Navigation body multi-degree-of-freedom underwater launching device

Abstract

The invention provides a multi-degree-of-freedom underwater launching device for a navigation body, and belongs to the technical field of scale model tests of cross-medium navigation bodies. The difficult problems that a traditional underwater launching device is insufficient in flexibility, complex in structure, poor in environmental adaptability and the like are solved, and a test means is provided for research on the underwater multi-degree-of-freedom motion characteristic problem of cross-medium water outlet under the multi-degree-of-freedom motion condition. The device comprises a pneumatic launching device, a two-degree-of-freedom holder device and a horizontal sliding table device, the multi-degree-of-freedom motion condition simulation of the single-degree-of-freedom or multi-degree-of-freedom superposed carrying platform of the attack angle, the pitch angle, the rolling angle and the heaving motion can be realized, and meanwhile, the inclined launching test of the underwater navigation body can be met. The underwater multi-degree-of-freedom motion simulation method is mainly applied to the underwater multi-degree-of-freedom motion simulation problem under the cross-medium navigation body scaling model launching condition.

Description

Technical Field

[0001] This invention belongs to the field of cross-medium scaled-down model testing technology, and in particular relates to a multi-degree-of-freedom underwater launch device for a vehicle. Background Technology

[0002] In a real launch environment, the emerging launch vehicle will inevitably be subject to initial motion disturbances from the launch platform and complex currents encountered during underwater movement. The lateral entrainment motion caused by the launch platform's motion, i.e., the angle of attack, has the most significant impact on the launch vehicle, directly determining its trajectory in the water and its attitude upon emergence. The angle of attack plays a decisive role in the development of the return jet direction of the appendage tail cavitation, thus affecting the evolution of the tail cavitation. As the angle of attack increases, the dispersion of the emergence attitude angle also increases accordingly.

[0003] Furthermore, the six degrees of freedom motion of the platform is also a key factor affecting the attitude of the launch vehicle, especially the pitch and roll motions, which cannot be ignored during simulated launches. All of these factors directly affect the stability of multi-degree-of-freedom motion. For research on the launch vehicle's emergence from the water, scaled-down model testing is a primary means of design and optimization during equipment development. Establishing scaled-down launch test conditions that consider the real-world multi-degree-of-freedom motion of the platform, and conducting in-depth research on its motion patterns under complex interference conditions, has significant engineering application value for cross-medium motion stability design and optimization.

[0004] Given the current research background and technological level, scaled-down tests of launch vehicles based on static platforms have been widely conducted, laying the foundation for understanding their cross-medium mechanisms. However, these tests fail to simulate real launch initial conditions, particularly neglecting the influence of angle of attack and key degrees of freedom such as platform pitch and roll. This leads to significant deviations between the observed cavitation evolution characteristics and multi-degree-of-freedom motion patterns and real-world conditions, greatly limiting their reference value for load reduction and stability enhancement design. Summary of the Invention

[0005] In view of this, to address the problem of simulating underwater multi-degree-of-freedom motion considering the angle of attack, roll angle, and platform pitch angle simultaneously, and based on the feasibility of quasi-static processing where the platform motion period is much longer than the launch time, this invention proposes a multi-degree-of-freedom underwater launch device for application in decompression tests of existing scaled-down models. The core innovation of this device lies in its ability to simulate multi-degree-of-freedom entanglement motion under the combined effects of angle of attack, platform pitch angle, and roll angle, thereby providing more realistic initial and boundary conditions for the study of underwater vehicles entering and exiting the water.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a multi-degree-of-freedom underwater launching device for a vehicle, comprising a launching device, a pitch motion adjustment four-bar linkage, a yaw motion adjustment crank-slider mechanism, and a horizontal slide; the pitch motion adjustment four-bar linkage is used to adjust the pitch angle of the launching device, the yaw motion adjustment crank-slider mechanism is mounted on the pitch motion adjustment four-bar linkage for adjusting the yaw angle of the launching device, the yaw motion adjustment crank-slider mechanism is mounted on the horizontal slide, and the horizontal slide is used to change the degree of freedom of the yaw motion adjustment crank-slider mechanism, thereby changing the translational degree of freedom of the launching device.

[0007] Furthermore, the launching device includes a launch compartment and a cylinder, with the vehicle located inside the launch compartment. The cylinder pushes the cylinder piston rod to launch the vehicle.

[0008] Furthermore, the launch capsule is covered with a membrane and fixed by a membrane support frame connector. A waterproof servo and a micro switch are installed outside the membrane. During launch, the launch vehicle triggers the micro switch, the waterproof servo starts, and tears the membrane. The membrane support frame connector automatically springs open under the action of a torsion spring.

[0009] Furthermore, the pitch motion adjustment four-bar linkage includes a DC brushless motor, a P-axis connecting rod, and a P-axis drive rod. One end of the P-axis connecting rod is connected to the gimbal support plate of the launching device, and the other end is connected to the P-axis drive rod. The other end of the P-axis drive rod is connected to the central shaft inside the DC brushless motor.

[0010] Furthermore, the yaw motion adjusting crank-slider mechanism includes an upper limiter for the Y-axis bearing, an upper pressure plate for the Y-axis bearing, a thin-walled crossed roller bearing, an outer lower pressure member for the Y-axis bearing, an inner lower pressure member for the Y-axis bearing, a Y-axis to P-axis assembly, a Y-axis connecting rod, a Y-axis guide rail, a slider, a drag chain fixing U-shaped aluminum, a trapezoidal screw nut fixing member, a nut, a No. 1 ball screw, and a yaw device motor; The motor mounting plate of the pitch motion adjustment four-bar linkage is fixed on the Y-axis to P-axis assembly. The Y-axis to P-axis assembly is sequentially connected to the upper limit of the Y-axis bearing, the upper pressure plate of the Y-axis bearing, the thin-walled crossed roller bearing, the lower outer pressure component of the Y-axis bearing, and the lower inner pressure component of the Y-axis bearing, and is fixed together on the slide plate. One end of the Y-axis connecting rod is connected to the Y-axis to P-axis assembly and the upper limit of the Y-axis bearing, and the other end is connected to the trapezoidal lead screw nut fixing component. A slider is installed below the trapezoidal lead screw nut fixing component, and the slider slides on the Y-axis guide rail. One end of the No. 1 ball screw is connected to the nut, and the other end is connected to the yaw device motor.

[0011] Furthermore, the thin-walled crossed roller bearing has an internal structure in which the rollers are arranged vertically at 90°, and spacers or isolation blocks are configured between the rollers.

[0012] Furthermore, the horizontal slide table includes a square support side standard type screw support seat, a slide table screw nut, a No. 2 ball screw, a slide table guide rail mounting aluminum square, a slide table guide rail, a slide table plate, a square fixed side standard type screw support seat, and a slide table motor. The slide table screw nut is fixed below the slide table plate. One end of the No. 2 ball screw is connected to the standard screw support seat on the square support side, and the other end is connected to the standard screw support seat on the square fixed side. The slide table guide rail is installed on the slide table guide rail mounting aluminum square, and the slider is installed... Furthermore, the horizontal slide table also includes a slide table longitudinal connecting reinforcing plate, a slide table longitudinal connecting reinforcing plate distance compensation component, a drag chain fixing U-shaped aluminum, a lead screw connecting aluminum square, a slide table longitudinal connecting reinforcing plate motor fixing plate, a slide table guide rail chain, a slide table slider distance increasing component, a transverse reinforcing aluminum square, a Y-axis base fixing aluminum square longitudinal and a longitudinal reinforcing aluminum square. The transversely reinforcing aluminum square and the Y-axis base fixing aluminum square are longitudinally fixed below the slide plate. The slide screw nut is longitudinally connected to the Y-axis base fixing aluminum square through the screw nut fixing plate. A slide slider distance extender is installed between the slide plate and the slider. The slide guide rail mounting aluminum square is connected to the slide longitudinal connecting reinforcing plate, the slide longitudinal connecting reinforcing plate distance compensation piece, the longitudinal reinforcing aluminum square, and the slide longitudinal connecting reinforcing plate motor fixing plate. A transverse and longitudinal connecting reinforcing plate is installed in the middle of the slide guide rail mounting aluminum square for reinforcement.

[0013] Furthermore, the horizontal slide table also includes a horizontal and vertical connecting fixed seat pad, a horizontal and vertical connecting reinforcing plate, and a slide table connecting seat pressure member. The horizontal and vertical connecting fixed seat pad and the lead screw connecting aluminum square are fixed below the standard lead screw support seat on the square support side. The slide table connecting seat pressure member is placed in the middle of the horizontal and vertical connecting fixed seat pad and the slide table guide rail mounting aluminum square.

[0014] A method for using a multi-degree-of-freedom underwater launching device for a vehicle specifically includes the following steps: Step 1: First, install the launching device in the water tank or reservoir, fill the water tank or reservoir to the specified height, raise the horizontal slide to the top, and then install the launch vehicle into the launch tube; Step 2: Control the air compressor to inject high-pressure gas into the gas tank, close the valve of the gas tank, and lower the horizontal slide to the bottom; Step 3: Before starting the test, turn on the supplementary light and use the control console to control the pitch motion adjustment four-bar mechanism, the yaw motion adjustment crank-slider mechanism and the horizontal slide to change the pitch angle, yaw angle and initial launch position of the launch vehicle to meet different launch conditions. At the same time as the launch vehicle is launched, the camera is started so that the high-speed camera can capture the entire process of the launch vehicle leaving the tube and emerging from the water. Step 4: After the test, use a fishing net to retrieve the vehicle, then raise the horizontal slide to the top to reload the vehicle for the next test. Compared with the prior art, the beneficial effects of the multi-degree-of-freedom underwater launching device for a vehicle body described in this invention are: 1. This invention can effectively simulate the launch test of a cross-medium vehicle that takes into account the effects of pitch angle and yaw angle. It can realize the study of single factors of pitch angle and yaw angle as well as the study of multiple factors superimposed, and better simulate the underwater ballistic characteristics of a cross-medium vehicle under scaled test conditions.

[0015] 2. The pitch motion adjustment four-bar mechanism and yaw motion crank-slider mechanism of the present invention can be matched with the length of the active rod and connecting rod according to the requirements, which can effectively realize the multi-range angle adjustment function and realize multi-angle water discharge simulation.

[0016] 3. The launching device, pitch motion adjustment four-bar mechanism, yaw motion crank-slider mechanism and horizontal slide of the present invention can be independently processed and are easy to install. The design fully considers the overall assembly and test operation issues, and has strong multi-scale adaptability and flexibility.

[0017] 4. This invention is compatible with model tests under different scaling conditions, especially for exploring the ballistic similarity of multi-scale cross-medium vehicles with similar pitch and yaw angles.

[0018] 5. This invention facilitates quantitative research on underwater ballistic tests of a vehicle under the influence of initial pitch and yaw angles, and explores the evolution law of cavitation development under multi-degree-of-freedom motion environments with angular factors. Attached Figure Description

[0019] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a left view of the model structure of a multi-degree-of-freedom underwater launching device according to the present invention; Figure 2 This is a top view of the model structure of a multi-degree-of-freedom underwater launching device according to the present invention; Figure 3 This is an exploded view of the isometric side of a multi-degree-of-freedom underwater launching device according to the present invention. Figure 4 This is a schematic diagram of the pitch motion adjustment four-bar linkage described in this invention; Figure 5 This is a schematic diagram of the P-axis linkage of the four-bar linkage described in this invention; Figure 6 This is a schematic diagram of the P-axis driving link of the four-bar linkage described in this invention; Figure 7 This is a schematic diagram of the flange bearing used for connecting the connecting rod and the drive rod according to the present invention; Figure 8 This is a top view of the yaw motion adjusting crank-slider mechanism described in this invention; Figure 9 This is a triaxial view of the yaw motion adjusting crank-slider mechanism described in this invention. Figure 10 This is a schematic diagram of the YAW shaft connecting rod of the crank-slider mechanism described in this invention; Figure 11 This is a schematic diagram of the precision ball screw of the crank-slider mechanism described in this invention; Figure 12 This is a top view of the horizontal slide table described in this invention; Figure 13 This is a triaxial view of the horizontal sliding table described in this invention; In the diagram: 1- Launching device; 2- Pitch adjustment four-bar linkage; 3- Yaw adjustment crank-slider mechanism; 4- Horizontal slide; 1-1-Membrane support frame connector; 1-2-Front launch compartment section; 1-3-Waterproof servo motor; 1-4-First intermediate launch compartment section (with microswitch mounting position); 1-5-Microswitch; 1-6-Launch compartment sealing gasket; 1-7-Second intermediate launch compartment section; 1-8-Rear launch compartment section; 1-9-Board; 1-10-Rear sealing cover; 1-11-Rear launch compartment active seal; 1-12-Cylinder piston rod; 1-13-Board pusher slide; 1-14-Cylinder; 1-15-L-type external thread two-way quick connector; 1-16-Cylinder upper clamping piece; 1-17-L-type cylinder fixing adapter; 1-18-Launch device gimbal side support plate; 1-19-Cylinder bottom cover; 1-20-Adapter block; 1-21-Launch device lower pad; 1-22-Cylinder lower clamping piece. 2-1-Gimbal side connecting outer plate; 2-2-Four-hole adapter; 2-3-Motor mounting plate; 2-4-DC brushless motor; 2-5-Flange bearing; 2-6-P-axis connecting rod; 2-7-P-axis drive rod; 3-1-Y-axis bearing upper restraint; 3-2-Y-axis bearing upper pressure plate; 3-3-Thin-walled crossed roller bearing; 3-4-Y-axis bearing outer lower pressure component; 3-5-Y-axis bearing lower inner pressure component; 3-6-Y-axis to P-axis assembly; 3-7-Y-axis connecting rod; 3-8-Y-axis guide rail; 3-9-Slider; 3-10-Drag chain fixing U-shaped aluminum; 3-11-Trapezoidal screw nut fixing component; 3-12-Nut; 3-13-Screw support seat; 3-14-No. 1 ball screw; 4-1-Longitudinal connecting reinforcement plate of the slide table; 4-2-Distance compensation component of the longitudinal connecting reinforcement plate of the slide table; 4-3-U-shaped aluminum for fixing the drag chain; 4-4-Screw fixing end connecting aluminum square; 4-5-Motor fixing plate of the longitudinal connecting reinforcement plate of the slide table; 4-6-Standard screw support seat on the square support side; 4-7-Slide table screw nut; 4-8-No. 2 ball screw; 4-9-Slide table guide rail chain; 4-10-Horizontal and longitudinal connecting fixing seat pad; 4-1 1-Horizontal and vertical connecting reinforcing plate; 4-12-Longitudinal connecting reinforcing plate of slide table without motor end; 4-13-Pressure-bearing component of slide table connecting seat; 4-14-Aluminum square for slide table guide rail mounting; 4-15-Slide table guide rail; 4-16-Slide table plate; 4-17-Slide table slider distance extender; 4-18-Horizontal reinforcing aluminum square; 4-19-Longitudinal Y-axis base fixing aluminum square; 4-20-Longitudinal reinforcing aluminum square; 4-21-Standard type ball screw support seat with square fixed side. Detailed Implementation

[0020] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the invention. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the drawings, and not all of them. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing specific embodiments only and is not intended to limit the invention.

[0021] See Figure 1-13 This embodiment describes a multi-degree-of-freedom underwater launching device for a vehicle, comprising a launching device 1, a pitch adjustment four-bar linkage 2, a yaw adjustment crank-slider mechanism 3, and a horizontal slide 4. The pitch adjustment four-bar linkage 2 is used to adjust the pitch angle of the launching device 1. The yaw adjustment crank-slider mechanism 3 is mounted on the pitch adjustment four-bar linkage 2 and is used to adjust the yaw angle of the launching device 1. The yaw adjustment crank-slider mechanism 3 is mounted on the horizontal slide 4, and the horizontal slide 4 is used to change the degree of freedom of the yaw adjustment crank-slider mechanism 3, thereby changing the translational degree of freedom of the launching device 1.

[0022] The launching device 1 includes a launching compartment and cylinders 1-14 and their fixing devices. The front half is the launching compartment, and the rear half is cylinders 1-14 and their fixing devices. The vehicle body 1-9 is located inside the launching compartment. Cylinders 1-14 push cylinder piston rods 1-12 to launch the vehicle body 1-9.

[0023] The launch compartment is connected to a gas source. Between the gas source and the launch compartment are pressure regulating valves, pressure reducing valves, and check valves. The pressure reducing valves reduce and stabilize the gas pressure at a fixed value, ensuring a stable gas supply for the regulating valves. The pressure regulating valves set the pressure at the launch tube inlet. The check valves prevent gas in the gas path from affecting the gas cylinder and also prevent the pressure at the launch compartment inlet from being dissipated.

[0024] A two-position three-way solenoid valve is used to regulate the pressure inside the launch chamber. In the launch state, the air source is connected to the air inlet of the launch chamber, and the air pressure inside the launch chamber is the pressure set by the pressure regulating valve. In the non-launch state, the atmosphere is connected to the air inlet of the launch chamber, and the air pressure inside the air inlet and outlet of the launch chamber is the same, which is atmospheric pressure.

[0025] The launch module adopts a four-section modular structure, namely the forward launch module 1-2, the first intermediate launch module (with microswitch mounting position) 1-4, the second intermediate launch module 1-7, and the aft launch module 1-8. The modules are rigidly connected by standard threaded pairs. Rubber sealing gaskets 1-6 are installed between adjacent flange faces, and a compression seal is achieved through axial preload. An annular release groove is machined on the outside of the sealing groove to effectively alleviate the launch resistance of the rotating body under high-pressure gas. The forward and aft modules are equipped with quick-change gas interface ports. The forward launch module 1-2 and the membrane support frame connector 1-1 are designed as two separate parts. The four sets of bracket mounting bases are combined with the aft launch module 1-8 into a single unit, with a 1mm R1mm stress-relieving fillet in the transition area of ​​the base.

[0026] The launch chamber is covered by a membrane and secured by a membrane support frame connector 1-1. A waterproof servo motor 1-3 and a microswitch 1-5 are mounted outside the membrane. The launch chamber's active sealing employs a method where the main external waterproof servo motor 1-3, with an IP68 protection rating, actively tears the membrane. This method is controlled by the microswitch 1-5 triggered by the launch vehicle, resulting in a short membrane-tearing response time. During loading, cylinder 1-14 retracts to form a channel. Before launch, the cylinder extends and forms a watertight fit with the sealing gasket 1-6, utilizing the self-tightening effect of water and the cylinder's own load-bearing capacity. After the launch chamber is properly sealed, during subsequent launches, the launch vehicle 1-9 triggers microswitch 1-5, activating the waterproof servo motor 1-3, tearing the membrane. The membrane support frame connector 1-1 then automatically springs open under the action of a torsion spring. The chamber structure uses a combination of carbon fiber plates and aluminum alloy transition blocks.

[0027] The micro switch 1-5 is fixed by integrating the fixed end cover and the mounting position of the micro switch 1-5 into a single machined part. A micro switch fixing plate extends from the vertical end cover surface and is provided with a pin of the same size as the micro switch mounting hole to restrict the movement of the micro switch on the micro switch fixing plate. At the same time, the movement restriction along the pin axis is also achieved by form-locking. A rectangular groove is reserved on the launch compartment to lock the micro switch 1-5 and the end cover, thereby restricting the movement of the micro switch. A sealing gasket 1-6 is used between the end cover and the launch tube. The sealing ring is pressed by the pre-tightening force of four M3 screws to build a complete waterproof system and simultaneously fix the end cover.

[0028] The rear end of the launch compartment is actively sealed using a rear sealing cover 1-10 and a rear launch compartment active seal 1-11. The air inlet and outlet use pneumatic quick-connect couplings and plastic sealing tape, and dual-state switching is achieved through microcontroller control.

[0029] The launch compartment rear sealing cover 1-10 should include mounting holes and sealing gasket 1-6 mounting positions. The cover has two sets of carbon fiber plate connection holes, each set fitted with four M4 stainless steel head screws. This rear sealing cover is connected to the launch compartment section 1-8 of the launch compartment via M42 threads, and the component is structurally reinforced with reinforcing ribs.

[0030] The launch chamber active seal 1-11 is a cylinder slightly larger than the diameter of the launch chamber but slightly smaller than the outer diameter of the sealing gasket 1-6. This allows it to be compressed against the sealing gasket, achieving a sealing effect. This component is connected to the cylinder piston rod 1-12 by screws, and moves with the piston rod. The component is equipped with splines to restrict circumferential rotational movement. A protruding support post is provided on the end face of the active seal 1-11.

[0031] The launching device cylinder is fixed by fixing the tail end of the cylinder to the L-shaped cylinder fixing adapter 1-17. Support is provided by a set of clamping parts 1-16 and 1-22 in the middle. The lower end clamping part 1-22 of the cylinder and the propulsion slide 1-13 of the launch vehicle are similarly designed, with holes and three plates for connection, mutually increasing strength.

[0032] The pitch adjustment four-bar linkage 2 places the brushless DC motor 2-4 in the area below the launching device 1, lowering the overall center of gravity of the system, and decoupling the pitch motion of the brushless DC motor 2-4 from that of the launching device 1. The transmission mechanism is a parallelogram linkage mechanism (a parallelogram linkage mechanism composed of P-axis link 2-6 and P-axis drive link 2-7) among the four-bar linkage mechanisms.

[0033] The pitch motion adjustment four-bar mechanism 2 includes a gimbal side connecting outer plate 2-1, a four-hole adapter 2-2, a motor fixing plate 2-3, a DC brushless motor 2-4, a flange bearing 2-5, a P-axis connecting rod 2-6, and a P-axis active rod 2-7. The gimbal side connecting outer plate 2-1 is connected to the motor mounting plate 2-3 via a four-hole adapter 2-2. The motor mounting plate 2-3 is connected to the waterproof end caps on both sides of the DC brushless motor 2-4. One end of the P-axis connecting rod 2-6 is connected to the gimbal side support plate 1-18 of the launching device, and the other end is connected to the P-axis drive rod 2-7, both using flange bearings for connection; the other end of the P-axis drive rod 2-7 is connected to the central shaft inside the DC brushless motor 2-4, and is reinforced with a waterproof end cap.

[0034] The motor mounting plate 2-3 serves as the frame of the mechanism, providing support and constraints. The launching device 1, as the driven component, transmits motion through a linkage mechanism. The linkage is made of carbon fiber plate, ensuring structural resistance to deformation while meeting lightweight design requirements. High-precision bearings 2-5 are installed at the rotating joint of the linkage, and optimized bearing tolerances ensure smooth movement of the rotating joint. The pitch axis motor is fixed between the two plates, and its strength is increased through a four-hole adapter 2-2 and tenon-and-mortise joint between the plates.

[0035] The yaw motion adjusting crank-slider mechanism 3 utilizes the self-locking characteristic of the trapezoidal lead screw 4-8 to reduce the influence of water resistance. The crank-slider mechanism achieves the mutual conversion between linear and rotary motion, and the trapezoidal lead screw and nut 4-7 are driven to rotate by an underwater integrated stepper motor, thereby achieving precise control of the mechanism's motion.

[0036] The yaw motion adjusting crank-slider mechanism 3 includes a Y-axis bearing upper limit 3-1, a Y-axis bearing upper pressure plate 3-2, a thin-walled crossed roller bearing 3-3, a Y-axis bearing outer lower pressure component 3-4, a Y-axis bearing lower inner pressure component 3-5, a Y-axis to P-axis assembly 3-6, a Y-axis connecting rod 3-7, a Y-axis guide rail 3-8, a slider 3-9, a drag chain fixing U-shaped aluminum 3-10, a trapezoidal screw nut fixing component 3-11, a nut 3-12, a screw support seat 3-13, a No. 1 ball screw 3-14, a bellows coupling 3-15, and a yaw device motor 3-16; The Y-axis to P-axis assembly 3-6 is connected to the upper limiter 3-1 of the Y-axis bearing, the upper pressure plate 3-2 of the Y-axis bearing, the thin-walled crossed roller bearing 3-3, the lower outer pressure member 3-4 of the Y-axis bearing, and the lower inner pressure member 3-5 of the Y-axis bearing, and is fixed together on the slide plate 4-16. One end of the Y-axis connecting rod 3-7 is connected to the Y-axis to P-axis assembly 3-5 and the upper limiter 3-1 of the Y-axis bearing, and the other end is connected to the trapezoidal screw nut fixing member 3-11. The trapezoidal screw nut fixing member 3-11 has a nut 3-12 installed in the middle and a slider 3-9 installed below it. The slider 3-9 slides on the Y-axis guide rail 3-8. One end of the first ball screw 3-14 is connected to the nut 3-12, and the other end is connected to the bellows coupling 3-15 and the yaw motor 3-16. Both sides of the first ball screw 3-14 are equipped with screw support seats 3-13.

[0037] The yaw motion adjusting crank-slider mechanism 3 uses a thin-walled crossed roller bearing 3-3. The bearing's interior features rollers arranged in a 90° perpendicular cross configuration, with spacers or spacers between the rollers. The inner ring of the bearing is fixed using an aluminum fastener for positioning. The outer ring is connected to the slide plate 4-16 and outer ring clamping members 3-4 and 3-5 to form a combined limiting structure, and is fixed to the mounting base by bolt pre-tightening.

[0038] The output shaft of the yaw device motor 3-16 is connected to the shaft end of the first ball screw 3-14 via a coupling to achieve rigid transmission of rotational motion. The first ball screw 3-14 adopts a "fixed side-support side" combined support method. The fixed side uses angular contact ball bearings to achieve axial and radial constraints, while the support side uses deep groove ball bearings to provide radial support. The bearing housings all adopt existing standard models.

[0039] The main body of the horizontal slide table 4 adopts a grid-shaped support frame structure, placing the core weight-bearing area at the geometric center of the grid structure. The symmetrically distributed quadrilateral frames create a uniform force path, reducing the bending stress of individual aluminum squares and significantly improving the overall load-bearing capacity. In addition to the grid-structured aluminum squares, a horizontally reinforcing aluminum square 4-18 is added to the bottom, forming a rigid support layer with the guide rail mounting surface. Unlike traditional regular-section aluminum square splicing, the node connection uses an asymmetrical cross-section structure. Two aluminum squares are machined with rectangular cross-sections at their intersections, forming an equivalent square cross-section through orthogonal interlocking. This structure has dual advantages: compared to traditional right-angle splicing, the space occupancy at the node is reduced, freeing up space for internal cable routing and transmission component installation; through shear stress analysis in materials mechanics, the effective contact area of ​​the interlocking surface is increased compared to screw connections. Combined with structural adhesive bonding, the shear strength of the node can be improved, forming a rigid rather than hinged mechanical transmission characteristic.

[0040] The horizontal slide table 4 includes a longitudinal connecting reinforcing plate 4-1, a longitudinal connecting reinforcing plate distance compensation component 4-2, a drag chain fixing U-shaped aluminum 4-3, a lead screw connecting aluminum square 4-4, a longitudinal connecting reinforcing plate motor fixing plate 4-5, a square support side standard lead screw support seat 4-6, a slide table lead screw nut 4-7, a No. 2 ball screw 4-8, a slide table guide rail chain 4-9, a transverse and longitudinal connecting fixing seat pad 4-10, a transverse and longitudinal connecting reinforcing plate 4-11, a slide table longitudinal connecting reinforcing plate without motor end 4-12, a slide table connecting seat pressure component 4-13, a slide table guide rail mounting aluminum square 4-14, a slide table guide rail 4-15, a slide table plate 4-16, a slide table slider distance extender 4-17, a transverse reinforcing aluminum square 4-18, a Y-axis base fixing aluminum square longitudinally 4-19, a longitudinal reinforcing aluminum square 4-20, a square fixed side standard lead screw support seat 4-21, and a slide table motor 4-22.

[0041] The transversely reinforcing aluminum square 4-18 and the Y-axis base fixing aluminum square longitudinally 4-19 are fixed below the slide plate 4-16. The slide screw nut 4-7 is connected to the Y-axis base fixing aluminum square longitudinally 4-19 via the screw nut fixing plate. One end of the No. 2 ball screw 4-8 is connected to the square support side standard screw support seat 4-6, and the other end is connected to the square fixed side standard screw support seat 4-21. The transverse and longitudinal connecting fixing seat pad 4-10 and the screw connecting aluminum square 4-4 are fixed below the square support side standard screw support seat 4-6. The transverse and longitudinal connecting fixing seat pad 4-10 and the slide guide rail mounting aluminum square 4-14 are interspersed with the slide connecting seat pressure component 4-13. The screw connecting aluminum square 4-4 and the slide longitudinal connecting reinforcing plate motor fixing plate 4-5 are fixed below the square fixed side standard screw support seat 4-21. The slide rail 4-15 is mounted on the slide rail mounting aluminum square 4-14, and the slider 3-9 is mounted on the slide rail 4-15. A slide slider distance extender 4-17 is installed between the slide plate 4-16 and the slider 3-9. The slide rail mounting aluminum square 4-14 is connected to the slide longitudinal connecting reinforcing plate 4-1, the slide longitudinal connecting reinforcing plate distance compensation component 4-2, the longitudinal reinforcing aluminum square 4-20, and the slide longitudinal connecting reinforcing plate motor fixing plate 4-5. A transverse and longitudinal connecting reinforcing plate 4-11 is installed in the middle of the slide rail mounting aluminum square 4-14 for reinforcement.

[0042] The sliding table translation screw nut 4-7 of the horizontal slide table 4 is fixed by a support method in which the fixed side and the support side work together. When fixing the nut, the structural frame of the nut is used as the support base, and the nut seat is rigidly clamped by two layers of carbon fiber plates and connected to the transversely reinforced aluminum square 4-18.

[0043] The horizontal slide table 4 employs an electric drive system, with a No. 2 ball screw 4-8 used for the transmission mechanism. The screw support uses a "fixed end-support end" combination structure: the square fixed-side standard screw support seat 4-21 is configured with diagonal contact ball bearings to achieve axial bidirectional constraint and radial support; the square support-side standard screw support seat 4-6 uses deep groove ball bearings, providing only radial positioning. The guiding mechanism uses linear guide rail pairs, with the guide rail mounting base directly connected to the grid-shaped aluminum square frame of the slide table base. The slider assembly adopts a four-group equal load distribution scheme, ensuring that the vertical pressure of the upper launching device is evenly transmitted to the aluminum square support frame. All sliders 3-9 are installed close to the main aluminum square support structure, reducing the bending moment of the plate by shortening the lever arm.

[0044] The main body of the horizontal slide table 4 adopts a double-beam aluminum square frame structure. The design length of the aluminum square 4-14 for mounting the slide table guide rail exceeds the guide rail installation area. Reinforcement structure installation interfaces are reserved at the beginning, end, and middle. The overall rigidity can be further improved by welding corner braces or bolting ribs, while providing ample installation space for transmission components such as bearing seats and couplings. To ensure the rigidity of the two long aluminum squares meets the working conditions, reinforcement devices are added at the front and rear ends. A rigid connection unit is formed by a longitudinally reinforcing aluminum square 4-20 with the same cross-section as the main aluminum square and the upper and lower connecting reinforcement plates 4-1, 4-5, and 4-12. The aluminum squares and carbon fiber plates are fixed using a combination of bolt fastening. The intermediate support method uses a transverse and longitudinal connecting reinforcement plate 4-11 in the middle. The plate adopts a honeycomb-type weight-reduction structure to reduce weight while maintaining good bending rigidity. The connecting plate is bolted to the long aluminum squares, forming equidistant support points along the length direction, further suppressing lateral bending deformation of the aluminum squares.

[0045] The connection structure between the fixed end base 4-21 and the support end base 4-16 of the horizontal slide table 4 adopts a composite reinforcement structure system. A slide table connecting seat pressure-bearing component 4-13 is added between the guide rail aluminum square 4-14 and the horizontal and vertical connecting fixed seat pad 4-10 as an auxiliary support component, which can effectively improve the stress concentration effect at the connection point of the original scheme and improve the uniformity of load distribution. Simultaneously, a 3D-printed slide table slider extension nylon component 4-17 is introduced between the slide table plate 4-16 and the slider 3-9. The slide table slider extension component 4-17 is used to solve the installation height difference problem between the slider 3-9 and the slide table plate 4-16; the slider extension nylon component 4-17 is designed to perform extension connection.

[0046] The specific operation process of the multi-degree-of-freedom underwater launching device for a vehicle body described in this invention is as follows: Step 1: First, install the launching device 1 in the water tank or reservoir, fill the water tank or reservoir with water to the specified height, raise the horizontal slide 4 to the top, and then install the vehicle body 1-9 into the launching tube; Step 2: Control the air compressor to inject high-pressure gas into the gas tank, close the valve of the gas tank, and lower the horizontal slide 4 to the bottom; Step 3: Before starting the test, turn on the supplementary light and use the control console to control the pitch motion adjustment four-bar mechanism 2, the yaw motion adjustment crank-slider mechanism 3 and the horizontal slide 4 to change the pitch angle, yaw angle and initial launch position of the launch vehicle to meet different launch conditions. At the same time as the launch vehicle is launched, the camera is started so that the high-speed camera can capture the entire process of the launch vehicle leaving the tube and exiting the water. Step 4: After the test, use a fishing net to retrieve the vehicles 1-9, then raise the horizontal slide 4 to the top to reload the vehicles and conduct the next test. Step 5: After the test is completed, install one end of the water pipe onto the outlet and the other end into the drain. Open the drain valve to drain the water, and then use a drain pump to pump out the remaining water to prevent rusting.

[0047] In the description of this application, it should be noted that the terms "upper," "lower," etc., indicating orientation and positional relationships are based on the orientation and positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0048] The embodiments of the present invention disclosed above are merely illustrative of the invention. These embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention.

Claims

1. A multi-degree-of-freedom underwater launching device for a launcher, characterized in that: The device includes a launching device (1), a pitch adjustment four-bar linkage (2), a yaw adjustment crank-slider mechanism (3), and a horizontal slide (4). The pitch adjustment four-bar linkage (2) is used to adjust the pitch angle of the launching device (1). The pitch adjustment four-bar linkage (2) is installed on the yaw adjustment crank-slider mechanism (3) to adjust the yaw angle of the launching device (1). The yaw adjustment crank-slider mechanism (3) is installed on the horizontal slide (4). The horizontal slide (4) is used to change the degree of freedom of the yaw adjustment crank-slider mechanism (3), thereby changing the translational degree of freedom of the launching device (1).

2. The multi-degree-of-freedom underwater launching device for a vehicle according to claim 1, characterized in that: The launching device (1) includes a launching compartment and a cylinder (1-14). The vehicle (1-9) is located inside the launching compartment. The cylinder (1-14) pushes the cylinder piston rod (1-12) to launch the vehicle (1-9).

3. The multi-degree-of-freedom underwater launching device for a vehicle according to claim 2, characterized in that: The launch chamber is covered with a membrane and fixed by a membrane support frame connector (1-1). A waterproof servo motor (1-3) and a micro switch (1-5) are installed outside the membrane. During launch, the launch vehicle (1-9) triggers the micro switch (1-5), the waterproof servo motor (1-3) starts, and the membrane is torn. The membrane support frame connector (1-1) automatically springs open under the action of a torsion spring.

4. The multi-degree-of-freedom underwater launching device for a vehicle according to claim 1, characterized in that: The pitch motion adjustment four-bar linkage (2) includes a DC brushless motor (2-4), a P-axis connecting rod (2-6), and a P-axis active rod (2-7). One end of the P-axis connecting rod (2-6) is connected to the gimbal side support plate (1-18) of the launching device, and the other end is connected to the P-axis active rod (2-7). The other end of the P-axis active rod (2-7) is connected to the central shaft inside the DC brushless motor (2-4).

5. The multi-degree-of-freedom underwater launching device for a vehicle according to claim 1, characterized in that: The yaw motion adjusting crank-slider mechanism (3) includes an upper limiter (3-1) for the Y-axis bearing, an upper pressure plate (3-2) for the Y-axis bearing, a thin-walled crossed roller bearing (3-3), an outer lower pressure member (3-4) for the Y-axis bearing, an inner lower pressure member (3-5) for the Y-axis bearing, a Y-axis to P-axis assembly (3-6), a Y-axis connecting rod (3-7), a Y-axis guide rail (3-8), a slider (3-9), a trapezoidal screw nut fixing member (3-11), a No. 1 ball screw (3-14), and a yaw device motor (3-16). The motor mounting plate (2-3) of the pitch motion adjustment four-bar linkage (2) is fixed on the Y-axis to P-axis assembly (3-6). The Y-axis to P-axis assembly (3-6) is sequentially connected to the upper limit (3-1) of the Y-axis bearing, the upper pressure plate (3-2) of the Y-axis bearing, the thin-walled crossed roller bearing (3-3), the lower outer pressure member (3-4) of the Y-axis bearing, and the lower inner pressure member (3-5) of the Y-axis bearing, and is fixed together on the slide plate (4-16). One end of the Y-axis connecting rod (3-7) is connected to the Y-axis... The P-axis assembly (3-6) and the Y-axis bearing are connected by a limiter (3-1). The other end is connected to the trapezoidal screw nut fixing part (3-11). A slider (3-9) is installed below the trapezoidal screw nut fixing part (3-11). The slider (3-9) slides on the Y-axis guide rail (3-8). One end of the No. 1 ball screw (3-14) is connected to the nut (3-12) in the trapezoidal screw nut fixing part (3-11), and the other end is connected to the yaw device motor (3-16).

6. The multi-degree-of-freedom underwater launching device for a vehicle according to claim 5, characterized in that: The thin-walled crossed roller bearing (3-3) has a 90° vertically crossed roller arrangement inside, with spacers or isolation blocks between the rollers.

7. The multi-degree-of-freedom underwater launching device for a vehicle according to claim 5, characterized in that: The horizontal slide (4) includes a square support side standard type screw support seat (4-6), a slide screw nut (4-7), a No. 2 ball screw (4-8), a slide guide rail mounting aluminum square (4-14), a slide guide rail (4-15), a slide plate (4-16), a square fixed side standard type screw support seat (4-21), and a slide motor 4-22; The slide table screw nut (4-7) is fixed below the slide table plate (4-16). One end of the No. 2 ball screw (4-8) is connected to the square support side standard screw support seat (4-6), and the other end is connected to the square fixed side standard screw support seat (4-21). The slide table guide rail (4-15) is installed on the slide table guide rail mounting aluminum square (4-14), and the slider (3-9) is installed on the slide table guide rail (4-15).

8. The multi-degree-of-freedom underwater launching device for a vehicle according to claim 7, characterized in that: The horizontal slide (4) also includes a slide longitudinal connecting reinforcing plate (4-1), a slide longitudinal connecting reinforcing plate distance compensation component (4-2), a drag chain fixing U-shaped aluminum (4-3), a lead screw connecting aluminum square (4-4), a slide longitudinal connecting reinforcing plate motor fixing plate (4-5), a slide slider distance increasing component (4-17), a transverse reinforcing aluminum square (4-18), a Y-axis base fixing aluminum square longitudinal (4-19), and a longitudinal reinforcing aluminum square (4-20). The transverse reinforcing aluminum square (4-18) and the longitudinal fixing aluminum square (4-19) of the Y-axis base are fixed below the slide plate (4-16). The slide screw nut (4-7) is connected to the longitudinal fixing aluminum square (4-19) of the Y-axis base through the screw nut fixing plate. The slide slide slider distance extender (4-17) is installed between the slide plate (4-16) and the slider (3-9). The slide guide rail mounting aluminum square (4-14) is connected together with the slide longitudinal connecting reinforcing plate (4-1), the slide longitudinal connecting reinforcing plate distance compensation piece (4-2), the longitudinal reinforcing aluminum square (4-20), and the slide longitudinal connecting reinforcing plate motor fixing plate (4-5). The transverse and longitudinal connecting reinforcing plate (4-11) is installed in the middle of the slide guide rail mounting aluminum square (4-14) for reinforcement.

9. The multi-degree-of-freedom underwater launching device for a vehicle according to claim 8, characterized in that: The horizontal slide (4) also includes a horizontal and vertical connecting fixed seat pad (4-10), a horizontal and vertical connecting reinforcing plate (4-11), and a slide connecting seat pressure member (4-13). The horizontal and vertical connecting fixed seat pad (4-10) and the screw connecting aluminum square (4-4) are fixed below the square support side standard screw support seat (4-6). The slide connecting seat pressure member (4-13) is placed between the horizontal and vertical connecting fixed seat pad (4-10) and the slide guide rail mounting aluminum square (4-14).

10. A method of using the multi-degree-of-freedom underwater launching device for a vehicle as described in any one of claims 1-9, characterized in that: Specifically, the following steps are included: Step 1: First, install the launching device (1) in the water tank or water container, fill the water tank or water container to the specified height, raise the horizontal slide (4) to the top, and then install the vehicle (1-9) into the launching tube; Step 2: Control the air compressor to inject high-pressure gas into the gas tank, close the valve of the gas tank, and lower the horizontal slide (4) to the bottom; Step 3: Before starting the test, turn on the supplementary light and control the pitch motion adjustment four-bar mechanism (2), yaw motion adjustment crank-slider mechanism (3) and horizontal slide (4) through the control console to change the pitch angle, yaw angle and initial launch position of the vehicle to meet different launch conditions. At the same time as the vehicle is launched, the camera is started so that the high-speed camera can capture the entire process of the vehicle exiting the tube and exiting the water. Step 4: After the test, use a fishing net to retrieve the vehicle (1-9), and then raise the horizontal slide (4) to the top so that the vehicle can be reloaded for the next test.

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