Underwater vehicle and sonar transducer protection device thereof

Abstract

The present invention relates to an underwater vehicle and a sonar transducer protection device thereof, wherein the underwater vehicle comprises the sonar transducer protection device, and the sonar transducer protection device comprises a mounting base, a transducer mounting seat, a protection plate, a transducer driving mechanism, and a protection plate driving mechanism; the transducer mounting seat has an extending position and a retracting position in its reciprocating movement stroke, and in the extending position, the transducer is extended outward from a receiving and releasing opening of a shell of the underwater vehicle, and in the retracting position, the transducer is retracted inward from the receiving and releasing opening; the protection plate has a covering position and a letting position in its reciprocating movement stroke, and the protection plate is used to move to the covering position after the transducer is retracted inwardly to cover the receiving and releasing opening of the shell of the underwater vehicle, and to let the receiving and releasing opening be let out when in the letting position to allow the transducer to extend outward; the transducer is retracted into the shell of the underwater vehicle, and the protection plate is sealed at the receiving and releasing opening to avoid contact and collision between the transducer and a recovery platform, thereby preventing damage to the transducer.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater operation equipment, and in particular to an underwater vehicle and a sonar transducer protection device thereof. Background Art

[0002] As a common tool that can autonomously navigate, detect, and operate underwater, underwater vehicles, equipped with side-scan sonar, optical cameras, and other equipment, play a wide range of important roles in military and civilian fields such as intelligence gathering, anti-submarine warfare, marine resource detection, and underwater structure maintenance. Side-scan sonar is one of the commonly used equipment on underwater vehicles. It generally includes an electronic cabin and two transducers. Due to the need to transmit sound wave signals, the two transducers need to be symmetrically installed on the lower side of the outer wall of the underwater vehicle shell and at a certain installation angle. The basic installation structure of the transducer on the underwater vehicle can be seen in a side-scan sonar device disclosed in the Chinese utility model patent with authorization announcement number CN205880213U. The left and right transducers are both installed on the outside of the electronic cabin.

[0003] After completing its mission, the underwater vehicle can return to the recovery platform for energy replenishment and data transmission. However, during the docking process with the recovery platform, the underwater vehicle's posture is often affected by factors such as ocean currents, recovery platform turbulence, and attitude control methods, which can cause the side-scan sonar transducer to contact and collide with the recovery platform, easily leading to damage to the side-scan sonar transducer. Summary of the Invention

[0004] The present invention aims to provide a sonar transducer protection device for an underwater vehicle to address the problem of transducers being easily damaged by collision with the recovery platform during docking and recovery of existing underwater vehicles. The present invention also aims to provide an underwater vehicle to address the problem of transducers being easily damaged by collision with the recovery platform during docking and recovery of existing underwater vehicles.

[0005] The technical solution of the sonar transducer protection device for underwater vehicles of the present invention is:

[0006] A sonar transducer protection device for an underwater vehicle comprises a mounting base, a transducer mounting base, a protective plate, a transducer driving mechanism, and a protective plate driving mechanism. The transducer mounting base is used to mount a transducer, and the transducer driving mechanism and the protective plate driving mechanism are mounted on the mounting base. The transducer driving mechanism is used to drive the transducer mounting base to move back and forth, and the transducer mounting base has an extended position and a retracted position in its reciprocating movement stroke. The transducer mounting base is used to make the transducer move out of the underwater vehicle shell when in the extended position. The receiving and releasing opening extends outward, and when in the retracted position, the transducer is retracted inward from the receiving and releasing opening of the underwater vehicle shell; the protective plate driving mechanism is used to drive the protective plate to move back and forth, and the protective plate has a covering position and a clearing position corresponding to the receiving and releasing opening provided on the underwater vehicle shell during its reciprocating movement stroke; the protective plate is used to move to the covering position to cover the receiving and releasing opening of the underwater vehicle shell after the transducer is retracted inward, and is used to clear the receiving and releasing opening of the underwater vehicle shell when in the clearing position to allow the transducer to extend outward.

[0007] Beneficial effect: The sonar transducer protection device is used to retract and protect the transducer. The transducer driving mechanism drives the transducer mounting seat to move, thereby driving the transducer to extend out of the underwater vehicle shell or retract into the underwater vehicle shell. Accordingly, the protective plate driving mechanism drives the protective plate to move and cover the retractable opening of the underwater vehicle shell or make way for the retractable opening. After the protective plate makes way for the retractable opening, the transducer can be extended out of the underwater vehicle shell to enter a normal working state. During the docking and recovery process of the underwater vehicle, the transducer can be retracted into the underwater vehicle shell, and the protective plate can be sealed at the retractable opening. This protects the transducer and avoids damage to the transducer caused by contact and collision between the transducer and the recovery platform.

[0008] Furthermore, the transducer drive mechanism includes a power source and a power transmission mechanism, the power transmission mechanism is a screw-nut mechanism, the screw-nut mechanism includes a screw and a sliding nut, the power source has an output shaft, the output shaft of the power source is connected to the screw transmission to drive the screw to rotate, the screw is used to drive the sliding nut to translate in the inward and outward directions when rotating, and the sliding nut is connected to the transducer mounting seat to drive the transducer mounting seat to move back and forth in the inward and outward directions.

[0009] Beneficial effect: The transducer mounting seat is driven to move horizontally by the screw nut mechanism to realize reciprocating telescopic motion, which is beneficial to reducing the occupied space and realizing a larger moving stroke.

[0010] Furthermore, the transducer driving mechanism also includes a linkage body, which extends in the inward and outward directions, the middle part of the linkage body is fixed to the sliding nut, and the outer end of the linkage body is fixed to the transducer mounting seat. The protective plate driving mechanism includes a rotary transmission mechanism and a transmission rod. The transmission rod is rotatably installed on the mounting base, the outer end of the transmission rod is fixed to the protective plate, and the rotary transmission mechanism is arranged between the inner end of the transmission rod and the inner end of the linkage body to drive the transmission rod to rotate when the linkage body moves in the inward and outward directions, and then the transmission rod drives the protective plate to rotate. The power source, screw nut mechanism, rotary transmission mechanism, and transmission rod are used to form a protective plate driving mechanism, and the protective plate is located on the outside of the transducer mounting seat when it moves to the covering position.

[0011] Beneficial effects: By setting up a linkage body, the protective plate drive mechanism and the transducer drive mechanism share a power source and a screw-nut mechanism, and can use the same power source and screw-nut mechanism to drive the two moving parts of the transducer mounting base and the protective plate to perform their respective actions, which is conducive to simplifying the structure and saving space.

[0012] Furthermore, the rotary transmission mechanism includes a rotary transmission rack arranged at the inner end of the linkage body, a rotary gear shaft rotatably mounted on the mounting base, and a rotary gear mounted on the rotary gear shaft. The rotary gear shaft extends in the front-to-back direction. The rotary gear shaft is fixed to the inner end of the transmission rod so that the transmission rod is rotatably mounted on the mounting base through the rotary gear shaft. The rotary transmission rack is used to engage with the rotary gear for transmission, so as to drive the transmission rod to rotate through the rotary gear shaft.

[0013] Beneficial effect: By forming a gear rack mechanism, the linkage body drives the transmission rod to rotate, which is beneficial to saving installation space and has reliable transmission.

[0014] The outer end of the sliding rod is slidingly connected to the outer end of the sliding rod, and the outer end of the sliding rod is connected to the outer end of the sliding rod, and the outer end of the sliding rod is connected to the outer end of the sliding rod. The moving stroke of the guard plate includes a rotation stroke and a translation stroke, and the guard plate also has an intermediate position in its reciprocating movement stroke. The intermediate position is used to connect the rotation stroke and the translation stroke. The rotation transmission mechanism is used to drive the guard plate to rotate through the transmission rod so that the guard plate switches between the intermediate position and the clearance position, and the guard plate is located outside the transducer mounting seat when moving to the intermediate position; the translation transmission mechanism is used to drive the guard plate to perform a translation stroke through the sliding rod, and when the guard plate rotates to the intermediate position, it drives the sliding rod to translate outward and drives the guard plate to translate outward to the covering position so that the guard plate can be embedded in the retractable opening. The translation transmission mechanism is also used to drive the sliding rod to translate inward so that the guard plate in the covering position is translated inward to the intermediate position.

[0015] Beneficial effects: The protective plate driving mechanism has a retractable transmission rod, a rotation transmission mechanism, and a translation transmission mechanism. With the cooperation of the three, the moving stroke of the protective plate has a rotation stroke and a translation stroke. The protective plate can complete a reciprocating movement stroke by rotating counterclockwise, translating outward, translating inward, and rotating clockwise in sequence. In this way, after the protective plate rotates to the middle position, the protective plate can be moved outward into the retractable opening on the shell of the underwater vehicle through translation. The protective plate embedded in the retractable opening is beneficial to the reliability of protection and helps to reduce fluid resistance.

[0016] Furthermore, the translation transmission mechanism includes a driving rod, a reversing gear, a reversing gear shaft, and a driven rack. The driving rod extends in the inward and outward directions, the outer end of the driving rod is fixed to the transducer mounting seat, the inner end of the driving rod is provided with an active rack, the reversing gear shaft extends in the up and down directions and is mounted on the mounting base, the reversing gear is mounted on the reversing gear shaft, the driven rack is arranged on the sliding rod, and the active rack and the driven rack are respectively located on the front and rear sides of the reversing gear; when the protective plate moves from the clear position to the middle position, the rotating transmission rack is disengaged from the rotating gear When the gear shifts from the front to the rear, the gear shifts from the front to the rear, and the gear shifts from the front to the rear, causing the gear shift to move outwards and outwards, respectively.

[0017] Beneficial effect: By setting up the active rack, reversing gear and driven rack, the translational movement of the transducer mounting seat can be used to achieve the translational movement of the protective plate in the opposite direction, without the need to set up an additional power source for the translation transmission mechanism, and it is beneficial to the movement connection of each component.

[0018] Furthermore, the sliding rod includes a sliding portion and a U-shaped portion. The sliding portion is slidably arranged on the rotating rod. The opening of the U-shaped portion faces upward to avoid the transducer mounting seat. The protective plate is fixed on the outside of the U-shaped portion.

[0019] Beneficial effects: The transmission rod is set as a bent rod, and the U-shaped part is used to avoid the transducer mounting seat, so that the sliding part can be set on the inner side of the transducer mounting seat, which is beneficial to reducing the size occupied by the rotary transmission mechanism and making the structure compact.

[0020] Furthermore, the outer surface of the protective plate is a curved surface so as to be adapted to the outer peripheral surface of the underwater vehicle shell.

[0021] Beneficial effect: The protective plate adopts a conformal design, which is consistent with the shape of the underwater vehicle shell. When the transducer is retracted and the protective plate is extended into the retractable port, the fluid dynamic shape of the underwater vehicle is guaranteed and the fluid resistance is reduced.

[0022] Furthermore, the mounting base includes an upper cover and a bottom shell, the upper cover is arranged on the bottom shell to enclose a mounting inner cavity, and the transducer driving mechanism and the protective plate driving mechanism are installed in the mounting inner cavity.

[0023] Beneficial effect: The mounting base has a mounting inner cavity, so that the transducer driving mechanism and the protective plate driving mechanism can be centrally placed in the mounting inner cavity, the structure is compact, and the driving mechanism can be protected.

[0024] The technical solution of the underwater vehicle of the present invention is:

[0025] An underwater vehicle, comprising an underwater vehicle shell and a transducer, and also comprising a sonar transducer protection device arranged in the underwater vehicle shell, wherein the underwater vehicle shell is provided with a retractable opening for the transducer to extend and retract, and the sonar transducer protection device comprises a mounting base, a transducer mounting seat, a protective plate, a transducer driving mechanism, and a protective plate driving mechanism, wherein the transducer mounting seat is used to mount the transducer, and the transducer driving mechanism and the protective plate driving mechanism are mounted on the mounting base; the transducer driving mechanism is used to drive the transducer mounting seat to move back and forth, and the transducer mounting seat has an outward extension during its reciprocating movement. The transducer mounting seat is used to extend the transducer outward from the retractable opening of the underwater vehicle shell in the extended position, and to retract the transducer inward from the retractable opening of the underwater vehicle shell in the retracted position; the protective plate driving mechanism is used to drive the protective plate to move back and forth, and the protective plate has a covering position and a clearing position corresponding to the retractable opening provided on the underwater vehicle shell during its reciprocating movement stroke; the protective plate is used to move to the covering position to cover the retractable opening of the underwater vehicle shell after the transducer is retracted inward, and is used to clear the retractable opening of the underwater vehicle shell when in the clearing position to allow the transducer to extend outward.

[0026] Beneficial effect: The sonar transducer protection device is used to retract and protect the transducer. The transducer driving mechanism drives the transducer mounting seat to move, thereby driving the transducer to extend out of the underwater vehicle shell or retract into the underwater vehicle shell. Accordingly, the protective plate driving mechanism drives the protective plate to move and cover the retractable opening of the underwater vehicle shell or make way for the retractable opening. After the protective plate makes way for the retractable opening, the transducer can be extended out of the underwater vehicle shell to enter a normal working state. During the docking and recovery process of the underwater vehicle, the transducer can be retracted into the underwater vehicle shell, and the protective plate can be sealed at the retractable opening. This protects the transducer and avoids damage to the transducer caused by contact and collision between the transducer and the recovery platform.

[0027] Furthermore, the transducer drive mechanism includes a power source and a power transmission mechanism, the power transmission mechanism is a screw-nut mechanism, the screw-nut mechanism includes a screw and a sliding nut, the power source has an output shaft, the output shaft of the power source is connected to the screw transmission to drive the screw to rotate, the screw is used to drive the sliding nut to translate in the inward and outward directions when rotating, and the sliding nut is connected to the transducer mounting seat to drive the transducer mounting seat to move back and forth in the inward and outward directions.

[0028] Beneficial effect: The transducer mounting seat is driven to move horizontally by the screw nut mechanism to realize reciprocating telescopic motion, which is beneficial to reducing the occupied space and realizing a larger moving stroke.

[0029] Furthermore, the transducer driving mechanism also includes a linkage body, which extends in the inward and outward directions, the middle part of the linkage body is fixed to the sliding nut, and the outer end of the linkage body is fixed to the transducer mounting seat. The protective plate driving mechanism includes a rotary transmission mechanism and a transmission rod. The transmission rod is rotatably installed on the mounting base, the outer end of the transmission rod is fixed to the protective plate, and the rotary transmission mechanism is arranged between the inner end of the transmission rod and the inner end of the linkage body to drive the transmission rod to rotate when the linkage body moves in the inward and outward directions, and then the transmission rod drives the protective plate to rotate. The power source, screw nut mechanism, rotary transmission mechanism, and transmission rod are used to form a protective plate driving mechanism, and the protective plate is located on the outside of the transducer mounting seat when it moves to the covering position.

[0030] Beneficial effects: By setting up a linkage body, the protective plate drive mechanism and the transducer drive mechanism share a power source and a screw-nut mechanism, and can use the same power source and screw-nut mechanism to drive the two moving parts of the transducer mounting base and the protective plate to perform their respective actions, which is conducive to simplifying the structure and saving space.

[0031] Furthermore, the rotary transmission mechanism includes a rotary transmission rack arranged at the inner end of the linkage body, a rotary gear shaft rotatably mounted on the mounting base, and a rotary gear mounted on the rotary gear shaft. The rotary gear shaft extends in the front-to-back direction. The rotary gear shaft is fixed to the inner end of the transmission rod so that the transmission rod is rotatably mounted on the mounting base through the rotary gear shaft. The rotary transmission rack is used to engage with the rotary gear for transmission, so as to drive the transmission rod to rotate through the rotary gear shaft.

[0032] Beneficial effect: By forming a gear rack mechanism, the linkage body drives the transmission rod to rotate, which is beneficial to saving installation space and has reliable transmission.

[0033] The outer end of the sliding rod is slidingly connected to the outer end of the sliding rod, and the outer end of the sliding rod is connected to the outer end of the sliding rod, and the outer end of the sliding rod is connected to the outer end of the sliding rod. The moving stroke of the guard plate includes a rotation stroke and a translation stroke, and the guard plate also has an intermediate position in its reciprocating movement stroke. The intermediate position is used to connect the rotation stroke and the translation stroke. The rotation transmission mechanism is used to drive the guard plate to rotate through the transmission rod so that the guard plate switches between the intermediate position and the clearance position, and the guard plate is located outside the transducer mounting seat when moving to the intermediate position; the translation transmission mechanism is used to drive the guard plate to perform a translation stroke through the sliding rod, and when the guard plate rotates to the intermediate position, it drives the sliding rod to translate outward and drives the guard plate to translate outward to the covering position so that the guard plate can be embedded in the retractable opening. The translation transmission mechanism is also used to drive the sliding rod to translate inward so that the guard plate in the covering position is translated inward to the intermediate position.

[0034] Beneficial effects: The protective plate driving mechanism has a retractable transmission rod, a rotation transmission mechanism, and a translation transmission mechanism. With the cooperation of the three, the moving stroke of the protective plate has a rotation stroke and a translation stroke. The protective plate can complete a reciprocating movement stroke by rotating counterclockwise, translating outward, translating inward, and rotating clockwise in sequence. In this way, after the protective plate rotates to the middle position, the protective plate can be moved outward into the retractable opening on the shell of the underwater vehicle through translation. The protective plate embedded in the retractable opening is beneficial to the reliability of protection and helps to reduce fluid resistance.

[0035] Furthermore, the translation transmission mechanism includes a driving rod, a reversing gear, a reversing gear shaft, and a driven rack. The driving rod extends in the inward and outward directions, the outer end of the driving rod is fixed to the transducer mounting seat, the inner end of the driving rod is provided with an active rack, the reversing gear shaft extends in the up and down directions and is mounted on the mounting base, the reversing gear is mounted on the reversing gear shaft, the driven rack is arranged on the sliding rod, and the active rack and the driven rack are respectively located on the front and rear sides of the reversing gear; when the protective plate moves from the clear position to the middle position, the rotating transmission rack is disengaged from the rotating gear When the gear shifts from the front to the rear, the gear shifts from the front to the rear, and the gear shifts from the front to the rear, causing the gear shift to move outwards and outwards, respectively.

[0036] Beneficial effect: By setting up the active rack, reversing gear and driven rack, the translational movement of the transducer mounting seat can be used to achieve the translational movement of the protective plate in the opposite direction, without the need to set up an additional power source for the translation transmission mechanism, and it is beneficial to the movement connection of each component.

[0037] Furthermore, the sliding rod includes a sliding portion and a U-shaped portion. The sliding portion is slidably arranged on the rotating rod. The opening of the U-shaped portion faces upward to avoid the transducer mounting seat. The protective plate is fixed on the outside of the U-shaped portion.

[0038] Beneficial effects: The transmission rod is set as a bent rod, and the U-shaped part is used to avoid the transducer mounting seat, so that the sliding part can be set on the inner side of the transducer mounting seat, which is beneficial to reducing the size occupied by the rotary transmission mechanism and making the structure compact.

[0039] Furthermore, the outer surface of the protective plate is a curved surface so as to be adapted to the outer peripheral surface of the underwater vehicle shell.

[0040] Beneficial effect: The protective plate adopts a conformal design, which is consistent with the shape of the underwater vehicle shell. When the transducer is retracted and the protective plate is extended into the retractable port, the fluid dynamic shape of the underwater vehicle is guaranteed and the fluid resistance is reduced.

[0041] Furthermore, the mounting base includes an upper cover and a bottom shell, the upper cover is arranged on the bottom shell to enclose a mounting inner cavity, and the transducer driving mechanism and the protective plate driving mechanism are installed in the mounting inner cavity.

[0042] Beneficial effect: The mounting base has a mounting inner cavity, so that the transducer driving mechanism and the protective plate driving mechanism can be centrally placed in the mounting inner cavity, the structure is compact, and the driving mechanism can be protected. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a schematic structural diagram of the sonar transducer protection device of the underwater vehicle of the present invention when the transducer is installed;

[0044] Figure 2 for Figure 1 Side view of;

[0045] Figure 3 for Figure 1 Schematic diagram of the structure of the bottom shell;

[0046] Figure 4 for Figure 1 Schematic diagram of the structure of the upper cover;

[0047] Figure 5 for Figure 1 Schematic diagram of the structure after removing the upper cover and bottom shell;

[0048] Figure 6 for Figure 5A partial enlarged view of the middle part;

[0049] Figure 7 for Figure 6 A top view without the sliding nut and linkage;

[0050] Figure 8 A schematic diagram of the underwater vehicle of the present invention with the transducer extending outward and the protective plate in the clear position;

[0051] Figure 9 for Figure 8 A top view with the upper cover removed;

[0052] Figure 10 A schematic diagram of the underwater vehicle of the present invention when the transducer is retracted inward and the protective plate is in the middle position;

[0053] Figure 11 for Figure 10 A top view with the upper cover removed;

[0054] Figure 12 A schematic diagram of the underwater vehicle of the present invention when the transducer is retracted inward and the protective plate is in the covering position;

[0055] Figure 13 for Figure 12 A top view with the upper cover removed;

[0056] Figure 14 The invention provides an underwater vehicle equipped with a sonar transducer protection device.

[0057] In the figure: 1. Upper cover; 2. Bottom shell; 3. Sliding rod; 4. Protective plate; 5. Transducer; 6. Transducer mounting seat; 7. Linkage body; 71. Rotating transmission rack; 8. Rotating gear; 9. First bearing; 10. Rotating gear shaft; 11. Rotating rod; 12. Sliding nut; 13. Limit rod; 14. Reversing gear shaft; 15. Motor; 16. Lead screw; 17. Lead screw mechanism mounting seat; 18. Active rack; 19. Reversing gear; 20. Limit pin; 21. Driven rack; 22. Underwater vehicle shell; 221. Retractable opening; 23. First bearing seat; 24. Second bearing seat; 25. Transmission rod avoidance opening; 26. Drive rod avoidance opening; 27. Linkage body avoidance opening; 28. Drive rod. DETAILED DESCRIPTION

[0058] In order to make the objectives, technical solutions, and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present invention and are not intended to limit the present invention. That is, the embodiments described herein are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and illustrated in the drawings herein may be arranged and designed in various different configurations.

[0059] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but is merely intended to represent selected embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative work are within the scope of protection of the present invention.

[0060] It should be noted that, in the specific embodiments of the present invention, terms such as “first” and “second” and other relational terms that may appear are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, terms such as “include”, “comprises” or any other variants thereof that may appear are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements that are not explicitly listed, or elements that are inherent to such process, method, article or device. In the absence of further restrictions, elements defined by possible statements such as “including a…” do not exclude the presence of other identical elements in the process, method, article or device that includes the elements.

[0061] In the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0062] In the description of the present invention, unless otherwise expressly specified or limited, the terms "provided with" and "provided with" should be understood broadly. For example, the object "provided with" may be a part of the main body, or may be arranged separately from the main body and connected to the main body. The connection may be detachable or non-detachable. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0063] The present invention is described in further detail below with reference to the examples.

[0064] Embodiment 1 of the underwater vehicle of the present invention:

[0065] like Figure 1 、 Figure 2 、 Figure 14 As shown, the underwater vehicle includes an underwater vehicle shell 22 and a side scan sonar and a sonar transducer protection device installed in the underwater vehicle shell 22. The side scan sonar includes a transducer 5. The sonar transducer protection device includes a mounting base, a transducer mounting base 6, a protection plate 4, a transducer drive mechanism, and a protection plate drive mechanism. The transducer 5 is mounted on the transducer mounting base 6. The mounting base includes an upper cover 1 and a bottom shell 2. The upper cover 1 and the bottom shell 2 form an installation cavity. The transducer drive mechanism and the protection plate drive mechanism are mounted on the mounting base. In the inner cavity, the transducer driving mechanism is used to drive the transducer mounting seat 6 to move back and forth so that the transducer 5 is extended out of the underwater vehicle shell 22 and retracted into the underwater vehicle shell 22. A retracting opening 221 for extending and retracting the transducer 5 is opened at the lower side of the underwater vehicle shell 22. The protective plate driving mechanism is used to drive the protective plate 4 to move back and forth to cover the retracting opening 221 when the transducer 5 is retracted into the underwater vehicle shell 22, and to clear the retracting opening 221 when the transducer 5 needs to be extended out of the underwater vehicle shell 22.

[0066] The transducer mounting base 6 is a long strip extending in the front-to-back direction to facilitate the installation of the long transducer 5. The front and rear ends of the transducer mounting base 6 are fixedly connected to the front and rear ends of the transducer 5 via bolts, and the transducer 5 is mounted on the outside of the transducer mounting base 6. The protective plate 4 is a long strip extending in the front-to-back direction, and its size is adapted to the receiving opening 221 on the underwater vehicle shell 22. The mounting base is located in the middle of the transducer mounting base 6 in the front-to-back direction and is located on the inside of the transducer mounting base 6. The mounting base is fixed within the underwater vehicle shell 22 via a corresponding fixing base.

[0067] like Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7As shown, the components on the mounting base include a motor 15, a lead screw 16, a sliding nut 12, a limiting rod 13, a lead screw mechanism mounting base 17, a linkage body 7, a rotating gear 8, a rotating gear shaft 10, a first bearing 9, a rotating rod 11, a sliding rod 3, a limiting pin 20, a driven rack 21, a reversing gear 19, a reversing gear shaft 14, and a driving rod 28. The lead screw 16 and the sliding nut 12 cooperate to form a lead screw-nut mechanism, the motor 15 constitutes a power source, and the lead screw-nut mechanism constitutes a power transmission mechanism that transmits power from the power source to the linkage body 7. The motor 15, the lead screw 16, the sliding nut 12, and the linkage body 7 are used to form a transducer drive mechanism. The sliding nut 12 is fixed to the linkage body 7, and the linkage body 7 is fixed to the transducer mounting base 6 to drive the transducer 5 to move. The guard plate drive mechanism includes a rotational transmission mechanism and a translational transmission mechanism. The motor 15, lead screw 16, sliding nut 12, linkage 7, rotating gear 8, rotating gear shaft 10, rotating rod 11, and sliding rod 3 form the rotational transmission mechanism, while the drive rod 28, reversing gear shaft 14, reversing gear 19, driven rack 21, stop pin 20, and sliding rod 3 form the translational transmission mechanism. The rotational transmission mechanism drives the guard plate 4 in rotation, while the translational transmission mechanism drives the guard plate 4 in translation. The guard plate drive mechanism shares a power source and lead screw nut mechanism with the transducer drive mechanism. The rotational transmission mechanism and translational transmission mechanism of the guard plate drive mechanism share the sliding rod 3.

[0068] The motor 15 has an output shaft, and the output shaft of the motor 15 is connected to the screw 16 for driving the screw 16 to rotate. The screw 16 extends in the inward and outward directions, and the inner end of the screw 16 is connected to the motor 15, and the outer end is rotatably mounted on the screw mechanism mounting seat 17. The screw mechanism mounting seat 17 is a U-shaped seat with an opening facing upward. The U-shaped seat has two side walls opposite to each other in the inward and outward directions. The motor 15, the screw 16, the sliding nut 12, and the limit rod 13 are arranged between the two side walls. The middle part of the sliding nut 12 is threadedly connected to the screw 16, and the limit rod 13 extends in the inward and outward directions. Limit rods 13 are provided on the front and rear sides of the screw 16, and the two ends of the limit rod 13 are fixed on the two side walls of the U-shaped seat. Side ears are provided on the front and rear sides of the sliding nut 12, and the side ears are slidably sleeved on the limit rod 13 to limit the sliding nut 12, thereby converting the rotational motion of the screw 16 into a translational motion of the sliding nut 12 in the inward and outward directions.

[0069] The linkage body 7 is fixed to the upper side of the sliding nut 12. The linkage body 7 is a plate-like structure that extends in the inward-outward direction. The middle portion of the linkage body 7 is fixed to the sliding nut 12, and the outer end of the linkage body 7 is fixed to the transducer mounting seat 6. The inner end of the linkage body 7 is provided with a downward-facing rotating transmission rack 71. When the lead screw 16 rotates, it drives the sliding nut 12 to translate in the inward-outward direction. The sliding nut 12 drives the linkage body 7 to translate in the inward-outward direction, thereby driving the transducer mounting seat 6 to reciprocate in the inward-outward direction. The transducer mounting seat 6 has an extended position and a retracted position during its reciprocating travel. When in the extended position, the transducer mounting seat 6 is configured to extend the transducer 5 outward from the retractable opening 221 of the underwater vehicle shell 22, and when in the retracted position, the transducer 5 is configured to retract inward from the retractable opening 221 of the underwater vehicle shell 22.

[0070] The rotating gear 8 is located on the inner side of the screw mechanism mounting seat 17 and on the lower side of the rotating transmission rack 71. The rotating gear 8 is fixed on the rotating gear shaft 10. The rotating gear shaft 10 extends in the front and rear directions. The front and rear ends of the rotating gear shaft 10 are respectively rotatably mounted on the bottom shell 2 through the first bearing 9.

[0071] The sliding rod 3 is slidably mounted on the rotating rod 11. Together, the sliding rod 3 and the rotating rod 11 constitute a transmission rod. Two transmission rods are provided, one on each side of the linkage 7. Accordingly, two translation transmission mechanisms are provided, symmetrically arranged on each side of the linkage 7. The two transmission rods provide reliable support for the protective plate 4.

[0072] The front and rear ends of the rotating gear shaft 10 are respectively fixed to two transmission rods, so that when the rotating transmission rack 71 is engaged with the rotating gear 8 for transmission, the rotating gear shaft 10 is driven, thereby driving the transmission rod to rotate. The extension direction of the rotating rod 11 is perpendicular to the extension direction of the rotating gear shaft 10. One end of the rotating rod 11 is fixed to the rotating gear shaft 10, and the other end is connected to the sliding rod 3. The transmission rod is a telescopic rod. The rotating rod 11 is provided with a sliding hole. One end of the sliding rod 3 is inserted into the sliding hole and can move within the sliding hole to achieve the extension and retraction of the transmission rod. The other end of the sliding rod 3 is fixed to the protective plate 4. The rotation of the transmission rod can drive the protective plate 4 to rotate, and the telescopic movement of the sliding rod 3 relative to the rotating rod 11 can drive the protective plate 4 to translate. In addition, the protective plate 4 can be reciprocated by cooperating with the rotation transmission mechanism and the translation transmission mechanism.

[0073] The protective plate 4 has a rotational travel and a translational travel. During its reciprocating travel, the protective plate 4 has a covering position, an intermediate position, and a clearing position. The intermediate position serves to bridge the rotational and translational travels. After the transducer 5 is retracted inward, the protective plate 4 is configured to move to the covering position to cover the receptacle 221 of the underwater vehicle housing 22. When in the clearing position, the protective plate 4 clears the receptacle 221 of the underwater vehicle housing 22 to allow the transducer 5 to extend outward. The rotational transmission mechanism is configured to drive the protective plate 4 through a rotational travel via a transmission rod, thereby switching the protective plate 4 between the intermediate position and the clearing position. The translational transmission mechanism is configured to drive the protective plate 4 through a translational travel via a sliding rod 3, thereby switching the protective plate 4 between the covering position and the intermediate position. When moving to the intermediate and covering positions, the protective plate 4 is positioned outside the transducer mounting seat 6, and in the covering position, the protective plate 4 is positioned further outward than in the intermediate position. When the transmission rod rotates, it drives the protective plate 4 to rotate to the intermediate position. After the protective plate 4 rotates to the intermediate position, the sliding rod 3 translates outward relative to the rotating rod 11, driving the protective plate 4 to translate outward to the capping position, so that the protective plate 4 can be inserted into the receiving opening 221. When the sliding rod 3 translates inward relative to the rotating rod 11, the protective plate 4 in the capping position translates inward to the intermediate position. After the protective plate 4 translates from the capping position to the intermediate position, the transmission rod can be rotated to drive the protective plate 4 to rotate to the clearing position.

[0074] The driving rod 28 extends in the inward and outward directions, and the outer end of the driving rod 28 is fixed to the inner side surface of the transducer mounting seat 6. The inner end of the driving rod 28 is provided with an active rack 18. The reversing gear shaft 14 extends in the up and down directions and is rotatably mounted on the bottom shell 2 through a second bearing. The reversing gear 19 is mounted on the reversing gear shaft 14. A limit pin 20 is passed through the sliding rod 3. The hole wall of the sliding hole of the rotating rod 11 is provided with a long avoidance hole that passes through the front and back. The avoidance long hole is used to avoid the limit pin 20 when the sliding rod 3 moves telescopically relative to the rotating rod 11. One end of the limit pin 20 extends out of the avoidance long hole and is fixed to the driven rack 21. The active rack 18 and the driven rack 21 are respectively located on the front and rear sides of the reversing gear 19. When the protective plate 4 moves from the clear position to the intermediate position, the rotating transmission rack 71 disengages from the rotating gear 8, and the active rack 18, the driven rack 21, and the reversing gear 19 enter into a meshing state, allowing the transducer mounting base 6 to drive the active rack 18 to move inward and drive the driven rack 21 outward through the reversing gear 19. The driven rack 21 drives the protective plate 4 to translate outward to the capping position through the sliding rod 3. When the protective plate 4 translates inward from the capping position to the intermediate position, the active rack 18, the driven rack 21 disengages from the reversing gear 19, and the rotating transmission rack 71 enters into a meshing state with the rotating gear 8, allowing the linkage body 7 to drive the transmission rod to rotate through the rotating gear 8 and the rotating gear shaft 10, thereby driving the protective plate 4 to rotate to the clear position. By setting the active rack 18, the reversing gear 19, and the driven rack 21, the translational movement of the transducer mounting seat 6 can be used to achieve the translational movement of the protective plate 4 in the opposite direction. There is no need to set up a power source for the translation transmission mechanism separately, and it is beneficial to the movement connection of each component.

[0075] When the transmission rod drives the protective plate 4 to rotate to the middle position, the rotating rod 11 extends in the inward-outward direction, and the inner end of the sliding rod 3 is slidably mounted on the outer end of the rotating rod 11. The inner end of the rotating rod 11 constitutes the inner end of the transmission rod, and the outer end of the sliding rod 3 constitutes the outer end of the transmission rod. The rotating gear shaft 10 is fixed to the inner end of the transmission rod so that the transmission rod is rotatably mounted on the mounting base via the rotating gear shaft 10. The outer end of the transmission rod is fixed to the protective plate 4, and the inner end of the transmission rod is in transmission connection with the inner end of the linkage body 7. When the linkage body 7 moves in the inward-outward direction, the transmission rod is driven to rotate, thereby causing the transmission rod to drive the protective plate 4 to rotate.

[0076] The sliding rod 3 includes a sliding portion and a U-shaped portion. The sliding portion is slidably mounted on the rotating rod 11. The opening of the U-shaped portion faces upward to clear the transducer mounting base 6. The protective plate 4 is fixed to the outside of the U-shaped portion, which has two parallel side arms. When the protective plate 4 is in the middle position, the sliding portion extends inward and outward. The inner end of the sliding portion constitutes the inner end of the sliding rod 3, and the outer end of the sliding portion is connected to the upper end of one side arm of the U-shaped portion. The other side arm of the U-shaped portion constitutes the outer end of the sliding rod 3. The protective plate 4 is fixed to the outer end of the sliding rod 3 by screws.

[0077] The protective plate 4 adopts a conformal design, and its outer plate surface is a curved surface, so as to adapt to the outer peripheral surface of the underwater vehicle shell 22. By making the outer plate surface of the protective plate 4 consistent with the shape of the underwater vehicle shell 22, the outer plate surface of the protective plate 4 can be aligned with the outer peripheral surface of the underwater vehicle shell 22 when the transducer 5 is retracted and the protective plate 4 is extended into the retracting opening 221, thereby ensuring the fluid dynamic shape of the underwater vehicle and reducing fluid resistance.

[0078] The bottom shell 2 is a square shell, and the upper cover 1 is a square cover. The bottom plate of the bottom shell 2 is provided with two first bearing seats 23 and two second bearing seats 24 spaced apart in front and back. The lower side of the upper cover 1 is provided with bearing seats that mate with the first bearing seats 23 and the second bearing seats 24, respectively, for mounting the first bearing 9 and the second bearing, thereby allowing the rotating gear shaft 10 and the reversing gear shaft 14 to be rotatably mounted on the bottom shell 2. The bottom plate of the bottom shell 2 is provided with mounting bosses that support the screw mechanism mounting seat 17. Transmission rod avoidance openings 25 are provided on both sides of the mounting platform. The transmission rod avoidance openings 25 allow the transmission rod to pass through and avoid the transmission rod's movement path. A drive rod avoidance opening 26 is provided on the outer wall of the bottom shell 2. The drive rod avoidance opening 26 allows the drive rod 28 to pass through. The outer wall of the bottom shell 2 is also provided with a linkage body avoidance opening 27. The linkage body avoidance opening 27 allows the linkage body 7 to pass through.

[0079] When using, such as Figure 8 、 Figure 9 、 Figure 10 、 Figure 11 、 Figure 12 、 Figure 13 As shown, during the docking and recovery process of the underwater vehicle, the transducer 5 is initially in a state of extending outside the underwater vehicle shell 22. At this time, the state of the transducer 5 and the sonar transducer protection device can be seen in FIG. Figure 8 、 Figure 9When the transducer 5 is retracted into the underwater vehicle shell 22, first, the motor 15 drives the screw 16 to rotate, and the rotational motion of the screw 16 is converted into the translational motion of the sliding nut 12 through the limit rod 13. The sliding nut 12 drives the transducer mounting seat 6 to drive the transducer 5 to translate inward along the radial direction of the underwater vehicle shell 22, and the transducer mounting seat 6 and the transducer 5 are retracted into the interior of the underwater vehicle shell 22. The driving rod 28 follows the inward translation of the transducer mounting seat 6, and the transducer mounting seat 6 begins to move out of the extended position. At the same time, the sliding nut 12 drives the linkage body 7 to translate into the interior of the underwater vehicle shell 22, and the rotating transmission rack 71 at the inner end of the linkage body 7 drives the rotating gear 8 to rotate counterclockwise, and the rotating gear 8 drives the rotating gear shaft 10 counterclockwise. When rotating clockwise, the rotating gear shaft 10 drives the rotating rod 11 to rotate counterclockwise, and the rotating rod 11 drives the sliding rod 3, the limit pin 20 and the driven rack 21 to rotate counterclockwise, and the sliding rod 3 drives the protective plate 4 to rotate counterclockwise, so that the protective plate 4 rotates from the clear position to the middle position, and the transmission relationship is satisfied. When the rotating rod 11 and the screw 16 are in the same direction, that is, when the protective plate 4 is in the middle position, the protective plate 4 is just opposite to the retractable opening 221 on the underwater vehicle shell 22, and the protective plate 4 is just opposite to the inside and outside of the transducer 5. The inner end of the active rack 18 on the driving rod 28 is just engaged with the reversing gear 19, and the outer end of the driven rack 21 is just engaged with the reversing gear 19. The rotating transmission rack 71 on the linkage body 7 moves inward and passes over the rotating gear 8, so that its gear teeth disengage from the rotating gear 8. At this time, the status of the transducer 5 and the sonar transducer protection device can be seen. Figure 10 、 Figure 11 .

[0080] The motor 15 continues to drive the lead screw 16 to rotate, causing the sliding nut 12, the transducer mounting seat 6, the transducer 5, the driving rod 28, and the linkage body 7 to translate toward the interior of the underwater vehicle housing 22. Since the rotating transmission rack 71 on the linkage body 7 is disengaged from the rotating gear 8, the rotating gear 8, the rotating gear shaft 10, the rotating rod 11, the sliding rod 3, the driven rack 21, and the limit pin 20 do not generate rotational motion. Instead, the active rack 18 on the driving rod 28 drives the reversing gear 19 to rotate, and the reversing gear 19 drives the driven rack 21 to generate a rotation with the active rack 18. In the opposite translation movement, the driven rack 21 drives the limit pin 20 and the sliding rod 3 to translate outward along the radial direction of the underwater vehicle shell 22, and the sliding rod 3 drives the protective plate 4 to translate, and the transmission relationship is satisfied. When the protective plate 4 enters the retractable opening 221 and its arc-shaped outer plate surface is just aligned with the outer peripheral surface of the underwater vehicle shell 22, the inner end of the driven rack 21 is just disengaged from the reversing gear 19, and the outer end of the active rack 18 is just disengaged from the reversing gear 19. The protective plate 4 moves from the middle position to the covering position, and the transducer mounting seat 6 moves to the retracted position. At this time, the status of the transducer 5 and the sonar transducer protection device can be seen at Figure 12 、 Figure 13 .

[0081] On the contrary, when the transducer 5 is required to extend from the inside of the underwater vehicle housing 22 to the outside for operation, the motor 15 is rotated in the reverse direction to achieve the effect of Figure 12 to Figure 10 , and then Figure 8 That is, the motor 15 drives the transducer 5 to translate outward, and at the same time, the protective plate 4 translates inward to the middle position through the transmission cooperation of the active rack 18, the reversing gear 19, and the driven rack 21. Then, the active rack 18, the driven rack 21 and the reversing gear 19 are disengaged, and then the rotating transmission rack 71 and the rotating gear 8 that are in mesh drive the protective plate 4 to rotate from the middle position to the clear position. At the same time, the transducer 5 continues to translate outward until it enters the covering position, blocking the retractable opening 221 of the underwater vehicle shell 22.

[0082] In this way, the sonar transducer protection device is used to retract and protect the transducer 5. After the protective plate 4 clears the retracting opening 221, the transducer 5 can be extended outside the underwater vehicle shell 22 to enter normal operation. During the docking and recovery process of the underwater vehicle, the transducer 5 can be retracted into the underwater vehicle shell 22 and the protective plate 4 is sealed at the retracting opening 221. This protects the transducer 5 and prevents contact and collision between the transducer 5 and the recovery platform, which may cause damage to the transducer 5. Moreover, by providing the linkage 7, the same power source and screw-nut mechanism can be used to drive the two moving components, the transducer mounting base 6 and the protective plate 4, to perform their respective movements, which helps to simplify the structure and save space.

[0083] The sonar transducer protection device has the advantages of simple structure, reliable operation and wide applicability. It can not only protect the side-scan sonar transducer 5 from being damaged by collision, but also maintain the shell shape of the underwater vehicle. It can be installed on revolving underwater vehicles of different diameters and is suitable for various recovery platforms such as torpedo launch tube type, ballistic missile launch tube type, piggyback type and dock type. It has high military, economic and social benefits in military and civilian fields such as long-term monitoring, sustained combat and unmanned operation and maintenance of underwater facilities using underwater vehicles, and has broad prospects for promotion and application.

[0084] Embodiment 2 of the underwater vehicle of the present invention:

[0085] This embodiment differs from Example 1 in that, whereas in Example 1, the transducer drive mechanism includes a motor and a screw-nut mechanism, and the motor drives the transducer mounting base to translate via the screw-nut mechanism, this embodiment uses an electric push rod, which drives the linkage body to translate, thereby driving the transducer mounting base to translate.

[0086] Embodiment 3 of the underwater vehicle of the present invention:

[0087] This embodiment differs from Example 1 in that, whereas in Example 1, there is only one motor, and the protective plate drive mechanism and the transducer drive mechanism share the motor, lead screw and nut mechanism, and linkage. In this embodiment, the protective plate drive mechanism and the transducer drive mechanism each have their own corresponding drive motors. The protective plate drive mechanism includes a first drive motor, and the transducer drive mechanism includes a second drive motor. The first drive motor is connected to the transmission rod to drive the transmission rod for rotation, and the second drive motor is used to drive the sliding nut for translation.

[0088] Embodiment 4 of the underwater vehicle of the present invention:

[0089] This embodiment differs from Embodiment 1 in that, whereas in Embodiment 1, the transducer mounting base drives the sliding rod to translate via a translation transmission mechanism, this embodiment comprises a translation drive motor mounted on the bottom housing for driving the drive rod to translate.

[0090] Embodiment 5 of the underwater vehicle of the present invention:

[0091] This embodiment differs from Example 1 in that, in Example 1, the transmission rod is a telescopic rod, the protective plate drive mechanism includes both a rotational transmission mechanism and a translational transmission mechanism, and the protective plate's travel includes both rotational and translational travel. In contrast, in this embodiment, the transmission rod is fixed in length, the protective plate drive mechanism includes only a rotational mechanism, and the protective plate has only a rotational travel. The protective plate has a clearance position and a capping position during its reciprocating rotational travel. In the capping position, the protective plate is located inside the opening and does not extend into the opening.

[0092] Embodiments of the sonar transducer protection device for underwater vehicles of the present invention:

[0093] The sonar transducer protection device of the underwater vehicle of this embodiment is the same as the sonar transducer protection device described in any of the above-mentioned embodiments 1-5 of the underwater vehicle, and will not be described in detail here.

[0094] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments without inventive effort, or replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A sonar transducer protection device for an underwater vehicle, characterized in that: The invention comprises a mounting base, a transducer mounting seat for mounting a transducer, a protective plate, a transducer driving mechanism for driving the transducer mounting seat to move back and forth, and a protective plate driving mechanism for driving the protective plate to move back and forth, wherein the transducer driving mechanism and the protective plate driving mechanism are mounted on the mounting base; the transducer mounting seat has an extended position and a retracted position in its reciprocating travel; the transducer mounting seat is used to make the transducer extend outward from the retractable opening of the underwater vehicle shell when in the extended position, and to retract the transducer inward from the retractable opening when in the retracted position; the protective plate is used to make the transducer extend outward from the retractable opening when in the retracted position; the protective plate is used to make the transducer extend outward from the retractable opening when in the reciprocating position The stroke has a covering position and a letting position corresponding to the receiving and releasing opening; the protective plate is used to move to the covering position to cover the receiving and releasing opening after the transducer is retracted inward, and is used to let the receiving and releasing opening open when it is in the letting position to allow the transducer to extend outward; the transducer driving mechanism includes a power source, a screw-nut mechanism and a linkage body, the screw-nut mechanism includes a screw and a sliding nut, the output shaft of the power source is connected to the screw to drive the screw to rotate, and the screw drives the sliding nut to translate in the inward and outward directions when it rotates, and the sliding nut is connected to the transducer mounting seat to drive the transducer The device mounting seat reciprocates along the inward and outward directions, the linkage body extends along the inward and outward directions, the middle of the linkage body is fixed with the sliding nut, the outer end of the linkage body is fixed with the transducer mounting seat, the protective plate driving mechanism includes a rotary transmission mechanism and a transmission rod, the transmission rod is rotatably mounted on the mounting base, the outer end of the transmission rod is fixed to the protective plate, the rotary transmission mechanism is arranged between the inner end of the transmission rod and the inner end of the linkage body, so as to drive the transmission rod to rotate when the linkage body moves along the inward and outward directions, thereby causing the transmission rod to drive the protective plate to rotate. The power source, the screw nut mechanism, the rotary transmission mechanism, and the transmission rod are used to form a protective plate driving mechanism, and the protective plate is located at the outer side of the transducer mounting seat when it moves to the covering position. The rotary transmission mechanism includes a rotary transmission rack arranged at the inner end of the linkage body, a rotary gear shaft rotatably mounted on the mounting base, and a rotary gear mounted on the rotary gear shaft, the rotary gear shaft extends along the front and rear directions, and the rotary gear shaft is fixed to the inner end of the transmission rod so that the transmission rod is rotatably mounted on the mounting base through the rotary gear shaft, and the rotary transmission rack is used to mesh with the rotary gear to drive the transmission rod to rotate through the rotary gear shaft.

2. The sonar transducer protection device for an underwater vehicle according to claim 1, characterized in that: The protective plate driving mechanism also includes a translation transmission mechanism, the transmission rod is a telescopic rod structure, the transmission rod includes a sliding rod (3) and a rotating rod (11), the inner end of the sliding rod (3) is slidably arranged on the outer end of the rotating rod (11), the inner end of the rotating rod (11) constitutes the inner end of the transmission rod, and the outer end of the sliding rod (3) constitutes the outer end of the transmission rod. The moving stroke of the protective plate (4) includes a rotation stroke and a translation stroke. The protective plate (4) also has an intermediate position on its reciprocating movement stroke, and the intermediate position is used to connect the rotation stroke and the translation stroke. The rotation transmission mechanism is used to drive the protective plate (4) to perform a rotation stroke through the transmission rod. , so that the protective plate (4) switches between the middle position and the clear position, and the protective plate (4) is located outside the transducer mounting seat (6) when it moves to the middle position; the translation transmission mechanism is used to drive the protective plate (4) to perform a translation stroke through the sliding rod (3), and when the protective plate (4) rotates to the middle position, it drives the sliding rod (3) to translate outwardly and drives the protective plate (4) to translate outwardly to the covering position, so that the protective plate (4) can be embedded in the receiving opening (221); the translation transmission mechanism is also used to drive the sliding rod (3) to translate inwardly so that the protective plate (4) in the covering position is translated inwardly to the middle position.

3. The sonar transducer protection device for underwater vehicles according to claim 2, characterized in that the translation The transmission mechanism includes a driving rod (28), a reversing gear (19), a reversing gear shaft (14), and a driven rack (21). The driving rod (28) extends in the inner and outer directions. The outer end of the driving rod (28) is fixed to the transducer mounting seat (6). The inner end of the driving rod (28) is provided with an active rack (18). The reversing gear shaft (14) extends in the upper and lower directions and is mounted on the mounting base. The reversing gear (19) is mounted on the reversing gear shaft (14). The driven rack (21) is arranged on the sliding rod (3). The active rack (18) and the driven rack (21) are respectively located on the front and rear sides of the reversing gear (19). When the protective plate (4) moves from the clear position to the middle position, the rotating transmission rack (71) is disengaged from the rotating gear (8). , the active rack (18), the driven rack (21) and the reversing gear (19) enter into a meshing state, so that the transducer mounting seat (6) drives the active rack (18) to move inward and drives the driven rack (21) to move outward through the reversing gear (19), and the driven rack (21) drives the protective plate (4) to translate outward to the capping position through the sliding rod (3); when the protective plate (4) translates inward from the capping position to the middle position, the active rack (18), the driven rack (21) and the reversing gear (19) are disengaged, and the rotating transmission rack (71) and the rotating gear (8) enter into a meshing state, so that the linkage body (7) drives the transmission rod to rotate through the rotating gear (8) and the rotating gear shaft (10) and drives the protective plate (4) to rotate to the clearing position.

4. The sonar transducer protection device for underwater vehicles according to claim 2, wherein the sliding The rod (3) comprises a sliding portion and a U-shaped portion, the sliding portion is slidably arranged on the rotating rod (11), the opening of the U-shaped portion faces upwards for avoiding the transducer mounting seat (6), and the protective plate (4) is fixed on the outside of the U-shaped portion.

5. The sonar transducer protection device for an underwater vehicle according to claim 2, wherein: The outer surface of the protective plate (4) is a curved surface, so as to be adapted to the outer peripheral surface of the underwater vehicle shell (22).

6. The sonar transducer protection device for an underwater vehicle according to any one of claims 1 to 5, characterized in that: The mounting base comprises an upper cover (1) and a bottom shell (2); the upper cover (1) is arranged on the bottom shell (2) to enclose a mounting inner cavity; a transducer drive mechanism and a protective plate drive mechanism are mounted in the mounting inner cavity.

7. An underwater vehicle comprising an underwater vehicle housing (22) and a transducer (5), characterized in that: The invention also includes a sonar transducer protection device arranged in the underwater vehicle shell (22), and the underwater vehicle shell (22) is provided with a retracting port (221) for extending and retracting the transducer (5), and the sonar transducer protection device is the sonar transducer protection device of the underwater vehicle according to any one of claims 1 to 6.

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