A deformable sonar array for an underwater mobile platform

Abstract

The application belongs to the field of underwater detection, and particularly relates to a deformable sonar array for an underwater mobile platform, which comprises a plurality of linear sonar arrays, sonar rotating arms, sonar fixed arms, bevel gear reversing mechanisms, multi-link mechanisms, sliding blocks, slide way bases, rocker arms, worm gear mechanisms, rotating shafts, motors, sealed cabins, bases and fairings, the linear sonar arrays are fixedly connected with the sonar rotating arms, the sonar rotating arms are connected with the sliding blocks through rotating shafts, the sonar rotating arms are connected with each other through the multi-link mechanisms, the outermost sliding blocks are connected with the bevel gears through the rocker arms, and the worm gear output shafts realize the rotation of the whole sonar array. The application uses the multi-link mechanisms and the bevel gear mechanisms to realize the rotation and angle control of the plurality of sonar rotating arms, and the sonar array can rotate by a required angle. The sonar array can be changed into various sonar array types, such as a circular surface array and a parallel linear array, the sonar array can rotate as a whole, and the detection requirement of different working conditions is facilitated.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of underwater detection, and particularly relates to a deformable sonar array for underwater mobile platform. BACKGROUND

[0002] With the development of marine technology, the seabed world has attracted worldwide attention, and is also the field of global underwater capability competition. The development of sonar technology is of great significance to the development of marine technology. Sonar technology can be applied in the fields of obstacle avoidance, distance measurement, detection, search, communication and the like, and the most important application is the underwater target detection field. Traditional sonar array types include towed array, conformal array, cylindrical array and the like. These existing sonar array types are fixed form sonar arrays. Due to the fixation of the array type, the detection information may be missing. SUMMARY

[0003] In view of the above problems existing in the traditional fixed form sonar array, the present application aims to provide a deformable sonar array for underwater mobile platform.

[0004] The purpose of the present application is achieved by the following technical scheme:

[0005] The application comprises a folding and unfolding deformation power source, a bevel gear reversing mechanism, a slide base, an upper connecting rod, a rocker arm A, a rocker arm B, a lower connecting rod mechanism, a sonar array overall rotation power source, a sonar array overall rotation transmission mechanism, a base, a plurality of sonar rotating arms and a sonar fixed arm, wherein the base is fixed on an underwater mobile platform, the sonar array overall rotation power source is installed on the base, the output end of the sonar array overall rotation power source is connected with one end of a rotating shaft through the sonar array overall rotation transmission mechanism to transmit rotary power, the other end of the rotating shaft is connected with the slide base, a circular slide is formed on the slide base, a plurality of sliding blocks are arranged in the circular slide, the two sides of the sonar fixed arm are provided with an equal number of sonar rotating arms, the sonar fixed arm and each sonar rotating arm are connected with a sliding block respectively, the sliding block connected with the sonar fixed arm is fixed in the circular slide, and the sliding block connected with each sonar rotating arm is in sliding connection with the circular slide; the adjacent sonar rotating arms on each side of the sonar fixed arm and the sonar fixed arm and the innermost sonar rotating arms on the two sides are connected through the upper connecting rod respectively, the sliding blocks connected with the adjacent sonar rotating arms on each side of the sonar fixed arm are connected through the lower connecting rod mechanism, and the sliding block connected with the sonar fixed arm and the sliding block connected with the innermost sonar rotating arms on the two sides are connected through the lower connecting rod mechanism; a plurality of sonar detectors are installed on the sonar fixed arm and each sonar rotating arm along the length direction, thereby forming a plurality of linear sonar arrays; the folding and unfolding deformation power source and the bevel gear reversing mechanism are installed on the slide base respectively, the output end of the folding and unfolding deformation power source is connected with the input end of the bevel gear reversing mechanism, the output end of the bevel gear reversing mechanism is a double-output shaft rotating at a constant speed and in opposite directions, one end of the rocker arm A and the rocker arm B is connected with the double-output shaft respectively, and the other end of the rocker arm A and the rocker arm B is connected with the outermost sonar rotating arms on the two sides of the sonar fixed arm and / or the sliding blocks connected with the outermost sonar rotating arms; the folding and unfolding deformation power source drives the rocker arm A and the rocker arm B to rotate in opposite directions synchronously through the bevel gear reversing mechanism, thereby driving each sonar rotating arm to fold or unfold, and realizing the deformation of the plurality of linear sonar arrays.

[0006] The upper connecting rod is located between the sonar rotating arms, the sonar fixed arm, the rocker arm A and the rocker arm B, and is used for controlling the included angle between each sonar rotating arm; the upper connecting rod is hinged with the end of the sonar rotating arm or the end of the sonar fixed arm, and the number of the upper connecting rods is equal to the number of the sonar rotating arms.

[0007] The lower connecting rod mechanism is located below each sliding block, and is used for controlling the maximum running angle of each sliding block; the lower connecting rod mechanism comprises two lower connecting rods, one end of each lower connecting rod is hinged with two adjacent sliding blocks respectively, and the other end of each lower connecting rod is hinged with each other.

[0008] The circular slide is a non-integral circular with an opening, and the sliding block connected with the sonar fixed arm is arranged opposite to the opening.

[0009] The bevel gear reversing mechanism comprises a bevel gear mechanism input shaft, a bevel gear frame, a bevel gear A, a bevel gear B, a bevel gear C, a bevel gear output shaft A and a bevel gear output shaft B, the bevel gear frame is fixed on the slide base, the bevel gear mechanism input shaft is rotatably installed on the bevel gear frame as the input end of the bevel gear reversing mechanism, one end of the bevel gear mechanism input shaft is connected with the output end of the folding and unfolding deformation power source, the other end of the bevel gear mechanism input shaft is connected with the bevel gear A, the bevel gear B and the bevel gear C are located on both sides of the bevel gear A and are engaged with the bevel gear A respectively, the gear shaft of the bevel gear B is the bevel gear output shaft A, the bevel gear output shaft A is a hollow shaft and is rotatably installed on the bevel gear frame and connected with the bevel gear B, the gear shaft of the bevel gear C is the bevel gear output shaft B, one end of the bevel gear output shaft B is rotatably installed on the bevel gear frame and the other end of the bevel gear output shaft B is penetrated by the bevel gear output shaft A, the bevel gear output shaft B is connected with the bevel gear C, and the bevel gear output shaft A and the bevel gear output shaft B are connected with one end of the rocker arm A and the rocker arm B respectively.

[0010] The bevel gear output shaft A and the bevel gear output shaft B are double output shafts of the bevel gear reversing mechanism, and the axial center lines are collinear.

[0011] The folding and unfolding deformation power source comprises a motor sealing cabin B, a motor B and a coupling B, the motor sealing cabin B comprises a sealing shell B, a sealing front end cover, a sealing rear end cover, a transition joint B and a water-tight connector B, the sealing shell B is fixed on the slide base, the front end and the rear end of the sealing shell B are sealingly connected with the sealing front end cover and the sealing rear end cover respectively, the motor B is installed in the sealing shell B, the output shaft B of the motor B is the output end of the folding and unfolding deformation power source, the output shaft B is penetrated by the sealing front end cover and is dynamically sealed with the sealing front end cover, the output shaft B is connected with the input end of the bevel gear reversing mechanism through the coupling B, the transition joint B is sealingly installed on the sealing rear end cover, one end of the transition joint B is penetrated into the sealing shell B, and the other end of the transition joint B is connected with the water-tight connector B.

[0012] The sonar array whole body rotation power source comprises a motor sealing cabin A, a motor A, a fixing frame and a coupling A, the motor sealing cabin A comprises a sealing shell A, a sealing front end cover, a sealing rear end cover, a transition joint A and a water-tight connector A, the sealing shell A is installed on the base through the fixing frame, the front and rear ends of the sealing shell A are respectively sealed and connected with the sealing front end cover and the sealing rear end cover, the motor A is installed in the sealing shell A, the output shaft A of the motor A is the output end of the sonar array whole body rotation power source, the output shaft A is stretched out from the sealing front end cover and connected with the input end of the sonar array whole body rotation transmission mechanism through the coupling A, the transition joint A is sealingly installed on the sealing rear end cover, one end of the transition joint A is inserted into the sealing shell A, and the other end of the transition joint A is connected with the water-tight connector A.

[0013] The sonar array whole body rotation transmission mechanism is a worm gear mechanism, the worm gear mechanism comprises a shell, a worm input shaft, a worm, a worm wheel and a worm wheel output shaft, the shell is fixedly connected to the base, the worm and the worm wheel are contained in the shell, the worm input shaft and the worm wheel output shaft are respectively rotatably installed on the shell, one end of the worm input shaft is connected with the output end of the sonar array whole body rotation power source, the other end of the worm input shaft is connected with the worm, the worm wheel is installed at one end of the worm wheel output shaft and is engaged with the worm, and the other end of the worm wheel output shaft is connected with one end of the rotation shaft through a flange plate.

[0014] The base is provided with a rotation shaft fixing frame, the worm gear mechanism and the flange plate are located in the rotation shaft fixing frame, the rotation shaft is rotatably installed on the rotation shaft fixing frame, one end of the rotation shaft is located in the rotation shaft fixing frame, the other end of the rotation shaft is located outside the rotation shaft fixing frame and is fixedly connected with a rotation support, and the slide base is installed on the rotation support.

[0015] The advantages and positive effects of the present application are as follows:

[0016] 1. The present application can realize the folding and unfolding and rotation of multiple sonar arrays, when the sonar rotating arm unfolding action is completed, the sonar array becomes a circular surface array composed of multiple sonar detector units, when the sonar rotating arm folding action is completed, multiple linear sonar arrays are formed in the same plane in parallel state, and the whole sonar array can also rotate at different angles and be applied to different detection requirements.

[0017] 2. One power motor is used to realize the equal-angle folding and unfolding of multiple linear sonar arrays, and when the linear array is unfolded, the sonar array radius is increased, when the moving platform moves, the sonar rotating arm can be rotated to a very small angle, so that the moving resistance of the moving platform is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1The overall structure of the present application is shown in the schematic diagram;

[0019] Figure 2 The structure of the linear sonar array of the present application is shown in the schematic diagram;

[0020] Figure 3 The structure of the present application is shown in the schematic diagram after removing the fairing in the folded state;

[0021] Figure 4 The structure of the present application is shown in the schematic diagram after removing the fairing in the folded state;

[0022] Figure 5 The structure of the present application is shown in the schematic diagram at the slide base after unfolding;

[0023] Figure 6 The structure of the present application is shown in the schematic diagram at the slide base after unfolding;

[0024] Figure 7 The structure of the present application is shown in the schematic diagram of the folding and unfolding transmission bevel gear mechanism part;

[0025] Figure 8 The structure of the present application is shown in the schematic diagram of Figure 7 The structure of the present application is shown in the schematic diagram of the internal structure of the electric motor sealed cabin;

[0026] Figure 9 The structure of the present application is shown in the schematic diagram of the sonar array rotation power part;

[0027] Figure 10 The structure of the present application is shown in the schematic diagram of Figure 9 The structure of the present application is shown in the schematic diagram of the internal structure of the worm gear mechanism;

[0028] Figure 11 The structure of the present application is shown in the schematic diagram of the overall rotation angle of the sonar array;

[0029] Wherein: 1 is the sonar detector, 2 is the sonar rotating arm, 3 is the slide base, 4 is the sealed shell A, 5 is the fairing, 6 is the base, 7 is the upper connecting rod, 8 is the sliding block, 9 is the rocker arm A, 10 is the rocker arm B, 11 is the lower connecting rod mechanism, 12 is the rotating shaft, 13 is the bevel gear reversing mechanism, 14 is the output shaft A, 15 is the bevel gear frame, 16 is the rotating bracket, 17 is the sealed shell B, 18 is the shaft coupling A, 19 is the worm input shaft, 20 is the bevel gear A, 21 is the flange plate, 22 is the worm gear mechanism, 23 is the rotating shaft fixing frame, 24 is the bevel gear output shaft A, 25 is the bevel gear output shaft B, 26 is the bevel gear mechanism input shaft, 27 is the shaft coupling B, 28 is the output shaft B, 29 is the worm output shaft, 30 is the sonar fixed arm, 31 is the worm, 32 is the worm gear, 33 is the transition joint A, 34 is the watertight connector A, 35 is the filter joint B, 36 is the watertight connector B, 37 is the sealed rear end cover, 38 is the motor B, 39 is the sealed front end cover, 40 is the O-ring A, 41 is the O-ring B, 42 is the O-ring C, 43 is the O-ring D, 44 is the bevel gear B, 45 is the bevel gear C, 46 is the shell, 47 is the circular slide, 48 is the fixing frame. DETAILED DESCRIPTION

[0030] The application will be further described below in conjunction with the drawings.

[0031] As Figures 1-11As shown, the present application comprises a folding and unfolding deformation power source, a bevel gear reversing mechanism 13, a slide base 3, an upper connecting rod 7, a rocker arm A 9, a rocker arm B 10, a lower connecting rod mechanism 11, a sonar array overall rotation power source, a sonar array overall rotation transmission mechanism, a base 6, a plurality of sonar rotating arms 2 and a sonar fixed arm 30, wherein the base 6 is fixedly connected with the carried underwater mobile platform, the base 6 is covered with a fairing 5, the folding and unfolding deformation power source, the bevel gear reversing mechanism 13, the sonar array overall rotation power source and the sonar array overall rotation transmission mechanism are all located in the fairing 5; the sonar array overall rotation power source is installed on the base 6, the output end of the sonar array overall rotation power source is connected with one end of a rotating shaft 12 through the sonar array overall rotation transmission mechanism to transmit rotary power, the other end of the rotating shaft 12 is connected with the slide base 3; a circular slide 47 is formed on the slide base 3, a plurality of sliding blocks 8 are arranged in the circular slide 47, the two sides of the sonar fixed arm 30 are provided with an equal number of sonar rotating arms 2, the sonar fixed arm 30 and each sonar rotating arm 2 are respectively connected with a sliding block 8, the sliding block 8 connected with the sonar fixed arm 30 is fixed in the circular slide 47, and the sliding block 8 connected with each sonar rotating arm 2 is in sliding connection with the circular slide 47 and can slide along the circular slide 47; the adjacent sonar rotating arms 2 on each side of the sonar fixed arm 30 and the sonar fixed arm 30 and the innermost sonar rotating arms 2 on the two sides are respectively connected through the upper connecting rod 7, the sliding blocks 8 connected with the adjacent sonar rotating arms 2 on each side of the sonar fixed arm 30 are connected through the lower connecting rod mechanism 11, and the sliding block 8 connected with the sonar fixed arm 30 and the sliding block 8 connected with the innermost sonar rotating arms 2 on the two sides are connected through the lower connecting rod mechanism 11; a plurality of sonar detectors 1 are installed on the sonar fixed arm 30 and each sonar rotating arm 2 along the length direction, thereby forming a plurality of linear sonar arrays; the folding and unfolding deformation power source and the bevel gear reversing mechanism 13 are respectively installed on the slide base 3, the output end of the folding and unfolding deformation power source is connected with the input end of the bevel gear reversing mechanism 13, the output end of the bevel gear reversing mechanism 13 is a double-output shaft rotating at a constant speed and in opposite directions, one end of the rocker arm A 9 and the rocker arm B 10 is respectively connected with the double-output shaft, the other end of the rocker arm A 9 and the rocker arm B 10 is respectively connected with the outermost sonar rotating arms 2 on the two sides of the sonar fixed arm 30 and / or the sliding blocks 8 connected with the outermost sonar rotating arms 2, in the embodiment, the other end of the rocker arm A 9 is connected with the outermost sonar rotating arm 2 on one side of the sonar fixed arm 30 and the sliding block 8 connected with the sonar rotating arm 2 through a pin shaft, and the other end of the rocker arm B 10 is connected with the outermost sonar rotating arm 2 on the other side of the sonar fixed arm 30 and the sliding block 8 connected with the sonar rotating arm 2 through a pin shaft; the folding and unfolding deformation power source drives the rocker arm A 9 and the rocker arm B 10 to synchronously and reversely rotate through the bevel gear reversing mechanism 13, thereby driving each sonar rotating arm 2 to fold or unfold, and realizing the deformation of the plurality of linear sonar arrays.

[0032] The circular slide 47 of the embodiment is a non-entire circular with an opening, the sliding block 8 connected with the sonar fixing arm 30 is arranged opposite to the opening and is provided with a threaded hole, and is fixed to the slide base 3 by a screw, so that the sonar fixing arm 30 connected with the sliding block 8 is fixed. The sonar rotating arms 2 of the embodiment are four in total, two on each side of the sonar fixing arm 30; correspondingly, the sliding blocks 8 are five in total, one fixed and the other four sliding under the restriction of the circular slide 47.

[0033] The upper connecting rod 7 of the embodiment is located between the sonar rotating arms 2, the sonar fixing arm 30 and the rocker arms A 9, B 10, and is used for controlling the included angle between the sonar rotating arms 2. The number of the upper connecting rod 7 of the embodiment is equal to the number of the sonar rotating arms 2, i.e. the upper connecting rod 7 is four in total, and the upper connecting rod 7 is hinged to the end of the sonar rotating arm 2 or the end of the sonar fixing arm 30.

[0034] The lower connecting rod mechanism 11 of the embodiment is located below each sliding block 8, and is used for controlling the maximum running angle of each sliding block 8. The lower connecting rod mechanism 11 of the embodiment is four in total, each of the lower connecting rod mechanisms 11 includes two lower connecting rods, one end of each of the two lower connecting rods is hinged to two adjacent sliding blocks 8, and the other end of each of the two lower connecting rods is hinged to each other.

[0035] The bevel gear reversing mechanism 13 of the embodiment includes a bevel gear mechanism input shaft 26, a bevel gear frame 15, a bevel gear A 20, a bevel gear B 44, a bevel gear C 45, a bevel gear output shaft A 24 and a bevel gear output shaft B 25. The bevel gear frame 15 is fixed to the slide base 3, the bevel gear mechanism input shaft 26 is rotatably installed on the bevel gear frame 15 as an input end of the bevel gear reversing mechanism 13, one end of the bevel gear mechanism input shaft 26 is connected with an output end of a folding and unfolding deformation power source, the other end of the bevel gear mechanism input shaft 26 is connected with the bevel gear A 20, the bevel gear B 44 and the bevel gear C 45 are located on both sides of the bevel gear A 20 and are engaged with the bevel gear A 20 respectively; the gear shaft of the bevel gear B 44 is the bevel gear output shaft A 24, the bevel gear output shaft A 24 is a hollow shaft and is rotatably installed on the bevel gear frame 15 and moves with the bevel gear B 44, the gear shaft of the bevel gear C 45 is the bevel gear output shaft B 25, one end of the bevel gear output shaft B 25 is rotatably installed on the bevel gear frame 15, the other end of the bevel gear output shaft B 25 passes through the inside of the bevel gear output shaft A 24, and the bevel gear output shaft B 25 moves with the bevel gear C 45; the bevel gear output shaft A 24 and the bevel gear output shaft B 25 are double output shafts of the bevel gear reversing mechanism 13, the axial center lines are collinear, and rotate at the same speed in opposite directions. The bevel gear output shaft A 24 and the bevel gear output shaft B 25 are connected with one end of the rocker arms A 9, B 10 respectively.

[0036] The folding and unfolding deformation power source of the embodiment comprises a motor sealing cabin B, a motor B38 and a coupling B27. The motor sealing cabin B comprises a sealing shell B17, a sealing front end cover 39, a sealing rear end cover 37, a transition joint B35 and a water-tight connector B36. The sealing shell B17 is fixedly connected to the slide base 3. The front and rear ends of the sealing shell B17 are sealingly connected to the sealing front end cover 39 and the sealing rear end cover 37 respectively. The motor B38 is installed in the sealing shell B17. The output shaft B28 of the motor B38 is the output end of the folding and unfolding deformation power source. The output shaft B28 extends out of the sealing front end cover 39 and is dynamically sealed with the sealing front end cover 39. The working environment of the present application is underwater. The motor B38 needs to be sealed. The sealing shell B17 and the sealing front end cover 39 are statically sealed by an O-ring B41. The sealing end cover 39 and the output shaft B28 are dynamically sealed by two O-rings A40. The sealing shell B17 and the sealing rear end cover 37 are statically sealed by an O-ring C42. The sealing rear end cover 37 and the transition joint B35 are statically sealed by an O-ring D43. The output shaft B28 is connected to the input end of the bevel gear reversing mechanism 13 (i.e. one end of the bevel gear mechanism input shaft 26) through the coupling B27. The transition joint B35 is sealingly installed on the sealing rear end cover 37. One end of the transition joint B35 extends into the sealing shell B17. The water-tight connector B36 with a seal is fixedly connected to the other end of the transition joint B35.

[0037] The sonar array overall rotation power source of the embodiment comprises a motor sealing cabin A, a motor A, a fixing frame 48 and a coupling A18. The motor sealing cabin A comprises a sealing shell A4, a sealing front end cover 39, a sealing rear end cover 37, a transition joint A33 and a water-tight connector A34. The sealing shell A4 is installed on the base 6 through the fixing frame 48. The front and rear ends of the sealing shell A4 are sealingly connected to the sealing front end cover 39 and the sealing rear end cover 37 respectively. The motor A is installed in the sealing shell A4. The output shaft A14 of the motor A is the output end of the sonar array overall rotation power source. The sealing method of the motor sealing cabin A of the embodiment is the same as that of the motor sealing cabin B, which will not be described here. The output shaft A extends out of the sealing front end cover 39 and is connected to the input end of the sonar array overall rotation transmission mechanism through the coupling A18. The transition joint A33 is sealingly installed on the sealing rear end cover 37. One end of the transition joint A33 extends into the sealing shell A4. The water-tight connector A34 with a seal is fixedly connected to the other end of the transition joint A33.

[0038] The base 6 of the embodiment is provided with a rotating shaft fixing frame 23. The whole-sonar-array rotating transmission mechanism of the embodiment is a worm gear mechanism 22, which comprises a housing 46, a worm input shaft 19, a worm 31, a worm gear 32 and a worm gear output shaft 29. The housing 46 is fixed to the base 6, the worm 31 and the worm gear 32 are both contained in the housing 46, the worm input shaft 19 and the worm gear output shaft 29 are both rotatably installed on the housing 46, one end of the worm input shaft 19 is connected with the output end (i.e. the output shaft A14) of the whole-sonar-array rotating power source, the other end is connected with the worm 31, the worm gear 32 is installed on one end of the worm gear output shaft 29 and is engaged with the worm 31 to convert the horizontal rotating power into the vertical rotating power, and the other end of the worm gear output shaft 29 is connected with a flange 21. The worm gear mechanism 22 and the flange 21 are both located in the rotating shaft fixing frame 23, the rotating shaft 12 is rotatably installed on the rotating shaft fixing frame 23, one end of the rotating shaft 12 is located in the rotating shaft fixing frame 23 and is connected with the other end of the rotating shaft 12, the other end of the rotating shaft 12 is located outside the rotating shaft fixing frame 23 and is fixed with a rotating support 16, the rotating support 16 is fixedly connected with the slide base 3 to transmit the rotating power to the deformable sonar array.

[0039] The working principle of the embodiment is as follows:

[0040] When the sonar array is unfolded, the motor B38 drives the bevel gear output shaft A24 and the bevel gear output shaft B25 to rotate at the same speed in opposite directions, the bevel gear output shaft A24 and the bevel gear output shaft B25 drive the two outermost sliding blocks 8 on both sides of the sonar fixing arm 30 to rotate along the circular slide 47 in opposite directions along the fixed track, and the two outermost sliding blocks 8 drive the other sliding blocks 8 to slide along the circular slide 47 through the lower connecting rod mechanism 11. The upper connecting rod 7 determines the included angle between the two adjacent sonar rotating arms 2. When the sonar array is folded, the motor B38 works in the opposite direction, the bevel gear output shaft A24 and the bevel gear output shaft B25 rotate in the opposite direction, and the two outermost sliding blocks 8 drive the inner sliding blocks 8 to rotate to the specified position through the contact with the inner sliding blocks 8. Each sonar rotating arm 2 can realize the deformation of the linear sonar array according to the detection requirement, the unfolded circular sonar array can improve the target detection capability and the target positioning is more accurate; when the mobile platform is running, each sonar rotating arm 2 is retracted to the parallel state between the rotating arms, which is close to a rectangular surface array, and the resistance of the mobile platform is reduced.

[0041] When the motor A works, the rotating shaft 12 is driven to rotate through the worm gear mechanism 22, and the sonar array can be rotated at different angles.

Claims

1. A deformable sonar array for an underwater mobile platform, characterized in that: The system includes a folding and deformation power source, a bevel gear reversing mechanism (13), a slide base (3), an upper connecting rod (7), a rocker arm A (9), a rocker arm B (10), a lower connecting rod mechanism (11), a sonar array overall rotation power source, a sonar array overall rotation transmission mechanism, a base (6), multiple sonar rotating arms (2), and a sonar fixed arm (30). The base (6) is fixed on an underwater mobile platform. The sonar array overall rotation power source is installed on the base (6). The output end of the sonar array overall rotation power source is connected to one end of the rotating shaft (12) through the sonar array overall rotation transmission mechanism to transmit rotational power. The other end of the rotating shaft (12) is connected to the slide base (3). The slide base (3) has a circular slide (47) with multiple sliders (8) inside. The sonar fixing arm (30) has an equal number of sonar rotating arms (2) on both sides. The sonar fixing arm (30) and each sonar rotating arm (2) are connected to a slider (8). The sliders (8) connected to the sonar fixing arm (30) are fixed inside the circular slide (47). The sliders (8) connected to each sonar rotating arm (2) are slidably connected to the circular slide (47). The adjacent sonar rotating arms (2) on each side of the sonar fixing arm (30) and the sonar fixing arm (30) with the innermost sonar rotating arm (2) on both sides are separated. The sonar fixed arm (30) is connected to the adjacent sonar rotating arm (2) on each side by a lower linkage mechanism (11). The slider (8) connected to the sonar fixed arm (30) is connected to the slider (8) connected to the innermost sonar rotating arm (2) on both sides by a lower linkage mechanism (11). Multiple sonar detectors (1) are installed along the length direction on the sonar fixed arm (30) and each sonar rotating arm (2), thus forming multiple linear sonar arrays. The folding and deformation power source and the bevel gear reversing mechanism (13) are respectively installed on the slide base (3). The output end of the folding and deformation power source is connected to the bevel gear reversing mechanism (13). 3) The input end is connected, and the output end of the bevel gear reversing mechanism (13) is a double output shaft that rotates at the same speed and in opposite directions. One end of the rocker arm A (9) and rocker arm B (10) are respectively connected to the double output shaft. The other end of the rocker arm A (9) and rocker arm B (10) are respectively connected to the outermost sonar rotating arm (2) on both sides of the sonar fixed arm (30) and / or the slider (8) connected to the outermost sonar rotating arm (2). The folding and unfolding deformation power source drives the rocker arm A (9) and rocker arm B (10) to rotate synchronously in opposite directions through the bevel gear reversing mechanism (13), thereby driving each of the sonar rotating arms (2) to fold or unfold, so as to realize the deformation of the multiple linear sonar arrays.

2. The deformable sonar array for underwater mobile platforms according to claim 1, characterized in that: The upper connecting rod (7) is located between the sonar rotating arm (2), the sonar fixed arm (30), and the rocker arm A (9) and rocker arm B (10), and is used to control the included angle between each of the sonar rotating arms (2); the upper connecting rod (7) is hinged to the end of the sonar rotating arm (2) or the end of the sonar fixed arm (30), and the number of the upper connecting rods (7) is equal to the number of the sonar rotating arms (2).

3. The deformable sonar array for underwater mobile platforms according to claim 1, characterized in that: The lower linkage mechanism (11) is located below each slider (8) and is used to control the maximum operating angle of each slider (8). The lower linkage mechanism (11) includes two lower linkages, one end of which is hinged to two adjacent sliders (8), and the other end of which is hinged to each other.

4. The deformable sonar array for underwater mobile platforms according to claim 1, characterized in that: The circular slide (47) is a non-circular shape with a notch, and the slider (8) connected to the sonar fixing arm (30) is arranged opposite to the notch.

5. The deformable sonar array for underwater mobile platforms according to claim 1, characterized in that: The bevel gear reversing mechanism (13) includes a bevel gear mechanism input shaft (26), a bevel gear carrier (15), bevel gear A (20), bevel gear B (44), bevel gear C (45), bevel gear output shaft A (24), and bevel gear output shaft B (25). The bevel gear carrier (15) is fixed on the slide base (3). The bevel gear mechanism input shaft (26) is rotatably mounted on the bevel gear carrier (15) as the input end of the bevel gear reversing mechanism (13). One end of the bevel gear mechanism input shaft (26) is connected to the output end of the folding and deformation power source, and the other end of the bevel gear mechanism input shaft (26) is connected to bevel gear A (20). The bevel gear B (44) and bevel gear C (45) are located on the bevel gear A (20). Both sides are respectively meshed with the bevel gear A (20). The gear shaft of the bevel gear B (44) is the bevel gear output shaft A (24). The bevel gear output shaft A (24) is a hollow shaft and is rotatably mounted on the bevel gear frame (15) and connected to the bevel gear B (44). The gear shaft of the bevel gear C (45) is the bevel gear output shaft B (25). One end of the bevel gear output shaft B (25) is rotatably mounted on the bevel gear frame (15), and the other end passes through the inside of the bevel gear output shaft A (24). The bevel gear output shaft B (25) is connected to the bevel gear C (45). The bevel gear output shaft A (24) and the bevel gear output shaft B (25) are respectively connected to one end of the rocker arm A (9) and the rocker arm B (10).

6. The deformable sonar array for an underwater mobile platform according to claim 5, characterized in that: The bevel gear output shaft A (24) and bevel gear output shaft B (25) serve as the dual output shafts of the bevel gear reversing mechanism (13), with their axial center lines collinear.

7. The deformable sonar array for underwater mobile platforms according to claim 1, characterized in that: The folding and deformation power source includes a motor sealed chamber B, a motor B (38), and a coupling B (27). The motor sealed chamber B includes a sealed shell B (17), a front sealing cover (39), a rear sealing cover (37), a transition joint B (35), and a watertight connector B (36). The sealed shell B (17) is fixed to the slide base (3). The front and rear ends of the sealed shell B (17) are respectively sealed to the front sealing cover (39) and the rear sealing cover (37). The motor B (38) is installed inside the sealed shell B (17). 8) The output shaft B (28) is the output end of the folding and deformation power source. The output shaft B (28) extends from the sealing front end cover (39) and is dynamically sealed with the sealing front end cover (39). The output shaft B (28) is connected to the input end of the bevel gear reversing mechanism (13) through the coupling B (27). The sealing rear end cover (37) is sealed with a transition joint B (35). One end of the transition joint B (35) extends into the sealing shell B (17), and the other end of the transition joint B (35) is connected to a watertight connector B (36).

8. The deformable sonar array for underwater mobile platforms according to claim 1, characterized in that: The sonar array's overall rotational power source includes a motor sealed chamber A, a motor A, a mounting bracket (48), and a coupling A (18). The motor sealed chamber A includes a sealing shell A (4), a front sealing cover (39), a rear sealing cover (37), a transition joint A (33), and a watertight connector A (34). The sealing shell A (4) is mounted on the base (6) via the mounting bracket (48). The front and rear ends of the sealing shell A (4) are respectively sealed to the front sealing cover (39) and the rear sealing cover (37). The motor... A is installed inside the sealed housing A (4). The output shaft A (14) of the motor A is the output end of the overall rotational power source of the sonar array. The output shaft A extends out from the sealed front end cover (39) and is connected to the input end of the overall rotational transmission mechanism of the sonar array through the coupling A (18). A transition joint A (33) is sealed and installed on the sealed rear end cover (37). One end of the transition joint A (33) extends into the sealed housing A (4), and the other end of the transition joint A (33) is connected to a watertight connector A (34).

9. The deformable sonar array for an underwater mobile platform according to claim 1, characterized in that: The overall rotation transmission mechanism of the sonar array is a worm gear mechanism (22). The worm gear mechanism (22) includes a housing (46), a worm input shaft (19), a worm (31), a worm wheel (32), and a worm output shaft (29). The housing (46) is fixed to the base (6). The worm (31) and the worm wheel (32) are both housed inside the housing (46). The worm input shaft (19) and the worm output shaft (29) are rotatably mounted on the housing (46). One end of the worm input shaft (19) is connected to the output end of the overall rotation power source of the sonar array, and the other end is connected to the worm (31). The worm wheel (32) is mounted on one end of the worm output shaft (29) and meshes with the worm (31). The other end of the worm output shaft (29) is connected to one end of the rotating shaft (12) through a flange (21).

10. The deformable sonar array for an underwater mobile platform according to claim 9, characterized in that: A rotating shaft fixing bracket (23) is installed on the base (6). The worm gear mechanism (22) and the flange (21) are both located inside the rotating shaft fixing bracket (23). The rotating shaft (12) is rotatably installed on the rotating shaft fixing bracket (23). One end of the rotating shaft (12) is located inside the rotating shaft fixing bracket (23), and the other end of the rotating shaft (12) is located outside the rotating shaft fixing bracket (23) and is fixedly connected to a rotating bracket (16). The slide base (3) is installed on the rotating bracket (16).

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