An underwater acoustic detection device with adjustment wings

Abstract

The application discloses an underwater acoustic detection device with adjusting wings and relates to the technical field of underwater acoustic detection.The device comprises a detector main body, the outer wall of the detector main body comprises an outer cylinder, the top end of the outer cylinder is provided with a flying wing assembly, and the bottom end of the outer cylinder is provided with a pair of supporting assemblies.The flying wing assembly comprises a base fixed to the outer wall of the outer cylinder, the inner wall of the base is rotationally connected with two groups of meshed gears, the front end of the gear is rotationally connected with a driving strip above the gear, the front surface of the driving strip is rotationally connected with a main arm, and the outer wall of the upper position is fixed with two groups of fixed arms.The flying wing assembly is controlled to swing in water, the detection device falling in water is adjusted, the tilted detection device is gradually restored to the normal state of vertical falling, the supporting assembly is ensured to be in contact with the water bottom, the detection device is smoothly landed on the water bottom, and the detection device is effectively prevented from being in contact with the water bottom in other positions to affect the water bottom detection work.

Description

Technical Field

[0001] This invention relates to the field of underwater acoustic testing technology, specifically to an underwater acoustic testing device with adjustable wings. Background Technology

[0002] Currently available underwater acoustic testing instruments in China can be divided into two categories: bottom-mounted and buoy-mounted. Bottom-mounted underwater acoustic testing instruments require deployment into the water until they sink to the bottom for general underwater acoustic measurements. The equipment is capable of transmitting active underwater detection signals and passively receiving underwater acoustic signals.

[0003] However, when the detection device reaches the bottom of the water, if the fixed counterweight tilts, the support frame is not easy to adjust, which will cause it to tilt and make it impossible to place the support frame stably. This will affect the movement of the detection device, resulting in low efficiency of underwater detection work. When deployed in nearshore areas, it is often affected by fishing nets and other obstacles, making it impossible to retrieve the equipment. Summary of the Invention

[0004] Therefore, the purpose of this invention is to provide an underwater acoustic detection device with adjustable wings to solve the technical problems mentioned in the background.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an underwater acoustic detection device with adjustable wings, comprising a detection instrument body, the outer wall of the detection instrument body including an outer cylinder, a flying wing assembly installed at the top of the outer cylinder, and a pair of support assemblies installed at the bottom of the outer cylinder;

[0006] The flying wing assembly includes a base fixed to the outer wall of an outer cylinder. Two sets of meshing gears are rotatably connected to the inner wall of the base. A drive bar is rotatably connected above the front end of each gear. A main arm is rotatably connected to the front surface of the drive bar. Two sets of fixed arms are fixed to the outer wall of the base at a slightly upper position. A support rod penetrating the main arm is provided between a pair of fixed arms. One end of the support rod is fixedly connected to the inner wall of one set of fixed arms, and the other end of the support rod penetrates the outer wall of the other set of fixed arms. The support rod rotates through the outer wall of the fixed arm. The device is connected to a driven main arm. Both the main arm and the driven main arm are welded with reinforcing ribs at their ends. A support seat is welded to the end of the reinforcing rib. A docking seat is rotatably connected to the front surface of the support seat. A secondary reinforcing rib is welded to the outer wall of the docking seat. A connecting strip is rotatably connected between the docking seat and the front surface of the drive bar. A main wing is installed at the top of the main arm and the driven main arm. A secondary wing is installed on the outer wall of the top of the secondary reinforcing rib. Two sets of power frames are installed at the bottom of the fixed frame inside the connecting arm. A reversing wheel is rotatably provided on the inner side of the power frame.

[0007] The support assembly includes a propulsion device installed on the lower left and right sides of the outer cylinder. The outer wall of the propulsion device is covered with a fixing frame that is fixed to the outer wall of the outer cylinder. A bottom frame is provided below the fixing frame. Two sets of connecting arms welded to the bottom end of the fixing frame are provided at the top of the bottom frame. A buffer strip extending out of the bottom end of the bottom frame is slidably provided inside the bottom frame. A pair of buffer posts extending out of the top end of the buffer strip are provided at the top end of the bottom frame. A top plate is provided at the end of the buffer post at the top end of the bottom frame. A pair of elastic elements that contact the bottom end of the fixing frame are provided at the top end of the fixing frame. An electric push rod is rotatably connected to the top end of the fixing frame. An arc frame that is rotatably connected to the outer wall of the outer cylinder is provided at the telescopic end of the fixing frame.

[0008] A hidden groove is provided at the contact position between the outer cylinder and the arc frame. A storage cavity is provided inside the arc frame. An active arc strip is slidably arranged in the storage cavity. A second positive magnetic column is fixed at one end of the active arc strip near the outer cylinder. A first positive magnetic column is embedded in the inner wall of the hidden groove at the same height as the second positive magnetic column. Several sets of knife handles are slidably arranged on the surface of the active arc strip. The end of the knife handle is provided with a blade extending outward from the bottom of the arc frame. The top of the active arc strip is provided with a guide post extending into the inside of the knife handle. A guide groove is provided at the contact position between the knife handle and the guide post.

[0009] Preferably, a drive motor is mounted on the rear surface of the base, and the output of the drive motor is connected to the end of a set of gears via a coupling. A motor housing is fitted onto the outer wall of the drive motor, and the motor housing is detachably connected to the base via bolts.

[0010] Preferably, the outer wall of the reinforcing rib is wrapped with a keel that connects to the main wing, and the keel is made of hollow lightweight alloy material.

[0011] Preferably, a 360-degree camera is installed at the upper front end of the main body of the detector, and a detection head extending into the interior of the main body is located below the 360-degree camera at the center of the front end of the main body of the detector.

[0012] Preferably, a limiting notch is provided at the contact position between the top of the bottom frame and the top plate, and a through hole is provided at the contact position between the limiting notch and the buffer post. A buffer groove matching the buffer strip is provided at the bottom end of the bottom frame, and a layer of soft rubber pad is attached to the top of the buffer strip.

[0013] Preferably, a reset spring is provided between the end of the active arc bar away from the second positive magnetic post and the storage cavity, and the space compressed by the reset spring is enough for the blade to retract into the storage cavity.

[0014] Preferably, the storage cavity has a matching groove at the contact position with the blade, and the number of grooves corresponds to the number of blades.

[0015] Preferably, the upper and lower surfaces of the end of the arc frame are provided with limiting pieces extending into the hidden groove, and the inner wall of the hidden groove is provided with limiting blind holes that match the limiting pieces.

[0016] Preferably, the inner wall of the receiving cavity is provided with a limiting frame that is sleeved on the end of the handle away from the blade above the active arc strip, and the number of limiting frames corresponds to the number of the handle.

[0017] Preferably, the front end of the outer cylinder has multiple sets of through holes extending to the rear end of the outer cylinder, and the main body of the detector is equipped with a storage battery. The storage battery is connected to the drive motor, the power frame and the electric push rod through wires to form a closed circuit.

[0018] In summary, the present invention has the following main beneficial effects:

[0019] 1. This invention adjusts the detection device landing in the water by controlling the swing of the flying wing assembly, so that the tilted detection device gradually returns to the normal state of vertical landing, ensuring that its support assembly contacts the bottom of the water, and achieving a smooth landing to the bottom of the water. This effectively avoids the detection device tilting to other positions and contacting the bottom of the water, which would affect the bottom detection work.

[0020] 2. By setting up a support component, the present invention can push the detection device located at the bottom of the water to move forward, realize multi-directional detection work, and buffer the detection device that falls to the bottom of the water to avoid damage caused by the impact force generated by contact with the bottom of the water, thereby further extending the service life of the underwater detection device.

[0021] 3. The present invention uses an electric push rod to rotate an arc frame to create a hidden groove. Combined with a pushing device and a reversing wheel, it can cut the surrounding aquatic plants and residual fishing nets, ensuring that the detection device can move freely underwater and further improving the detection efficiency of the device underwater. Attached Figure Description

[0022] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0023] Figure 2 This is a front view of the present invention;

[0024] Figure 3 This is a side view of the present invention;

[0025] Figure 4 This is a structural diagram of the flying wing of the present invention;

[0026] Figure 5 This is a partial diagram of the flying wing structure of the present invention;

[0027] Figure 6 This is a perspective view of some of the supporting components of the present invention;

[0028] Figure 7 This is a structural diagram of the support component of the present invention;

[0029] Figure 8 This is a cross-sectional view of the front view of the present invention;

[0030] Figure 9 This is a bottom perspective view of the bottom frame of the present invention;

[0031] Figure 10 This is a front sectional view of the arc frame of the present invention;

[0032] Figure 11 This is a top sectional view of the arc frame of the present invention;

[0033] Figure 12 For the present invention Figure 9 A magnified view of part A in the image.

[0034] In the diagram: 100, main body of the detector; 200, outer cylinder; 300, support assembly; 400, flying wing assembly;

[0035] 201. Hidden slot; 202. Positive magnetic column No. 1;

[0036] 310. Propulsion device; 320. Fixed frame; 321. Reversing wheel; 322. Power frame; 330. Base frame; 331. Connecting arm; 340. Buffer strip; 341. Buffer column; 342. Top plate; 343. Elastic element; 350. Electric push rod; 360. Arc frame; 361. Storage cavity; 362. Second positive magnetic column; 363. Active arc strip; 364. Return spring; 365. Blade; 366. Limiting frame; 367. Tool holder; 368. Guide groove; 369. Guide column;

[0037] 410. Base; 411. Fixed arm; 412. Support rod; 420. Main arm; 421. Driven main arm; 422. Reinforcing rib; 423. Support seat; 430. Main wing; 440. Aileron; 450. Secondary reinforcing rib; 451. Docking seat; 460. Connecting bar; 470. Drive motor; 480. Gear; 490. Drive bar. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0039] The embodiments of the present invention will now be described.

[0040] An underwater acoustic detection device with adjustable wings, such as Figure 1-12As shown, the instrument includes a main body 100, the outer wall of which includes an outer cylinder 200, a wing assembly 400 mounted on the top of the outer cylinder 200, and a pair of support assemblies 300 mounted on the bottom of the outer cylinder 200.

[0041] The flying wing assembly 400 includes a base 410 fixed to the outer wall of the outer cylinder 200. Two sets of meshing gears 480 are rotatably connected to the inner wall of the base 410. A drive bar 490 is rotatably connected above the front end of the gears 480. A main arm 420 is rotatably connected to the front surface of the drive bar 490. Two sets of fixed arms 411 are fixed to the outer wall of the base 410 at a slightly upper position. A support rod 412, penetrating the main arm 420, is provided between a pair of fixed arms 411. One end of the support rod 412 is fixedly connected to the inner wall of one set of fixed arms 411, and the other end of the support rod 412 penetrates the outer side of the other set of fixed arms 411. The support rod 412 extends to the outer wall of the fixed arm 411 and is rotatably connected to a... The driven main boom 421, the main boom 420 and the driven main boom 421 are welded with reinforcing ribs 422, the end of the reinforcing ribs 422 is welded with a support seat 423, the front surface of the support seat 423 is rotatably connected to a docking seat 451, the outer wall of the docking seat 451 is welded with a secondary reinforcing rib 450, the docking seat 451 and the front surface of the drive bar 490 are rotatably connected with a connecting bar 460, the top of the main boom 420 and the driven main boom 421 is equipped with a main wing 430, the top outer wall of the secondary reinforcing rib 450 is equipped with a secondary wing 440, the rear surface of the base 410 is equipped with a drive motor 470, and the output of the drive motor 470 is connected to the end of a set of gears 480 through a coupling;

[0042] The support assembly 300 includes a propulsion device 310 installed on the lower left and right sides of the outer cylinder 200. The outer wall of the propulsion device 310 is covered by a fixing frame 320 fixed to the outer wall of the outer cylinder 200. Below the fixing frame 320 is a bottom frame 330. At the top of the bottom frame 330 are two sets of connecting arms 331 welded to the bottom end of the fixing frame 320. Inside the bottom frame 330, a buffer strip 340 extending out of the bottom end of the bottom frame 330 is slidably provided. At the top of the buffer strip 340 are a pair of buffer posts 341 extending out of the top end of the bottom frame 330. The ends of the buffer posts 341 are located within the bottom frame 330. The top is provided with a top plate 342, and the top of the top plate 342 is provided with a pair of elastic elements 343 that contact the bottom of the fixed frame 320. The top of the fixed frame 320 is rotatably connected to an electric push rod 350. The telescopic end of the fixed frame 320 is provided with an arc frame 360 ​​that is rotatably connected to the outer wall of the outer cylinder 200. The bottom of the fixed frame 320 is located inside the connecting arm 331 and is provided with two sets of power frames 322. The inner side of the power frame 322 is rotatably provided with a reversing wheel 321. The top of the bottom frame 330 is provided with a limit notch at the contact position with the top plate 342, and a through hole is provided at the contact position between the limit notch and the buffer column 341.

[0043] A hidden groove 201 is provided at the contact position between the outer cylinder 200 and the arc frame 360. A storage cavity 361 is provided inside the arc frame 360. An active arc strip 363 is slidably arranged in the storage cavity 361. A second positive magnetic post 362 is fixed to one end of the active arc strip 363 near the outer cylinder 200. A first positive magnetic post 202 is embedded in the inner wall of the hidden groove 201 at the same height as the second positive magnetic post 362. Several sets of knife handles 367 are slidably arranged on the surface of the active arc strip 363. The end of 367 is provided with a blade 365 extending out of the bottom outer side of the arc frame 360. The top of the active arc bar 363 is provided with a guide post 369 extending into the inside of the handle 367. A guide groove 368 is provided at the contact position between the handle 367 and the guide post 369. A reset spring 364 is provided between the end of the active arc bar 363 away from the second positive magnetic post 362 and the storage cavity 361. The space compressed by the reset spring 364 allows the blade 365 to retract into the storage cavity 361.

[0044] The underwater detection device is deployed into the water by manually controlling an external deployment device, and sinks to the bottom by its own weight. The main control system of the device uses an internal attitude sensor to determine the sinking state in the water and automatically determines whether the underwater detection device has tilted.

[0045] If the detection device tilts, the main control system activates the drive motor 470, whose output drives the coupling to rotate, which in turn drives a set of gears 480 to rotate. The two sets of gears 480 are in a meshing state, and thus rotate in opposite directions. The drive bar 490 at the front end of the gear 480 moves along the circular trajectory of the bearing seat, causing the main arm 420 to swing upward about the support rod 412. The reinforcing rib 422 at the end connection point of the main arm 420 swings accordingly, and the driven main arm 421 connected to it via the keel swings along with it. This causes the main wing 430 to swing upwards around the support rod 412 as the center point. While the active bar 490 rotates, the connecting bar 460, which is connected to the docking seat 451 on its front surface, swings at the contact point with the support seat 423. This pulls the secondary reinforcing rib 450 and the aileron on the outer wall to swing downwards. This causes the main wing 430 and the aileron 440 on both sides to swing up and down alternately, adjusting the state of the underwater detection device in the water until it returns to normal. Only when the support component 300 at the bottom of the detection device contacts the bottom can underwater acoustic detection be performed.

[0046] When the detection device descends smoothly to the bottom of the water, the buoyancy of the water provides a certain buffering effect, reducing the impact force when the detection device contacts the bottom. When the detection device is placed on the bottom, the buffer strip 340 contacts the bottom first. The weight of the detection device causes the bottom frame 330 to slide and lower on the outer wall of the buffer strip 340. At the same time, the buffer column 341 pushes the top plate 342 to separate from the top of the bottom frame 330, thereby compressing the two sets of elastic members 343 between the top plate 342 and the bottom of the fixed frame 320. The elastic members 343 deform and their two arms bend outward, buffering and dissipating the force when the device contacts the bottom, preventing it from being directly transmitted to the support assembly 300, thus reducing the impact force, ensuring the normal use of the support assembly 300, and indirectly improving the service life of the detection device.

[0047] The main control system then activates the propulsion device 310, which moves the detection device forward. The power frame 322 is manipulated to swing the reversing wheel 321, thereby changing the direction of the detection device underwater and enabling multi-position underwater detection, which greatly improves the efficiency of the detection work. The images captured by the 360-degree camera are transmitted to the main control system, which automatically identifies whether there are obstacles in front of it, ensuring that the underwater detection work is normal.

[0048] If the video detection results indicate the presence of a water tank or residual fishing net in front, the main control system activates the electric push rod 350. Its telescopic end shortens, pulling the arc frame 360 ​​to rotate outwards around the contact point with the hidden groove. When fully extended, the first positive magnetic column 202 aligns with the second positive magnetic column 362 inside the arc frame 360, generating a repulsive force between them. This pushes the active arc bar 363 to move away from the first positive magnetic column 202 and compresses the return spring 364. The multiple sets of guide columns 369 at the top of the active arc bar 363 move accordingly. The guide columns 369 apply a longitudinal force to the guide groove 368, causing the handle 367 to push the blade 365 out of the arc frame 360. On the outside, in conjunction with the power frame 322, the reversing wheel 321, and the propulsion device 310, the detection device swings left and right or oscillates to cut the water tank or residual fishing net in front, while simultaneously pushing the surrounding water to guide the cut water tank and residual fishing net to one side. Then, the main control system starts the electric push rod 350 to work, which pushes the arc frame 360 ​​to be stored in the hidden slot. At the same time, the first positive magnetic column 202 and the second positive magnetic column 362 inside the arc frame 360 ​​are misaligned and lose their repulsive force, and the return spring 364 restores the active arc bar 363. Its blade 365 then retracts into the arc frame 360, thereby reducing the resistance during movement. By operating the detection device, the detection work can continue.

[0049] Please refer to this carefully. Figure 1 The outer wall of the drive motor 470 is fitted with a motor housing, which is detachably connected to the base 410 by bolts.

[0050] The motor housing seals the drive motor 470, preventing it from coming into contact with water when the device is placed on the bottom of the water, ensuring that the drive motor 470 can provide power normally, thereby achieving the swinging effect of the flying wing assembly 400.

[0051] Please refer to this carefully. Figure 1 The outer wall of the reinforcing rib 422 is wrapped with a keel that connects to the main wing 430, and the keel is made of hollow lightweight alloy material.

[0052] The keel increases the contact area between the reinforcing rib 422 and the main wing 430 and aileron 440. This makes the connection more stable, and the hollow lightweight alloy material reduces its weight, weakening the impact force when it descends to the bottom of the water.

[0053] Please refer to this carefully. Figure 1 , Figure 2 and Figure 3 A 360-degree camera is installed at the upper front of the main body 100 of the detector, and a detection head extending into the interior of the main body 100 is located below the 360-degree camera at the center of the front of the main body 100.

[0054] The main control system observes the detection device's landing on the bottom of the water as it is deployed into the water using a 360-degree camera and attitude sensor, and promptly controls the flying wing component 400 to adjust its state so that it is stably placed on the bottom of the water according to the preset state.

[0055] Please refer to this carefully. Figure 7 and Figure 8 The bottom of the bottom frame 330 is provided with a buffer groove that matches the buffer strip 340, and a soft rubber pad is attached to the top of the buffer strip 340.

[0056] The buffer strip 340 enters the buffer tank, which buffers and weakens the force when the device comes into contact with the bottom of the water. The soft rubber pad prevents the buffer strip 340 from contacting the top of the inner wall of the buffer tank and causing a collision, thereby protecting the buffer strip 340 and the bottom frame 330 and indirectly improving their durability.

[0057] Please refer to this carefully. Figure 11 The storage cavity 361 has a matching groove at the contact position with the blade 365, and the number of grooves corresponds to the number of blades 365.

[0058] The groove facilitates the entry and exit of the blade 365 into the storage cavity. After use, the blade 365 retracts into the curved frame 360, allowing the removal of dirt such as aquatic plants adhering to the surface of the blade 365, thus cleaning the blade and making it ready for the next use.

[0059] Please refer to this carefully. Figure 9 and Figure 12The upper and lower surfaces of the end of the arc frame 360 ​​are provided with limiting pieces extending into the interior of the hidden groove 201, and the inner wall of the hidden groove 201 is provided with limiting blind holes that match the limiting pieces.

[0060] The arc frame 360 ​​rotates at a fixed point under the action of the limiting plate as a limiting blind hole, so that when it is deployed, the arc frame 360 ​​can be placed in the hidden groove 201, so that the overall space occupied by the detection device is small, which is conducive to carrying and handling, and avoids the blade 365 from causing scratches to personnel.

[0061] Please refer to this carefully. Figure 11 The inner wall of the storage cavity 361 is provided with a limiting frame 366 above the active arc bar 363, which is sleeved on the end of the handle 367 away from the blade 365, and the number of limiting frames 366 corresponds to the number of handles 367.

[0062] The knife handle 367 is limited by the limiting frame 366, which causes the knife handle 367 to push the blade 365 into and out of the storage cavity 361 according to the preset trajectory, thereby cutting the water tank in front of or to the left and right of the detection device, which can better assist the underwater acoustic detection work.

[0063] Please refer to this carefully. Figure 1 and Figure 2 The front end of the outer cylinder 200 has multiple sets of through holes that extend to the rear end of the outer cylinder 200.

[0064] This reduces the contact area between the detection device and the water when the device moves forward, thereby reducing water resistance during movement and reducing the power consumption of the detection device.

[0065] The detector body 100 has a battery installed inside, and the battery is connected to the drive motor 470, the power frame 322 and the electric push rod 350 through wires to form a closed circuit.

[0066] The battery provides power to its drive motor 470, power frame 322 and electric push rod 350, thereby ensuring that the detection device can perform detection work normally underwater.

[0067] In use, the underwater detection device is deployed into the water by manually controlling an external deployment device, and sinks to the bottom by its own weight. The main control system of the device automatically detects its sinking state in the water through an attitude sensor to determine whether the underwater detection device has tilted.

[0068] If the detection device tilts, the active system will activate the main wing 430 and aileron 440 to swing up and down alternately, adjusting the underwater detection device's landing state in the water until it returns to normal. Only when the support component 300 at the bottom of the detection device contacts the bottom can underwater ultrasonic detection work be carried out.

[0069] When the detection device descends smoothly to the bottom of the water, the buoyancy of the water provides a certain buffering effect, reducing the impact force when the detection device contacts the bottom. When the detection device is placed on the bottom, the buffer strip 340 contacts the bottom first, causing the elastic element 343 to deform and the two arms to bend outward, thus buffering and dissipating the force when the device contacts the bottom, preventing it from being directly transmitted to the support component 300, thereby reducing the impact force, ensuring the normal use of the support component 300, and indirectly improving the service life of the detection device.

[0070] Subsequently, the main control system starts the propulsion device 310 to work, which in turn moves the detection device forward and controls the power frame 322 to make the reversing wheel 321 swing, thereby changing the direction of the detection device's movement underwater, realizing underwater acoustic detection at multiple positions, and greatly improving the detection efficiency; by automatically analyzing the images of the 360-degree camera, it identifies whether there are obstacles in front of it, so that the underwater detection work is normal.

[0071] If the video recognition results indicate that there is a water tank or residual fishing net in front, the control terminal activates the electric push rod 350, which shortens and pulls the arc frame 360 ​​to rotate outwards to open the contact point with the hidden groove. At the same time, the handle 367 pushes the blade 365 outwards from the outside of the arc frame 360. In conjunction with the power frame 322, the reversing wheel 321, and the propulsion device 310, the detection device swings left and right or swings to cut the water tank or residual fishing net in front, while pushing the surrounding water. This guides the cut water tank and residual fishing net to one side. Then, the detection device can be operated to continue the detection work.

[0072] Although embodiments of the present invention have been shown and described, these specific embodiments are merely explanations of the invention and are not intended to limit it. The specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. After reading this specification, those skilled in the art may make modifications, substitutions, and variations to the embodiments as needed without departing from the principles and spirit of the invention, but such modifications, substitutions, and variations are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. An underwater acoustic detection device with adjustment wings, comprising a detector main body (100), characterized in that: The outer wall of the detector body (100) includes an outer cylinder (200), a flying wing assembly (400) is installed at the top of the outer cylinder (200), and a pair of support assemblies (300) are installed at the bottom of the outer cylinder (200). The flying wing assembly (400) includes a base (410) fixed to the outer wall of the outer cylinder (200). Two sets of meshing gears (480) are rotatably connected to the inner wall of the base (410). A drive bar (490) is rotatably connected above the front end of the gear (480). A main arm (420) is rotatably connected to the front surface of the drive bar (490). Two sets of fixed arms (411) are fixed to the outer wall of the base (410) at a slightly higher position. A support rod (412) penetrating the main arm (420) is provided between a pair of fixed arms (411). One end of the support rod (412) is fixedly connected to the inner wall of a set of fixed arms (411). The other end of the support rod (412) penetrates the outer side of the other set of fixed arms (411). The support rod (412) is rotatably connected to the driven main arm through the outer wall of the fixed arm (411). (421) The ends of the main arm (420) and the driven main arm (421) are all welded with reinforcing ribs (422). The ends of the reinforcing ribs (422) are welded with support seats (423). The front surface of the support seats (423) is rotatably connected with docking seats (451). The outer wall of the docking seats (451) is welded with secondary reinforcing ribs (450). The front surface of the docking seats (451) and the active bar (490) is rotatably connected with connecting bars (460). The top ends of the main arm (420) and the driven main arm (421) are equipped with main wings (430). The top outer wall of the secondary reinforcing ribs (450) is equipped with auxiliary wings (440). The bottom end of the fixed frame (320) is located inside the connecting arm (331) and two sets of power frames (322) are installed. The inner side of the power frames (322) is rotatably provided with reversing wheels (321). The support assembly (300) includes a propulsion device (310) installed on the lower left and right sides of the outer cylinder (200). The outer wall of the propulsion device (310) is covered with a fixing frame (320) fixed to the outer wall of the outer cylinder (200). A bottom frame (330) is provided below the fixing frame (320). Two sets of connecting arms (331) welded to the bottom end of the fixing frame (320) are provided at the top of the bottom frame (330). A buffer strip (340) extending out of the bottom end of the bottom frame (330) is slidably provided inside the bottom frame (330). The buffer strip (340) has a pair of buffer posts (341) extending out of the top of the bottom frame (330) at its top end. The ends of the buffer posts (341) are provided with a top plate (342) at the top of the bottom frame (330). The top of the top plate (342) is provided with a pair of elastic elements (343) that contact the bottom of the fixed frame (320). The top of the fixed frame (320) is rotatably connected to an electric push rod (350). The telescopic end of the fixed frame (320) is provided with an arc frame (360) that is rotatably connected to the outer wall of the outer cylinder (200). A hidden groove (201) is provided at the contact position between the outer cylinder (200) and the arc frame (360). A storage cavity (361) is provided inside the arc frame (360). An active arc strip (363) is slidably provided in the storage cavity (361). A second positive magnetic column (362) is fixed at one end of the active arc strip (363) near the outer cylinder (200). A first positive magnetic column (202) is embedded at the same height as the second positive magnetic column (362) on the inner wall of the hidden groove (201). Several sets of knife handles (367) are slidably provided on the surface of the active arc strip (363). A blade (365) is provided at the end of the knife handle (367) extending out of the bottom outside of the arc frame (360). A guide post (369) is provided at the top of the active arc strip (363) extending into the inside of the knife handle (367). A guide groove (368) is provided at the contact position between the knife handle (367) and the guide post (369).

2. The underwater acoustic detection device with adjustable wings according to claim 1, characterized in that: A drive motor (470) is mounted on the rear surface of the base (410), and the output of the drive motor (470) is connected to the end of a set of gears (480) via a coupling. The outer wall of the drive motor (470) is fitted with a motor housing, which is detachably connected to the base (410) by bolts.

3. The underwater acoustic detection device with adjustable wings according to claim 1, characterized in that: The outer wall of the reinforcing rib (422) is wrapped with a keel that is connected to the main wing (430), and the keel is made of hollow lightweight alloy material.

4. The underwater acoustic detection device with adjustable wings according to claim 1, characterized in that: A 360-degree camera is installed at the upper front end of the main body (100) of the detector, and a detection head extending into the interior of the main body (100) is located below the 360-degree camera at the center of the front end of the main body (100).

5. The underwater acoustic detection device with adjustable wings according to claim 1, characterized in that: A limiting notch is provided at the contact position between the top of the bottom frame (330) and the top plate (342), and a through hole is provided at the contact position between the limiting notch and the buffer column (341). A buffer groove matching the buffer strip (340) is provided at the bottom end of the bottom frame (330), and a layer of soft rubber pad is pasted on the top of the buffer strip (340).

6. The underwater acoustic detection device with adjustable wings according to claim 1, characterized in that: A reset spring (364) is provided between the end of the active arc bar (363) away from the second positive magnetic column (362) and the storage cavity (361). The space compressed by the reset spring (364) allows the blade (365) to retract into the storage cavity (361).

7. The underwater acoustic detection device with adjustable wings according to claim 1, characterized in that: The receiving cavity (361) has a matching groove at the contact position with the blade (365), and the number of grooves corresponds to the number of blades (365).

8. The underwater acoustic detection device with adjustable wings according to claim 1, characterized in that: The upper and lower surfaces of the arc frame (360) are provided with limiting pieces extending into the hidden groove (201), and the inner wall of the hidden groove (201) is provided with limiting blind holes that match the limiting pieces.

9. The underwater acoustic detection device with adjustable wings according to claim 1, characterized in that: The inner wall of the receiving cavity (361) is provided with a limiting frame (366) above the active arc bar (363), which is sleeved on the end of the handle (367) away from the blade (365), and the number of limiting frames (366) corresponds to the number of handles (367).

10. The underwater acoustic detection device with adjustable wings according to claim 1, characterized in that: The front end of the outer cylinder (200) is provided with multiple through holes extending to the rear end of the outer cylinder (200). The detector body (100) is equipped with a storage battery. The storage battery is connected to the drive motor (470), the power frame (322) and the electric push rod (350) through wires to form a closed circuit.

Images