Slideway retracting and releasing device of underwater towed body without bow towing point

Abstract

The invention relates to a slideway folding and unfolding device for a non-bow towing point underwater towed body, and the slideway folding and unfolding device comprises a track assembly which is used for sliding, locking and positioning a horizontal pushing trolley and supporting an inclined slideway assembly; the horizontal pushing trolley is used for translational motion of the inclined slide way assembly and the underwater towed body / UUV; the inclined slideway assembly is used for providing a sliding channel and a storage space for the underwater towed body / UUV and sliding and dragging the underwater towed body / UUV to a storage position in a cable dragging mode; the inclined slide way assembly comprises a slide way which is arranged in an inclined mode, and a guide cover assembly is installed at the tail end of the inclined slide way assembly and used for forced guiding of a non-bow towing point underwater towed body / UUV. The problem that a non-bow towing point underwater towed body / UUV is difficult to recycle and enter a slide way is solved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of underwater towed bodies, and particularly relates to a slide launching and recovering device for a non-bow tow point underwater towed body. BACKGROUND

[0002] The recovery form of an elongated underwater towed body / UUV is usually to design a tow point at the bow of the towed body / UUV, and through towing the bow of the underwater towed body / UUV, the direction of the towing force applied to the towed body / UUV is consistent with the direction of the slide, so that the bow of the underwater towed body / UUV can smoothly sail above the slide to complete the launching and recovering operation. In the aspect of slide recovery of UUV, the launching and recovering systems of the Bluefin-12AUV of the Bluefin Robotics Company of the United States, the HUGIN UUV of the Kongsberg Company of Norway and the ISE Explore UUV of Canada all adopt the inclined slide launching and recovering scheme. This kind of launching and recovering scheme requires that the UUV has the capability of capture docking and the UUV has a bow tow point, and the bow of the UUV is towed into the slide through the bow tow point in the recovering process. In the aspect of slide recovery of underwater towed bodies, the ECA T18-M, AQS-24 towed sonar load and THALSS towed sonar load of France all adopt the form of bow tow point towing, but in the scheme, the towed body is in a vertical posture when the platform is stationary, and the demand for horizontal operation of the towed body in a static state cannot be met, so there is an urgent need for a slide launching and recovering scheme for an elongated underwater towed body / UUV with a non-bow tow point.

[0003] The static launching and recovering process and the dynamic towing process of the elongated underwater towed body / UUV with a non-bow tow point depend on the non-bow tow point (i.e., the back tow point). The back position tow point causes the underwater towed body / UUV to move around the back tow point in the static or dynamic launching and recovering process, and the bow of the underwater towed body / UUV is not towed, so how to align and sail into the slide becomes a difficult problem. Compared with the underwater towed body / UUV with a bow tow point, the key technology and difficulty of the underwater towed body / UUV with a non-bow tow point in the slide launching and recovering scheme is how the bow of the underwater towed body / UUV enters the slide and how to avoid the wear and tear and structural interference of the tow cable on the slide launching and recovering device. Therefore, the traditional slide launching and recovering technology does not have the recovery capability for the underwater towed body / UUV with a non-bow tow point. SUMMARY

[0004] The technical problem to be solved by the application is to provide a slide launching and recovering device for a non-bow tow point underwater towed body, which solves the difficult problem that the underwater towed body / UUV with a non-bow tow point is difficult to enter the slide in the recovering process.

[0005] The technical solution of the application is to provide a slide launching and recovering device for a non-bow tow point underwater towed body, which comprises

[0006] Track assembly for sliding, locking and positioning of the flat car and supporting of the inclined slide assembly;

[0007] Flat car for translation of the inclined slide assembly and underwater towed body / UUV;

[0008] Inclined slide assembly for providing sliding channel and storage space for underwater towed body / UUV, and sliding and towing the underwater towed body / UUV to the storage position by cable towing; the inclined slide assembly comprises an inclined slide, and a guide cover assembly is installed at the end of the inclined slide assembly, and the guide cover assembly is used for positive guidance of the underwater towed body / UUV with a non-bow towing point;

[0009] Swing arm oil cylinder connected between the flat car and the inclined slide assembly;

[0010] Cable position adjusting device adopting an A-frame structure, located at the end of the slide, and the overturning movement thereof is realized by synchronous extension and contraction of two swing arm oil cylinders, the cable position adjusting device further has a tow cable turning wheel at the top, and a telescopic arm oil cylinder is further arranged on the cable position adjusting device and connected with the inclined slide assembly; after the bow of the underwater towed body collides with the guide cover assembly, the cable position adjusting device is overturned upward, the bow of the underwater towed body is lifted and placed above the slide, so that the bow of the underwater towed body is prevented from entering the slide and below the guide cover assembly in the recovery process, and the underwater towed body / UUV with a non-bow towing point is smoothly guided into the slide; the tow cable turning wheel is adjusted in height by the telescopic arm oil cylinder and plays a role in limiting and supporting the tow cable during the towing of the underwater towed body, so as to prevent the tow cable from moving transversely and separating from the tow cable turning wheel and to prevent the tow cable from being interfered by other structures of the slide folding and unfolding device.

[0011] The present application introduces the concept of "cable position adjustment", that is, adjustment of the position and posture of the non-bow towing point underwater towed body / UUV body and connected tow cable, the support point and direction of the tow cable directly affect the stress and posture of the underwater towed body / UUV, and reasonable control of the support point and direction of the tow cable is helpful to the launching and recovery operation of the non-bow towing point underwater towed body / UUV.

[0012] The present application is different from the prior art in that: first, the slide way stowing frame is combined with the A frame, a cable position adjusting device is designed at the end of the conventional slide way stowing frame, the structure of the cable position adjusting device adopts the A frame form, the underwater towed body / UUV with a non-bow tow point is lifted before entering the slide way by reasonably controlling the tow cable support point and direction, the bow movement of the underwater towed body / UUV with a non-bow tow point is limited by the guide cover after entering the guide cover, and the underwater towed body / UUV with a non-bow tow point is guided to enter above the slide way. The scheme can effectively solve the technical problem that the underwater towed body / UUV with a non-bow tow point is difficult to enter above the conventional slide way. Second, the new slide way stowing system has the stowing capacity for the slender underwater towed body with a non-bow tow point and the UUV. Third, the slide way stowing form has the cable position adjusting device, the cable position adjusting device provides a support point for the tow cable of the underwater towed body / UUV with a non-bow tow point, so that the tow cable is always above the slide way and is isolated from the slide way, and the structural interference between the tow cable and the slide way stowing device is avoided.

[0013] Preferably, the track assembly comprises an inclined track, a first proximity switch arranged at the upper end of the track, a rack arranged at both sides of the track, and a track base arranged below the track.

[0014] Preferably, the flat car comprises a car frame, a steering wheel, a traction winch, a second proximity switch, and a flat pushing power assembly. The steering wheel is rotatably installed at the top end of the car frame. The rear end of the swing arm cylinder is installed on the side surface of the top end of the car frame. The traction winch is arranged at the middle of the front face of the car frame. The second proximity switch is arranged at one side of the bottom end of the car frame. The flat pushing power assembly has two groups and is arranged at both sides of the car frame. The flat pushing power assembly is in meshing transmission with the rack to realize the translation of the flat car, the inclined slide way assembly, and the underwater towed body / UUV, and to push the underwater towed body / UUV out of or back to the ship deck.

[0015] Preferably, the inclined slide way assembly further comprises a limiting roller arranged at both sides of the slide way and a follow-up car arranged in the central channel of the slide way. The follow-up car is only used in the UUV stowing process. In the recovery process, the follow-up car runs to the end of the slide way by gravity, limits the UUV bow cable in the central area at the end of the slide way, and enables the UUV bow to smoothly enter the guide range of the guide cover assembly. As the UUV slides above the slide way, the UUV bow pushes the follow-up car and runs to the front end of the slide way.

[0016] Preferably, trapezoidal plates are arranged at both sides of the slide way. The top of the trapezoidal plate is connected with the drive shaft of the swing arm cylinder. A slide way bracket is arranged below the slide way. A supporting roller is rotatably connected to the slide way bracket. Limiting blocks are arranged outside the end of the slide way.

[0017] Preferably, the guide cover assembly comprises a guide cover. A viscous damper is arranged at the bottom of the guide cover. In the stowing and collision process, the bow of the underwater towed body / UUV collides with the guide cover, which plays a buffering and shock-absorbing role and reduces the impact damage of the bow to the end of the slide way.

[0018] As preferred, the cable position adjusting device comprises two left and right arranged supporting arms, the lower ends of the supporting arms are respectively provided with supporting arm supports, the upper ends of the supporting arms are close to each other in the direction of the top end of the slide and are rotationally connected with the rotating shaft of the tow cable turning wheel, the telescopic arm oil cylinder is connected to the middle lower part of the supporting arm and extends to the slide bracket along the direction of the slide, the driving shaft at the front end of the telescopic arm oil cylinder is movably connected with the supporting arm, and the rear end of the telescopic arm oil cylinder is provided with an oil cylinder support which is fixed on the slide bracket.

[0019] As preferred, the slide is a conformal slide matched with the underwater tow body / UUV.

[0020] As preferred, the outer edge of the guide cover adopts an everted circular arc structure.

[0021] As preferred, the flat push trolley further comprises rollers and side wheels, the rollers are arranged at the lower parts of the two sides of the trolley frame and are in rolling cooperation with the tracks, and the side wheels are arranged at the lower parts of the side surfaces of the flat push trolley and are in cooperation with the outer tracks to limit the left and right movement of the flat push trolley.

[0022] Compared with the prior art, the present application has the following advantages:

[0023] The present application combines the advantages of the conventional slide launching and recovering frame in quickly launching and recovering the underwater tow body and UUV, and first proposes a slide launching and recovering form combining the conventional slide launching and recovering frame with the cable position adjusting device in the form of A frame, solves the problem that the underwater tow body / UUV with a non-bow tow point is difficult to enter the slide during the recovery process, and has the following advantages:

[0024] Firstly, the slide launching and recovering device has a cable position adjusting device, for the large and slender underwater tow body / UUV with a non-bow tow point, the cable position adjusting device can control the support point and direction of the tow cable, so that the underwater tow body / UUV with a non-bow tow point can perform a bow lifting movement before entering the slide, and after entering the guide cover, the guide cover can limit the bow movement of the underwater tow body / UUV with a non-bow tow point and guide it to enter above the slide. This scheme can effectively solve the technical problem that the underwater tow body / UUV with a non-bow tow point is difficult to enter above the slide in the conventional slide form.

[0025] Secondly, the conformal surface of the new slide launching and recovering device is designed in a modular manner, and has the capability of launching and storing underwater tow bodies and UUVs with various specifications and slender non-bow tow points.

[0026] Thirdly, the slide launching and recovering form has a cable position adjusting device, which provides a support point for the tow cable of the underwater tow body / UUV with a non-bow tow point, so that the tow cable is always above the slide and isolated from the slide, avoiding the structural interference between the tow cable and the slide launching and recovering device. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of the present application.

[0028] Figure 2 Structure diagram of track assembly of the present application.

[0029] Figure 3 Structure diagram of flat car of the present application.

[0030] Figure 4 Structure diagram of inclined slide assembly of the present application.

[0031] Figure 5 Structure diagram of cable position adjusting device of the present application. DETAILED DESCRIPTION

[0032] The present application will be further described in conjunction with the specific embodiments and the accompanying drawings:

[0033] The existing slide recovery technology is commonly used for the recovery of slender bow tow point towed body / UUV, and the recovery process is to connect the bow of underwater towed body / UUV through a cable and tow the underwater towed body / UUV into the slide through a winch. However, for underwater towed bodies with non-bow tow points, the bow attitude of the towed body changes under complex sea conditions due to the influence of ocean currents and waves, and the direction of the bow is uncontrollable and difficult to enter the slide. Therefore, the traditional slide recovery technology does not have the recovery capability for underwater towed bodies / UUV with non-bow tow points. The purpose of the present application is to solve the problem of how to make the bow of large-scale slender underwater towed bodies / UUV with non-bow tow points enter the upper part of the slide and smoothly enter the slide.

[0034] The slide recovery device involved in the present scheme has the functions of recovering and releasing underwater towed bodies and UUVs with non-bow tow points, and the main components of the slide recovery system are as shown in Figure 1 The track assembly 1, the flat car 2, the swing arm oil cylinder 3, the inclined slide assembly 4, and the cable position adjusting device 5, wherein,

[0035] The track assembly 1 is used for the sliding, locking and positioning of the flat car 2 and the support of the inclined slide assembly 4;

[0036] The flat car 2 is used for the translational motion of the inclined slide assembly 4 and the underwater towed body / UUV;

[0037] The inclined slide assembly 4 provides a sliding channel and a storage space for the underwater towed body / UUV, and slides and drags the underwater towed body / UUV to the storage position through the cable dragging mode; the inclined slide assembly 4 includes an inclined slide, and a guide cover assembly is installed at the end of the inclined slide assembly 4, which is used for the positive guidance of the underwater towed body / UUV with non-bow tow points;

[0038] The swing arm oil cylinder 3 is symmetrically arranged on the left and right sides and is connected between the flat car 2 and the inclined slide assembly 4;

[0039] The cable position adjusting device 5 adopts an A-frame structure and is located at the end of the slide. The overturning movement thereof is realized by synchronous extension and contraction of the two swing arm oil cylinders 3. The cable position adjusting device 5 is further provided with a tow cable steering wheel 51 at the top thereof. The cable position adjusting device 5 is further provided with a telescopic arm oil cylinder 54. The telescopic arm oil cylinder 54 is further connected with the inclined slide assembly 4. When the bow of the underwater towed body collides with the guide cover assembly, the cable position adjusting device 5 is overturned upward, the bow of the towed body is pulled and placed at the end of the slide, the bow of the towed body is prevented from entering the slide and the guide cover assembly in the recovery process, and the underwater towed body is smoothly put into the slide. The height of the tow cable steering wheel 51 is adjusted by the telescopic arm oil cylinder 54, and the tow cable steering wheel 51 plays a limiting and supporting role on the tow cable in the underwater towed body towing process, so as to prevent the tow cable from moving transversely and separating from the tow cable steering wheel and to prevent the tow cable from being interfered by other structures of the slide folding device.

[0040] As shown in Figure 2 , the track assembly comprises a horizontally arranged track 12, a first proximity switch 11 arranged at the upper end of the track 12, a rack 13 arranged on both sides of the track, and a track base 14 arranged below the track. The first proximity switch 11 is used to sense whether the flat car is pushed to the end of the track.

[0041] As shown in Figure 3 , the flat car 2 comprises a car frame 21, a steering wheel 22, a traction winch 23, a second proximity switch 24 and a flat pushing power assembly 27. The steering wheel 22 is rotatably installed at the top end of the car frame 21. The rear end of the swing arm oil cylinder 3 is installed on the side of the top end of the car frame 21 through a support. The traction winch 23 is arranged at the middle of the front of the car frame 21. The second proximity switch 24 is arranged at one side of the bottom end of the car frame 21. The flat pushing power assembly 27 has two groups and is arranged on both sides of the car frame 21. The flat pushing power assembly 27 is driven by engaging with the rack 13 to realize the translation of the flat car 2, the inclined slide assembly 4 and the underwater towed body / UUV, and to push the underwater towed body / UUV out of or back to the deck of the ship.

[0042] As an embodiment, the flat car 2 further comprises rollers 26 and side wheels 25. The rollers 26 are arranged at the lower part of both sides of the car frame 21 and are in rolling cooperation with the track 12. The side wheels 25 are arranged at the lower part of the side of the flat car and are in cooperation with the outer track 12 to limit the left and right movement of the flat car and avoid collision with the track.

[0043] As shown in Figure 4 , the inclined slide assembly 4 further comprises limiting rollers 41 arranged on both sides of the slide and a follower trolley 42 arranged in the central channel of the slide. The follower trolley 42 is only used in the UUV launching and recovering process. In the recovery process, the follower trolley 42 drives to the end of the slide by relying on the weight, limits the UUV bow cable in the central area at the end of the slide, enables the UUV bow to smoothly enter the guide range of the guide cover assembly, and drives to the front end of the slide together with the UUV bow as the UUV slides above the slide.

[0044] As an embodiment, trapezoidal plates 43 are arranged on both sides of the slide, the top of the trapezoidal plates 43 is connected with the driving shaft of the swing arm oil cylinder 3, a slide bracket 45 is arranged below the slide, a supporting roller 44 is further rotatably connected on the slide bracket 45, and a limiting block 46 is further arranged outside the end of the slide.

[0045] As an embodiment, the guide cover assembly comprises a guide cover 47, a viscous damper is mounted at the bottom of the guide cover 47, the bow of the underwater towed body / UUV collides with the guide cover 47 in the process of retraction and release, and the guide cover 47 plays a role of buffering and shock absorption, thereby reducing the impact damage of the bow to the end of the slide. The end of the slide adopts a guide cover type positive guide structure, and the damper below the guide cover plays a role of impact buffering and shock absorption. In the retraction process, the limiting block can limit the movement posture of the underwater towed body / UUV with a non-bow tow point, so that the bow points to the slide channel and smoothly guides the underwater towed body / UUV to enter above the slide. In the embodiment, the outer edge of the guide cover adopts an outward turning arc structure, which can effectively reduce the damage to the towed body.

[0046] As shown in Figure 5 the cable position adjusting device 5 comprises two left and right arranged supporting arms 52, the lower ends of the supporting arms 52 are respectively provided with supporting arm supports 53, the upper ends of the supporting arms 52 are close to each other in the direction of the top end of the slide and are rotatably connected with the rotating shaft of the tow cable turning wheel 51, the telescopic arm oil cylinder 54 is connected to the middle lower part of the supporting arm and extends to the slide bracket 45 along the direction of the slide, the driving shaft at the front end of the telescopic arm oil cylinder 54 is movably connected with the supporting arm 52, and the rear end of the telescopic arm oil cylinder 54 is provided with an oil cylinder support 55, which is fixed on the slide bracket 45.

[0047] As an embodiment, the slide is a conformal slide matched with the underwater towed body / UUV. The slide retraction device has the ability of retraction and storage of the underwater towed body / UUV with a non-bow tow point. By replacing the conformal slide structure, the retraction and storage of underwater towed bodies and UUVs with various specifications and non-bow tow points can be realized.

[0048] The present application introduces the concept of "cable position adjustment", that is, the adjustment of the position and posture of the non-bow tow point underwater towed body / UUV body and the connected tow cable. The supporting point and direction of the tow cable directly affect the stress and posture of the underwater towed body / UUV. By reasonably controlling the supporting point and direction of the tow cable, the retraction and release operation of the underwater towed body / UUV with a non-bow tow point can be facilitated.

[0049] The present application combines the slide retraction form with the A-frame form for the first time, and a cable position adjusting device in the form of an A-frame is designed at the end of the slide, which breaks through the difficulty of the bow of the underwater towed body / UUV with a non-bow tow point entering above the slide, and widens the design limit of the bow position of the underwater towed body / UUV tow point when the slide retraction form is used.

[0050] The application can effectively solve the technical problem that the conventional slide form is difficult to enter the upper side of the slide for the non-bow drag point underwater towed body / UUV.

[0051] The conformal surface of the new slide launching and recovering device adopts modular design, and has the launching and recovering storage capacity for various specifications of slender non-bow drag point underwater towed body and UUV.

[0052] The slide launching and recovering form with the cable position adjusting device is provided, the cable position adjusting device provides a fulcrum for the underwater towed body / UUV cable of the non-bow drag point, so that the cable is always above the slide and isolated from the slide, and the structural interference between the cable and the slide launching and recovering device is avoided.

[0053] The above only describes the preferred embodiments of the application, but cannot be understood as a limitation on the claims. Any equivalent process transformation made by using the application description is included in the patent protection range of the application.

Claims

1. A slideway retracting and deploying device for an underwater towing body at a non-forward towing point, characterized in that: The slide retracting device includes Track assembly, used for sliding, locking and positioning of the push trolley and supporting the inclined slide assembly; Push trolley, used for tilting slide assembly and translational movement of underwater towed body / UUV; The inclined slide assembly provides a sliding channel and storage space for the underwater towed vehicle / UUV, and slides and tows the underwater towed vehicle / UUV to the storage location by cable towing. The inclined slide assembly includes an inclined slide, and a guide cover assembly is installed at the end of the inclined slide assembly. The guide cover assembly is used to force the underwater towed vehicle / UUV to straighten at a non-bow towing point. The swing arm cylinder is connected between the push trolley and the inclined slide assembly; The cable position adjustment device adopts an A-frame structure and is located at the end of the slide. Its flipping movement is achieved by the extension and contraction of the swing arm cylinder. A tow cable steering wheel is provided on the top of the cable position adjustment device, and a telescopic arm cylinder is also provided on the cable position adjustment device. The telescopic wall cylinder is also connected to the inclined slide assembly. When the bow of the underwater towing body hits the guide cover assembly, the cable position adjustment device flips upward and tows the bow of the towing body to the end of the slide to prevent the bow of the towing body from driving into the slide and under the guide cover assembly during the recovery process, so that the underwater towing body can enter the slide smoothly. The tow cable steering wheel adjusts its height through the telescopic arm cylinder and plays a role in limiting and supporting the tow cable during the towing of the underwater towing body, preventing the tow cable from moving laterally and separating from the tow cable steering wheel.

2. The slideway retracting and deploying device for the non-forward towing point underwater towing body according to claim 1, characterized in that: The track assembly comprises a track, a first proximity switch arranged at the upper end of the track, racks arranged at both sides of the track and a track base arranged below the track.

3. The slideway retracting and deploying device for the underwater towing body at a non-fore towing point according to claim 2, characterized in that: The push trolley includes a trolley frame, a steering wheel, a traction winch, a second proximity switch and a horizontal propulsion force assembly. The steering wheel is rotatably installed on the top of the trolley frame, the rear end of the swing arm cylinder is installed on the side of the top of the trolley frame, the traction winch is located in the middle of the front of the trolley frame, and the second proximity switch is located on one side of the bottom end of the trolley frame; there are two groups of horizontal propulsion force assemblies, which are respectively arranged on both sides of the trolley frame. Through meshing transmission with the rack, the push trolley and the inclined slide assembly, and the underwater towing body / UUV are translated, and the underwater towing body / UUV is pushed out or retracted to the ship deck.

4. The slideway retracting and deploying device for the non-forward towing point underwater towing body according to claim 1, characterized in that: The inclined slide assembly also includes limiting rollers on both sides of the slide and a follower trolley in the central groove of the slide. The follower trolley is only used for the UUV retrieval and deployment process. During the recovery process, the follower trolley relies on its own weight to travel to the end of the slide, limiting the UUV bow cable to the central area of ​​the slide end, so that the UUV bow can smoothly enter the guidance range of the guide cover assembly. As the UUV slides over the slide, the UUV bow pushes the follower trolley and travels to the front end of the slide together.

5. The slideway retracting and deploying device for the underwater towing body at a non-fore towing point according to claim 4, characterized in that: Trapezoidal plates are provided on both sides of the slide, the top of the trapezoidal plates is connected to the drive shaft of the swing arm cylinder, a slide bracket is provided under the slide, the slide bracket is also rotatably connected to the support roller, and a limit block is also provided on the outside of the end of the slide.

6. The slideway retracting and deploying device for the underwater towing body at a non-fore towing point according to claim 1, characterized in that: The guide cover assembly includes a guide cover with a viscous damper installed at the bottom of the guide cover. During the retraction and release collision process, the bow of the underwater towed body / UUV collides with the guide cover, which plays a buffering and shock-absorbing role and reduces the impact damage between the bow and the end of the slide.

7. The slideway retracting and deploying device for the underwater towing body at a non-fore towing point according to claim 5, characterized in that: The cable position adjustment device includes two left and right support arms, each with an arm support at its lower end, and the upper ends of the support arms approach each other toward the top of the slide and are rotatably connected to the rotating shaft of the towing cable steering wheel. The telescopic arm cylinder is connected to the middle and lower part of the support arm and extends along the slide direction to the slide bracket. The drive shaft at the front end of the telescopic arm cylinder is movably connected to the support arm, and the rear end of the telescopic wall cylinder is equipped with a cylinder support, which is fixed on the slide bracket.

8. The slideway retracting and deploying device for the underwater towing body at a non-fore towing point according to claim 1, characterized in that: The slide is a conformal slide adapted to the underwater towed body / UUV.

9. The slideway retracting and deploying device for the underwater towing body at a non-fore towing point according to claim 2, characterized in that: The push trolley also includes rollers and side wheels. The rollers are arranged at the lower part of both sides of the trolley frame, and the rollers roll with the tracks. The side wheels are arranged at the lower part of the side of the push trolley and cooperate with the outer tracks to limit the left and right movement of the push trolley.

10. The slideway retracting and deploying device for the underwater towing body at a non-fore towing point according to claim 6, characterized in that: The outer edge of the guide cover adopts an outward-turned arc structure.

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