Underwater sonar array device capable of being actively folded and unfolded

Abstract

The invention belongs to the field of underwater detection, and particularly relates to an underwater active folding and unfolding sonar array device which is characterized in that fixed sonar arms are fixedly connected to the front end and the rear end of a pressure-resistant sealed cabin respectively, two groups of rotary sonar arms are symmetrically arranged on the left side and the right side of the pressure-resistant sealed cabin, and each group of rotary sonar arms comprises two rotary sonar arms arranged front and back; a plurality of sonar units are installed on each fixed sonar arm and each rotary sonar arm in the length direction, the sonar unit on each fixed sonar arm is covered with a sonar fairing fixedly connected to the corresponding fixed sonar arm, and the sonar unit on each rotary sonar arm is covered with a sonar fairing fixedly connected to the corresponding rotary sonar arm; the left side and the right side of the pressure-resistant sealed cabin are provided with driving units which are the same as the rotating sonar arms on the same side in number and correspond to the rotating sonar arms on the same side in a one-to-one mode, each driving unit independently drives the corresponding rotating sonar arm to be unfolded or folded, and a flow guide cover is fixedly connected to the pressure-resistant sealed cabin. The sonar array has multiple working modes, and the sonar array can be folded and unfolded actively.

Description

Technical Field

[0001] The invention belongs to the field of underwater detection, in particular to an underwater actively foldable sonar array device. Background Art

[0002] With the development of marine technology, the marine field has attracted worldwide attention, and countries have invested huge human, material and financial resources in the marine field. The development of sonar technology is of great significance to the development of marine technology. Sonar technology can be applied in obstacle avoidance, ranging, detection, communication, marine biological research, marine safety and other fields. One of the most important application areas is underwater detection. Traditional sonar arrays include towed arrays, fixed arrays, etc. After these sonar arrays are determined, the array form is also fixed; due to the singleness of the array, the fixed form of the sonar array may lead to limitations in the collection of data information. Summary of the invention

[0003] In view of the above problems existing in traditional sonar arrays, the present invention aims to provide an underwater active folding sonar array device.

[0004] The objective of the present invention is achieved through the following technical solutions:

[0005] The present invention comprises a deflector, a driving unit, a fixed sonar arm, a rotating sonar arm, a sonar unit, a sonar deflector and a pressure-resistant sealed cabin for providing a sealed space for a sonar array device, wherein the front and rear ends of the pressure-resistant sealed cabin are respectively fixedly connected with fixed sonar arms, and the left and right sides of the pressure-resistant sealed cabin are symmetrically provided with two groups of rotating sonar arms, each group of rotating sonar arms is two arranged front and back, and a plurality of sonar units are respectively installed on each of the fixed sonar arms and each of the rotating sonar arms along the length direction, and the outer cover of the sonar unit on each of the fixed sonar arms is a sonar deflector fixedly connected to the fixed sonar arm, and the outer cover of the sonar unit on each of the rotating sonar arms is a sonar deflector fixedly connected to the rotating sonar arm; the left and right sides of the pressure-resistant sealed cabin are respectively provided with driving units having the same number and one-to-one correspondence as the rotating sonar arms on the same side. Unit, each of the driving units independently drives the corresponding rotating sonar arm to expand or close, the driving unit includes a driving sealed cabin, a driving motor, a transmission mechanism, an output shaft and a rotating shaft, the left and right sides of the pressure-resistant sealed cabin are fixedly connected with rotating brackets, a deflector is installed on the rotating bracket, the rotating shaft is rotatably installed on the rotating bracket, one end of the rotating sonar arm is connected to the rotating shaft, and the other end of the rotating sonar arm extends out of the deflector, the driving sealed cabin is fixed on the rotating bracket, a driving motor is installed in the driving sealed cabin, the output shaft is rotatably installed on the driving sealed cabin, one end of the output shaft is located inside the driving sealed cabin, and is connected to the output end of the driving motor through the transmission mechanism, and the other end of the output shaft is located outside the driving sealed cabin and is linked to the rotating shaft.

[0006] Wherein: the transmission mechanism includes a worm wheel, a worm and a worm gear box, the worm gear box is fixed in the driving sealed cabin, the worm is rotatably installed inside the worm gear box, the worm wheel is installed at one end of the output shaft and meshes with the worm for transmission, and the output end of the driving motor is connected to the worm for power transmission.

[0007] The driving sealed cabin comprises a driving sealed upper cover and a driving sealed base which are sealed together. The worm gear box is fixed in an internal space surrounded by the driving sealed upper cover and the driving sealed base. The driving motor is fixedly connected to the worm gear box via a motor fixing frame.

[0008] Brackets are fixedly connected to the front and rear ends of the top of the pressure-resistant sealed cabin respectively, and the front and rear fixed sonar arms are fixedly connected to the front and rear brackets on the pressure-resistant sealed cabin respectively; rotating brackets are symmetrically fixed to the left and right sides of the pressure-resistant sealed cabin, and the driving sealed cabins in the driving unit on each side of the pressure-resistant sealed cabin are fixed to the rotating bracket on the same side.

[0009] The air guide cover is divided into an upper air guide cover and a lower air guide cover, and the upper air guide cover and the lower air guide cover are respectively fixed to the rotating bracket.

[0010] The sonar units on each of the fixed sonar arms are arranged at equal intervals, and the number of sonar units on each of the fixed sonar arms is the same; the sonar units on each of the rotating sonar arms are arranged at equal intervals, and the number of sonar units on each of the rotating sonar arms is the same and the same as the number of sonar units on the fixed sonar arms.

[0011] The adjacent rotating sonar arms rotate in opposite directions. When each rotating sonar arm is in an unfolded state and the angle between adjacent sonar arms is 60°, the sonar units on each rotating sonar arm and the sonar units on each fixed sonar arm are arranged in a cocircular form from inside to outside.

[0012] When the sonar array device performs suspended detection, the front and rear ends of the pressure-resistant sealed cabin are respectively sealed with sealing covers, the sealing cover is connected to the pressure-resistant sealed cabin through an end cover tensioning rod, and a sealing end cover is sealed connected to the sealing cover; a lifting ring is installed on the pressure-resistant sealed cabin, and the lifting ring is the suspension point of the sonar array during suspended detection.

[0013] When the sonar array device performs maneuverability detection work, the front and rear ends of the pressure-resistant sealed cabin are connected to the mobile platform device through a tension rod and a square-head tension rod respectively, and the stern of the mobile platform device is provided with a propeller that provides power for the maneuverability detection work.

[0014] The advantages and positive effects of the present invention are:

[0015] 1. The present invention can realize the time-varying characteristics of the sonar array, that is, multiple rotating sonar arms can rotate to different angles according to detection needs, thereby improving detection accuracy. When the rotating sonar arm rotates 60°, the sonar units on the fixed sonar arm are arranged in a cocircular manner from the inside to the outside, thereby improving the detection radius and detection capability.

[0016] 2. The present invention can perform suspended detection work, suspend the sonar array in the water in a suspension mode, control the sonar array to float and dive, and control the working mode of the sonar array on the water surface.

[0017] 3. The present invention can be combined with a mobile platform to perform mobile detection work. When combined with the mobile platform, the rotating sonar arm can be in a closed state, which is beneficial to reduce driving resistance and save energy when driving. When a suspicious target is found, the rotating sonar arm is unfolded to increase the detection radius and improve the detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the decomposed structure of the present invention and the mobile platform;

[0019] Figure 2 It is a schematic diagram of the structure of the present invention combined with a mobile platform and the rotating sonar arm extending 60°;

[0020] Figure 3 It is a schematic diagram of the structure of the present invention combined with a mobile platform and the rotating sonar arm closed;

[0021] Figure 4 It is a schematic diagram of the structure of the present invention (the rotating sonar arm is unfolded 60°);

[0022] Figure 5 This is a schematic diagram of the structure of the present invention after the sonar deflector is removed and the rotating sonar arm is extended 60°;

[0023] Figure 6 A partial cross-sectional view of a rotating sonar arm on one side of the present invention;

[0024] Figure 7 It is a cross-sectional view of the internal structure of the present invention;

[0025] Figure 8 is a cross-sectional view of the internal structure of the drive unit of the present invention;

[0026] Fig. 9 This is a schematic diagram of the rotating sonar arm of the present invention being unfolded 60° and the sonar units being arranged in a cocircular pattern from the inside to the outside;

[0027] Among them: 1 is a sonar array device, 2 is a mobile platform device, 3 is a tension rod, 4 is a square head tension rod, 5 is an upper deflector, 6 is a lower deflector, 7 is a propeller, 8 is a lifting ring, 9 is a sonar deflector, 10 is a watertight connector, 11 is an end cover tension rod, 12 is a sealing cover, 13 is a pressure-resistant sealed cabin, 14 is a sonar unit, 15 is a rotating sonar arm A, 16 is a rotating sonar arm B, 17 is a fixed sonar arm A, 18 is Rotating sonar arm C, 19 is rotating sonar arm D, 20 is fixed sonar arm B, 21 is a bracket, 22 is a rotating bracket, 23 is an output shaft, 24 is a coupling, 25 is a rotating shaft, 26 is a drive seal upper cover, 27 is a drive seal base, 28 is a drive motor, 29 is a motor coupling, 30 is a motor fixing bracket, 31 is a worm wheel, 32 is a worm, 33 is a worm gear box, 34 is a fixing bracket, and 35 is a sealing end cover. DETAILED DESCRIPTION

[0028] The present invention will be further described below in conjunction with the accompanying drawings.

[0029] like Figures 1 to 9 As shown, the present invention includes a deflector, a driving unit, a fixed sonar arm, a rotating sonar arm, a sonar unit 14, a sonar deflector 9 and a pressure-resistant sealed cabin 13, wherein the front and rear ends of the top of the pressure-resistant sealed cabin 13 are respectively fixedly connected with fixed sonar arms, namely, a fixed sonar arm A17 and a fixed sonar arm B20; two groups of rotating sonar arms are symmetrically arranged on the left and right sides of the pressure-resistant sealed cabin 13, and each group of rotating sonar arms is two arranged front and back, that is, the two rotating sonar arms on the right are respectively rotating sonar arm A15 and rotating sonar arm B16, and the two rotating sonar arms on the left are respectively rotating sonar wall C18 and rotating sonar arm D19, and a plurality of sonar units 14 are respectively installed along the length direction on the two fixed sonar arms and the four rotating sonar arms, and the sonar unit 14 on each fixed sonar arm is externally covered with a sonar deflector 9 fixedly connected to the fixed sonar arm, and the sonar unit 14 on each rotating sonar arm is externally covered with a sonar deflector 9 fixedly connected to the rotating sonar arm.

[0030] The left and right sides of the pressure-resistant sealed cabin 13 are equipped with drive units that are the same in number and correspond to the rotating sonar arms. In this embodiment, two drive units are installed on the left and right sides of the pressure-resistant sealed cabin 13, and each drive unit independently drives a corresponding rotating sonar arm to expand or close. A rotating bracket 22 is fixedly connected to the left and right sides of the pressure-resistant sealed cabin 13, and a fairing is installed on the rotating bracket 22. The rotating bracket 22 and the driving unit are covered by the fairing; the driving unit includes a driving sealed cabin, a driving motor 28, a transmission mechanism, an output shaft 23 and a rotating shaft 25. The rotating shaft 25 is rotatably installed on the rotating bracket 22. The rotating sonar arm is located outside the pressure-resistant sealed cabin 13, one end of the rotating sonar arm is connected to the rotating shaft 25, and the other end of the rotating sonar arm extends out of the fairing. The driving sealed cabin is fixed on the rotating bracket 22, and a driving motor 28 is installed in the driving sealed cabin. The output shaft 23 is rotatably installed on the driving sealed cabin, one end of the output shaft 23 is located inside the driving sealed cabin and is connected to the output end of the driving motor 28 through the transmission mechanism, and the other end of the output shaft 23 is located outside the driving sealed cabin and is linked to the rotating shaft 25.

[0031] The driving sealed cabin of the present embodiment comprises a driving sealed upper cover 26 and a driving sealed base 27, and the driving sealed upper cover 26 and the driving sealed base 27 are sealed and connected by an O-ring, providing a sealed space for the driving unit; the transmission mechanism of the present embodiment comprises a worm wheel 31, a worm 32 and a worm gear box 33, and the worm gear box 33 is fixed in the internal space surrounded by the driving sealed upper cover 26 and the driving sealed base 27, and the driving motor 28 is fixedly connected to the worm gear box 33 through the motor fixing frame 30, and the worm 32 is rotatably installed inside the worm gear box 33, and the output end of the driving motor 28 transmits power to the worm 32 through the motor coupling 29, and the worm 32 is meshed with the worm wheel 31 to perform the reversal of the rotational power, and also increases the transmission torque, and the worm wheel 31 is installed at one end of the output shaft 23 to transmit the rotational driving force. The driving sealed upper cover 26 has a threaded hole on it, and is fixedly connected to the fixing frame 34 by screws.

[0032] The pressure-resistant sealed cabin 13 provides a sealed space for the sonar array device, a dry environment for the internal cables and circuit boards, and buoyancy for the sonar array device, and a battery for power supply is installed inside. The pressure-resistant sealed cabin 13 has threaded holes, and a bracket 21 and a rotating bracket 22 are fixed by screws; in this embodiment, brackets 21 are fixedly connected at the front and rear ends of the top of the pressure-resistant sealed cabin 13, and threaded holes are opened on the bracket 21. The fixed sonar arm A17 and the fixed sonar arm B20 are fixedly connected to the front and rear brackets 21 on the pressure-resistant sealed cabin 13 by screws respectively; the left and right sides of the pressure-resistant sealed cabin 13 are symmetrically fixed with rotating brackets 22, and the driving sealed cabins in the driving units on each side of the pressure-resistant sealed cabin 13 are fixed to the rotating bracket 22 on the same side. The fairing of this embodiment is divided into an upper fairing 5 and a lower fairing 6, and the upper fairing 5 and the lower fairing 6 are fixedly connected to the rotating bracket 22 respectively.

[0033] The rotating bracket 22 of this embodiment is provided with threaded holes, and the fixed bracket 34 is fixed to the rotating bracket 22 by screws; at the same time, through holes for fixing bearings are provided on the left and right sides of the rotating bracket 22, and the rotating shaft 25 is rotatably installed on the rotating bracket 22 through bearings (with top covers on both sides of the bearings), one end of the rotating shaft 25 is fixedly connected to the rotating sonar arm, and the other end of the rotating shaft 25 is connected to the other end of the output shaft 23 through the coupling 24 to transmit the rotating power, thereby driving the rotating sonar arm to rotate. In this embodiment, multiple threaded holes are provided on the fixed sonar arm A17 and the fixed sonar arm B20, and a sonar unit 14 is fixed at each threaded hole by screws; in this embodiment, multiple threaded holes are provided on the rotating sonar arm A15, the rotating sonar arm B16, the rotating sonar wall C18, and the rotating sonar arm D19, and a sonar unit 14 is fixed at each threaded hole by screws. The sonar units 14 on the two fixed sonar arms are arranged at equal intervals, and the number of sonar units 14 on the two fixed sonar arms is the same; the sonar units 14 on the four rotating sonar arms are arranged at equal intervals, and the number of sonar units 14 on the four rotating sonar arms is the same, and the number is the same as the sonar units 14 on the fixed sonar arms. The adjacent rotating sonar arms rotate in opposite directions. When each rotating sonar arm is in the unfolded state (the four rotating sonar arms rotate 60° under the drive of their respective driving motors 28), the sonar units 14 on each rotating sonar arm and the sonar units 14 on each fixed sonar arm are arranged in a cocircular form from the inside to the outside; that is, when the four rotating sonar arms are in the unfolded state, the sonar units 14 arranged at the same position on the four rotating sonar arms and the two fixed sonar arms are located on the same circle, such as Fig. 9 The rotating sonar arm of this embodiment can also be rotated to other different angles according to detection requirements, thereby improving detection performance.

[0034] When the sonar array device of the present invention performs suspended detection, the front and rear ends of the pressure-resistant sealed cabin 13 are respectively sealed and connected with sealing covers 12, on which a watertight connector 10 is installed, a through hole and a sealing groove are opened in the middle of the sealing cover 12, an end cover tensioning rod 11 is connected to the sealing cover 12, the end cover tensioning rod 11 is fixedly connected to the pressure-resistant sealed cabin 13, a sealing end cover 35 is sealed and connected to the sealing groove, and the sealing end cover 35 is fixed to the sealing cover 12 by screws; a lifting ring 8 is installed on the pressure-resistant sealed cabin 13, and the lifting ring 8 is a suspension point, and the depth arrangement of the sonar array device can be carried out according to the detection requirements.

[0035] When the sonar array device of the present invention performs maneuverable detection work, there is no lifting ring 8, sealing cover 12, sealing end cover 35 and end cover tension rod 11 on the pressure-resistant sealed cabin 13. The front and rear ends of the pressure-resistant sealed cabin 13 are fixedly connected to the mobile platform device 2 through the tension rod 3 and the square head tension rod 4, respectively, so that maneuverable detection work can be performed. The stern of the mobile platform device 2 is provided with a propeller 7 to provide driving power for the maneuverable detection work. The mobile platform device 2 of the present invention is a prior art and will not be described in detail here.

[0036] The working principle of the present invention is:

[0037] When the four rotating sonar arms are unfolded, the driving motor 28 rotates by driving the worm 32, and the worm 32 drives the worm wheel 31 to rotate. The worm wheel 31 is fixedly connected to the output shaft 23, that is, the driving motor 28 drives the output shaft 23 to rotate, and the output shaft 23 transmits the rotational motion to the rotating shaft 25 through the coupling 24. The rotating shaft 25 is fixedly connected to the rotating sonar arm, and multiple sonar units 14 are fixed on the rotating sonar arm, that is, the sonar units on the entire rotating sonar arm rotate. The adjacent rotating sonar arms in the four rotating sonar arms rotate in opposite directions at the same speed. When the four rotating sonar arms rotate 60° respectively, the sonar units on all the sonar arms are arranged in a cocircular form from the inside to the outside. When the rotating sonar arm 19 is closed, the driving motor 28 rotates in the opposite direction, and the sonar units 14 will form three linear arrays.

[0038] When the sonar array device 1 performs suspended detection, the sealing cover 12 is sealed and fixed to the pressure-resistant sealing cabin 13 through the end cover tension rod 11, and the sealing end cover 35 is sealed and fixed to the sealing cover 12 to form a closed space. The sonar array device 1 is set to float and dive through the suspension ring 8.

[0039] When the sonar array device 1 performs mobility detection, the sonar array device 1 will be fixedly connected to the mobile platform device 2 through the tension rod 3 and the square head tension rod 4, and the propeller 7 will provide power for the mobility detection of the sonar array.

Claims

1. An underwater actively deployable sonar array device, characterized in that: The invention comprises a deflector, a driving unit, a fixed sonar arm, a rotating sonar arm, a sonar unit (14), a sonar deflector (9), and a pressure-resistant sealed cabin (13) for providing a sealed space for a sonar array device, wherein the front and rear ends of the pressure-resistant sealed cabin (13) are respectively fixedly connected to fixed sonar arms, and two groups of rotating sonar arms are symmetrically arranged on the left and right sides of the pressure-resistant sealed cabin (13), and each group of rotating sonar arms is two arranged in front and back, and a plurality of sonar units (14) are respectively installed on each of the fixed sonar arms and each of the rotating sonar arms along the length direction, and the sonar unit (14) on each of the fixed sonar arms is externally covered with a sonar deflector (9) fixedly connected to the fixed sonar arm, and the sonar unit (14) on each of the rotating sonar arms is externally covered with a sonar deflector (9) fixedly connected to the rotating sonar arm; and the left and right sides of the pressure-resistant sealed cabin (13) are respectively installed with driving units of the same number and one-to-one correspondence as the rotating sonar arms on the same side, and each of the driving units is independently The drive unit is configured to drive the corresponding rotating sonar arm to be unfolded or closed. The driving unit comprises a driving sealed cabin, a driving motor (28), a transmission mechanism, an output shaft (23) and a rotating shaft (25). The left and right sides of the pressure-resistant sealed cabin (13) are fixedly connected with a rotating bracket (22). A deflector is installed on the rotating bracket (22). The rotating shaft (25) is rotatably installed on the rotating bracket (22). One end of the rotating sonar arm is connected to the rotating shaft (25), and the other end of the rotating sonar arm extends out from the deflector. The driving sealed cabin is fixed on the rotating bracket (22). A driving motor (28) is installed in the driving sealed cabin. The output shaft (23) is rotatably installed on the driving sealed cabin. One end of the output shaft (23) is located inside the driving sealed cabin and is connected to the output end of the driving motor (28) through the transmission mechanism. The other end of the output shaft (23) is located outside the driving sealed cabin and is linked to the rotating shaft (25).

2. The underwater actively deployable sonar array device according to claim 1, characterized in that: The transmission mechanism comprises a worm wheel (31), a worm (32) and a worm gear box (33); the worm gear box (33) is fixed in a driving sealed cabin; the worm (32) is rotatably mounted inside the worm gear box (33); the worm wheel (31) is mounted on one end of an output shaft (23) and meshes with the worm (32) for transmission; and the output end of the driving motor (28) is connected to the worm (32) for power transmission.

3. The underwater actively deployable sonar array device according to claim 2, characterized in that: The driving sealed cabin comprises a driving sealed upper cover (26) and a driving sealed base (27) which are sealed and connected to each other; the worm gear box (33) is fixed in an internal space surrounded by the driving sealed upper cover (26) and the driving sealed base (27); and the driving motor (28) is fixedly connected to the worm gear box (33) via a motor fixing frame (30).

4. The underwater actively deployable sonar array device according to claim 1, characterized in that: The front and rear ends of the top of the pressure-resistant sealed cabin (13) are respectively fixedly connected with brackets (21), and the front and rear fixed sonar arms are respectively fixedly connected to the front and rear brackets (21) on the pressure-resistant sealed cabin (13); the left and right sides of the pressure-resistant sealed cabin (13) are symmetrically fixedly connected with rotating brackets (22), and the driving sealed cabins in the driving units on each side of the pressure-resistant sealed cabin (13) are fixedly connected to the rotating brackets (22) on the same side.

5. The underwater actively deployable sonar array device according to claim 4, characterized in that: The air guide cover is divided into an upper air guide cover (5) and a lower air guide cover (6), and the upper air guide cover (5) and the lower air guide cover (6) are respectively fixed to the rotating bracket (22).

6. The underwater actively deployable sonar array device according to claim 1, characterized in that: The sonar units (14) on each of the fixed sonar arms are arranged at equal intervals, and the number of sonar units (14) on each of the fixed sonar arms is the same; the sonar units (14) on each of the rotating sonar arms are arranged at equal intervals, and the number of sonar units (14) on each of the rotating sonar arms is the same and is the same as the number of sonar units (14) on the fixed sonar arms.

7. The underwater actively deployable sonar array device according to claim 1, characterized in that: The adjacent rotating sonar arms rotate in opposite directions. When each rotating sonar arm is in an unfolded state and the angle between adjacent sonar arms is 60°, the sonar units (14) on each rotating sonar arm and the sonar units (14) on each fixed sonar arm are arranged in a cocircular manner from inside to outside.

8. The underwater actively deployable sonar array device according to claim 1, characterized in that: When the sonar array device performs suspended detection, the front and rear ends of the pressure-resistant sealed cabin (13) are respectively sealedly connected with sealing covers (12), the sealing cover (12) is connected to the pressure-resistant sealed cabin (13) through an end cover tensioning rod (11), and a sealing end cover (35) is sealedly connected to the sealing cover (12); a lifting ring (8) is installed on the pressure-resistant sealed cabin (13), and the lifting ring (8) is a suspension point of the sonar array during suspended detection.

9. The underwater actively deployable sonar array device according to claim 1, characterized in that: When the sonar array device performs maneuverability detection work, the front and rear ends of the pressure-resistant sealed cabin (13) are connected to the mobile platform device (2) through a tension rod (3) and a square-head tension rod (4) respectively, and the stern of the mobile platform device (2) is provided with a propeller (7) for providing power for the maneuverability detection work.

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