Motion guiding device for underwater navigation body

Abstract

An underwater vehicle motion guiding device comprises a fixed foundation provided with a pair of fixed pulleys; the first traction mechanisms comprise first traction ropes and first fixers, the first traction ropes are wound on the fixed pulleys from the lower parts of the fixed pulleys, the first fixers are arranged on the shoreside of the water body accommodating structure, and one ends of the first traction ropes are connected with the first fixers; a movable pulley rotating shaft is rotationally connected with the other end of the first traction rope; the second traction mechanism comprises a second traction rope and two second fixers located on the bank side of the water containing structure, one end of the second traction rope is connected with one second fixer, the other end of the second traction rope is connected with the other second fixer, and the second traction rope makes contact with the movable pulleys from the positions below the two movable pulleys; the first traction rope and the second traction rope are in a tensioning state, the first traction rope between the two movable pulleys is a guide section, and the guide section is in a horizontal state and is used for guiding the underwater navigation body, so that punching in the pool wall for mounting a rigid support is avoided.

Description

Technical Field

[0001] This invention relates to the field of fluid dynamics testing technology, and in particular to a motion guidance device for underwater vehicles. Background Technology

[0002] Underwater vehicles generate surface waves, turbulence, vortices, and other wakes during their submerged motion. At certain depths and speeds, these wake characteristics can be detected using microwaves, visible light, and other methods. With the continuous improvement of vibration reduction and noise control technologies, the difficulty of noise detection for underwater vehicles is constantly increasing. However, by utilizing the wake characteristics of underwater vehicles, their position, velocity, and direction can be acquired, determined, and identified, enabling target detection. Studying the wake characteristics of underwater vehicles from the perspective of wake detection and feature control is essential, and experimental research is an indispensable and crucial method. The installation and movement of underwater vehicle wake test models are a vital part of model testing.

[0003] In traditional hydrodynamic tests of underwater vehicles, one or two vertical swords are typically fixedly connected to the underwater vehicle. However, with this installation method, the vertical swords are positioned above the underwater vehicle, and the wake generated by the swords' movement, especially the sword's surface wake, directly interferes with the surface wake of the underwater vehicle model, adversely affecting the experimental study of the underwater vehicle's surface wake characteristics. To avoid the influence of the sword shafts on the surface wake, some hydrodynamic tests use self-propelled underwater vehicles. To ensure the relative stability of the self-propelled underwater vehicle's motion attitude, a guide rope is needed to guide it.

[0004] However, the guide rope in the above scheme usually adopts a rigid support, and the two ends of the guide rope are fixed to the pool walls at both ends of the navigation direction. However, under some conditions, the pool walls do not allow drilling for fixing, which brings certain difficulties to the selection of feasible conditions for the wake test of the self-propelled underwater vehicle. Summary of the Invention

[0005] In response to the shortcomings of the existing production technology, the applicant provides an underwater vehicle motion guidance device, thereby avoiding the need to drill holes in the pool wall to install a rigid support for fixing the guide rope, which facilitates the conduct of wake tests of self-propelled underwater vehicles in various pools and some outdoor water areas.

[0006] The technical solution adopted in this invention is as follows: An underwater vehicle motion guidance device includes, Fixed foundation, fixed to the bottom of the water-containing structure; A pair of fixed pulleys, the fixed pulleys being rotatably connected to the fixed foundation, the rotation axis of the fixed pulleys being set in the horizontal direction; A pair of first pulling mechanisms are provided in correspondence with fixed pulleys. Each first pulling mechanism includes a first traction rope wound around the fixed pulley from the lower part of the fixed pulley and a first fixing device provided on the bank of the water-containing structure. One end of the first traction rope is connected to the first fixing device. A pair of movable pulleys are set one-to-one with the fixed pulleys and are located above the fixed pulleys. The rotating shaft of the movable pulley is rotatably connected to the other end of the corresponding first traction rope. The second traction mechanism includes a second traction rope and two second anchors located on the bank of the water-containing structure. One end of the second traction rope is connected to one of the second anchors, and the other end of the second traction rope is connected to the other second anchor. The middle part of the second traction rope contacts the two movable pulleys from below. The first traction rope is in a taut state when its end is fixed by the first fixing device and both ends of the second traction rope are fixed by the second fixing device. The first traction rope between the two movable pulleys is a guide section, which is in a horizontal state and is used to guide the movement of the underwater vehicle.

[0007] As a further improvement to the above technical solution: The end of the first traction rope is provided with a Y-shaped connector. The Y-shaped connector includes a fixed connection part connected to the first traction rope and a pair of rotating connection parts fixedly connected to the fixed connection part. The rotating connection parts are spaced apart and have insertion holes. The two ends of the rotating shaft are respectively installed in the insertion holes.

[0008] It also includes a third pulling mechanism, with two sets of the third pulling mechanism corresponding to each movable pulley. The two sets of the third pulling mechanism are arranged opposite each other along the axis of the rotating shaft. The movable pulley has a through hole in the middle, and the rotating shaft is rotatably installed in the through hole. Each set of the third pulling mechanism includes: The third traction rope, one end of which is fixedly connected to the end of the corresponding side rotating shaft; The third anchor is set on the bank of the water-containing structure and is fixedly connected to the other end of the third traction rope; The third traction rope of the third traction mechanism, which is arranged opposite to the axis of the rotating shaft, applies tension from both ends of the rotating shaft to the bank of the water-containing structure, keeping the axis of the rotating shaft horizontal.

[0009] The third fixation device includes: A guide rail is parallel to the guide section and is fixedly installed on the bank of the water-containing structure. The slider is slidably connected to the guide rail, and the slider is equipped with a clamp. The slider is fixedly connected to the end of the third traction rope.

[0010] The fixed foundation includes two weight blocks fixedly installed at the bottom of the water-containing structure. Fixed support members are fixed on the weight blocks, and fixed pulleys are rotatably installed on the fixed support members.

[0011] The guiding device also includes a buoyancy system corresponding to each movable pulley. The buoyancy system is connected to the movable pulley and is used to provide upward buoyancy to the movable pulley. When the second traction rope is in a slack state, the movable pulley is suspended above the fixed pulley, and the first traction rope wound around the fixed pulley is in a taut state.

[0012] Each buoyancy system includes two buoys, each buoy is connected to a connecting rope, and the end of the connecting rope is provided with a loop. The two loops of each buoyancy system are respectively fitted onto the two ends of the rotating shaft and are rotatably connected to the rotating shaft. The buoys are submerged in water and, under the action of buoyancy, keep the rotating shaft in a horizontal state.

[0013] It also includes a depth sensor, which is connected to the movable pulley and is used to detect the depth of the movable pulley.

[0014] The depth sensor is mounted on the buoy, and the position of the depth sensor in each buoyancy system is equidistant from the rotating shaft.

[0015] The guiding device also includes a cable slide, one end of which is fixedly connected to the first traction rope in one of the first pulling mechanisms to form a first node, and the other end of which is fixedly connected to the first traction rope in another of the first pulling mechanisms to form a second node. The first node and the second node are both located between the movable pulley and the fixed pulley, and the distance between the first node and the second node and the movable pulley is equal. The cable slide is used to guide the signal line of the underwater vehicle.

[0016] The beneficial effects of this invention are as follows: This invention features a compact and rational structure, and is easy to operate. Two first traction ropes are installed along the travel path of the underwater vehicle, located at both ends of the path. Two movable pulleys connected to the first traction ropes couple the first and second traction ropes. The three traction ropes maintain a stable configuration under the constraint of a fixed foundation at the bottom of the water-containing structure and the pulling action of first and second anchors located on the shore of the water-containing structure. The second traction rope forms a guide section between two movable pulleys of the same vertical height, used to guide the underwater vehicle. This eliminates the need for drilling holes in the sidewall of the water-containing structure to install rigid supports for fixing the guide ropes, facilitating wake tests of self-propelled underwater vehicles in various water-containing structures. Furthermore, changing the length of the first traction rope between the movable and fixed pulleys adjusts the depth of the guide section, achieving flexible adjustment of the guide height after installation.

[0017] Furthermore, the present invention also has the following advantages: (1) By designing the movable pulley and the rotating shaft separately, two third traction ropes are used to constrain the horizontal position of the rotating shaft. Combined with the second traction rope and a first traction rope, the movable pulley is balanced under the pull in two vertical directions. Thus, during the test, the position of the movable pulley remains unchanged, so that the guide section does not deviate from the direction of travel of the underwater vehicle, and the guide section provides good guidance for the underwater vehicle.

[0018] (2) A buoyancy system connected to the movable pulley is set up to provide buoyancy to the movable pulley, so that when the first traction rope does not act on the movable pulley, the movable pulley is suspended in the water under the buoyancy of the buoyancy system, which facilitates the installation of the guide device and the adjustment of the diving depth of the guide section. Attached Figure Description

[0019] Figure 1 This is a schematic diagram (front view) of the structure of the present invention.

[0020] Figure 2 This is a schematic diagram (top view) of the structure of the present invention.

[0021] Figure 3 This is a schematic diagram (side view) of the structure of the present invention.

[0022] Figure 4 This is a schematic diagram (three-dimensional view) of the related structures of the movable pulley and fixed pulley of the present invention.

[0023] Figure 5 for Figure 4 Enlarged view of a portion of point A in the middle.

[0024] Figure 6 This is a schematic diagram of the Y-type connector of the present invention.

[0025] Figure 7 This is a schematic diagram of the structure of the movable pulley of the present invention.

[0026] in: 1. First traction mechanism; 11. First fixing device; 12. First guide pulley; 13. First traction rope; 131. Y-type connector; 1311. Rotating connection part; 1312. Insertion hole; 1313. Fixed connection part; 2. Fixed pulley; 3. Fixed foundation; 31. Fixed support components; 32. Weight block; 4. Movable pulley; 41. Rotating shaft; 42. Through hole; 5. Underwater vehicle; 51. Support rod; 52. Signal line; 53. Retractor; 6. Cable guide rail; 61. First node; 62. Second node; 7. Second traction mechanism; 71. Second fixing device; 72. Second guide pulley; 73. Second traction rope; 731. Guide section; 8. Buoy; 81. Connecting rope; 82. Ring; 9. Third traction mechanism; 91. Guide rail; 92. Slider; 93. Third traction rope; 10. Water-containing structures. Detailed Implementation

[0027] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0028] Example 1: like Figure 1 As shown, the underwater vehicle motion guidance device of this embodiment includes a fixed base 3, a pair of fixed pulleys 2, a pair of first traction mechanisms 1, a pair of movable pulleys 4, and a second traction mechanism 7.

[0029] Fixed foundation 3 is fixed to the bottom of the water-containing structure 10, specifically by gravity.

[0030] A pair of fixed pulleys 2 are rotatably connected to a fixed base 3. The rotation axis of the fixed pulleys 2 is set in the horizontal direction. When the fixed pulleys 2 are installed on the fixed base 3, the fixed pulleys 2 can rotate around their own rotation axis.

[0031] A pair of first pulling mechanisms 1 are provided corresponding to fixed pulleys 2. The first pulling mechanism 1 includes a first traction rope 13 wound around the lower part of the fixed pulley 2 and a first fixing device 11 provided on the bank of the water-containing structure 10. One end of the first traction rope 13 is connected to the first fixing device 11. The first traction rope 13 is located in the groove of the fixed pulley 2. Pulling the first traction rope 13 can make the fixed pulley 2 rotate.

[0032] A pair of movable pulleys 4 are arranged in a one-to-one correspondence with the fixed pulleys 2 and are located above the fixed pulleys 2. The rotating shaft 41 of the movable pulley 4 is rotatably connected to the other end of the corresponding first traction rope 13. The second traction mechanism 7 includes a second traction rope 73 and two second fixing devices 71 located on the bank of the water-containing structure 10. One end of the second traction rope 73 is connected to one second fixing device 71, and the other end of the second traction rope 73 is connected to the other second fixing device 71. The middle part of the second traction rope 73 contacts the two movable pulleys 4 from below. Specifically, the second traction rope 73 is located in the groove of the movable pulley 4. Pulling the second traction rope 73 causes both movable pulleys 4 to rotate around the pivot 41.

[0033] Wherein, the end of the first traction rope 13 is fixed by the first fixing device 11, and the two ends of the second traction rope 73 are fixed by the second fixing device 71. The first traction rope 13 and the second traction rope 73 are in a tensioned state. The first traction rope 13 between the two movable pulleys 4 is a guide section 731. The guide section 731 is in a horizontal state and is used to guide the movement of the underwater vehicle 5.

[0034] Specifically, the underwater vehicle 5 is self-propelled, with a battery inside for power supply, and a thruster at the tail of the underwater vehicle 5 to drive it forward.

[0035] The first traction rope 13 and the second traction rope 13 can be Kevlar rope.

[0036] The underwater vehicle 5 is equipped with two guide rings, which slide in conjunction with the guide section 731 to guide the navigation direction of the underwater vehicle 5, ensuring that the navigation direction is consistent with the straight direction of the guide section 731. Specifically, the underwater vehicle 5 is equipped with two support rods 51. One end of the support rod 51 is fixedly connected to the underwater vehicle 5, and the other end of the support rod 51 is equipped with a guide ring. When the underwater vehicle 5 is moving, the two support rods 51 connect to the guide section 731 and move forward. The weight and buoyancy of the underwater vehicle 5 are basically balanced, and a small amount of positive buoyancy is retained so that the guide section 731 between the two movable pulleys 4 is subjected to an upward force applied by the underwater vehicle 5.

[0037] The first fixing device 11 and the second fixing device 71 can be a winch installed on the bank of the water-containing structure 10, which provides the tension required for the traction rope by braking and locking the rotation of the winch. Alternatively, they can be posts installed on the bank of the water-containing structure 10 for winding the traction rope, which provide the tension required for the traction rope by winding and fixing the end of the traction rope.

[0038] In this embodiment, the guiding device is provided with two first traction ropes 13 along the travel path of the underwater vehicle 5, and the two first traction ropes 13 are located at both ends of the travel path. The first traction ropes 13 are coupled to the second traction ropes 73 by two movable pulleys 4 connected to the first traction ropes 13. The three traction ropes maintain a stable configuration under the constraint of the fixed base 3 located at the bottom of the water-containing structure 10 and the pulling action of the first fixing device 11 and the second fixing device 71 located on the shore of the water-containing structure 10. The second traction rope 73 forms a guide section 731 for guiding the underwater vehicle 5 between the two movable pulleys 4 with the same vertical height. It is not necessary to drill holes in the side wall of the water-containing structure 10 to install a rigid support for fixing the guide rope, which facilitates the wake test of the self-propelled underwater vehicle 5 to be carried out in various water-containing structures 10. Furthermore, by changing the length of the first traction rope 13 between the movable pulley 4 and the fixed pulley 2, the diving depth of the guide section 731 can be adjusted, realizing flexible adjustment of the guiding height after the guiding device is installed.

[0039] Specifically, the water-containing structure 10 can be a pool, with side walls made of a material that makes it difficult to drill holes for rigid supports (such as glass), or where drilling is inconvenient due to the installation of experimental facilities near the shore. It can also be an outdoor water area where drilling for rigid supports is difficult due to special terrain and geology. The first traction rope 13 connects to the movable pulley 4, passes over the fixed pulley 2 (fixed to the bottom of the pool), and connects to the first fixing device 11 on the shore. The second traction rope 73 lifts the movable pulley 4 from below, and the first traction rope 13 pulls the movable pulley 4 from below. The movable pulley 4 and the first fixing device 11 act simultaneously on both ends of the first traction rope 13, causing the first traction rope 13 to tighten. When the tension of the first traction rope 13 on the movable pulley 4 is equal in magnitude and opposite in direction to the force exerted by the second traction rope 73 on the movable pulley 4, the configuration of the first traction rope 13 and the second traction rope 73 is stable. Figure 1 As shown, the two movable pulleys 4 are kept in the same vertical position to achieve the horizontal position of the guide section 731.

[0040] like Figure 1 As shown, the first traction mechanism 1 also includes a first guide pulley 12, which is disposed on the bank of the water-containing structure 10 and located between the first fixing device 11 and the fixed pulley 2. It is used to guide and change the shape of the first traction rope 13 to avoid the edge structure of the pool bank.

[0041] The second traction mechanism 7 also includes a second guide pulley 72, which is located on the bank of the water-containing structure 10 and between the second fixing device 71 and the movable pulley 4. It is used to guide and change the shape of the second traction rope 73 to avoid the edge structure of the pool bank.

[0042] like Figure 5 , Figure 6As shown, a Y-shaped connector 131 is provided at the end of the first traction rope 13. The Y-shaped connector 131 includes a fixed connecting part 1313 connected to the first traction rope 13, and a pair of rotating connecting parts 1311 fixedly connected to the fixed connecting part 1313. The rotating connecting parts 1311 are spaced apart, and each rotating connecting part 1311 is provided with a socket 1312. Both ends of the rotating shaft 41 are respectively installed in a socket 1312. The rotating shaft 41 is rotatably connected to the socket 1312, thereby realizing the rotatable connection between the movable pulley 4 and the end of the first traction rope 13.

[0043] like Figure 1 , Figure 4 As shown, the fixed foundation 3 includes two weight blocks 32 fixedly installed at the bottom of the water-containing structure 10. Fixed support members 31 are fixedly installed on the weight blocks 32, and fixed pulleys 2 are rotatably installed on the fixed support members 31.

[0044] Specifically, the fixed support 31 is a vertically arranged rod-shaped structure. The lower end of the fixed support 31 is fixedly connected to the weight block 32, and the upper end of the fixed support 31 is provided with a fixed pulley 2.

[0045] The motion guiding device in this embodiment has a structure inside the water body including two fixed bases 3. The fixed bases 3 can adapt to the bottom structure of the water body containing structure 10 to achieve stable setting. When setting the fixed bases 3, it is only necessary to ensure that the rotation axis of the fixed pulley 2 is set in the horizontal direction. The height requirement of the fixed pulley 2 is not required to be the same. It is suitable for the placement of heavy blocks 32 in complex terrain.

[0046] The specific method for fixing the weight block 32 is as follows: the weight block 32 is placed at the bottom of the water-containing structure 10. The weight block 32 has a large mass, which applies a large pressure to the bottom of the water-containing structure 10, generating a large static friction force to overcome the displacement of the fixed pulley 2 that may be caused by the guide device when the underwater vehicle 5 moves. Of course, other fixing methods can also be used, as long as the bottom of the water-containing structure 10 meets the requirements.

[0047] Example 2: like Figure 2 , Figure 3 , Figure 7 As shown, the underwater vehicle motion guidance device of this embodiment, based on the first embodiment, also includes a third traction mechanism 9. Each movable pulley 4 is provided with two sets of third traction mechanisms 9. The two sets of third traction mechanisms 9 are arranged opposite each other along the axis of the rotating shaft 41. The middle part of the movable pulley 4 is provided with a through hole 42, and the rotating shaft 41 is rotatably installed in the through hole 42. Each set of third traction mechanisms 9 includes a third traction rope 93 and a third fixing device.

[0048] One end of the third traction rope 93 is fixedly connected to the end of the corresponding side pivot 41; The third anchor is set on the bank of the water-containing structure 10 and is fixedly connected to the other end of the third traction rope 93. Among them, the third traction rope 93 of the third traction mechanism 9, which is arranged opposite to each other along the axial direction of the rotating shaft 41, applies tension from both ends of the rotating shaft 41 to the bank of the water-containing structure 10, keeping the axial direction of the rotating shaft 41 horizontal.

[0049] By designing the movable pulley 4 and the rotating shaft 41 as separate units, two third traction ropes 93 are used to constrain the horizontal position of the rotating shaft 41. Combined with the second traction rope 73 and a first traction rope 13, the movable pulley 4 is balanced under the vertical pulling action in two directions. Thus, during the test, the position of the movable pulley 4 remains unchanged, so that the guide section 731 does not deviate from the direction perpendicular to the underwater vehicle 5, ensuring the good guiding effect of the guide section 731 on the underwater vehicle 5.

[0050] Specifically, the third traction rope 93 is located in a plane perpendicular to the guide section 731, such as... Figure 3 As shown.

[0051] like Figure 2 As shown, the third fixture includes a guide rail 91 and a slider 92.

[0052] The guide rail 91 is parallel to the guide section 731 and is fixedly installed on the bank of the water-containing structure 10.

[0053] The slider 92 is slidably connected to the guide rail 91, and the slider 92 is equipped with a clamp. The slider 92 is fixedly connected to the end of the third traction rope 93.

[0054] Specifically, the two opposing guide rails 91 located on different banks are at the same height; the clamp is used to fix the position of the slider 92 on the guide rail 91.

[0055] When the required diving depth for the underwater vehicle 5 test needs to be adjusted: Change the third traction rope 93 from a tensioned state to a slack state; The lengths of the first traction rope 13 and the second traction rope 73 are changed simultaneously. For example, when the length of the first traction rope 13 is shortened, the length of the second traction rope 73 is increased, and the height of the movable pulley 4 is reduced. At this time, the distance between the two movable pulleys 4 will change slightly. After adjusting the position of slider 92, clamps are used to fix slider 92 to guide rail 91 so that the two third traction ropes 93 are in the same vertical plane when pulling on the rotating shaft 41, which makes it easier to control the rotating shaft 41 to be in the horizontal direction.

[0056] A guide rail 91 fixed to the shore and parallel to the guide section 731 and a slider 92 slidably mounted on the guide rail 91 are used as the third fixing device. The third traction rope 93 is fixedly connected to the slider 92. After the height of the movable pulley 4 is adjusted, the position of the slider 92 is adjusted accordingly, thereby making the position of the third traction rope 93 adaptively adjusted so that the third traction rope 93 and the rotating shaft 41 are in the same plane, which facilitates the adjustment of the posture of the rotating shaft 41.

[0057] Example 3: like Figure 5 , Figure 6 As shown, the underwater vehicle motion guidance device of this embodiment, based on the above embodiments, also includes a buoyancy system corresponding to the movable pulley 4. The buoyancy system is connected to the movable pulley 4 and is used to provide upward buoyancy to the movable pulley 4. When the second traction rope 73 is in a slack state, the movable pulley 4 is suspended above the fixed pulley 2, and the first traction rope 13 wrapped below the fixed pulley 2 is in a taut state.

[0058] During the installation process of the guide device in this embodiment: The fixed foundation 3, which is equipped with a fixed pulley 2, is fixed to the bottom of the water-containing structure 10; The first traction rope 13 of the first traction mechanism 1 is wound around the fixed pulley 2 from below, and a movable pulley 4 is installed at the end of the first traction rope 13, and a buoyancy system is connected to the movable pulley 4. At the same time, the rotating shaft 41 of the movable pulley 4 is connected to the third traction rope 93 of the third traction mechanism 9; When the second traction rope 73 has not yet been installed, the buoyancy system applies an upward pulling force to the movable pulley 4 to overcome the weight of the movable pulley 4 and to keep the first traction rope 13 in a taut state. Then, the second traction rope 73 of the second traction mechanism 7 is wound around the bottom of the movable pulley 4, and the first traction rope 13, the second traction rope 73 and the third traction rope 93 are tensioned and the height of the guide section 731 is adjusted.

[0059] After a deep-sea experiment concluded: Loosen the first traction rope 13, the second traction rope 73 and the third traction rope 93, adjust the length of the first traction rope 13 and the second traction rope 73, thereby changing the depth of the movable pulley 4 and the depth of the guide section 731. After the depth adjustment is completed, tighten the third traction rope 93 and carry out the test at the new depth.

[0060] A buoyancy system is set up to connect to the movable pulley 4, providing buoyancy to the movable pulley 4. When the first traction rope 13 does not act on the movable pulley 4, the movable pulley 4 is suspended in the water under the buoyancy of the buoyancy system, which facilitates the installation of the guide device and the adjustment of the diving depth of the guide section 731.

[0061] Furthermore, each buoyancy system includes two floats 8, each float 8 is connected to a connecting rope 81, and the end of the connecting rope 81 is provided with a loop 82. The two loops 82 of each buoyancy system are respectively fitted onto the two ends of the rotating shaft 41 and are rotatably connected to the rotating shaft 41. The floats 8 are submerged in water and, under the action of buoyancy, keep the rotating shaft 41 in a horizontal state.

[0062] Specifically, the floats 8 are all the same size and the connecting ropes 81 are of the same length, and the collars 82 are equidistant from the turntable of the movable pulley 4.

[0063] Furthermore, it also includes a depth sensor, which is connected to the movable pulley 4 and is used to detect the depth at which the movable pulley 4 is located. For ease of adjustment of the test depth, the depth sensor can be a water pressure sensor.

[0064] The depth sensor is mounted on the float 8, and the position of the depth sensor in each buoyancy system is equidistant from the rotating shaft 41.

[0065] The depth sensor can be installed on the float 8, and the depth sensor is installed at the same position on the float 8. The floats 8 have the same specifications and the length of the connecting rope 81 is also the same. The depth sensor can not only detect the position of the guide section 731, but also detect whether the rotating shaft 41 is in a horizontal state by the value of the depth sensor on the two floats 8, which is convenient for the adjustment of the third traction rope 93.

[0066] Example 4: like Figure 1 As shown, the underwater vehicle motion guidance device of this embodiment, based on the above embodiments, further includes a cable slide 6. One end of the cable slide 6 is fixedly connected to the first traction rope 13 in a first pulling mechanism 1 to form a first node 61, and the other end of the cable slide 6 is fixedly connected to the first traction rope 13 in another first pulling mechanism 1 to form a second node 62. The first node 61 and the second node 62 are both located between the movable pulley 4 and the fixed pulley 2, and the distance between the first node 61 and the second node 62 and the movable pulley 4 is equal. The cable slide 6 is used to guide the signal line 52 of the underwater vehicle 5.

[0067] Specifically, the signal transmission of the underwater vehicle 5 can be wireless. When the signal transmission is wired, the onshore computer of the water-containing structure 10 controls the forward and backward movement, acceleration and deceleration, and other actions (such as simulating cooling water discharge) of the underwater vehicle 5 through the signal line 52. When the signal transmission is wired, the guiding device of this embodiment is used.

[0068] The cable guide 6 can be made of Kevlar rope with a specific gravity of 1.44, and its weight in water is about 28% of that in air.

[0069] In this embodiment, the signal line 52 of the underwater vehicle 5 is connected to the underwater vehicle 5. When the underwater vehicle 5 moves forward, the support rod 51 points downward, and the signal line 52 moves forward along the cable slide line 6 below the guide section 731 with the underwater vehicle 5. On the return trip, the underwater vehicle 5 reverses back, and the signal line 52 is retrieved by the cable reel 53 along the cable slide 6.

[0070] The guiding device of this embodiment can install the cable slide 6 at the minimum diving depth. Generally, the length of the cable slide 6 is slightly longer than the guide section 731 of the second traction rope 73. The material is chosen to allow for slight sag. The cable slide 6 exerts a slight pulling effect on the two first traction ropes 13, causing slight deformation of the first traction ropes 13 at the first node 61 and the second node 62. As the diving depth increases, the slack of the cable slide 6 increases slightly due to the slight decrease in the length of the guide section 731, but this does not affect the sliding guiding effect on the signal line 52. In this embodiment, the motion guiding device can simultaneously change the diving depth of the cable slide 6 while changing the diving depth of the guide section 731, improving operational convenience.

[0071] The above description is an explanation of the present invention and not a limitation thereof. The scope of the present invention is defined by the claims. Within the scope of protection of the present invention, any form of modification may be made.

Claims

1. A motion guidance device for an underwater vehicle, characterized in that: include, Fixed foundation (3), fixed at the bottom of water-containing structure (10); A pair of fixed pulleys (2) are rotatably connected to the fixed foundation (3), and the rotation axis of the fixed pulleys (2) is set in the horizontal direction; A pair of first pulling mechanisms (1) are provided in correspondence with fixed pulleys (2). The first pulling mechanism (1) includes a first traction rope (13) that is wound around the fixed pulley (2) from the lower part of the fixed pulley (2) and a first fixing device (11) provided on the bank of the water body containing structure (10). One end of the first traction rope (13) is connected to the first fixing device (11). A pair of movable pulleys (4) are set one-to-one with the fixed pulleys (2) and are located above the fixed pulleys (2). The pivot (41) of the movable pulleys (4) is rotatably connected to the other end of the corresponding first traction rope (13). The second traction mechanism (7) includes a second traction rope (73) and two second anchors (71) located on the bank of the water-containing structure (10). One end of the second traction rope (73) is connected to one of the second anchors (71), and the other end of the second traction rope (73) is connected to another second anchor (71). The middle part of the second traction rope (73) contacts the two movable pulleys (4) from below. The first traction rope (13) is fixed by the first fixing device (11), and the two ends of the second traction rope (73) are fixed by the second fixing device (71). The first traction rope (13) and the second traction rope (73) are in a tensioned state. The first traction rope (13) between the two movable pulleys (4) is a guide section (731). The guide section (731) is in a horizontal state and is used to guide the movement of the underwater vehicle (5).

2. The underwater vehicle motion guidance device as described in claim 1, characterized in that: The end of the first traction rope (13) is provided with a Y-shaped connector (131). The Y-shaped connector (131) includes a fixed connection part (1313) connected to the first traction rope (13) and a pair of rotating connection parts (1311) fixedly connected to the fixed connection part (1313). The rotating connection parts (1311) are spaced apart, and the rotating connection parts (1311) are provided with insertion holes (1312). The two ends of the rotating shaft (41) are respectively installed in an insertion hole (1312).

3. The underwater vehicle motion guidance device as described in claim 1, characterized in that: It also includes a third traction mechanism (9), with two sets of third traction mechanisms (9) corresponding to each movable pulley (4). The two sets of third traction mechanisms (9) are arranged opposite to each other along the axis of the rotating shaft (41). A through hole (42) is provided in the middle of the movable pulley (4), and the rotating shaft (41) is rotatably installed in the through hole (42). Each set of the third traction mechanism (9) includes: The third traction rope (93) has one end fixedly connected to the end of the corresponding side pivot (41); The third anchor is set on the bank of the water-containing structure (10) and fixedly connected to the other end of the third traction rope (93); Among them, the third traction rope (93) of the third traction mechanism (9) arranged opposite to each other along the axial direction of the rotating shaft (41) applies tension from both ends of the rotating shaft (41) to the bank of the water-containing structure (10) to keep the axial direction of the rotating shaft (41) in a horizontal state.

4. The underwater vehicle motion guidance device as described in claim 3, characterized in that: The third fixation device includes: The guide rail (91) is parallel to the guide section (731) and is fixedly installed on the bank of the water body receiving structure (10); The slider (92) is slidably connected to the guide rail (91), and the slider (92) is provided with a clamp. The slider (92) is fixedly connected to the end of the third traction rope (93).

5. The underwater vehicle motion guidance device as described in claim 1, characterized in that: The fixed foundation (3) includes two weight blocks (32) fixedly installed at the bottom of the water-containing structure (10). A fixed support (31) is fixedly installed on the weight block (32), and a fixed pulley (2) is rotatably installed on the fixed support (31).

6. The underwater vehicle motion guidance device as described in claim 1, characterized in that: The guiding device also includes a buoyancy system corresponding to the movable pulley (4) one by one. The buoyancy system is connected to the movable pulley (4) and is used to provide upward buoyancy to the movable pulley (4). When the second traction rope (73) is in a slack state, the movable pulley (4) is suspended above the fixed pulley (2) and the first traction rope (13) wrapped below the fixed pulley (2) is in a taut state.

7. The underwater vehicle motion guidance device as described in claim 6, characterized in that: Each buoyancy system includes two floats (8), each float (8) is connected to a connecting rope (81), and the end of the connecting rope (81) is provided with a loop (82). The two loops (82) of each buoyancy system are respectively sleeved on both ends of the rotating shaft (41) and rotatably connected to the rotating shaft (41). The floats (8) are submerged in water and the rotating shaft (41) is kept in a horizontal state under the action of buoyancy.

8. The underwater vehicle motion guidance device as described in claim 7, characterized in that: It also includes a depth sensor, which is connected to the movable pulley (4) and is used to detect the depth of the movable pulley (4).

9. The underwater vehicle motion guidance device as described in claim 8, characterized in that: The depth sensor is mounted on the buoy (8), and the position of the depth sensor in each buoyancy system is equidistant from the rotating shaft (41).

10. The underwater vehicle motion guidance device as described in claim 1, characterized in that: The guiding device also includes a cable slide (6), one end of which is fixedly connected to the first traction rope (13) in a first pulling mechanism (1) to form a first node (61), and the other end of which is fixedly connected to the first traction rope (13) in another first pulling mechanism (1) to form a second node (62). The first node (61) and the second node (62) are both located between the movable pulley (4) and the fixed pulley (2), and the distance between the first node (61) and the second node (62) and the movable pulley (4) is equal. The cable slide (6) is used to guide the signal line (52) of the underwater vehicle (5).

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