 is installed in the threaded sleeve hole A161, the steel ball A22 and the spring A23 are installed in the spring hole A162, and the adjusting screw A24 is installed in the adjusting screw hole A163.

[0039] like Figure 8 As shown, in the pneumatic cable winding and unwinding device of the present invention, the cable winding device B includes a cable winding base B1, a second sealing ring B2, a third sealing ring B3, a fourth sealing ring B4, an end cap B5, a rotating shaft B6, a motor B7, and a fifth sealing ring B8. Figure 9As shown, the cable reel base B1 is provided with a rotating upper flange B11, a rotating connecting column B12, and a rotating cable cavity B13 arranged sequentially from top to bottom. The rotation axes of the upper flange B11 and the connecting column B12 are collinear, and the rotation axes of the upper flange B11, the connecting column B12, and the cable cavity B13 are perpendicular to each other and intersect. The upper flange B11 is a rotating body with multiple steps. Multiple third fastening holes B111 are evenly distributed around the circumference on the outer step, and annular third fastening holes B111 are provided on the outer circle of the inner step. The second sealing groove B112 contains a first sealing ring A5. An air inlet B116 is provided on the upper flange B11 outside the connecting column B12. A hole penetrating the cable cavity B13 is provided at the axis of the upper flange B11. This hole, from top to bottom, includes a tapered hole B113 (larger at the top, smaller at the bottom) and a straight hole B114. An annular third sealing groove B115 is provided on the straight hole B114, and a third sealing ring B5 is provided within the third sealing groove B115. 3. The ejection chamber D is sealed by the third sealing groove B115, the third sealing ring B3, and the first sealing shaft A65. The conical hole B113 matches the conical section A64. The cable cavity B13 is a rotating body surrounded by the end plate B131 and the side wall B132. The first sealing hole B133 is provided at the axial position of the end plate B131. The first sealing hole B133 is provided with an annular fourth sealing groove B134. The fifth sealing ring B8 is provided in the fourth sealing groove B134. A motor boss B135 is provided on the outer side of B131, and a motor B7 is installed on the motor boss B135. A pneumatic passage boss B136 is provided on the outer side of the end plate B131, and a pneumatic source and control unit E is installed on the pneumatic passage boss B136. An annular fifth sealing groove B137 and multiple circumferentially distributed third screw holes B138 are provided on the outer side of the fifth sealing groove B137. A fourth sealing ring B4 is provided in the fifth sealing groove B137. Figure 10 As shown, the end cap B5 is a rotating body, with multiple fifth fastening holes B51 evenly distributed along the circumference on its end face. The fifth fastening holes B51 match the third screw holes B138. A non-penetrating shaft hole B52 is provided at the axis. The fifth sealing groove B137, the fourth sealing ring B4, and the end face of the end cap B5 achieve sealing of the inner cavity of the cable winding device B. Figure 11As shown, the rotating shaft B6 is a rotating body, and from one end to the other, it is sequentially provided with a second sealing shaft B61, a second end plate B66, a first end plate B65, and a rotating shaft end B63. The second sealing shaft B61 matches the first sealing hole B133. The second sealing shaft B61, the first sealing hole B133, and the fifth sealing ring B8 achieve sealing of the inner cavity of the cable winding device B. The rotating shaft end B63 matches the shaft hole B52. One end of the rotating shaft B6 is provided with a square hole end B62. The square hole end B62 is matched with the output shaft of motor B7. Motor B7 is a non-self-locking motor that can drive shaft B6 to rotate, and can also rotate with shaft B6. When the cable is retracted, the output shaft of motor B7 rotates and drives shaft B6 to rotate, thus retracting the cable. When the cable is released, since motor B7 is a non-self-locking motor, motor B7 can rotate with shaft B6 without obstruction. A second cable-tying hole B64 is provided between the second end plate B66 and the first end plate B65 of shaft B6. The other end of the cable F is fixed to the second cable-tying hole B64. The cable F is spirally wound between the second end plate B66 and the first end plate B65 from the inside to the outside.

[0040] like Figure 12 As shown, in the pneumatic cable retraction device of the present invention, the outer shell C includes a body seat C1 and a sixth sealing ring C2; wherein, the body seat C1 is a hollow rotating body, and the outer surface is provided with a body flange C11 and a plurality of annular sixth sealing grooves C13 from top to bottom, and the inner cavity is provided with an inverted conical hole C14 (larger at the top and smaller at the bottom) and a second sealing hole C15 from top to bottom, and a semi-circular positioning annular groove C16 is provided on the second sealing hole C15; the bottom end face of the body seat C1 is provided with a plurality of fourth screw holes C17 evenly distributed along the circumference, and the body flange C11 is provided with a plurality of sixth fastening holes C12 evenly distributed along the circumference; wherein, the sixth sealing ring C2 is provided in the sixth sealing groove C13, and the fourth screw hole C17 and the first sealing ring C12 are connected to the sixth sealing ring C13. The screw hole A17 is matched, the inverted conical hole C14 is matched with the inverted conical hole A33, and the second sealing hole C15, the first sealing ring A5 and the first sealing groove A19 achieve the sealing of the ejection chamber D, ensuring that the cable F does not get wet and the displacement of the aircraft is not lost during the navigation and operation of the aircraft; the positioning annular groove C16 is matched with the steel ball A22, and the steel ball A22 is inserted into the positioning annular groove C16 to achieve the positioning of the buoy A in the axial position; when the aircraft needs to drop the cable, compressed air enters the ejection chamber D and due to the damping effect of the positioning damping group A2, the pressure in the ejection chamber D accumulates to a sufficient pressure value, the steel ball A22 compresses the compression spring A23 and disengages from the positioning annular groove C16, and the buoy A is ejected further and higher under sufficient pressure.

[0041] like Figure 13As shown, in the pneumatic cable retraction device of the present invention, the air source and control unit E includes an air cylinder E1, a solenoid valve E2, a first air pipe E3, a second air pipe E4, and a quick-connect connector E5; the air cylinder E1 and the solenoid valve E2 are installed on the air passage boss B136; the air cylinder E1 is a spherical air cylinder for storing compressed air and is provided with an air inlet E11; the solenoid valve E2 is a three-way solenoid valve and is provided with an air inlet E21, an air outlet E22, and an air filling port E23; one end of the first air pipe E3 is connected to the air inlet E21, and the other end is connected to the air outlet E11; one end of the second air pipe E4 is connected to the air outlet E22, and the other end is connected to the quick-connect connector E5, which is installed on the air inlet B116; the air filling port E23 is used to replenish the compressed air in the air cylinder E1.

[0042] In the pneumatic cable retraction device of the present invention, the cable F is made of Kevlar rope, which has the characteristics of high load-bearing capacity and high flexibility.

[0043] like Figure 1 As shown, in the pneumatic cable retraction device of the present invention, the ejection cavity D is formed by the bottom surface of the main body seat A11, the inner surface of the inner ring A12, and the top surface of the upper flange B11.

[0044] like Figure 14 As shown, the pneumatic cable deployment and retrieval device of the present invention is mounted on the hull G of the aircraft. Figure 15 As shown, the aircraft hull G is provided with a third sealing hole G1 and a plurality of fifth screw holes G2 evenly distributed along the circumference; the third sealing hole G1, the sixth sealing groove C13 and the sixth sealing ring C2 realize the sealing between the device and the inner cavity of the aircraft; the fifth screw holes G2 are matched with the sixth fastening holes C12.

[0045] In the pneumatic cable deployment and retrieval device of the present invention, the angle between the axis of the third sealing hole G1 and the longitudinal plane of the vehicle shell G is 5° to 10°. Setting an angle deviating from the longitudinal plane of the vehicle shell serves two purposes: firstly, to ensure the safety of the vehicle and prevent the launched buoy A from hitting and damaging it after falling; secondly, to ensure that the launched buoy A is as far away from the vehicle as possible, making it easier for the UAV or docking equipment to capture the buoy A; and thirdly, to set an angle that is not too large deviating from the longitudinal plane of the vehicle shell, ensuring that the upper end of the outer shell C is a certain distance from the waterline during the vehicle's stoppage and waiting for recovery, and preventing water from entering the inner cavity of the cable winding device B.

[0046] On the other hand, the present invention also provides a cable winding and unwinding method for the above-mentioned pneumatic cable winding and unwinding device, such as... Figure 16 As shown, it includes the following steps: Step 1: Inflation. Connect the air inlet E21 of the control solenoid valve E2 to the inflation port E23, and inflate from the inflation port E23. Compressed air enters the gas cylinder E1 in sequence through the air inlet E21, the first air pipe E3, and the air vent E11.

[0047] Step 2: Lock the air. Disconnect the air inlet E21 of the control solenoid valve E2 from the air filling port E23, and seal the air filling port E23 with a special plug; the compressed air will be locked and stored in the gas cylinder E1.

[0048] Step 3: Deployment. Before the vehicle I performs the mission, pull buoy A and cable F out of the device, and wind cable F and buoy A into winch H1; start winch H1 to release cable F from winch H1, and hoist vehicle I to the sea surface, detaching buoy A and cable F from winch H1; or partially pull buoy A and cable F out of the device, fix cable F at the end of buoy A to the deployment platform H gantry H2, start motor B7 to release cable F from the cable winding device B, and simultaneously hoist vehicle I to the sea surface, detaching buoy A and cable F from deployment platform H gantry H2.

[0049] Step 4: Reeling in the cable. Start motor B7 to reel in cable F into cable reeling device B and buoy A into outer casing C.

[0050] Step 5: Casting the cable. After the mission is completed, the vehicle I rises and floats on the sea surface. The air inlet E21 and outlet E22 of the control solenoid valve E2 are connected. Compressed air from the gas cylinder E1 enters the ejection chamber D rapidly through the vent E11, the first air pipe E3, the air inlet E21, the outlet E22, the second air pipe E4, and the quick-connect connector E5. The pressure in the ejection chamber D rises rapidly, generating thrust on the bottom of the buoy A. When the pressure in the ejection chamber D accumulates to a sufficient value, the steel ball A22 compresses the spring A23 and disengages from the positioning annular groove C16. After the buoy A accelerates through the axial length of the second sealing hole C15, it ejects the buoy A and the driving cable F obliquely upward. Since the density of the buoyant material A3 is less than that of water, and the density of the buoy A is also less than that of water, and at the same time, the stable structure of the buoy A with its center of buoyancy higher and its center of mass lower ensures that the ejected buoy A floats on the sea surface in a vertical posture.

[0051] Step 6: Docking. The UAV J carrying the permanent magnet J1 or the docking equipment automatically docks with the docking ring A4 of buoy A; buoy A is accurately and quickly captured, enabling the underwater vehicle to moor in complex sea conditions and establishing a physical connection between the vehicle I and the deployment platform H; the winch H1 of the deployment platform H is used to retrieve the cable F and bring it into the winch H1; or motor B7 is started to retrieve the cable F into the cable reeling device B; or motor B7 and winch H1 are started simultaneously to retrieve the cable F into both the cable reeling device B and winch H1; the vehicle I is then pulled closer to the deployment platform H.

[0052] Step 7: Recover the aircraft. Use the winch H1 on the deployment platform H to retrieve cable F and retrieve cable F into the winch H1; or start motor B7 to retrieve cable F into the cable reeling device B; or start motor B7 and winch H1 simultaneously to retrieve cable F into the cable reeling device B and winch H1; lift the aircraft I onto the deployment platform H.

[0053] The above description is only a partial embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A pneumatic cable deployment and retrieval device suitable for underwater vehicles, the device comprising a buoy (A), a housing (C), and a cable (F), characterized in that, The device also includes a cable winding device (B), an ejection chamber (D), and an air source and control unit (E); wherein: The inner cavity of the outer shell (C) is equipped with a buoy (A). The bottom of the outer shell (C) is sealed and fixedly connected to the cable winding device (B). The bottom of the buoy (A) and the top of the cable winding device (B) form a sealed ejection cavity (D). The air source and control unit (E) is located outside the cable winding device (B) and can controllably supply compressed air to the ejection cavity (D). The cable (F) is located in the inner cavity of the cable winding device (B). One end of the cable (F) is fixedly connected to the buoy (A) and the other end is fixedly connected to the cable winding device (B). Before the device is put into operation, the air source and control unit (E) stores a certain amount of compressed air. When the target is recovered, the compressed air enters the ejection chamber (D) and generates thrust on the buoy (A), causing the buoy (A) to be ejected along with the cable (F). The buoy (A) floats on the water surface. When the target is deployed, the cable winding device (B) retracts the cable (F) into its interior and retracts the buoy (A) into the outer shell (C) cavity. The buoy (A) includes a buoy base (A1), a positioning damping assembly (A2), a buoyancy material (A3), a docking ring (A4), a first sealing ring (A5), and a mooring post (A6); wherein: The buoy seat (A1) is a rotating body consisting of a main body (A11) and a coaxial inner ring (A12) and an outer ring (A13) disposed at the bottom of the main body (A11). Multiple radially arranged reinforcing ribs (A14) are provided between the inner ring (A12) and the outer ring (A13). Multiple radially evenly distributed positioning ribs (A15) are provided between the inner ring (A12) and the outer ring (A13), and each positioning rib (A15) is provided with a radially arranged positioning damping mounting hole (A16). The positioning damping assembly (A2) is disposed within the positioning damping mounting hole (A16). Multiple non-penetrating first screw holes (A17) are provided at the upper end of the main body (A11) of the buoy seat (A1). The lower end of the body base (A11) is provided with multiple non-penetrating second screw holes (A18) evenly distributed along the circumference. An annular first sealing groove (A19) is provided on the outer circumference of the body base (A11), and a first sealing ring (A5) is provided within the first sealing groove (A19). The buoyancy material (A3) is a rotating inverted cone (A33) shape, wider at the top and narrower at the bottom, with a mating mounting hole (A31) at the top. A disc-shaped docking ring (A4) is installed inside the docking mounting hole (A31). The bottom of the buoyancy material (A3) is provided with multiple first fastening holes (A32) evenly distributed around the circumference. The first fastening holes (A32) match the first screw holes (A17). The mooring post (A6) is a rotating body, and from top to bottom, it is provided with a mooring post flange (A61), a straight section (A63), a tapered section (A64) that is larger at the top and smaller at the bottom, and a first sealing shaft (A65). The mooring post flange (A61) is provided with multiple second fastening holes (A62) evenly distributed around the circumference. The second fastening holes (A62) match the second screw holes (A18). The mooring post (A6) is provided with a first mooring hole (A66) inside, and the first mooring hole (A66) is fixedly connected to one end of the cable (F).

2. The pneumatic cable retraction and deployment device according to claim 1, characterized in that, The buoyancy material (A3) is made of glass microspheres bonded to epoxy resin material, and its surface is coated with polyurea elastomer.

3. The pneumatic cable retraction and deployment device according to claim 2, characterized in that, The docking ring (A4) is made of permanent magnet.

4. The pneumatic cable retraction and deployment device according to claim 3, characterized in that, The positioning damping assembly (A2) is a resiliently extendable and positionable locking component, comprising a threaded sleeve (A21), a steel ball (A22), a compression spring (A23), and an adjusting screw (A24); wherein: The sleeve (A21) has an external thread and a rotating body with a tapered step in its inner cavity. The steel ball (A22) is installed in the inner cavity of the sleeve (A21) and contacts the tapered step of the sleeve (A21). One end of the compression spring (A23) contacts the steel ball (A22), and the other end contacts the adjusting screw (A24). The positioning damping mounting hole (A16) is provided on the positioning rib (A15) of the buoy seat (A1). Along the radial direction of the buoy seat (A1), from the outside to the inside, there are sleeve threaded holes (A161), compression spring holes (A162), and adjusting screw holes (A163). The sleeve (A21) is installed in the sleeve threaded hole (A161), the steel ball (A22) and the compression spring (A23) are installed in the compression spring hole (A162), and the adjusting screw (A24) is installed in the adjusting screw hole (A163).

5. The pneumatic cable retraction and deployment device according to claim 4, characterized in that, The cable winding device (B) includes a cable winding base (B1), a second sealing ring (B2), a third sealing ring (B3), a fourth sealing ring (B4), an end cap (B5), a rotating shaft (B6), a motor (B7), and a fifth sealing ring (B8); wherein: The cable reel (B1) is provided with a rotating upper flange (B11), a rotating connecting column (B12), and a rotating cable cavity (B13) arranged sequentially from top to bottom. The rotation axes of the upper flange (B11) and the connecting column (B12) are collinear, and the rotation axes of the upper flange (B11), the connecting column (B12), and the cable cavity (B13) are perpendicular to each other and intersect. The upper flange (B11) is a multi-step rotating body. Multiple third fastening holes (B111) are provided on the outer step, evenly distributed around the circumference. An annular second sealing groove (B112) is provided on the outer circle of the inner step. A seventh sealing ring is provided in the second sealing groove (B112). The connecting column (B11) is... 12) A through air inlet (B116) is provided on the outer upper flange (B11). A through hole for the cable cavity (B13) is provided at the axis of the upper flange (B11). This hole includes, from top to bottom, a tapered hole (B113) that is larger at the top and smaller at the bottom, and a straight hole (B114). An annular third sealing groove (B115) is provided on the straight hole (B114). A third sealing ring (B3) is provided in the third sealing groove (B115). The third sealing groove (B115), the third sealing ring (B3), and the first sealing shaft (A65) are used to seal the ejection cavity (D). The tapered hole (B113) matches the tapered section (A64); cable cavity (B13) is a rotating body enclosed by an end plate (B131) and a side wall (B132). A first sealing hole (B133) is provided at the axial position of the end plate (B131). An annular fourth sealing groove (B134) is provided within the first sealing hole (B133), and a fifth sealing ring (B8) is provided within the fourth sealing groove (B134). A motor boss (B135) is provided on the outer side of the end plate (B131), and a motor (B7) is mounted on the motor boss (B135). An air passage boss (B136) is provided on the outer side of the end plate (B131), and an air source and control unit (E) are mounted on the air passage boss (B136). The cable cavity (B13... The open end face of the cable winding device (B) is provided with an annular fifth sealing groove (B137) and a plurality of third screw holes (B138) evenly distributed around the circumference outside the fifth sealing groove (B137). A fourth sealing ring (B4) is provided in the fifth sealing groove (B137). The end cover (B5) is a rotating body, and a plurality of fifth fastening holes (B51) evenly distributed around the circumference are provided on the end face. The fifth fastening holes (B51) match the third screw holes (B138). A non-penetrating shaft hole (B52) is provided at the axis. The fifth sealing groove (B137), the fourth sealing ring (B4) and the end face of the end cover (B5) achieve the sealing of the inner cavity of the cable winding device (B).The rotating shaft (B6) is a rotating body, and from one end to the other, it is sequentially provided with a second sealing shaft (B61), a second end plate (B66), a first end plate (B65), and a rotating shaft end (B63). The second sealing shaft (B61) matches the first sealing hole (B133). The second sealing shaft (B61), the first sealing hole (B133), and the fifth sealing ring (B8) achieve sealing of the inner cavity of the cable winding device (B). The rotating shaft end (B63) matches the shaft hole (B52). One end of the rotating shaft (B6) is provided with a square hole end (B62). The square hole end (B62) matches the output shaft of the motor (B7), and the motor (B7) drives the rotating shaft (B6) to rotate. A second cable-tying hole (B64) is provided between the second end plate (B66) and the first end plate (B65) of the rotating shaft (B6). The other end of the cable (F) is fixed to the second cable-tying hole (B64), and the cable (F) is spirally wound between the second end plate (B66) and the first end plate (B65) from the inside to the outside.

6. The pneumatic cable reeling and unwinding device according to claim 5, characterized in that, The outer casing (C) includes a body base (C1) and a sixth sealing ring (C2); wherein: The body base (C1) is a hollow rotating body. Its outer surface, from top to bottom, is provided with a body flange (C11) and multiple annular sixth sealing grooves (C13). The inner cavity, from top to bottom, is provided with an inverted conical hole (C14) (larger at the top, smaller at the bottom) and a second sealing hole (C15). A semi-circular positioning annular groove (C16) is provided on the second sealing hole (C15). The bottom end face of the body base (C1) is provided with multiple fourth screw holes (C17) evenly distributed along the circumference. The body flange (C11) is provided with multiple sixth fastening holes (C12) evenly distributed along the circumference. The sixth sealing groove... (C13) A sixth sealing ring (C2) is provided in the groove. The fourth screw hole (C17) matches the first screw hole (A17). The inverted conical hole (C14) matches the inverted cone (A33). The second sealing hole (C15), the first sealing ring (A5), and the first sealing groove (A19) seal the ejection chamber (D) to ensure that the cable (F) does not get wet or lose the displacement of the aircraft during navigation and operation. The positioning annular groove (C16) matches the steel ball (A22). The steel ball (A22) is inserted into the positioning annular groove (C16) to achieve the axial positioning of the buoy (A).

7. The pneumatic cable retraction and deployment device according to claim 6, characterized in that, The gas source and control unit (E) includes a gas cylinder (E1), a solenoid valve (E2), a first gas pipe (E3), a second gas pipe (E4), and a quick-connect fitting (E5); wherein: The gas cylinder (E1) and solenoid valve (E2) are installed on the gas path boss (B136); the gas cylinder (E1) is a spherical gas cylinder for storing compressed air and is provided with a vent (E11); the solenoid valve (E2) is a three-way solenoid valve and is provided with an inlet (E21), an outlet (E22), and a filling port (E23); one end of the first air pipe (E3) is connected to the inlet (E21), and the other end is connected to the vent (E11); one end of the second air pipe (E4) is connected to the outlet (E22), and the other end is connected to the quick-connect connector (E5), which is installed on the inlet (B116); the filling port (E23) is used to replenish the compressed air in the gas cylinder (E1).

8. The pneumatic cable reeling and unwinding device according to claim 7, characterized in that, The cable (F) is made of Kevlar rope.

9. The pneumatic cable reeling and unwinding device according to claim 7, characterized in that, The ejection cavity (D) is formed by the bottom surface of the main body seat (A11), the inner surface of the inner ring (A12), and the top surface of the upper flange (B11).

10. The pneumatic cable retraction and deployment device according to claim 9, characterized in that, The target of the pneumatic cable retraction device is an underwater vehicle. The pneumatic cable retraction device is installed on the vehicle's hull (G). The vehicle's hull (G) is provided with a third sealing hole (G1) and multiple fifth screw holes (G2) evenly distributed along the circumference. The third sealing hole (G1), the sixth sealing groove (C13), and the sixth sealing ring (C2) achieve the sealing between the pneumatic cable retraction device and the vehicle's inner cavity. The fifth screw holes (G2) are matched with the sixth fastening hole (C12).

11. The pneumatic cable retraction and deployment device according to claim 10, characterized in that, The angle between the axis of the third sealing hole (G1) and the longitudinal plane of the vehicle hull (G) is 5° to 10°.

12. The cable winding and unwinding method of the pneumatic cable winding and unwinding device according to any one of claims 7 to 11, characterized in that, Includes the following steps; Step 1: Inflate; Connect the air inlet (E21) of the control solenoid valve (E2) to the air inlet (E23), and inflate from the air inlet (E23). Compressed air enters the gas cylinder (E1) in sequence through the air inlet (E21), the first air pipe (E3), and the air vent (E11). Step 2: Lock the air; disconnect the air inlet (E21) and the air filling port (E23) of the control solenoid valve (E2), and seal the air filling port (E23) with a special plug; the compressed air will be locked and stored in the gas cylinder (E1); Step 3: Deployment; Before the vehicle performs the mission, pull the buoy (A) and cable (F) out of the device, and wind the cable (F) and buoy (A) into the winch of the deployment platform; start the winch to release the cable (F) from the winch, and hoist the vehicle to the sea surface, and the buoy (A) and cable (F) detach from the winch; or partially pull the buoy (A) and cable (F) out of the device, fix the cable (F) at the end of the buoy (A) to the deployment platform gantry, start the motor (B7) and release the cable (F) in the cable winding device (B), and at the same time hoist the vehicle to the sea surface, and the buoy (A) and cable (F) detach from the deployment platform gantry; Step 4: Reel in the cable; Start the motor (B7) to reel the cable (F) into the reel device (B) and the buoy (A) into the housing (C); Step 5: Casting the cable; After the mission is completed, the vehicle rises and floats on the sea surface. The air inlet (E21) and outlet (E22) of the control solenoid valve (E2) are connected. Compressed air from the gas cylinder (E1) rapidly enters the ejection chamber (D) sequentially through the vent (E11), the first air pipe (E3), the air inlet (E21), the outlet (E22), the second air pipe (E4), and the quick-connect fitting (E5). The pressure inside the ejection chamber (D) rises rapidly, generating thrust on the bottom of the buoy (A). When the pressure accumulates to a sufficient value, the steel ball (A22) compresses the spring (A23) and detaches from the positioning annular groove (C16). After the buoy (A) accelerates through the axial length of the second sealing hole (C15), it propels the buoy (A) and the cable (F) upwards at an angle. Since the density of the buoyant material (A3) is less than that of water, and the density of the buoy (A) is also less than that of water, the stable structure of the buoy (A) with its center of buoyancy higher and its center of mass lower ensures that the buoy (A) floats on the sea surface in a vertical posture after being launched. Step 6: Docking; Automatically dock with the docking ring (A4) of buoy (A) using a drone or docking equipment carrying a permanent magnet; Complete the precise and rapid capture of buoy (A), enabling the underwater vehicle to moor in complex sea conditions and establishing a physical connection between the vehicle and the deployment platform; Use the winch of the deployment platform to retrieve the cable (F) and retrieve the cable (F) into the winch; Or start the motor (B7) to retrieve the cable (F) into the cable reeling device (B); Or start the motor (B7) and the winch simultaneously to retrieve the cable (F) into the cable reeling device (B) and the winch; Pull the vehicle closer to the deployment platform; Step 7: Recover the aircraft; use the winch on the deployment platform to retrieve the cable (F) and retrieve the cable (F) into the winch; or start the motor (B7) to retrieve the cable (F) into the cable reeling device (B); or start the motor (B7) and the winch simultaneously to retrieve the cable (F) into the cable reeling device (B) and the winch; lift the aircraft onto the deployment platform.

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