A multifunctional lifting sonar device and operation method

Abstract

A multifunctional lifting sonar device relates to the technical field of sonar, comprising a closed barrel, an opening and closing mechanism, a transfer mechanism, a sonar lifting mechanism, a sonar probe and a control end; the closed barrel is fixedly mounted on a through hole of a ship bottom plate; the top of the closed barrel is provided with an opening communicating with the internal environment of the ship bottom plate, and the bottom is communicated with the through hole of the ship bottom plate; the opening and closing mechanism is provided with two groups, which are respectively arranged at the top and bottom ends of the closed barrel; the transfer mechanism comprises a rotating frame; the sonar lifting mechanism comprises a linkage component, a plurality of protection claws and a connecting frame; the linkage component is arranged on the rotating frame and is used to link the protection claws and the connecting frame; a bending sensor is arranged on the protection claw; the sonar probe is installed on the connecting frame; the present invention does not require maintenance personnel to enter underwater or lift the hull, and the maintenance personnel can maintain, repair or replace the sonar probe in the internal environment of the ship bottom plate, and can immediately retract the sonar probe into the hull when an obstacle is detected to prevent the sonar probe from being hit.

Description

Technical Field

[0001] The present invention relates to the technical field of sonar, and in particular to a multifunctional lifting sonar device and an operating method thereof. Background Art

[0002] Sonar is a technology that uses the propagation and reflection characteristics of sound waves in water to navigate and measure distance through electro-acoustic conversion and information processing. It also refers to electronic equipment that uses this technology to detect underwater targets (existence, location, properties, direction of movement, etc.) and communicate. It is the most widely used and important device in hydroacoustics.

[0003] In the application of modern ships, sonar probes are installed in the empty compartment at the front side of the bottom of the ship. In the past, sonar probes were usually fixed on the outermost layer of the bottom from the outside of the hull, which required maintenance personnel to go underwater or lift the hull to replace or maintain the sonar probes. The replacement or maintenance of the sonar probes cannot be completed in the cabin.

[0004] In addition, when the sonar probe is about to be hit, since the current sonar system is not equipped with a risk avoidance mechanism, it is impossible to immediately detect the obstacle and retract the sonar probe in time, resulting in the sonar probe being hit or even directly damaged.

[0005] Therefore, it is necessary to invent a multifunctional sonar device that can not only perform maintenance and repair on the sonar probe without maintenance personnel going into the water or lifting the hull, but also immediately retract the sonar probe into the hull when an obstacle is detected to prevent the sonar probe from being collided. Summary of the invention

[0006] In view of the above problems, the present invention proposes a multifunctional lifting sonar device, and the technical solution used is:

[0007] A multifunctional lifting sonar device comprises a closed barrel, an opening and closing mechanism, a transfer mechanism, a sonar lifting mechanism, a sonar probe and a control end; a port communicating with the internal and external environments is provided on the bottom plate of a ship, and the closed barrel is fixedly mounted on the port of the bottom plate; an opening communicating with the internal environment of the bottom plate is provided at the top of the closed barrel, and the bottom is communicated with the port of the bottom plate; the opening and closing mechanism comprises two groups, which are respectively arranged at the top and bottom ends of the closed barrel, and are used to seal the opening of the closed barrel and the port of the bottom plate; the transfer mechanism is arranged in the closed barrel, and comprises a rotating frame and a transfer assembly for driving the rotating frame to move and rotate; the sonar lifting mechanism comprises a linkage assembly, a plurality of protective claws and a connecting frame; the linkage assembly is arranged on the rotating frame, and is used to link the protective claws and the connecting frame; a bending sensor is provided on the protective claw; the sonar probe is installed on the connecting frame; the control end is used to control the operation of the entire multifunctional lifting sonar device.

[0008] Furthermore, each group of the opening and closing mechanisms includes a servo hydraulic cylinder, a mounting frame, a valve plate and a valve seat; the mounting frame is fixedly mounted on the bottom plate of the ship; the valve seat is fixedly mounted on the opening of the closed barrel or the through-port on the bottom plate of the ship, and is fixedly connected to the mounting frame; the valve plate is slidably mounted in the valve seat, and is slidably connected to the mounting frame; the servo hydraulic cylinder is fixedly mounted on the mounting frame, and its telescopic end is fixedly connected to the valve plate.

[0009] Furthermore, the transfer assembly includes a telescopic frame, a hydraulic cylinder and a rotating cylinder; two telescopic frames are provided, one end of each telescopic frame is fixedly mounted on the bottom plate of the ship, and the other end is fixedly mounted with a rotating cylinder; the two ends of the rotating frame are respectively fixedly connected to the output ends of the two rotating cylinders; each rotating cylinder is driven to move by a hydraulic cylinder; the hydraulic cylinder is fixedly mounted on the bottom plate of the ship, and its telescopic end is fixedly connected to the rotating cylinder.

[0010] Furthermore, the linkage assembly includes hydraulic cylinder 2, lifting rod 1, lifting rod 2, transmission gear, transition gear, adjustment gear and inner gear ring; the lifting rod 1 is slidably installed inside the rotating frame and connected to the connecting frame; the hydraulic cylinder 2 is fixedly installed on the rotating frame, and its telescopic end is fixedly connected to the lifting rod 1; the lifting rod 2 is provided with at least one and is slidably installed inside the rotating frame; a transmission gear is provided between the lifting rod 1 and each lifting rod 2, the lifting rod 1 is provided with a rack 1 corresponding to the transmission gear, and the lifting rod 2 is provided with a rack 2 corresponding to the transmission gear; the transmission gear is rotatably installed in the rotating frame and is synchronously meshed with the corresponding rack 1 and rack 2;

[0011] Each of the protection claws is fixedly mounted with an adjusting gear rotatably mounted on the rotating frame; the inner gear ring is slidably mounted on the rotating frame and is synchronously meshed with all the adjusting gears; the lifting rod 2 is provided with a rack 3, which is meshed with the transition gear; the transition gear is rotatably mounted on the rotating frame and is meshed with the adjusting gear.

[0012] Furthermore, the sonar lifting mechanism also includes a servo motor; the connecting frame is rotatably mounted on the lifting rod one; the servo motor is fixedly mounted on the lifting rod one, and its output end drives the connecting frame to rotate.

[0013] A multifunctional lifting sonar device, the operation method of which is as follows:

[0014] The opening of the closed barrel is closed by driving the valve plate through the corresponding servo hydraulic cylinder, and the opening of the bottom plate is opened by driving the valve plate through the corresponding servo hydraulic cylinder; the second hydraulic cylinder drives the first lifting rod to move downward, and the second lifting rod moves upward, the protection claw opens, and the sonar probe passes through the protection claw and then through the opening of the bottom plate into the water;

[0015] The sonar probe detects obstacles in the water. When an obstacle that is about to collide is detected, the control end immediately retracts the sonar probe; when the open protection claw contacts the obstacle, the protection claw is pushed by the obstacle and slightly bends and deforms. After the bending sensor detects the change in bending, it transmits a signal to the control end, and the control end immediately retracts the sonar probe;

[0016] When the control end retracts the sonar probe, the hydraulic cylinder 2 is started, the lifting rod 1 moves upward, the lifting rod 2 moves downward, the sonar probe moves upward, the protection claws rotate inward, and the sonar probe is located inside the gathered protection claws; the rotating frame moves upward, the sonar probe moves to above the bottom plate opening, and the bottom plate opening is closed;

[0017] When the sonar probe needs to be maintained or repaired, first the sonar probe is retracted and the opening of the ship's bottom plate is closed, then the rotating frame rises and the sonar probe enters the closed barrel; the rotating frame rotates in the closed barrel to make the sonar probe face upward; the opening of the closed barrel is opened, the rotating frame continues to rise, and hydraulic cylinder two is started to open the protective claws, the sonar probe is extended and enters the internal environment of the ship's bottom plate through the opening of the closed barrel, and the maintenance or repair personnel maintain, repair or replace the sonar probe in the internal environment of the ship's bottom plate.

[0018] Since the present invention adopts the above technical solution, the present invention has the following advantages:

[0019] 1. The present invention adopts the coordinated design of the opening and closing mechanism, the transfer mechanism and the sonar lifting mechanism, so that maintenance personnel do not need to enter underwater or lift the hull. The maintenance personnel can maintain, repair or replace the sonar probe in the internal environment of the bottom plate of the ship, and can immediately retract the sonar probe into the hull when an obstacle is detected to prevent the sonar probe from being hit.

[0020] 2. A bending sensor is provided on the protective claw of the present invention. When the open protective claw contacts an obstacle, the protective claw is pushed by the obstacle and slightly bends and deforms. After the bending sensor detects the change in bending, it transmits a signal to the control end, and the control end immediately retracts the sonar probe, which can further prevent the sonar probe from being hit. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1-2 It is a working schematic diagram of the present invention applied to an embodiment.

[0022] Figure 3 It is a schematic diagram of the overall structure of the present invention.

[0023] Figure 4 It is a schematic diagram of the assembly structure of the opening and closing mechanism, the transfer mechanism and the sonar lifting mechanism of the present invention.

[0024] Figure 5 It is a structural schematic diagram of the opening and closing mechanism of the present invention.

[0025] Figure 6 It is a schematic diagram of the assembly structure of the transfer mechanism and the sonar lifting mechanism of the present invention.

[0026] Figure 7 It is a schematic structural diagram of the telescopic frame in the transfer mechanism of the present invention.

[0027] Figure 8 The figure is a schematic diagram of the assembly structure of the sonar lifting mechanism, the mounting tube and the sonar probe of the present invention.

[0028] Fig. 9 The figure is a schematic diagram of the assembly structure of the sonar lifting mechanism and the sonar probe of the present invention.

[0029] Figure 10-12 It is a schematic diagram of the assembly structure of the sonar lifting mechanism part and the sonar probe of the present invention.

[0030] Figure 13-15 It is a partial structural schematic diagram of the sonar lifting mechanism of the present invention.

[0031] Fig.16 It is a schematic diagram of the connection between the control terminal and the electrical components of the present invention.

[0032] Figure Number:

[0033] 1- Close the barrel;

[0034] 2-opening and closing mechanism; 201-servo hydraulic cylinder; 202-mounting frame; 203-valve plate; 204-valve seat;

[0035] 3-transfer mechanism; 301-telescopic frame; 302-hydraulic cylinder 1; 303-rotating frame (3031-mounting shell; 3032-mounting cylinder); 304-rotating cylinder;

[0036] 4-sonar lifting mechanism; 401-hydraulic cylinder 2; 402-lifting rod 1 (4021-rack 1); 403-lifting rod 2 (4031-rack 2; 4032-rack 3); 404-transmission gear; 405-transition gear; 406-adjusting gear; 407-protection claw (4071-bending sensor); 408-servo motor; 409-direction change box; 410-connecting frame; 411-inner gear ring;

[0037] 5-Sonar probe;

[0038] 6- Control terminal;

[0039] 7-Boat bottom plate. DETAILED DESCRIPTION

[0040] The technical solution of the present invention is further specifically described below by way of embodiments and in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0041] In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "up", "down", "in", "out", "front", "back", etc. are based on the directions or positional relationships shown in the accompanying drawings, or are the directions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0042] Example:

[0043] This embodiment is installed on the bottom plate 7 of the ship. Figure 1-4 , Figure 6 and Fig.16 As shown, a multifunctional lifting sonar device comprises a closed barrel 1, an opening and closing mechanism 2, a transfer mechanism 3, a sonar lifting mechanism 4, a sonar probe 5 and a control terminal 6; a port communicating with the internal and external environments is provided on the bottom plate 7, and the closed barrel 1 is fixedly mounted on the port of the bottom plate 7; an opening communicating with the internal environment of the bottom plate 7 is provided at the top of the closed barrel 1, and the bottom end is communicated with the port of the bottom plate 7; the opening and closing mechanism 2 is provided with two groups, which are respectively arranged at the top and bottom ends of the closed barrel 1, for sealing the opening of the closed barrel 1 and the port of the bottom plate 7; the transfer mechanism 3 is arranged in the closed barrel 1, the sonar lifting mechanism 4 is arranged on the transfer mechanism 3, and the sonar probe 5 is arranged on the sonar lifting mechanism 4.

[0044] like Figure 5 As shown, each set of opening and closing mechanisms 2 includes a servo hydraulic cylinder 201, a mounting frame 202, a valve plate 203 and a valve seat 204; the mounting frame 202 is fixedly mounted on the bottom plate 7; the valve seat 204 is fixedly mounted on the opening of the closed barrel 1 or the through opening of the bottom plate 7, and is fixedly connected to the mounting frame 202; the valve plate 203 is slidably mounted in the valve seat 204, and is slidably connected to the mounting frame 202; the servo hydraulic cylinder 201 is fixedly mounted on the mounting frame 202, and its telescopic end is fixedly connected to the valve plate 203;

[0045] Specifically, the servo hydraulic cylinder 201 drives the valve plate 203 to move to control the opening of the closed barrel 1 or the opening of the bottom plate 7 .

[0046] like Figure 6As shown, the transfer mechanism 3 includes a telescopic frame 301, a hydraulic cylinder 302, a rotating frame 303 and a rotating cylinder 304; there are two telescopic frames 301, and the two telescopic frames 301 are symmetrically arranged, one end of each telescopic frame 301 is fixedly installed on the bottom plate 7, and the other end is fixedly installed with a rotating cylinder 304; a horizontal rotating shaft is provided on the rotating frame 303, and the two ends of the rotating shaft are respectively fixedly connected to the output ends of the two rotating cylinders 304; each rotating cylinder 304 is driven to move by a hydraulic cylinder 302; the hydraulic cylinder 302 is fixedly installed on the bottom plate 7, and its telescopic end is fixedly connected to the corresponding rotating cylinder 304; as shown in FIG. Figure 7 As shown, a mounting housing 3031 is provided at the center of the rotating shaft of the rotating frame 303, and a mounting cylinder 3032 is provided at the bottom end of the rotating frame 303;

[0047] Specifically, the hydraulic cylinder 302 drives the rotating cylinder 304 to move, thereby driving the rotating frame 303 to move, and the telescopic frame 301 plays the role of limiting support; the rotating cylinder 304 drives the rotating frame 303 to rotate through the rotating shaft, and the rotation of the rotating frame 303 causes the sonar lifting mechanism 4 to flip over in the closed barrel 1.

[0048] like Figure 8-15 As shown, the sonar lifting mechanism 4 includes a hydraulic cylinder 2 401, a lifting rod 1 402, a lifting rod 2 403, a transmission gear 404, a transition gear 405, an adjustment gear 406, a protection claw 407, a servo motor 408, a change box 409, a connecting frame 410 and an inner gear ring 411; the lifting rod 1 402 is slidably installed inside the rotating frame 303, and the bottom end slides through the mounting tube 3032; the hydraulic cylinder 2 401 is fixedly installed on the mounting shell 3031, and its telescopic end is fixedly connected to the top of the lifting rod 1 402; the lifting rod 2 403 is provided with two, and The lifting rod 1 402 is symmetrically arranged on both sides; the lifting rod 2 403 is slidably installed inside the rotating frame 303, and slides through the installation shell 3031 and the installation tube 3032; a transmission gear 404 is arranged between the lifting rod 1 402 and each lifting rod 2 403, and the lifting rod 1 402 is provided with a rack 1 4021 corresponding to the transmission gear 404, and the lifting rod 2 403 is provided with a rack 2 4031 corresponding to the transmission gear 404; the transmission gear 404 is rotatably installed in the installation shell 3031, and is synchronously meshed with the corresponding rack 1 4021 and rack 2 4031;

[0049] The protection claw 407 is bent as a whole, and a bending sensor 4071 electrically connected to the control terminal 6 is installed on the inner side of the arc surface; there are four protection claws 407, and each protection claw 407 is fixedly installed with an adjustment gear 406 rotatably installed on the installation cylinder 3032; the inner gear ring 411 is coaxially slidably installed on the installation cylinder 3032 and is synchronously meshed with all the adjustment gears 406; the lifting rod 2 403 is provided with a rack 3 4032, and the rack 3 4032 is meshed with the transition gear 405; the transition gear 405 is rotatably installed on the rotating frame 303 and is meshed with two of the adjustment gears 406;

[0050] The connecting frame 410 is rotatably mounted on the bottom end of the lifting rod 1 402; the servo motor 408 is fixedly mounted on the bottom end of the lifting rod 1 402, and its output end drives the connecting frame 410 to rotate through the direction change box 409 mounted on the bottom end of the lifting rod 1 402; the sonar probe 5 is fixedly mounted on the connecting frame 410;

[0051] Specifically, the hydraulic cylinder 2 401 drives the lifting rod 1 402 to move, the rack 1 4021 moves with the lifting rod 1 402, drives the transmission gear 404 to rotate, the transmission gear 404 drives the rack 2 4031 to move in the opposite direction of the rack 1 4021, the rack 2 4031 drives the lifting rod 2 403 to move in the opposite direction of the lifting rod 1 402, that is, the moving direction of the two lifting rods 2 403 is opposite to the moving direction of the lifting rod 1 402; the lifting rod 1 402 drives the connecting frame 410 and the sonar probe 5 to rise and fall; when the lifting rod 2 403 When 03 moves, rack three 4032 moves accordingly and drives transition gear 405 to rotate, transition gear 405 drives adjusting gear 406 meshing with it to rotate, and the adjusting gear 406 drives inner gear ring 411 to move, and the movement of inner gear ring 411 drives other adjusting gears 406 to rotate, so that all adjusting gears 406 rotate synchronously; adjusting gear 406 drives protection claw 407 to rotate; servo motor 408 drives connecting frame 410 to rotate through direction change box 409, thereby driving sonar probe 5 to rotate and adjust the direction of sonar probe 5;

[0052] When the lifting rod 1 402 moves downward, the two lifting rods 2 403 move upward. During this process, the protection claws 407 open outward, and the sonar probe 5 passes through the protection claws 407 and moves downward into the water; when the lifting rod 1 402 moves upward, the two lifting rods 2 403 move downward. During this process, the sonar probe 5 moves upward, the protection claws 407 rotate inward, and the sonar probe 5 is located inside the gathered protection claws 407 (such as Fig.11 As shown), the protective claw 407 protects the sonar probe 5.

[0053] like Fig.16As shown, the control end 6 includes a main controller, a human-machine interactive display screen, an information transmission module, a storage module and a power module, and the main controller is electrically connected to the human-machine interactive display screen, the information transmission module, the storage module, the power module, the servo hydraulic cylinder 201, the hydraulic cylinder 1 302, the rotating cylinder 304, the hydraulic cylinder 2 401, the bending sensor 4071, the servo motor 408, and the sonar probe 5; the main controller is used to control the operation of the entire multifunctional lifting sonar device; the human-machine interactive display screen is used to set the operating values ​​of the opening and closing mechanism 2, the transfer mechanism 3, the sonar lifting mechanism 4 and the sonar probe 5, and the automatic operation control after determining the set value; the information transmission module is used for information transmission between the main controller and the opening and closing mechanism 2, the transfer mechanism 3, the sonar lifting mechanism 4 and the sonar probe 5; the power module is used to provide a stable power supply for the control end 6; the storage module is used to store the operating information data of the entire multifunctional lifting sonar device.

[0054] The operation method of this embodiment is as follows:

[0055] 1. Send the sonar probe 5 into the water:

[0056] The opening of the closed barrel 1 is closed by driving the valve plate 203 through the corresponding servo hydraulic cylinder 201, and the opening of the bottom plate 7 is opened by driving the valve plate 203 through the corresponding servo hydraulic cylinder 201; the hydraulic cylinder 2 401 drives the lifting rod 1 402 to move downward, and the lifting rod 2 403 moves upward, the protective claw 407 opens, and the sonar probe 5 passes through the protective claw 407 and then passes through the opening of the bottom plate 7 into the water; the servo motor 408 adjusts the direction of the sonar probe 5, and the sonar probe 5 starts to work.

[0057] 2. Retract the sonar probe 5:

[0058] On the one hand, the sonar probe 5 detects obstacles in the water. When an obstacle that is about to collide is detected, the control end 6 immediately retracts the sonar probe 5; on the other hand, when the open protection claw 407 contacts the obstacle, the protection claw 407 is pushed by the obstacle and slightly bends and deforms. After the bending sensor 4071 detects the change in bending, it transmits a signal to the control end 6, and the control end 6 immediately retracts the sonar probe 5;

[0059] When the control end 6 detects an obstacle, the sonar probe 5 is retracted, the hydraulic cylinder 2 401 is started, the lifting rod 1 402 moves upward, the lifting rod 2 403 moves downward, the sonar probe 5 moves upward, the protection claw 407 rotates inward, and the sonar probe 5 is located inside the gathered protection claw 407; the hydraulic cylinder 1 301 is started, the rotating frame 303 moves upward, the sonar probe 5 moves to above the opening of the bottom plate 7, and the opening of the bottom plate 7 is closed, thereby preventing the sonar probe 5 from colliding with an obstacle and being damaged.

[0060] 3. Maintain, repair or replace the sonar probe 5:

[0061] When the sonar probe 5 needs to be maintained or repaired, the sonar probe 5 is first retracted and the opening of the bottom plate 7 is closed, and then the hydraulic cylinder 1 302 is started, the rotating frame 303 rises, and the sonar probe 5 enters the closed barrel 1; the rotating cylinder 304 is started, and the rotating frame 303 rotates 180° in the closed barrel 1 to make the sonar probe 5 face upward; the opening of the closed barrel 1 is opened, the hydraulic cylinder 1 302 is started, the rotating frame 303 continues to rise, and the hydraulic cylinder 2 401 is started to open the protective claw 407, so that the sonar probe 5 extends out and enters the internal environment of the bottom plate 7 through the opening of the closed barrel 1, and the maintenance personnel maintain, repair or replace the sonar probe 5 in the internal environment of the bottom plate 7; after the maintenance, repair or replacement is completed, the sonar probe 5 is sent back underwater.

Claims

1. A multifunctional lifting sonar device, characterized in that: The invention comprises a closed barrel (1), an opening and closing mechanism (2), a transfer mechanism (3), a sonar lifting mechanism (4), a sonar probe (5) and a control end (6); a port communicating with the internal and external environments is provided on the bottom plate (7), and the closed barrel (1) is fixedly mounted on the port of the bottom plate (7); an opening communicating with the internal environment of the bottom plate (7) is provided at the top of the closed barrel (1), and the bottom is communicated with the port of the bottom plate (7); the opening and closing mechanism (2) is provided with two groups, which are respectively arranged at the top and bottom ends of the closed barrel (1) and are used to seal the opening of the closed barrel (1) and the port of the bottom plate (7); the transfer mechanism ( 3) is arranged in the closed barrel (1), comprising a rotating frame (303) and a transfer assembly for driving the rotating frame (303) to move and rotate; the sonar lifting mechanism (4) comprises a linkage assembly, a plurality of protection claws (407) and a connecting frame (410); the linkage assembly is arranged on the rotating frame (303) and is used to link the protection claws (407) and the connecting frame (410); a bending sensor (4071) is provided on the protection claws (407); the sonar probe (5) is installed on the connecting frame (410); the control end (6) is used to control the operation of the entire multifunctional lifting sonar device; Each set of the opening and closing mechanisms (2) comprises a servo hydraulic cylinder (201), a mounting frame (202), a valve plate (203) and a valve seat (204); the mounting frame (202) is fixedly mounted on the bottom plate (7); the valve seat (204) is fixedly mounted on the opening of the closed barrel (1) or on the through hole of the bottom plate (7), and is fixedly connected to the mounting frame (202); the valve plate (203) is slidably mounted in the valve seat (204), and is slidably connected to the mounting frame (202); the servo hydraulic cylinder (201) is fixedly mounted on the mounting frame (202), and its telescopic end is fixedly connected to the valve plate (203); The transfer assembly comprises a telescopic frame (301), a hydraulic cylinder 1 (302) and a rotating cylinder (304); two telescopic frames (301) are provided, one end of each telescopic frame (301) is fixedly mounted on the bottom plate (7), and the other end is fixedly mounted with a rotating cylinder (304); the two ends of the rotating frame (303) are respectively fixedly connected to the output ends of the two rotating cylinders (304); each rotating cylinder (304) is driven to move by the hydraulic cylinder 1 (302); the hydraulic cylinder 1 (302) is fixedly mounted on the bottom plate (7), and its telescopic end is fixedly connected to the rotating cylinder (304); The linkage assembly comprises a second hydraulic cylinder (401), a lifting rod (402), a second lifting rod (403), a transmission gear (404), a transition gear (405), an adjustment gear (406) and an inner gear ring (411); the first lifting rod (402) is slidably mounted inside the rotating frame (303) and connected to the connecting frame (410); the second hydraulic cylinder (401) is fixedly mounted on the rotating frame (303), and its telescopic end is fixedly connected to the first lifting rod (402); the second lifting rod (403) is provided with at least one , and is slidably mounted inside the rotating frame (303); a transmission gear (404) is provided between the lifting rod 1 (402) and each lifting rod 2 (403); the lifting rod 1 (402) is provided with a rack 1 (4021) corresponding to the transmission gear (404), and the lifting rod 2 (403) is provided with a rack 2 (4031) corresponding to the transmission gear (404); the transmission gear (404) is rotatably mounted inside the rotating frame (303), and is synchronously meshed with the corresponding rack 1 (4021) and rack 2 (4031); An adjusting gear (406) rotatably mounted on the rotating frame (303) is fixedly mounted on each of the protection claws (407); the inner gear ring (411) is slidably mounted on the rotating frame (303) and is synchronously meshed with all the adjusting gears (406); a rack gear (4032) is provided on the second lifting rod (403), and the rack gear (4032) is meshed with the transition gear (405); the transition gear (405) is rotatably mounted on the rotating frame (303) and is meshed with the adjusting gear (406).

2. A multifunctional lifting sonar device according to claim 1, characterized in that: The sonar lifting mechanism (4) further comprises a servo motor (408); the connecting frame (410) is rotatably mounted on the lifting rod one (402); the servo motor (408) is fixedly mounted on the lifting rod one (402), and its output end drives the connecting frame (410) to rotate.

3. The multifunctional lifting sonar device according to claim 1, characterized in that: The specific operation method is as follows: The opening of the closed barrel (1) is closed by driving the valve plate (203) through the corresponding servo hydraulic cylinder (201), and the opening of the bottom plate (7) is opened by driving the valve plate (203) through the corresponding servo hydraulic cylinder (201); the second hydraulic cylinder (401) drives the first lifting rod (402) to move downward, and the second lifting rod (403) to move upward, and the protection claw (407) opens, and the sonar probe (5) passes through the protection claw (407) and then passes through the opening of the bottom plate (7) into the water; The sonar probe (5) detects obstacles in the water. When an obstacle that is about to collide is detected, the control end (6) immediately retracts the sonar probe (5); when the open protective claw (407) contacts the obstacle, the protective claw (407) is pushed by the obstacle and slightly bends and deforms. After the bending sensor (4071) detects the change in bending, it transmits a signal to the control end (6), and the control end (6) immediately retracts the sonar probe (5); When the control end (6) retracts the sonar probe (5), the hydraulic cylinder 2 (401) is started, the lifting rod 1 (402) moves upward, the lifting rod 2 (403) moves downward, the sonar probe (5) moves upward, the protection claw (407) rotates inward, and the sonar probe (5) is located inside the gathered protection claw (407); the rotating frame (303) moves upward, the sonar probe (5) moves to above the opening of the bottom plate (7), and the opening of the bottom plate (7) is closed; When the sonar probe (5) needs to be maintained or repaired, the sonar probe (5) is first retracted and the opening of the ship bottom plate (7) is sealed, then the rotating frame (303) rises, and the sonar probe (5) enters the closed barrel (1); the rotating frame (303) rotates in the closed barrel (1) so that the sonar probe (5) faces upward; the opening of the closed barrel (1) is opened, the rotating frame (303) continues to rise, and the hydraulic cylinder 2 (401) is started to open the protective claw (407), so that the sonar probe (5) extends out and enters the internal environment of the ship bottom plate (7) through the opening of the closed barrel (1), and the maintenance or repair personnel maintain, repair or replace the sonar probe (5) in the internal environment of the ship bottom plate (7).

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