An underwater pitch-rotation two-degree-of-freedom testing device and a use method thereof

Abstract

The application discloses a kind of underwater pitch rotation two-degree-of-freedom testing device and use method, including gantry mainframe and pitch frame, gantry mainframe includes mutually parallel first vertical connecting column and second vertical connecting column, and first crossbeam is connected between the two, first vertical connecting column outside is connected with pitch servo reduction motor, first vertical connecting column inside is also connected with first bearing flange and main drive shaft, and main drive shaft is inserted into the bearing of first bearing flange and is connected with pitch servo reduction motor output hole;The inside of second vertical connecting column is also connected with second bearing flange, and the bearing of second bearing flange is inserted with driven shaft, and driven shaft is located on the same straight line with main drive shaft, and pitch and rotation are realized by pitch frame and tooth type crossed roller bearing, so that the posture of measured acoustic device can be adjusted freely underwater.

Description

Technical Field

[0001] This invention belongs to the field of experimental testing equipment manufacturing, specifically relating to an underwater pitch and rotation two-degree-of-freedom testing device and its usage method. Background Technology

[0002] Acoustic devices utilize underwater acoustic technology to transmit and receive sound signals for ranging, depth measurement, and direction finding. They are widely used in industrial and military fields. Underwater testing and verification of acoustic devices is an important part of the production process. The current traditional method is to manually adjust the acoustic device at one angle on the water surface before placing it underwater for testing. When another angle needs to be tested, it is then raised to the surface for manual adjustment. This is not only time-consuming and labor-intensive, but also cannot achieve dynamic testing. Summary of the Invention

[0003] The purpose of this invention is to provide an underwater pitch and rotation two-degree-of-freedom testing device and its usage method, which automatically controls the changes in the underwater attitude of an acoustic device to conduct tests, experiments, and verifications related to underwater acoustic technology, simulating the actual working conditions of the acoustic device as realistically as possible.

[0004] The objective of this invention is achieved through the following technical means: an underwater pitch and rotation two-degree-of-freedom testing device, comprising a gantry frame and a pitch frame. The gantry frame includes a first vertical connecting column and a second vertical connecting column that are parallel to each other, and a first crossbeam connecting the two. A pitch servo geared motor is connected to the outer side of the first vertical connecting column, and a first bearing flange and a main drive shaft are also connected to the inner side of the first vertical connecting column. The main drive shaft is inserted into the bearing of the first bearing flange and connected to the output hole of the pitch servo geared motor. A second bearing flange is also connected to the inner side of the second vertical connecting column. The bearing has a driven shaft inserted inside, and the driven shaft is on the same straight line as the main drive shaft. The pitch frame includes a tooling plate and two third vertical connecting columns connected to the side of the tooling plate. The other ends of the two third vertical connecting columns are connected to the main drive shaft and the driven shaft, respectively. A toothed crossed roller bearing is connected to the lower side of the tooling plate. A rotary servo motor is also connected to the upper side of the tooling plate. The output shaft of the rotary servo motor extends through the tooling plate to the lower side. The output shaft of the rotary servo motor is connected to a pinion through a coupling. The pinion meshes with the gear teeth on the outer side of the toothed crossed roller bearing. A test plate is also connected to the lower side of the toothed crossed roller bearing.

[0005] A lifting flange is also connected to the top of the first crossbeam.

[0006] A second crossbeam is provided below the first crossbeam. The two ends of the second crossbeam are connected to the inner walls of the first and second vertical connecting columns, respectively. Fixing plates are also connected to both sides of the lifting flange. The fixing plates extend downward and are connected to the sides of the first and second crossbeams.

[0007] The outer side of the second vertical connecting column is also connected to a second bearing flange. The inner and outer second bearing flanges are on the same straight line, and the second vertical connecting column between the two second bearing flanges has a bearing hole that matches the bearing of the second bearing flange. The driven shaft is inserted into the bearing of the two second bearing flanges.

[0008] A motor mounting base is connected to the outside of the first vertical connecting column, and the pitch servo geared motor is connected to the motor mounting base.

[0009] The inner ring of the toothed crossed roller bearing is connected to the tooling plate, and the outer ring of the toothed crossed roller bearing is connected to the test plate.

[0010] It also includes a rotary servo motor mounting base, which is connected to the tooling plate. The rotary servo motor is connected to the upper end of the rotary servo motor mounting base, and the output shaft of the rotary servo motor passes through the rotary servo motor mounting base and the tooling plate and is connected to the pinion via a coupling.

[0011] An attitude sensor is also connected to the pitch frame.

[0012] A method for using an underwater pitch and rotation two-degree-of-freedom testing device involves mounting the acoustic device under test on a test plate, starting the pitch servo motor to drive the main drive shaft and driven shaft to rotate, thereby changing the pitch angle of the pitch frame; starting the rotation servo motor, the output shaft and coupling drive the pinion to rotate, and the gear teeth on the outer side of the toothed crossed roller bearing are driven by the pinion, causing the outer ring of the toothed crossed roller bearing and the test plate connected to the outer ring to rotate together, enabling the acoustic device under test on the test plate to rotate freely 360°.

[0013] The beneficial effects of this invention are that pitch and rotation are achieved through the pitch frame and toothed crossed roller bearings, allowing the acoustic device under test to freely adjust its attitude underwater.

[0014] Both the pitch frame and the gantry frame are cantilever structures. The acoustic device under test is mounted on the test board with unobstructed front end for transmitting and receiving signals, which can realistically simulate underwater attitude. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the gantry mainframe structure;

[0016] Figure 2 A schematic diagram of the pitch frame and geared crossed roller bearing structure;

[0017] Figure 3 This is a schematic diagram of the motor mounting bracket structure;

[0018] Figure 4 This is a schematic diagram of the pitching frame structure;

[0019] Figure 5 Schematic diagram of the mounting bracket structure for the rotary servo motor;

[0020] Figure 6 This is a schematic diagram of an underwater pitch and rotation two-degree-of-freedom testing device.

[0021] In the diagram: 1. Gantry main frame; 1-1 First vertical connecting column; 1-2 Second vertical connecting column; 1-3 First crossbeam; 1-4 Second crossbeam; 2. Lifting flange; 3. First bearing flange; 4. Motor mounting base; 5. Pitch servo geared motor; 6. Main drive shaft; 7. Second bearing flange; 8. Driven shaft; 9. Pitch frame; 10. Toothed crossed roller bearing; 11. Rotary servo motor mounting base; 12. Rotary servo motor; 13. Pinion gear; 14. Tooling plate; 15. Third vertical connecting column; 16. Test plate; 17. Fixing plate.

[0022] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Detailed Implementation

[0023]

Example 1

[0024] An underwater pitch and rotation two-degree-of-freedom testing device includes a gantry frame 1 and a pitch frame 9. The gantry frame 1 includes a first vertical connecting column 1-1 and a second vertical connecting column 1-2 that are parallel to each other, and a first crossbeam 1-3 connecting the two. A pitch servo geared motor 5 is connected to the outer side of the first vertical connecting column 1-1, and a first bearing flange 3 and a main drive shaft 6 are also connected to the inner side of the first vertical connecting column 1-1. The main drive shaft 6 is inserted into the bearing of the first bearing flange 3 and connected to the output hole of the pitch servo geared motor 5. A second bearing flange 7 is also connected to the inner side of the second vertical connecting column 1-2. A driven shaft 8 is inserted into the bearing of the second bearing flange 7. 8 is located on the same straight line as the main drive shaft 6. The pitch frame 9 includes a tooling plate 14 and two third vertical connecting columns 15 connected to the side of the tooling plate 14. The other ends of the two third vertical connecting columns 15 are connected to the main drive shaft 6 and the driven shaft 8, respectively. A toothed cross roller bearing 10 is connected to the lower side of the tooling plate 14. A rotary servo motor 12 is also connected to the upper side of the tooling plate 14. The output shaft of the rotary servo motor 12 extends through the tooling plate 14 to the lower side. The output shaft of the rotary servo motor 12 is connected to a pinion 13 through a coupling. The pinion 13 meshes with the gear teeth on the outer side of the toothed cross roller bearing 10. A test plate 16 is also connected to the lower side of the toothed cross roller bearing 10.

[0025] like Figure 1 , Figure 2 , Figure 4 and Figure 6 As shown, the gantry main frame 1 consists of two first vertical connecting columns 1-1 and a second vertical connecting column 1-2, as well as a first crossbeam 1-3 connecting the tops of the two.

[0026] The first vertical connecting column 1-1 is connected to the inner side of the first bearing flange 3. The flange portion of the first bearing flange 3 is fixed to the first vertical connecting column 1-1. The output end of the pitch servo geared motor 5 is an output hole. The main drive shaft 6 is inserted from the inside out into the bearing portion of the first bearing flange 3 and connected to the output hole of the pitch servo geared motor 5 via a key, allowing the pitch servo geared motor 5 to drive the main drive shaft 6 to rotate. The pitch servo geared motor 5 is characterized by low speed and high torque. An absolute encoder is installed on the motor output shaft and sealed inside the motor housing. The motor has a power-off braking protection function. The reducer is a worm gear reducer, which utilizes the self-locking function of the worm gear to provide protection in extreme power failure situations.

[0027] Similarly, a second bearing flange 7 is also connected to the inner side of the second vertical connecting column 1-2. A driven shaft 8 is inserted into the bearing of the second bearing flange 7, allowing the driven shaft 8 to rotate. Furthermore, the driven shaft 8 and the main drive shaft 6 are on the same straight line, and the first bearing flange 3, the output hole of the pitch servo geared motor 5, and the second bearing flange 7 are also naturally on the same straight line. The bearings of the first bearing flange 3 and the second bearing flange 7 are watertight bearings, suitable for long-term underwater use. The bearing seats have flanges and are fixed to the gantry main frame 1 by anti-loosening screws and nuts.

[0028] The pitch frame includes a circular tooling plate 14 and two third vertical connecting columns 15 connected to opposite sides of the tooling plate 14. One third vertical connecting column 15 is connected to the main drive shaft 6, and the other is connected to the driven shaft 8. Thus, when the pitch servo geared motor 5 rotates to drive the main drive shaft 6, the pitch frame also generates a transmission tendency. Since the driven shaft 8 on the other side is also rotatable, the pitch frame ultimately achieves pitch rotation.

[0029] The tooling plate 14 is connected to the toothed cross roller bearing 10 on the lower side. The test plate 16 is connected below the toothed cross roller bearing 10. The test plate 16 is larger than the toothed cross roller bearing 10 itself, and the extra space is used to connect the acoustic device under test.

[0030] A pinion 13 is also provided below the tooling plate 14. The pinion 13 meshes with the gear teeth on the outer side of the toothed crossed roller bearing 10. The output shaft of the rotary servo motor 12 above the tooling plate 14 is connected to the pinion 13 from top to bottom via a coupling to drive the pinion 13 to rotate. The pinion 13, in turn, drives the toothed crossed roller bearing 10 and the test plate 16 to rotate through the meshing gear teeth. The rotary servo motor 12 is characterized by low speed and high torque. An absolute encoder is installed on the motor output shaft and sealed inside the motor housing. The motor has a power-off braking protection function.

[0031]

Example 2

[0032] like Figure 1 and Figure 6 As shown, the top of the first crossbeam 1-3 is also connected to a lifting flange 2.

[0033] Lifting flange 2 is used to connect to the external telescopic structure to lower the entire underwater pitch and rotation two-degree-of-freedom test device into the water.

[0034] A second crossbeam 1-4 is also provided below the first crossbeam 1-3. The two ends of the second crossbeam 1-4 are connected to the inner sidewalls of the first vertical connecting column 1-1 and the second vertical connecting column 1-2, respectively. Fixing plates 17 are also connected to both sides of the lifting flange 2. The fixing plates 17 extend downward and are connected to the sides of the first crossbeam 1-3 and the second crossbeam 1-4.

[0035] like Figure 1 and Figure 5 As shown, there is a second crossbeam 1-4 below the first crossbeam 1-3, so that the upper part of the entire gantry main frame 1 forms a quadrilateral, making the overall structure more stable.

[0036] The two lifting flanges 2 are also connected to fixing plates 17. The fixing plate 17 on one side is connected to the side of the first crossbeam 1-3 and the second crossbeam 1-4. This makes the connection of the lifting flanges 2 more secure and strengthens the stability of the entire gantry frame 1.

[0037] like Figure 1 As shown, a second bearing flange 7 is also connected to the outer side of the second vertical connecting column 1-2. The second bearing flanges 7 on the inner and outer sides are on the same straight line, and a bearing hole matching the bearing of the second bearing flange 7 is opened on the second vertical connecting column 1-2 between the two second bearing flanges 7. The driven shaft 8 is inserted into the bearing of the two second bearing flanges 7.

[0038] There is also a second bearing flange 7 on the outside of the second vertical connecting column 1-2. The driven shaft 8 is inserted into the bearings of the inner and outer second bearing flanges 7 in sequence. Inserting into two bearings at the same time makes the rotation of the driven shaft 8 more stable.

[0039] A motor mounting base 4 is connected to the outside of the first vertical connecting column 1-1, and the pitch servo geared motor 5 is connected to the motor mounting base 4.

[0040] like Figure 3 As shown, the L-shaped motor mounting base 4 consists of a main board, two side plates, and a base plate. The main board and two side plates are fixed to the gantry main frame 1 with anti-loosening screws. The base plate has a stop, and the tilting servo reduction motor 5 is fixed to the base plate.

[0041] The inner ring of the toothed crossed roller bearing 10 is connected to the tooling plate 14, and the outer ring of the toothed crossed roller bearing 10 is connected to the test plate 16.

[0042] The toothed crossed roller bearing has cylindrical rollers arranged perpendicularly to each other at 100° in a V-shaped raceway, with spacers separating the rollers. The bearing can withstand loads in all directions, including axial loads, radial loads, and overturning moments. Both the inner and outer rings of the crossed roller bearing are integral structures with mounting holes, ensuring stable rotational accuracy and torque.

[0043] The inner ring is fixed on the tooling plate 14, and the small gear 13 drives the outer ring to rotate freely 360°.

[0044] like Figure 5 As shown, it also includes a rotary servo motor mounting base 11, which is connected to the tooling plate 14. A rotary servo motor 12 is connected to the upper end of the rotary servo motor mounting base 11. The output shaft of the rotary servo motor 12 passes through the rotary servo motor mounting base 11 and the tooling plate 14 and is connected to the pinion 13 via a coupling.

[0045] The rotary servo motor mounting base 11 is a hollow cylinder, and the output shaft of the rotary servo motor 12 passes through the hollow cavity.

[0046] The pitch frame 9 is also connected to an attitude sensor, which provides real-time feedback on parameters such as the speed and angle of the acoustic device underwater.

[0047] A method for using an underwater pitch and rotation two-degree-of-freedom testing device involves mounting the acoustic device under test on a test plate 16, starting the pitch servo motor 5 to drive the main drive shaft 6 and the driven shaft 8 to rotate, thereby changing the pitch angle of the pitch frame 9; starting the rotation servo motor 12, the output shaft and coupling drive the pinion 13 to rotate, and the gear teeth on the outer side of the toothed crossed roller bearing 10 are driven by the pinion 13, causing the outer ring of the toothed crossed roller bearing 10 and the test plate 16 connected to the outer ring to rotate together, enabling the acoustic device under test on the test plate 16 to achieve 360° free rotation.

[0048] When in use, first connect the lifting flange 2 to the external telescopic structure, so that the entire device can be continuously lowered into the water. Then, install the acoustic equipment to be tested on the test plate 16, and connect the rotary servo motor 12 and the pitch servo geared motor 5 to the control equipment with cables. Then, start the two motors as needed.

[0049] When adjusting the pitch angle, the pitch servo geared motor 5 is started, and the output hole rotates, driving the main drive shaft 6 to rotate, which in turn drives the driven shaft 8, i.e., the pitch frame between the two, to rotate.

[0050] When adjusting the angle of the acoustic mechanism, the output shaft of the rotary servo motor 12 rotates, driving the pinion 13 to rotate. The pinion 13 then drives the outer ring of the toothed crossed roller bearing 10 to rotate, and the test plate 16 connected to the outer ring, i.e., the acoustic component under test, changes angle accordingly. This device is designed to be lightweight, rigid, and reliably sealed. The pitch and rotation angles are controlled by PLC and adjusted by PID, ensuring accurate angle measurement. It can truly reflect the underwater angle of the acoustic device.

[0051] Components and structures not described in detail in this embodiment are well-known components, common structures or common methods in the industry, and will not be described one by one here.

Claims

1. An underwater pitch and rotation two-degree-of-freedom testing device, characterized in that: The system includes a gantry main frame (1) and a pitch frame (9). The gantry main frame (1) includes a first vertical connecting column (1-1) and a second vertical connecting column (1-2) that are parallel to each other, and a first crossbeam (1-3) connecting the two. A pitch servo geared motor (5) is connected to the outside of the first vertical connecting column (1-1). A first bearing flange (3) and a main drive shaft (6) are also connected to the inside of the first vertical connecting column (1-1). The main drive shaft (6) is inserted into the bearing of the first bearing flange (3) and connected to the output hole of the pitch servo geared motor (5). A second bearing flange (7) is also connected to the inside of the second vertical connecting column (1-2). A driven shaft (8) is inserted into the bearing of the second bearing flange (7). The driven shaft (8) is connected to the main drive shaft (6). Located on the same straight line, the pitch frame (9) includes a tooling plate (14) and two third vertical connecting columns (15) connected to the side of the tooling plate (14). The other ends of the two third vertical connecting columns (15) are connected to the main drive shaft (6) and the driven shaft (8) respectively. A toothed cross roller bearing (10) is connected to the lower side of the tooling plate (14). A rotary servo motor (12) is also connected to the upper side of the tooling plate (14). The output shaft of the rotary servo motor (12) extends through the tooling plate (14) to the lower side. The output shaft of the rotary servo motor (12) is connected to a pinion (13) through a coupling. The pinion (13) meshes with the gear teeth on the outer side of the toothed cross roller bearing (10). A test plate (16) is also connected to the lower side of the toothed cross roller bearing (10). The top of the first crossbeam (1-3) is also connected to a lifting flange (2); The second vertical connecting column (1-2) is also connected to a second bearing flange (7). The second bearing flanges (7) on the inner and outer sides are on the same straight line. The second vertical connecting column (1-2) between the two second bearing flanges (7) has a bearing hole that matches the bearing of the second bearing flange (7). The driven shaft (8) is inserted into the bearing of the two second bearing flanges (7).

2. The underwater pitch and rotation two-degree-of-freedom testing device according to claim 1, characterized in that: A second beam (1-4) is provided below the first beam (1-3). The two ends of the second beam (1-4) are connected to the inner walls of the first vertical connecting column (1-1) and the second vertical connecting column (1-2), respectively. Fixing plates (17) are also connected to both sides of the lifting flange (2). The fixing plates (17) extend downward and are connected to the sides of the first beam (1-3) and the second beam (1-4).

3. The underwater pitch and rotation two-degree-of-freedom testing device according to claim 1, characterized in that: The first vertical connecting column (1-1) is connected to a motor mounting base (4) on its outer side, and the pitch servo geared motor (5) is connected to the motor mounting base (4).

4. The underwater pitch and rotation two-degree-of-freedom testing device according to claim 1, characterized in that: The inner ring of the toothed cross roller bearing (10) is connected to the tooling plate (14), and the outer ring of the toothed cross roller bearing (10) is connected to the test plate (16).

5. The underwater pitch and rotation two-degree-of-freedom testing device according to claim 1, characterized in that: It also includes a rotary servo motor mounting base (11), which is connected to the tooling plate (14). The rotary servo motor (12) is connected to the upper end of the rotary servo motor mounting base (11). The output shaft of the rotary servo motor (12) passes through the rotary servo motor mounting base (11) and the tooling plate (14) and is connected to the pinion (13) through a coupling.

6. The underwater pitch and rotation two-degree-of-freedom testing device according to claim 1, characterized in that: An attitude sensor is also connected to the pitch frame (9).

7. The method of using an underwater pitch and rotation two-degree-of-freedom testing device according to any one of claims 1-6, characterized in that: The acoustic device under test is mounted on the test plate (16). The pitch servo geared motor (5) is started, driving the main drive shaft (6) and the driven shaft (8) to rotate, so that the pitch frame (9) changes the pitch angle. The rotary servo motor (12) is started, and the output shaft and coupling drive the pinion (13) to rotate. The gear teeth on the outside of the toothed cross roller bearing (10) are driven by the pinion (13), so that the outer ring of the toothed cross roller bearing (10) and the test plate (16) connected to the outer ring rotate together, and the acoustic device under test on the test plate (16) can rotate freely in 360°.

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