Underwater extensible acoustic array carrying device

Abstract

The invention provides an underwater extensible acoustic array carrying device, which comprises an autonomous control sealed cabin assembly, a bearing frame assembly, a motor driving assembly, a thrust seat assembly, an extension arm assembly, a tightener and a tightening rope, and is characterized in that the tightener and the tightening rope can adjust the position of the extension arm assembly; the autonomous control sealed cabin assembly is installed on the bearing frame assembly through bolts, the thrust seat assembly is arranged on the bearing frame assembly, and the thrust seat assembly moves up and down to drive the stretching arm assembly to be unfolded and folded. The acoustic array is flexible in arrangement, stable in structure, large in folding and unfolding ratio, stable and reliable in unfolding process, high in overall structure unfolding rigidity, stable in acoustic array type and convenient and fast to machine and assemble, and mistaken touch caused by the water pressure effect under the large water pressure environment can be avoided.

Description

Technical Field

[0001] The present invention belongs to the field of underwater equipment, and in particular, relates to an underwater expandable acoustic array carrying device. Background Art

[0002] In underwater acoustic arrays, increasing the diameter of the array can effectively improve the use of the array, but it often leads to a large mass and scale of the acoustic array, which requires a lot of manpower and money to deploy, transport and store. In addition, due to its large size, the formation of the acoustic array will be poor due to manufacturing, environmental external forces and other reasons, which is not conducive to ensuring the accuracy of use. At the same time, during the deployment and folding process, due to its large size, when it is subjected to unbalanced lateral forces, it is easy to cause the equipment to get stuck or damaged.

[0003] For example, the Chinese invention patent document with publication number CN117629376A discloses a large-scale rotating expandable acoustic array. However, the underwater carrying equipment is limited by factors such as site and space, and is inconvenient to deploy, transport and store. In addition, the manufacturing of large equipment and external environmental forces may cause the array formation to be unstable, and the device may be easily stuck and damaged during the deployment and folding process. Based on the above-mentioned defects in the prior art, the present invention provides an underwater expandable acoustic array carrying device, which has a stable and reliable deployment process, flexible deployment and a large folding and unfolding ratio, and can ensure the rigidity of the overall structure and the stability of the acoustic array formation. Summary of the invention

[0004] In view of the defects in the prior art, an object of the present invention is to provide an underwater expandable acoustic array carrying device.

[0005] An underwater expandable acoustic array carrying device provided by the present invention comprises: an autonomous control sealed cabin assembly 1, a bearing frame assembly 2, a motor drive assembly 3, a thrust seat assembly 4, an extension arm assembly 5, a lower limit watertight switch assembly 69, an upper limit watertight switch assembly 70, a tightener 80 and a tightening rope 81;

[0006] The autonomous control sealed cabin assembly 1 is mounted on the load-bearing frame assembly 2 by bolts, and the thrust seat assembly 4 is arranged on the load-bearing frame assembly 2;

[0007] The driving motor assembly 3 is connected to the autonomous control sealed cabin assembly 1 through a coupling, and the floating nut assembly 50 in the thrust seat assembly 4 matches the screw rod 32 in the motor driving assembly 3;

[0008] The lower limit watertight switch assembly 69 is arranged at the bottom of the load-bearing frame assembly 2, and the upper limit watertight switch assembly 70 is installed on the upper side of the load-bearing frame assembly 2;

[0009] The extension arm assembly 5 has multiple groups, all of which are hinged on the supporting frame assembly 2 and the thrust seat assembly 4, and are arranged at equal angles to form a 360° array. The tightening rope 81 is wrapped around each group of the extension arm assembly 5. The tightening device 80 passes through the tightening rope 81 and is located between the two extension arm assemblies 5. When the underwater expandable acoustic array carrying device is unfolded, the position of the extension arm assembly 5 can be adjusted by the tightening device 80 and the tightening rope 81 to ensure the relative position between the extension arm assemblies 5. When the underwater expandable acoustic array carrying device is folded, the tightening rope 81 automatically relaxes.

[0010] Preferably, the autonomous control sealed cabin assembly 1 comprises: a sealed upper end cover 7, a drive motor 8, a sealed housing 9, a motor reducer 10, a motor mounting flange 11, a diaphragm coupling 12, an adapter shaft 13, a sealed lower end cover 14, a dust cover 15, a dust ring 16, a pressure cover 17, an angular contact ball bearing 18 and a thrust roller bearing 19;

[0011] The sealed upper end cover 7, the sealed shell 9, the sealed lower end cover 14, the pressure cover 17, and the dust cover 15 together form a sealed cabin, wherein the sealed lower end cover 14, the pressure cover 17, and the dust cover 15 form a lower sealing cover; the drive motor 8 and the motor reducer 10 are fastened to the motor mounting flange 11, and the drive motor 8 is installed on the sealed lower end cover 14, and the drive motor 8, the motor reducer 10, the motor mounting flange 11, and the sealed lower end cover 14 form a whole; the output shaft of the motor reducer 10 is connected to the conversion shaft 13 through a diaphragm coupling 12; a boss is arranged in the middle of the adapter shaft 13, an angular contact ball bearing 18 is arranged at one end, and a thrust roller bearing 19 is arranged at the other end, and the adapter shaft 13 is installed in the pressure cover 17. When the equipment is working in the deep sea, the pressure cover 17 can bear the pressure on the adapter shaft 13 and eliminate the positive pressure of the motor shaft;

[0012] The load-bearing frame assembly 2 includes: an upper mounting seat assembly 20, a frame seat ear 21, a pressure plate 22, a suspension column 23, a load-bearing column 24, a column base 25, a bottom plate 26 and an intermediate connecting seat 27;

[0013] The frame seat ears 21 are evenly distributed on the upper mounting seat assembly 20; the upper mounting seat assembly 20 is spliced, and the upper mounting seat assembly 20 and the bottom plate 26 are connected together through a plurality of evenly arranged load-bearing columns 24; the pressure plate 22 is mainly fixed by the load-bearing columns 24 and the upper mounting seat assembly 20, and the column base 25 is provided with through holes in the radial direction; the intermediate connecting seat 27 is fastened to the upper mounting seat assembly 20 through the hanging columns 23; the upper mounting seat assembly 20 and the bottom plate 26 are both provided with positioning holes, and the upper limit watertight switch assembly 70 and the lower limit watertight switch assembly 69 are respectively installed on the intermediate connecting seat 27 and the bottom plate 26;

[0014] The motor drive assembly 3 includes: a screw 32, a mounting flange 33, a rolling bearing 34, a polytetrafluoroethylene sleeve 35, a bearing mounting seat 36, a thrust bearing 37, a screw top shoulder 38, a limit ring 39, a screw bottom top shoulder 40, a bottom bearing seat 41, a thrust needle roller bearing 42, a wear-resistant centering sleeve 43, a bottom rolling bearing 44, a bottom mounting flange 45 and a double diaphragm coupling 84;

[0015] The motor drive assembly 3 is connected to the motor shaft through a double diaphragm coupling 46, and is installed on the middle connecting seat 27 of the upper mounting seat assembly 20 through a mounting flange 33; the bottom mounting flange 45 is fixed on the bottom plate 26; both ends of the screw rod 32 are provided with shaft shoulders; the mounting flange 33, the rolling bearing 34, the polytetrafluoroethylene sleeve 35, and the thrust bearing 37 together form an upper concentric stabilizing component;

[0016] The screw rod 32 is provided with a screw rod top shoulder 38 on the shaft shoulder, which can directly support the thrust bearing 37; the screw rod 32 is also provided with a screw rod bottom shoulder 40 on the other side, which can directly support the thrust needle roller bearing 42 in the lower bearing seat 41; the polytetrafluoroethylene sleeve 35 and the wear-resistant centering sleeve 43 can support the inner ring of the bearing; the rolling bearing 34 and the lower rolling bearing 44 can ensure that the screw rod 32 remains coaxial when rotating up and down, and the setting of the thrust bearing 37 can ensure low-friction rotation when the screw rod 32 is subjected to axial pressure;

[0017] The thrust seat assembly 4 includes: a thrust seat ear 46, a thrust seat splicing block 47, a press plate 48, a C-type subassembly 49 and a floating nut assembly 50; the thrust seat ears 46 are arranged and installed on the thrust seat splicing block 47, the number of the thrust seat ears 46 is consistent with the number of the frame seat ears 21 on the load-bearing frame assembly 2, and they are in the same longitudinal plane; the thrust seat splicing block 47 can be spliced ​​into a thrust seat by multiple pieces, and each thrust seat splicing block 47 is fixed by the press plate 48;

[0018] The extension arm assembly 5 includes: a load-bearing arm 61, two thrust arms 62, two parallel arms 63, two carrying arms 64, a carrying plate 65, a wire harness plate 66, a wire clamp 67 and a rotating shaft sleeve 68; the load-bearing arm 61 is provided with three rotating shaft mounting holes, and the rotating shaft sleeve 68 is nested in the rotating shaft mounting holes; the shaft hole at one end of the load-bearing arm 61 is hinged to the frame seat ear 21 of the bearing frame assembly 2, and the other end is installed and connected to the rotating shaft sleeve 68; one end of the thrust arm 62 is hinged to the thrust seat ear 46 of the thrust seat assembly 4, and the other end is hinged to the parallel arm 63; the other end of the parallel arm 63 is hinged to the carrying arm 64; one end of the carrying arm 64 is hinged to the rotating shaft sleeve 68, and the other end is tightly connected to the carrying plate 65.

[0019] Preferably, the thrust seat assembly 4 can move up and down to drive the extension arm assembly 5 to expand and retract;

[0020] The floating nut assembly 50 includes: a connecting plate 51, an upper nut mounting cover 52, an upper wear-resistant bushing 53, a nut 54, a lower nut mounting cover 55 and a lower wear-resistant bushing 56, wherein the upper wear-resistant bushing 53 and the lower wear-resistant bushing 56 are respectively fixed in the upper nut mounting cover 52 and the lower nut mounting cover 55 by screws; the inner sides of the upper nut mounting cover 52 and the lower nut mounting cover 55 are provided with countersunk holes, in which nuts can be placed, and the nut 54 can have a certain angle of rotation, but cannot fully rotate in the circumferential direction; the upper nut mounting cover 52, the lower nut mounting cover 55 and the nut 54 are all fixed to the connecting plate 51 by bolts; the connecting plate 51 is fixedly mounted at the center of the thrust seat assembly 4; the nut 54 in the floating nut assembly 50 is used in conjunction with the screw rod 32, and the nut 54 can perform a small range of circumferential and axial movements in the space formed by the upper nut mounting cover 52 and the lower nut mounting cover 55;

[0021] The driving motor 8 in the autonomous control sealed cabin assembly 1 drives the lead screw 32 to rotate through the diaphragm coupling 12, driving the floating nut assembly 50 to move up and down, and the nut 54 is stuck in the upper nut mounting cover 52 and the lower nut mounting cover 55. The upper nut mounting cover 52 and the lower nut mounting cover 55 are respectively fastened to the thrust seat assembly 4. When the nut 54 moves up and down, it will drive the upper nut mounting cover 52 and the lower nut mounting cover 55, thereby driving the thrust seat assembly 4 to move up and down. The bearing arm 61 in the extension arm assembly 5 is hinged to the frame seat ear 21 on the bearing frame assembly 2, and the thrust arm 62 is hinged to the thrust seat ear 46 on the thrust seat assembly 4.

[0022] Preferably, the C-type subassembly 49 includes: a V-shaped elastic guide body 82, a sliding body 83, a polytetrafluoroethylene wear-resistant sleeve 57, a guide seat 58, a disc spring 59 and an adjusting screw 60, the V-shaped elastic guide body 82 is fixed together with the sliding body 83; the polytetrafluoroethylene wear-resistant sleeve 57 is fixed together with the guide seat 58; the disc spring 59 is sleeved on the sliding body 83; the adjusting screw 60 is connected to the threaded hole of the sliding body 83; and multiple sets of disc springs 59 can be installed on the sliding body 83 as needed.

[0023] Preferably, the upper mounting seat assembly 20 is a splicing structure, including: a splicing plate 28, a seat ear pull plate 29, a center positioning ring 30 and a positioning pin 31. The center positioning ring 30 has an adaptable relationship with multiple splicing plates 28, and positioning pin holes are provided on the splicing plates 28 and the center positioning ring 30; the seat ear pull plate 29 can fix the frame seat ear 21 on the upper mounting seat assembly 20.

[0024] Preferably, the lower watertight limit switch assembly 69 comprises: a sealing seat 71, a sealing shell 72, a conducting copper screw 73, a push rod 74, a rectangular spring 75, a sealing cover 76, a watertight connector 77, an arc-shaped conducting groove 78 and a sealing plug 79, wherein the arc-shaped conducting groove 78 has two or more and is evenly installed inside the sealing seat 71, the circuit of the watertight connector 77 is connected to the arc-shaped conducting groove 78, the conducting copper screw 73 is connected to the push rod 74 as a whole, and a shaft shoulder is provided on the push rod 74, one side of the shaft shoulder presses on the rectangular spring 75, and the other side of the shaft shoulder presses on the sealing cover 76;

[0025] The lower watertight limit switch assembly 69 can adjust the stiffness of the rectangular spring 75 according to the water pressure environment, and then judge the state of the lower watertight limit switch assembly 69 through the line state of the watertight connector 77;

[0026] When the water pressure acts on the ejector pin 74, due to the pressure difference between the inside and outside, the ejector pin 74 tends to move inward, and the rectangular spring 75 has a high stiffness coefficient; when the force applied by the mechanical equipment to the ejector pin is greater than the elastic force of the rectangular spring 75, the rectangular spring 75 will be compressed, and then the ejector pin 74 will bring the conductive copper screw 73 into contact with the arc-shaped conductive groove 78, and at this time, the circuit of the watertight connector 77 forms a short circuit, and it can be judged in the control cabin that the lower watertight limit switch assembly 69 is triggered, so that the corresponding action can be performed;

[0027] When the mechanical force is removed, the elastic force of the rectangular spring 75 is greater than the pressure of the push rod 74, and the rectangular spring 75 recovers, thereby driving the push rod 74 to leave the arc-shaped conducting groove 78, thereby breaking the circuit of the watertight connector 77, thereby determining that the lower watertight limit switch assembly 69 is restored.

[0028] Preferably, the thrust seat assembly 4 is in contact with the upper limit watertight switch assembly 70 and the lower limit watertight switch assembly 69 respectively, and can change the state of the extension arm assembly 5;

[0029] When the thrust seat assembly 4 hits the upper limit watertight switch assembly 70, the extension arm assembly 5 is unfolded to the final state, and the tightening rope 81 is tightened;

[0030] When the thrust seat assembly 4 hits the lower limit watertight switch assembly 69, the extension arm assembly 5 is retracted to the minimum state, and the tightening rope 81 is relaxed.

[0031] Preferably, when the extension arm assembly 5 is unfolded and deployed, power is supplied to the drive motor 8 through the watertight cable on the sealed upper end cover 7. The drive motor 8 has a built-in control circuit. After the thrust seat assembly 4 touches the upper limit watertight switch assembly 70, the drive motor 8 automatically stops rotating and the equipment unfolds to the maximum position.

[0032] Preferably, the extension arm assemblies 5 are circumferentially arranged around the supporting frame assembly 2 , and the number of the extension arm assemblies 5 is the same as the number of the frame seat ears 21 .

[0033] Preferably, the C-type subassembly 49 is fixed on the thrust seat splicing block 47 , and the number is determined by the load-bearing column 24 ; the floating nut assembly 50 is fixed at the center position of the thrust seat formed by the thrust seat splicing block 47 .

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] 1. The invention is flexible to deploy and has a large folding and unfolding ratio. By setting a tightener, it does not affect the use in the folded state, and can tighten the two arms in the unfolded state. It has adjustable ability and can ensure the relative position between the arms, so that the acoustic formation is stable. It automatically relaxes when folded, and does not affect the normal folding of the equipment. The device can be folded to a smaller size in a small space, and can be unfolded to a sufficient array size under underwater working conditions.

[0036] 2. The deployment process of the present invention is stable and reliable. The present invention uses the C-type subassembly and the floating nut assembly to release the uneven lateral force encountered during the movement of the screw rod and the uneven load force caused by different axes due to processing and assembly, etc., reduce the motor drive load, improve the resistance to uneven loads and the stability of the deployment process, thereby improving the deployment and retraction success rate of the equipment under extreme conditions and ensuring the normal operation of the equipment.

[0037] 3. The present invention has high rigidity. It adopts rigid rod, precision sleeve and rotating shaft design to reduce the gap in the arm movement process, and combines the tightening rope and tightener to ensure the rigidity of the overall structure and the stability of the acoustic array formation.

[0038] 4. The overall processing and assembly of the present invention are convenient and quick, and the sealing components are easy to replace, which can reduce the equipment maintenance cost.

[0039] 5. The present invention will not cause false touches due to water pressure in a high water pressure environment. By setting an underwater limit watertight switch assembly, the spring stiffness can be adjusted according to different water pressure environments, thereby monitoring the status of the limit watertight switch assembly.

[0040] 6. The present invention is flexible to deploy and has a stable structure. By setting an underwater expandable mechanism, a motor is used to drive the screw rod to drive the parallelogram arm structure to expand and fold. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0042] Figure 1It is a multi-angle structural schematic diagram of the present invention in an unfolded state;

[0043] Figure 2 It is a schematic diagram of the multi-angle structure of the present invention in the folded state;

[0044] Figure 3 This is a schematic diagram of an autonomous control sealed cabin assembly of the present invention;

[0045] Figure 4 It is a schematic diagram of the load-bearing frame assembly of the present invention;

[0046] Figure 5 It is a schematic diagram of the upper mounting seat assembly of the present invention;

[0047] Figure 6 This is a schematic diagram of the lower limit watertight switch assembly of the present invention;

[0048] Figure 7 It is a schematic diagram of the motor drive assembly of the present invention;

[0049] Figure 8 It is a schematic diagram of the thrust seat assembly of the present invention;

[0050] Fig. 9 This is a schematic diagram of a floating nut assembly of the present invention;

[0051] Fig.10 This is a schematic diagram of a C-type subassembly of the present invention;

[0052] Fig.11 It is a schematic diagram of the extension arm assembly of the present invention.

[0053] The figure shows:

[0054]

[0055] DETAILED DESCRIPTION

[0056] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0057] According to the present invention, an underwater expandable acoustic array carrying device includes: an autonomous control sealed cabin assembly 1, a bearing frame assembly 2, a motor drive assembly 3, a thrust seat assembly 4, an extension arm assembly 5, a lower limit watertight switch assembly 69, an upper limit watertight switch assembly 70, a tightener 80 and a tightening rope 81. The autonomous control sealed cabin assembly 1 is installed on the bearing frame assembly 2 by bolts. The drive motor assembly 3 is connected to the autonomous control sealed cabin assembly 1 by a coupling, and the floating nut assembly 50 in the thrust seat assembly 4 matches the screw rod 32 in the motor drive assembly 3. The lower limit watertight switch assembly 69 is arranged at the bottom of the load-bearing frame assembly 2, and the upper limit watertight switch assembly 70 is installed on the upper side of the load-bearing frame assembly 2. The extension arm assembly 5 has multiple groups, all of which are hinged on the load-bearing frame assembly 2 and the thrust seat assembly 4, and are arranged at equal angles to form a 360° array. The extension arm assemblies 5 are tightened in pairs using tightening ropes 81. A tightening device 80 is provided on the tightening ropes 81 between the two extension arm assemblies 5. The relative angles between the multiple extension arm assemblies 5 can be adjusted by the tightening device 80, and the formation stability of the acoustic array can be ensured by adjustment.

[0058] The working principle of the present invention is: the built-in circuit board and main control in the self-controlled sealed cabin assembly 1 can control the rotation of the motor autonomously or manually, thereby driving the screw 32 in the motor drive assembly 3 to rotate. When the screw 32 rotates, the thrust seat assembly 4 is driven to move up and down under the action of the floating nut assembly and the load-bearing rod. Since the load-bearing arm of the extension arm assembly 5 is hinged to the load-bearing frame assembly 2, and the thrust arm is hinged to the thrust seat assembly 4, when the thrust seat assembly 4 moves up and down, it will drive the extension arm assembly 5 to expand and retract. When the thrust seat assembly 4 moves upward and touches the upper limit watertight switch assembly 70, the equipment is deployed in place and stops; when the thrust seat assembly 4 moves downward and touches the lower limit watertight switch assembly 69, the equipment is retracted in place and stops. After the equipment is deployed, the tightening rope 81 is tightened, and the tightener 80 can be used to adjust the relative angles between the groups of extension arms to ensure the stability of the acoustic array formation. When the equipment is retracted, the tightening rope 81 will relax naturally and will not affect the use of the equipment. After being deployed again, the tightening rope 81 will be automatically tightened, pulling each extension arm assembly 5 to return to the initially adjusted formation state.

[0059] The present invention will be described in more detail below.

[0060] The autonomous control sealed cabin assembly 1 includes: a sealed upper end cover 7, a drive motor 8, a sealed housing 9, a motor reducer 10, a motor mounting flange 11, a diaphragm coupling 12, an adapter shaft 13, a sealed lower end cover 14, a dust cover 15, a dust ring 16, a pressure cover 17, an angular contact ball bearing 18 and a thrust roller bearing 19;

[0061] The load-bearing frame assembly 2 includes: an upper mounting seat assembly 20, a frame seat ear 21, a pressure plate 22, a suspension column 23, a load-bearing column 24, a column base 25, a bottom plate 26 and an intermediate connecting seat 27;

[0062] The motor drive assembly 3 includes: a screw 32, a mounting flange 33, a rolling bearing 34, a polytetrafluoroethylene sleeve 35, a bearing mounting seat 36, a thrust bearing 37, a screw top shoulder 38, a limit ring 39, a screw bottom top shoulder 40, a bottom bearing seat 41, a thrust needle roller bearing 42, a wear-resistant centering sleeve 43, a bottom rolling bearing 44, a bottom mounting flange 45, and a double diaphragm coupling 84;

[0063] The thrust seat assembly 4 includes: a thrust seat ear 46, a thrust seat splicing block 47, a crimping plate 48, a C-type subassembly 49 and a floating nut assembly 50;

[0064] The extension arm assembly 5 includes: a load-bearing arm 61 , two thrust arms 62 , two parallel arms 63 , two carrying arms 64 , a carrying plate 65 , a wire harness plate 66 , a wire clamp 67 and a rotating shaft sleeve 68 .

[0065] The driving motor 8 in the autonomous control sealed cabin assembly 1 drives the screw 32 to rotate through the diaphragm coupling 12, driving the floating nut assembly 50 to move up and down. The nut 54 is stuck in the upper nut mounting cover 52 and the lower nut mounting cover 55, and the upper nut mounting cover 52 and the lower nut mounting cover 55 are respectively fastened to the thrust seat assembly 4. When the nut 54 moves up and down, it will drive the upper nut mounting cover 52 and the lower nut mounting cover 55, thereby driving the thrust seat assembly 4 to move up and down. The bearing arm 61 in the extension arm assembly 5 is hinged to the frame seat ear 21 on the bearing frame assembly 2, and the thrust arm 62 is hinged to the thrust seat ear 46 on the thrust seat assembly 4. When the thrust seat assembly 4 moves up and down, it will drive the extension arm assembly 5 to expand and retract. When the thrust seat assembly 4 hits the upper limit watertight switch assembly 70, the equipment is deployed to the final state. At the same time, the tightening rope 81 is tightened to ensure the relative position of the extension arm assembly 5. When the thrust seat assembly 4 hits the lower limit watertight switch assembly 69, the equipment is retracted to the minimum state. At this time, the tightening rope 81 is loose, which does not affect the transportation or storage of the equipment.

[0066] The present invention will be described in more detail below with reference to preferred examples.

[0067] like Figure 1 , Figure 2 As shown, it includes: an autonomous control sealed cabin assembly 1, a load-bearing frame assembly 2, a motor drive assembly 3, a thrust seat assembly 4, an extension arm assembly 5, a tightener 80 and a tightening rope 81.

[0068] Furthermore, the tightening rope 81 is wound around each group of the extension arm assemblies 5, and the tightening device 80 passes through the tightening rope 81 and is located between two extension arm assemblies 5. The number of tightening devices 80 can be adjusted according to the size of the extension arm assemblies 5 and the tightening effect required. When the device is deployed, the tightening device 80 tightens the tightening rope 81 to restrain the multiple extension arm assemblies 5 from each other, thereby ensuring the relative position of each extension arm assembly 5 is stable. Similarly, the tightening force of the tightening device 80 can be adjusted to adjust the position between the extension arm assemblies 5. When the device is folded, all tightening ropes 81 are automatically relaxed, which does not affect the folding of the device.

[0069] like Figure 3 As shown, the autonomous control sealed cabin assembly 1 includes: a sealed upper end cover 7, a drive motor 8, a sealed housing 9, a motor reducer 10, a motor mounting flange 11, a diaphragm coupling 12, an adapter shaft 13, a sealed lower end cover 14, a dust cover 15, a dust ring 16, a pressure cover 17, an angular contact ball bearing 18 and a thrust roller bearing 19.

[0070] Furthermore, the sealed upper end cover 7, the sealed shell 9, the sealed lower end cover 14, the pressure cover 17, and the dust cover 15 together form a sealed cabin, wherein the sealed lower end cover 14, the pressure cover 17, and the dust cover 15 form a lower sealing cover. This design is easy to replace and assemble, and can reduce the replacement cost when the shaft or partial seal is damaged; the drive motor 8 and the motor reducer 10 are fastened to the motor mounting flange 11, and the drive motor 8 is mounted on the sealed lower end cover 14, and the drive motor 8 and the motor reducer 10 are fastened to the motor mounting flange 11. 10, the motor mounting flange 11, and the sealing lower end cover 14 are formed into one body; the output shaft of the motor reducer 10 is connected to the conversion shaft 13 through the diaphragm coupling 12; a boss is arranged in the middle of the adapter shaft 13, an angular contact ball bearing 18 is arranged at one end, and a thrust roller bearing 19 is arranged at the other end. The adapter shaft 13 is installed in the pressure cover 17. When the equipment is working in the deep sea, the motor shaft will be subjected to huge pressure. The design of the pressure end cover can effectively bear the pressure on the adapter shaft 13 and eliminate the positive pressure of the motor shaft.

[0071] like Figure 4 As shown, the supporting frame assembly 2 includes: an upper mounting seat assembly 20, a frame seat ear 21, a pressure plate 22, a suspension column 23, a load-bearing column 24, a column base 25, a bottom plate 26, a lower limit watertight switch assembly 69, an upper limit watertight switch assembly 70 and an intermediate connecting seat 27.

[0072] Furthermore, the frame seat ears 21 are evenly distributed on the upper mounting seat assembly 20; the upper mounting seat assembly 20 is spliced, and the upper mounting seat assembly 20 and the bottom plate 26 are connected together through a plurality of evenly arranged load-bearing columns 24; the pressure plate 22 is mainly fixed by the load-bearing columns 24 and the upper mounting seat assembly 20, and the column base 25 has through holes in the radial direction, and bolts can be installed to enhance the tensile strength of the load-bearing columns 24; the intermediate connecting seat 27 is fastened to the upper mounting seat assembly 20 through the hanging columns 23; the upper mounting seat assembly 20 and the bottom plate 26 are both provided with positioning holes. The upper limit watertight switch assembly 70 and the lower limit watertight switch assembly 69 are respectively installed on the intermediate connecting seat 27 and the bottom plate 26, and when the upper limit watertight switch assembly 70 or the lower limit watertight switch assembly 69 is triggered, the driving motor 8 stops rotating.

[0073] like Figure 5 As shown, the upper mounting seat assembly 20 can be an integrally formed structure or can be formed by splicing multiple components. When the upper mounting seat assembly 20 is a splicing structure, it includes: a splicing plate 28, a seat ear pull plate 29, a center positioning ring 30 and a positioning pin 31.

[0074] Furthermore, the center positioning ring 30 has an adaptive relationship with multiple splicing plates 28, and positioning pin holes are provided on the splicing plates 28 and the center positioning ring 30, which can ensure that the spliced ​​upper mounting seat assembly 20 has a higher positioning accuracy; the seat ear pull plate 29 can fix the frame seat ear 21 on the upper mounting seat assembly 20.

[0075] like Figure 6 As shown, the lower watertight limit switch assembly 69 includes: a sealing seat 71, a sealing shell 72, a conducting copper screw 73, a push rod 74, a rectangular spring 75, a sealing cover 76, a watertight connector 77, an arc-shaped conducting groove 78 and a sealing plug 79.

[0076] Furthermore, there are two or more arc-shaped conducting grooves 78, which are evenly installed inside the sealing seat 71, and the circuit of the watertight connector 77 is connected to the arc-shaped conducting groove 78. The conducting copper screw 73 is connected to the top rod 74 as a whole, and the top rod 74 is provided with a shoulder, one side of the shoulder presses on the rectangular spring 75, and the other side of the shoulder presses on the sealing cover 76; the lower watertight limit switch assembly 69 has the ability to work in a relatively deep water pressure environment. When the water pressure acts on the top rod 74, due to the internal and external pressure difference, the top rod 74 has a tendency to move inwards. The rectangular spring 75 has a high stiffness coefficient and can still not deform or slightly deform when subjected to the pressure difference. When the force applied by the mechanical device to the push rod 74 is greater than the elastic force of the rectangular spring 75, the rectangular spring 75 will be compressed, and then the push rod 74 will bring the conductive copper screw 73 into contact with the arc-shaped conductive groove 78. At this time, the circuit of the watertight connector 77 forms a short circuit, and it can be judged in the control cabin that the lower limit watertight switch assembly 69 is triggered, so that the corresponding action can be performed. When the mechanical force is withdrawn, the elastic force of the rectangular spring 75 is greater than the pressure of the push rod 74, and the rectangular spring 75 is restored, thereby driving the push rod 74 to leave the arc-shaped conductive groove 78, so that the circuit of the watertight connector 77 forms a short circuit, so that it can be judged that the lower limit watertight switch assembly 69 is restored.

[0077] like Figure 7 As shown, the motor drive assembly 3 includes: a screw 32, a mounting flange 33, a rolling bearing 34, a polytetrafluoroethylene sleeve 35, a bearing mounting seat 36, a thrust bearing 37, a screw top shoulder 38, a limit ring 39, a screw lower shoulder 40, a lower bearing seat 41, a thrust needle roller bearing 42, a wear-resistant centering sleeve 43, a lower rolling bearing 44, a bottom mounting flange 45 and a double diaphragm coupling 84.

[0078] Furthermore, the motor drive assembly 3 is connected to the motor shaft through a double diaphragm coupling 46, and is mounted on the middle connecting seat 27 of the upper mounting seat assembly 20 through a mounting flange 33; the bottom mounting flange 45 is fixed on the bottom plate 26; the screw rod 32 is provided with shoulders at both ends; the mounting flange 33, the rolling bearing 34, the polytetrafluoroethylene sleeve 35, and the thrust bearing 37 together form an upper concentric stabilizing component;

[0079] Furthermore, the screw rod 32 is provided with a screw rod top shoulder 38 on the shaft shoulder, which can be directly supported on the thrust bearing 37; the screw rod 32 is also provided with a screw rod bottom shoulder 40 on the other side, which can be directly supported on the thrust needle roller bearing 42 in the lower bearing seat 41; the polytetrafluoroethylene sleeve 35 and the wear-resistant centering sleeve 43 can reduce the friction during the rotation of the screw rod 32, and at the same time can support the inner ring of the bearing; the rolling bearing 34 and the lower rolling bearing 44 can ensure that the screw rod 32 remains coaxial when rotating up and down, and the setting of the thrust bearing 37 can still ensure low friction rotation when the screw rod 32 is subjected to axial pressure.

[0080] like Figure 8 As shown, the thrust seat assembly 4 includes: a thrust seat ear 46, a thrust seat splicing block 47, a crimping plate 48, a C-type sub-assembly 49 and a floating nut assembly 50; the thrust seat ears 46 are arranged and installed on the thrust seat splicing block 47, the number of the thrust seat ears 46 is consistent with the number of the frame seat ears 21 on the bearing frame assembly 2, and are in the same longitudinal plane; the thrust seat splicing block 47 can have multiple pieces, and the multiple thrust seat splicing blocks 47 are spliced ​​into a circular thrust seat, and each thrust seat splicing block 47 is fixed by a crimping plate 48. The C-type sub-assembly 49 is fixed on the thrust seat splicing block 47, and the number is determined by the number of the load-bearing columns 24; the floating nut assembly 50 is fixed at the center position of the structure formed by the thrust seat splicing block 47.

[0081] like Fig. 9 As shown, the floating nut assembly 50 includes: a connecting plate 51, an upper nut mounting cover 52, an upper wear-resistant bushing 53, a nut 54, a lower nut mounting cover 55 and a lower wear-resistant bushing 56. The upper wear-resistant bushing 53 and the lower wear-resistant bushing 56 are respectively fixed in the upper nut mounting cover 52 and the lower nut mounting cover 55 by screws, and the nut 54 is a square nut; the inner sides of the upper nut mounting cover 52 and the lower nut mounting cover 55 are provided with square countersunk holes, in which the nut 54 can be placed, and a calculated gap is reserved to ensure that the nut 54 can have a certain rotation angle, but cannot rotate completely in the circumference.

[0082] Furthermore, the upper nut mounting cover 52, the lower nut mounting cover 55 and the nut 54 are all fixed to the connecting plate 51 by bolts; the connecting plate 51 is fixedly mounted at the center position of the thrust seat assembly 4; the nut 54 in the floating nut assembly 50 is used in conjunction with the screw rod 32, and the nut 54 can perform a small range of circumferential and axial movements in the space formed by the upper nut mounting cover 52 and the lower nut mounting cover 55.

[0083] like Fig.10 As shown, the C-type subassembly 49 includes: a V-shaped elastic guide body 82, a sliding body 83, a polytetrafluoroethylene wear-resistant sleeve 57, a guide seat 58, a disc spring 59 and an adjusting screw 60. The disc spring 59 refers to a disc spring.

[0084] Furthermore, the V-shaped elastic guide body 82 is fixed together with the sliding body 83; the polytetrafluoroethylene wear-resistant sleeve 57 is fixed together with the guide seat 58; the disc spring 59 is sleeved on the sliding body 83; the adjusting screw 60 is connected to the threaded hole of the sliding body 83; multiple sets of disc springs 59 can be installed on the sliding body 83 as needed. When the stroke of the sliding body 83 is too large, the adjusting screw 60 can be tightened to reduce the stroke. At the same time, it is convenient to debug different thrust installation states during the later assembly of the whole machine to ensure the stable operation of the thrust seat assembly 4.

[0085] like Fig.11 As shown, the extension arm assembly 5 is the actuator of the unfolding device, including: a load-bearing arm 61, two thrust arms 62, two parallel arms 63, two carrying arms 64, a carrying plate 65, a wire harness plate 66, a wire clamp 67 and a rotating shaft sleeve 68.

[0086] Furthermore, the load-bearing arm 61 is provided with three shaft mounting holes, and the shaft sleeves 68 are nested in the shaft mounting holes, which can reduce the friction between the shaft and the extension arm while improving the installation accuracy; the shaft hole at one end of the load-bearing arm 61 is hinged to the frame seat ear 21 of the supporting frame assembly 2, and the other end is installed with the connecting shaft sleeve 68; one end of the thrust arm 62 is hinged to the thrust seat ear 46 of the thrust seat assembly 4, and the other end is hinged to the parallel arm 63; the other end of the parallel arm 63 is hinged to the carrying arm 64; one end of the carrying arm 64 is hinged to the shaft sleeve 68, and the other end is fastened to the carrying plate 65; the carrying plate 65 can be installed with underwater equipment; the extension arm assembly 5 has good rigidity in the unfolded state, and can be completely overlapped after being folded, thereby improving the extension capacity of the unfolding device; the extension arm assembly 5 is arranged circumferentially around the supporting frame assembly 2, and the number is consistent with the number of frame seat ears 21.

[0087] Furthermore, the length of the hinge between the thrust arm 62 and the load-bearing arm 61 of the extension arm assembly 5 affects the movement stroke of the thrust seat assembly 4, and the length of the carrying arm 64 affects the extension and contraction ratio of the device. The deployment device can add a tightening rope 81 on the carrying arm 64 of the extension arm assembly 5 to connect each group of extension arm assemblies 5, but it does not affect the folding of the entire device. The displacement between the extension arm assemblies 5 after the deployment device is opened can be improved, and the rigidity of the extension arm assembly 5 can be improved at the same time. The floating nut assembly 50 has low cost and high efficiency. It can reduce the starting torque of the motor during the deployment process of the device. When encountering unbalanced forces, it can reduce the bearing capacity of the screw rod 32 and also reduce the bearing capacity of the drive motor. The deployment process of the deployment device is: the drive motor 8 is powered by the watertight cable on the sealed upper end cover 7. The drive motor 8 has a built-in control circuit. After the thrust seat assembly 4 touches the upper limit watertight switch 70, the motor automatically stops rotating and the device is deployed to the maximum position. The larger extension and contraction ratio enables the deployment device to have flexible deployment capabilities and is also convenient for transportation and storage.

[0088] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0089] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. An underwater expandable acoustic array carrying device, characterized in that: include: An autonomous control sealed cabin assembly (1), a load-bearing frame assembly (2), a motor drive assembly (3), a thrust seat assembly (4), an extension arm assembly (5), a lower limit watertight switch assembly (69), an upper limit watertight switch assembly (70), a tightener (80) and a tightening rope (81); The autonomous control sealed cabin assembly (1) is mounted on the load-bearing frame assembly (2) by means of bolts, and the thrust seat assembly (4) is arranged on the load-bearing frame assembly (2); The driving motor assembly (3) is connected to the autonomous control sealed cabin assembly (1) via a coupling, and the floating nut assembly (50) in the thrust seat assembly (4) matches the screw rod (32) in the motor driving assembly (3); The lower limit watertight switch assembly (69) is arranged at the bottom of the load-bearing frame assembly (2), and the upper limit watertight switch assembly (70) is installed on the upper side of the load-bearing frame assembly (2); The extension arm assembly (5) has a plurality of groups, all of which are hinged on the supporting frame assembly (2) and the thrust seat assembly (4), and are arranged at equal angles to form a 360° array. The tightening rope (81) is wound around each group of the extension arm assembly (5). The tightening device (80) passes through the tightening rope (81) and is located between two extension arm assemblies (5). When the underwater expandable acoustic array carrying device is unfolded, the position of the extension arm assembly (5) can be adjusted by the tightening device (80) and the tightening rope (81) to ensure the relative position between the extension arm assemblies (5). When the underwater expandable acoustic array carrying device is folded, the tightening rope (81) automatically relaxes.

2. The underwater expandable acoustic array carrying device according to claim 1, characterized in that: The autonomous control sealed cabin assembly (1) comprises: a sealed upper end cover (7), a drive motor (8), a sealed housing (9), a motor reducer (10), a motor mounting flange (11), a diaphragm coupling (12), an adapter shaft (13), a sealed lower end cover (14), a dust cover (15), a dust ring (16), a pressure cover (17), an angular contact ball bearing (18) and a thrust roller bearing (19); The sealed upper end cover (7), the sealed housing (9), the sealed lower end cover (14), the pressure cover (17), and the dust cover (15) together form a sealed cabin, wherein the sealed lower end cover (14), the pressure cover (17), and the dust cover (15) form a lower sealing cover; the drive motor (8) and the motor reducer (10) are fastened to the motor mounting flange (11), and the drive motor (8) is mounted on the sealed lower end cover (14), and the drive motor (8), the motor reducer (10), and the motor mounting flange (11) are connected to the sealed lower end cover (14). The flange (11) and the sealing lower end cover (14) are formed into one body; the output shaft of the motor reducer (10) is connected to the conversion shaft (13) through a diaphragm coupling (12); a boss is arranged in the middle of the adapter shaft (13), an angular contact ball bearing (18) is arranged at one end, and a thrust roller bearing (19) is arranged at the other end; the adapter shaft (13) is installed in a pressure cover (17); when the equipment is working in the deep sea, the pressure cover (17) can bear the pressure on the adapter shaft (13) and eliminate the positive pressure of the motor shaft; The load-bearing frame assembly 2 comprises: an upper mounting seat assembly (20), a frame seat ear (21), a pressure plate (22), a suspension column (23), a load-bearing column (24), a column base (25), a bottom plate (26) and an intermediate connecting seat (27); The frame seat ears (21) are evenly distributed on the upper mounting seat assembly (20); the upper mounting seat assembly (20) is spliced, and the upper mounting seat assembly (20) and the bottom plate (26) are connected together through a plurality of evenly arranged load-bearing columns (24); the pressure plate (22) is mainly fixed by the load-bearing columns (24) and the upper mounting seat assembly (20), and the column base (25) is provided with a through hole in the radial direction; the intermediate connecting seat (27) is fastened to the upper mounting seat assembly (20) through the hanging column (23); the upper mounting seat assembly (20) and the bottom plate (26) are both provided with positioning holes, and the upper limit watertight switch assembly (70) and the lower limit watertight switch assembly (69) are respectively installed on the intermediate connecting seat (27) and the bottom plate (26); The motor drive assembly 3 comprises: a screw (32), a mounting flange (33), a rolling bearing (34), a polytetrafluoroethylene sleeve (35), a bearing mounting seat (36), a thrust bearing (37), a screw top shoulder (38), a limit ring (39), a screw bottom top shoulder (40), a bottom bearing seat (41), a thrust needle roller bearing (42), a wear-resistant centering sleeve (43), a bottom rolling bearing (44), a bottom mounting flange (45) and a double diaphragm coupling (84); The motor drive assembly 3 is connected to the motor shaft through a double diaphragm coupling (46), and is installed on the middle connecting seat (27) of the upper mounting seat assembly (20) through a mounting flange (33); the bottom mounting flange (45) is fixed on the bottom plate (26); both ends of the screw rod (32) are provided with shaft shoulders; the mounting flange (33) and the rolling bearing (34), the polytetrafluoroethylene sleeve (35), and the thrust bearing (37) together form an upper concentric stabilizing component; The screw rod (32) is provided with a screw rod top shoulder (38) on the shaft shoulder, which can directly support the thrust bearing (37); the screw rod (32) is also provided with a screw rod bottom shoulder (40) on the other side, which can directly support the thrust needle bearing (42) in the lower bearing seat (41); the polytetrafluoroethylene sleeve (35) and the wear-resistant centering sleeve (43) can support the inner ring of the bearing; the rolling bearing (34) and the lower rolling bearing (44) can ensure that the screw rod (32) remains coaxial when rotating up and down, and the setting of the thrust bearing (37) can still ensure low-friction rotation when the screw rod (32) is subjected to axial pressure; The thrust seat assembly 4 comprises: a thrust seat ear (46), a thrust seat splicing block (47), a crimping plate (48), a C-type subassembly (49) and a floating nut assembly (50); the thrust seat ears (46) are arranged and installed on the thrust seat splicing block (47), the number of the thrust seat ears (46) is consistent with the number of the frame seat ears (21) on the load-bearing frame assembly (2), and they are located in the same longitudinal plane; the thrust seat splicing block (47) can be spliced ​​into a thrust seat by multiple pieces, and each thrust seat splicing block (47) is fixed by the crimping plate (48); The extension arm assembly (5) comprises: a load-bearing arm (61), two thrust arms (62), two parallel arms (63), two carrying arms (64), a carrying plate (65), a wire harness plate (66), a wire clamp (67) and a rotating shaft sleeve (68); the load-bearing arm (61) is provided with three rotating shaft mounting holes, and the rotating shaft sleeve (68) is embedded in the rotating shaft mounting holes; the shaft hole at one end of the load-bearing arm (61) is hinged to the frame seat ear (21) of the bearing frame assembly 2, and the other end is installed and connected to the rotating shaft sleeve (68); one end of the thrust arm (62) is hinged to the thrust seat ear (46) of the thrust seat assembly 4, and the other end is hinged to the parallel arm (63); the other end of the parallel arm (63) is hinged to the carrying arm (64); one end of the carrying arm (64) is hinged to the rotating shaft sleeve (68), and the other end is tightly connected to the carrying plate (65).

3. The underwater expandable acoustic array carrying device according to claim 2, characterized in that: The thrust seat assembly (4) moves up and down to drive the extension arm assembly (5) to expand and collapse; The floating nut assembly (50) comprises: a connecting plate (51), an upper nut mounting cover (52), an upper wear-resistant bushing (53), a nut (54), a lower nut mounting cover (55) and a lower wear-resistant bushing (56); the upper wear-resistant bushing (53) and the lower wear-resistant bushing (56) are respectively fixed in the upper nut mounting cover (52) and the lower nut mounting cover (55) by screws; the inner sides of the upper nut mounting cover (52) and the lower nut mounting cover (55) are provided with countersunk holes, in which nuts can be placed, and the nuts (54) can be The upper nut mounting cover (52), the lower nut mounting cover (55) and the nut (54) are all fixed to the connecting plate (51) by bolts; the connecting plate (51) is fixedly mounted at the center of the thrust seat assembly (4); the nut (54) in the floating nut assembly (50) is used in conjunction with the screw rod (32), and the nut (54) can perform a small range of circumferential and axial movement in the space formed by the upper nut mounting cover (52) and the lower nut mounting cover (55); The driving motor (8) in the autonomous control sealed cabin assembly (1) drives the screw (32) to rotate through the diaphragm coupling (12), thereby driving the floating nut assembly (50) to move up and down. The nut (54) is stuck in the upper nut mounting cover (52) and the lower nut mounting cover (55). The upper nut mounting cover (52) and the lower nut mounting cover (55) are respectively fastened to the thrust seat assembly (4). When the nut (54) moves up and down, it will drive the upper nut mounting cover (52) and the lower nut mounting cover (55), thereby driving the thrust seat assembly (4) to move up and down. The load-bearing arm (61) in the extension arm assembly (5) is hinged to the frame seat ear (21) on the bearing frame assembly (2), and the thrust arm (62) is hinged to the thrust seat ear (46) on the thrust seat assembly (4).

4. The underwater expandable acoustic array carrying device according to claim 2, characterized in that: The C-type subassembly (49) comprises: a V-shaped elastic guide body (82), a sliding body (83), a polytetrafluoroethylene wear-resistant sleeve (57), a guide seat (58), a disc spring (59) and an adjusting screw (60); the V-shaped elastic guide body (82) and the sliding body (83) are fixed together; the polytetrafluoroethylene wear-resistant sleeve (57) and the guide seat (58) are fixed together; the disc spring (59) is sleeved on the sliding body (83); the adjusting screw (60) is connected to the threaded hole of the sliding body (83); and a plurality of disc springs (59) can be installed on the sliding body (83) as required.

5. The underwater expandable acoustic array carrying device according to claim 2, characterized in that: The upper mounting seat assembly (20) is a splicing structure, comprising: a splicing plate (28), a seat ear pull plate (29), a center positioning ring (30) and a positioning pin (31); the center positioning ring (30) is in an adaptable relationship with a plurality of splicing plates (28); positioning pin holes are provided on the splicing plates (28) and the center positioning ring (30); the seat ear pull plate (29) can fix the frame seat ear (21) on the upper mounting seat assembly (20).

6. The underwater expandable acoustic array carrying device according to claim 2, characterized in that: The lower watertight limit switch assembly (69) comprises: a sealing seat (71), a sealing shell (72), a conducting copper screw (73), a push rod (74), a rectangular spring (75), a sealing cover (76), a watertight connector (77), an arc-shaped conducting groove (78) and a sealing plug (79), wherein the arc-shaped conducting groove (78) has two or more and is evenly installed inside the sealing seat (71), the circuit of the watertight connector (77) is connected to the arc-shaped conducting groove (78), the conducting copper screw (73) and the push rod (74) are connected as a whole, and the push rod (74) is provided with a shaft shoulder, one side of which is pressed on the rectangular spring (75), and the other side of which is pressed on the sealing cover (76); The lower watertight limit switch assembly (69) can adjust the stiffness of the rectangular spring (75) according to the water pressure environment, and then judge the state of the lower watertight limit switch assembly (69) through the line state of the watertight connector (77); When the water pressure acts on the ejector pin (74), due to the pressure difference between the inside and outside, the ejector pin (74) tends to move inward, and the rectangular spring (75) has a high stiffness coefficient; when the force applied by the mechanical device to the ejector pin is greater than the elastic force of the rectangular spring (75), the rectangular spring (75) will be compressed, and then the ejector pin (74) will bring the conductive copper screw (73) into contact with the arc-shaped conductive groove (78), and at this time, the circuit of the watertight connector (77) forms a short circuit, and it can be judged in the control cabin that the lower watertight limit switch assembly (69) is triggered, so that the corresponding action can be performed; When the mechanical force is removed, the elastic force of the rectangular spring (75) is greater than the pressure of the push rod (74), and the rectangular spring (75) is restored, thereby driving the push rod (74) to leave the arc-shaped conducting groove (78), thereby causing the circuit of the watertight connector (77) to be disconnected, thereby determining that the lower watertight limit switch assembly (69) is restored.

7. The underwater expandable acoustic array carrying device according to claim 6, characterized in that: The thrust seat assembly (4) is in contact with the upper limit watertight switch assembly (70) and the lower limit watertight switch assembly (69) respectively, and can change the state of the extension arm assembly (5); When the thrust seat assembly (4) hits the upper limit watertight switch assembly (70), the extension arm assembly (5) is unfolded to the final state, and the tightening rope (81) is tightened; When the thrust seat assembly (4) hits the lower limit watertight switch assembly (69), the extension arm assembly (5) is retracted to the minimum state, and the tightening rope (81) is relaxed.

8. The underwater expandable acoustic array carrying device according to claim 1, characterized in that: When the extension arm assembly (5) is deployed, power is supplied to the drive motor (8) through the watertight cable on the sealed upper end cover (7). The drive motor (8) has a built-in control circuit. After the thrust seat assembly (4) touches the upper limit watertight switch assembly (70), the drive motor (8) automatically stops rotating and the device is deployed to the maximum position.

9. The underwater expandable acoustic array carrying device according to claim 2, characterized in that: The extension arm assemblies (5) are arranged circumferentially around the load-bearing frame assembly (2), and the number of the extension arm assemblies (5) is the same as the number of the frame seat ears (21).

10. The underwater expandable acoustic array carrying device according to claim 2, characterized in that: The C-type subassembly (49) is fixed on the thrust seat splicing block (47), and the number is determined by the load-bearing column (24); the floating nut assembly (50) is fixed at the center position of the thrust seat formed by the thrust seat splicing block (47).

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