Underwater expandable acoustic array mounting device

Abstract

The application provides an underwater extensible acoustic array mounting 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 take-up device and a take-up rope, the take-up device and the take-up rope can adjust the position of the extension arm assembly, the autonomous control sealed cabin assembly is bolted on the bearing frame assembly, the thrust seat assembly is arranged on the bearing frame assembly, and the up-down movement of the thrust seat assembly drives the extension arm assembly to unfold and fold. The application has the advantages of flexible arrangement, stable structure, large folding and unfolding ratio, stable and reliable unfolding process, high rigidity of the overall structure, stable acoustic array pattern, convenient and fast overall processing and assembly, and no false touch caused by water pressure in a large water pressure environment.

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] Increasing the diameter of underwater acoustic arrays can effectively improve their effectiveness, but this often results in larger and heavier arrays, requiring significant manpower and capital for deployment, transportation, and storage. Furthermore, due to their large size, manufacturing and environmental factors can lead to poor array formation, compromising operational accuracy. Furthermore, during deployment and retraction, the large size can easily cause the array to become stuck or damaged when subjected to unbalanced lateral forces.

[0003] For example, Chinese invention patent document CN117629376A discloses a large-scale rotating expandable acoustic array. However, the underwater carrying equipment is limited by factors such as site and space, making it 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 easily get stuck and be damaged during deployment and retraction. 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 deployment 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, the purpose of the present invention is to provide an underwater expandable acoustic array carrying device.

[0005] According to the present invention, an underwater expandable acoustic array carrying device is provided, comprising: an autonomous control sealed cabin assembly 1, a carrying 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 means of 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 is matched with 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 carrying frame assembly 2, and the upper limit watertight switch assembly 70 is installed on the upper side of the carrying 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 extension arm assemblies 5, and 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 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;

[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 provided in the middle of the adapter shaft 13, an angular contact ball bearing 18 is provided at one end, and a thrust roller bearing 19 is provided 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 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 base plate 26 are connected together by 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 suspension column 23; the upper mounting seat assembly 20 and the base 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 base plate 26;

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

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

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

[0017] The thrust seat assembly 4 comprises thrust seat ears 46, thrust seat splicing blocks 47, crimping plates 48, C-shaped sub-assemblies 49, and floating nut assemblies 50; the thrust seat ears 46 are uniformly arranged on the thrust seat splicing blocks 47, the number of the thrust seat ears 46 is consistent with that 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 blocks 47 can be spliced into thrust seats by multiple blocks, and each block of the thrust seat splicing blocks 47 is fixed by the crimping plates 48;

[0018] The stretching arm assembly 5 comprises a force-bearing arm 61, two thrust arms 62, two parallel arms 63, two carrying arms 64, a carrying plate 65, a wire bundling plate 66, a wire pressing clamp 67, and a rotating shaft sleeve 68; the force-bearing arm 61 is provided with three rotating shaft mounting holes and nests the rotating shaft sleeve 68 in the rotating shaft mounting holes; one end of the force-bearing arm 61 is hinged to the frame seat ear 21 of the load-bearing frame assembly 2, and the other end is installed and connected with 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 fastened to the carrying plate 65.

[0019] Preferably, the up-and-down movement of the thrust seat assembly 4 can drive the stretching arm assembly 5 to expand and fold;

[0020] 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 fixed in the upper nut mounting cover 52 and the lower nut mounting cover 55 respectively by screws; the inner side of the upper nut mounting cover 52 and the lower nut mounting cover 55 is provided with a counterbore, the nut 54 can have a certain angle of rotation, but cannot rotate completely in the circumferential direction; the upper nut mounting cover 52, the lower nut mounting cover 55 and the nut 54 are fixed on the connecting plate 51 by bolts; the connecting plate 51 is fixedly installed at the center position of the thrust seat assembly 4; the nut 54 in the floating nut assembly 50 is matched with the lead screw 32, and the nut 54 can move in a small range in the circumferential direction and the axial direction 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 self-controlled sealed cabin assembly 1 drives the lead screw 32 to rotate through the diaphragm coupling 12, drives the floating nut assembly 50 to move up and down, the nut 54 is clamped 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 tightly connected with the thrust seat assembly 4, when the nut 54 moves up and down, the upper nut mounting cover 52 and the lower nut mounting cover 55 are driven to move up and down, thereby driving the thrust seat assembly 4 to move up and down, the load-bearing arm 61 in the stretching arm assembly 5 is hinged with the frame seat ear 21 on the load-bearing frame assembly 2, and the thrust arm 62 is hinged with the thrust seat ear 46 on the thrust seat assembly 4.

[0022] Preferably, the C-shaped 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 with the threaded hole of the sliding body 83; a plurality of disc springs 59 can be additionally installed on the sliding body 83 as needed.

[0023] Preferably, the upper mounting seat assembly 20 is a spliced structure, comprising a spliced 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 adaptive relationship with a plurality of spliced plates 28, and the spliced plate 28 and the center positioning ring 30 are both provided with a positioning pin hole; the seat ear pull plate 29 can fix the frame seat ear 21 on the upper mounting seat assembly 20.

[0024] Preferably, the lower water-tight limit switch assembly 69 comprises a sealing seat 71, a sealing shell 72, a conductive copper screw 73, a top rod 74, a rectangular spring 75, a sealing cover 76, a water-tight connector 77, an arc-shaped conductive slot 78, and a sealing plug 79. The arc-shaped conductive slot 78 has two or more arc-shaped conductive slots evenly arranged inside the sealing seat 71. The water-tight connector 77 is connected to the arc-shaped conductive slot 78. The conductive copper screw 73 is connected to the top rod 74. The top rod 74 is provided with a shaft shoulder. One side of the shaft shoulder is pressed on the rectangular spring 75, and the other side of the shaft shoulder is pressed on the sealing cover 76.

[0025] The lower water-tight limit switch assembly 69 can adjust the rigidity of the rectangular spring 75 according to the water pressure environment, and then determine the state of the lower water-tight limit switch assembly 69 through the line state of the water-tight connector 77.

[0026] When the water pressure acts on the top rod 74, the top rod 74 will have a tendency to move inward due to the internal and external pressure difference. The rectangular spring 75 has a high rigidity coefficient. When the force applied by the mechanical equipment to the top rod 74 is greater than the elastic force of the rectangular spring 75, the rectangular spring 75 will be compressed, and then the top rod 74 will contact the arc-shaped conductive slot 78 with the conductive copper screw 73. At this time, the line of the water-tight connector 77 forms a short circuit, and it can be determined in the control cabin that the lower water-tight 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 top rod 74, the rectangular spring 75 recovers, and then drives the top rod 74 to move away from the arc-shaped conductive slot 78, so that the line of the water-tight connector 77 forms an open circuit, so that it can be determined that the lower water-tight limit switch assembly 69 is restored.

[0028] Preferably, the thrust seat assembly 4 is in contact with the upper limit water-tight switch assembly 70 and the lower limit water-tight switch assembly 69, respectively, so as to change the state of the stretching arm assembly 5.

[0029] When the thrust seat assembly 4 collides with the upper limit water-tight switch assembly 70, the stretching arm assembly 5 is unfolded to the final state, and the tightening rope 81 is tightened.

[0030] When the thrust seat assembly 4 collides with the lower limit water-tight switch assembly 69, the stretching arm assembly 5 is folded to the minimum state, and the tightening rope 81 is relaxed.

[0031] Preferably, when the stretching arm assembly 5 is unfolded, the water-tight cable on the sealing upper end cover 7 supplies power to the driving motor 8, and the driving motor 8 is provided with a built-in control circuit. After the thrust seat assembly 4 collides with the upper limit water-tight switch assembly 70, the driving motor 8 automatically stops rotating, and the device is unfolded to the maximum position.

[0032] Preferably, the stretching arm assembly 5 is arranged circumferentially around the bearing frame assembly 2, and the number is consistent with the number of frame seat ears 21.

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

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

[0035] 1. The present application is flexible and has a large expansion ratio. By setting the tightener, the use is not affected in the folded state, and the two stretching arms can be tightened in the unfolded state, which has adjustable ability, can ensure the relative position between the stretching arms, stabilize the acoustic array, automatically relax when folding, and does not affect the normal folding of the equipment. The device can be folded to a small size in a small space, and can be unfolded to a sufficient array size under underwater working conditions.

[0036] 2. The present application is stable and reliable in the unfolding process. By using the C-shaped subassembly and the floating nut assembly, the uneven lateral force encountered during the movement of the screw rod, the uneven load force caused by different shafts due to machining and assembly, the motor driving load is reduced, the resistance to uneven load and the stability of the unfolding process are improved, and the unfolding and folding success rate of the equipment under extreme conditions is improved, and the normal operation of the equipment is ensured.

[0037] 3. The present application has high rigidity. The rigid rod, precision shaft sleeve and rotating shaft are used to reduce the gap during the movement of the stretching arm, and the tightening rope and the tightener are combined to ensure the rigidity of the overall structure and the stability of the acoustic array.

[0038] 4. The present application is convenient and fast in overall processing and assembly, and the sealing parts are easy to replace, which can reduce the maintenance cost of the equipment.

[0039] 5. The present application will not be misactivated due to water pressure in a large water pressure environment. By setting the underwater limit water-tight switch assembly, the spring stiffness can be adjusted according to different water pressure environments, and the state of the limit water-tight switch assembly is monitored.

[0040] 6. The present application is flexible and stable in structure. By setting the underwater expandable mechanism, the motor driven screw rod drives the parallelogram stretching arm structure to unfold and fold. BRIEF DESCRIPTION OF DRAWINGS

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

[0042] Figure 1Multi-angle structure schematic diagram in unfolded state of the present application;

[0043] Figure 2 Multi-angle structure schematic diagram in folded state of the present application;

[0044] Figure 3 Self-control sealed cabin assembly schematic diagram of the present application;

[0045] Figure 4 Bearing frame assembly schematic diagram of the present application;

[0046] Figure 5 Upper mounting seat assembly schematic diagram of the present application;

[0047] Figure 6 Lower limit water-tight switch assembly schematic diagram of the present application;

[0048] Figure 7 Motor drive assembly schematic diagram of the present application;

[0049] Figure 8 Push force seat assembly schematic diagram of the present application;

[0050] Figure 9 Floating nut assembly schematic diagram of the present application;

[0051] Figure 10 C-type subassembly schematic diagram of the present application;

[0052] Figure 11 Extension arm assembly schematic diagram of the present application.

[0053] The figure shows:

[0054]

[0055] DETAILED DESCRIPTION

[0056] The present application will be described in detail below with specific embodiments. The following examples will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of changes and improvements can be made. These all belong to the protection scope of the present application.

[0057] The present invention provides an underwater expandable acoustic array carrying device, comprising: an autonomous control capsule assembly 1, a supporting frame assembly 2, a motor drive assembly 3, a thrust base 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 capsule assembly 1 is mounted on the supporting frame assembly 2 via bolts. The drive motor assembly 3 is connected to the autonomous control capsule assembly 1 via a coupling. The floating nut assembly 50 in the thrust base assembly 4 mates with 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, and tightening devices 80 are 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 devices 80, and the formation stability of the acoustic array can be ensured by adjustment.

[0058] The operating principle of the present invention is as follows: the autonomously controlled sealed cabin assembly 1 includes a built-in circuit board and main control unit, which can autonomously or manually control the rotation of the motor, thereby driving the screw 32 in the motor drive assembly 3 to rotate. As the screw 32 rotates, the floating nut assembly and the load-bearing rod drive the thrust seat assembly 4 up and down. Because the load-bearing arm of the extension arm assembly 5 is hinged to the support frame assembly 2, and the thrust arm is hinged to the thrust seat assembly 4, the up and down movement of the thrust seat assembly 4 simultaneously drives the extension arm assembly 5 to expand and retract. When the thrust seat assembly 4 moves upward and contacts the upper limit watertight switch assembly 70, the device deploys to its full position and stops; when the thrust seat assembly 4 moves downward and contacts the lower limit watertight switch assembly 69, the device retracts to its full position and stops. After the device is deployed, the tightening rope 81 is tightened, and the tightener 80 can be used to adjust the relative angles between the various extension arm groups to ensure a stable acoustic array formation. When the device is retracted, the tightening rope 81 naturally relaxes, without affecting the device's operation. After being deployed again, the tightening rope 81 will be automatically tightened, pulling each extension arm assembly 5 to return to the originally 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 pressing 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 drive 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 between 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 drives 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 supporting 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 drives 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] Further, the tightening rope 81 is wound around each group of the stretching arm assembly 5, the tightening device 80 passes through the tightening rope 81 between every two stretching arm assemblies 5, and the number of the tightening device 80 can be adjusted according to the size of the stretching arm assembly 5 and the need of the tightening effect. When the device is unfolded, the tightening device 80 tightens the tightening rope 81, so that the plurality of stretching arm assemblies 5 are mutually restrained, thereby ensuring the relative position of each stretching arm assembly 5 stable, and the tightening force of the tightening device 80 can also be adjusted to adjust the position between the stretching arm assemblies 5. When the device is folded, all the tightening ropes 81 are automatically relaxed, which does not affect the folding of the device.

[0069] As shown in Figure 3 , the self-controlled sealed cabin assembly 1 comprises a sealed upper end cover 7, a driving motor 8, a sealed shell 9, a motor reducer 10, a motor mounting flange 11, a diaphragm coupling 12, a conversion shaft 13, a sealed lower end cover 14, a dust cover 15, a dust ring 16, a pressure bearing cover 17, an angular contact ball bearing 18, and a thrust roller bearing 19.

[0070] Further, the sealed upper end cover 7, the sealed shell 9, the sealed lower end cover 14, the pressure bearing cover 17, and the dust cover 15 jointly form a sealed cabin body, wherein the sealed lower end cover 14, the pressure bearing cover 17, and the dust cover 15 form a lower side sealing cover, which has the advantages of easy replacement and assembly, and can reduce the replacement cost when the rotating shaft or local sealing is damaged; the driving motor 8 and the motor reducer 10 are fastened and connected on the motor mounting flange 11, and the driving motor 8 is installed on the sealed lower end cover 14, so that the driving motor 8, the motor reducer 10, the motor mounting flange 11, and the sealed lower end cover 14 form an integral body; the output shaft of the motor reducer 10 is connected with the conversion shaft 13 through the diaphragm coupling 12; the conversion shaft 13 is provided with a boss in the middle, an angular contact ball bearing 18 at one end, and a thrust roller bearing 19 at the other end, and the conversion shaft 13 is installed in the pressure bearing cover 17; when the device works in deep sea, the motor shaft will bear a huge pressure, and the design of the pressure bearing cover can effectively bear the pressure on the conversion shaft 13 and eliminate the positive pressure of the motor shaft.

[0071] As shown in Figure 4 , the bearing frame assembly 2 comprises an upper mounting seat assembly 20, a frame seat ear 21, a pressing plate 22, a suspension column 23, a bearing column 24, a column base 25, a bottom plate 26, a lower limit water-tight switch assembly 69, an upper limit water-tight switch assembly 70, and an intermediate connecting seat 27.

[0072] Further, 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 bearing columns 24; the pressing plate 22 is mainly fixed by the bearing columns 24 and the upper mounting seat assembly 20, the column base 25 is provided with a through hole in the radial direction, and a bolt or the like can be additionally installed to enhance the tensile capacity of the bearing column 24; the intermediate connecting seat 27 is tightly connected with the upper mounting seat assembly 20 through the suspension column 23; the upper mounting seat assembly 20 and the bottom plate 26 are both provided with positioning holes. The upper limiting water-tight switch assembly 70 and the lower limiting water-tight switch assembly 69 are respectively installed on the intermediate connecting seat 27 and the bottom plate 26, and when the upper limiting water-tight switch assembly 70 or the lower limiting water-tight switch assembly 69 is triggered, the driving motor 8 stops rotating.

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

[0074] Further, the center positioning ring 30 has an adaptive relationship with the plurality of spliced plates 28, and the spliced plate 28 and the center positioning ring 30 are both provided with positioning pin holes, which can ensure that the upper mounting seat assembly 20 spliced together has high position accuracy; the seat ear pull plate 29 can fix the frame seat ears 21 on the upper mounting seat assembly 20.

[0075] As shown in Figure 6 , the lower water-tight limiting switch assembly 69 includes a sealing seat 71, a sealing shell 72, a conductive copper screw 73, a top rod 74, a rectangular spring 75, a sealing cover 76, a water-tight connector 77, an arc-shaped conductive groove 78, and a sealing plug 79.

[0076] Further, the arc-shaped conducting groove 78 has two or more arc-shaped conducting grooves 78, which are evenly arranged inside the sealing seat 71, and the wires of the water-tight connector 77 are connected to the arc-shaped conducting grooves 78. The conducting copper screw 73 is connected to the top rod 74, the top rod 74 is provided with a shaft shoulder, one side of the shaft shoulder is pressed on the rectangular spring 75, and the other side of the shaft shoulder is pressed on the sealing cover 76; the lower water-tight limit switch assembly 69 has the working ability in a larger depth water pressure environment, when the water pressure pressure acts on the top rod 74, due to the internal and external pressure difference, the top rod 74 has the tendency of moving inward, the rectangular spring 75 has a high stiffness coefficient, and can still not be deformed or slightly deformed when subjected to the pressure difference. When the force applied by the mechanical equipment to the top rod 74 is greater than the elastic force of the rectangular spring 75, the rectangular spring 75 will be compressed, and then the top rod 74 will contact the arc-shaped conducting groove 78 with the conducting copper screw 73, at this time the wires of the water-tight connector 77 form a short circuit, and in the control cabin it can be judged that the lower limit water-tight 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 top rod 74, the rectangular spring 75 recovers, and then drives the top rod 74 to move away from the arc-shaped conducting groove 78, so that the wires of the water-tight connector 77 form an open circuit, so that it can be judged that the lower limit water-tight switch assembly 69 recovers.

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

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

[0079] Further, the lead screw 32 is provided with the lead screw top shoulder 38 on the shaft shoulder, which can be directly pressed on the thrust bearing 37; the lead screw 32 is also provided with the lower lead screw top shoulder 40 on the other side, which can be directly pressed on the thrust needle 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 lead screw 32, and can also press against the bearing inner ring; the rolling bearing 34 and the lower rolling bearing 44 can ensure that the lead screw 32 remains coaxial during upward and downward rotation, and the setting of the thrust bearing 37 can still ensure low friction rotation when the lead screw 32 is subjected to axial pressure.

[0080] As shown in Figure 8 , the thrust seat assembly 4 includes: thrust seat ears 46, thrust seat splices 47, pressure plates 48, C-shaped sub-assemblies 49, and floating nut assemblies 50; the thrust seat ears 46 are evenly arranged on the thrust seat splices 47, the number of thrust seat ears 46 is consistent with the number of frame seat ears 21 on the bearing frame assembly 2, and is in the same longitudinal plane; the thrust seat splices 47 can be multiple, the multiple thrust seat splices 47 are spliced into a circular thrust seat, each thrust seat splice 47 is fixed by a pressure plate 48, the C-shaped sub-assembly 49 is fixed on the thrust seat splice 47, and the number is determined by the number of bearing columns 24; the floating nut assembly 50 is fixed at the center of the structure formed by the thrust seat splice 47.

[0081] As shown in Figure 9 , 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 side of the upper nut mounting cover 52 and the lower nut mounting cover 55 is provided with a square counterbore, the nut 54 can be placed therein, and a calculated gap is reserved to ensure that the nut 54 can have a certain angle of rotation, but cannot rotate completely in the circumferential direction.

[0082] Further, the upper nut mounting cover 52, the lower nut mounting cover 55, and the nut 54 are fixed on the connecting plate 51 by bolts; the connecting plate 51 is fixedly installed at the center of the thrust seat assembly 4; the nut 54 in the floating nut assembly 50 is matched with the lead screw 32, and the nut 54 can move in a small range in the circumferential direction and the axial direction in the space formed by the upper nut mounting cover 52 and the lower nut mounting cover 55.

[0083] As shown in Figure 10 , the C-shaped sub-assembly 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] Further, 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 with the threaded hole of the sliding body 83; a plurality of disc springs 59 can be added on the sliding body 83 as needed, and when the stroke of the sliding body 83 is too large, the adjusting screw 60 can be screwed to reduce the stroke, and at the same time, it is convenient to debug different thrust installation states during later assembly of the whole machine, thereby ensuring stable operation of the thrust seat assembly 4.

[0085] like Figure 11 As shown, the extension arm assembly 5 is the executive component 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 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 a 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 used to install underwater equipment; the extension arm assembly 5 has good rigidity in the expanded state, and can be completely overlapped after being folded, thereby improving the extension capacity of the expansion 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 hinged joint between the thrust arm 62 and the load-bearing arm 61 of the extension arm assembly 5 affects the travel of the thrust seat assembly 4, while the length of the carrying arm 64 affects the device's expansion / retraction ratio. The deployment device can include a tightening rope 81 on the carrying arm 64 of the extension arm assembly 5 to connect each set of extension arm assemblies 5, without affecting the overall retraction of the device. This can increase the displacement between the extension arm assemblies 5 after the deployment device is opened, while also improving the rigidity of the extension arm assemblies 5. The floating nut assembly 50 is low-cost and highly efficient. During deployment, it can reduce the motor's starting torque and, when encountering unbalanced forces, weaken the bearing capacity of the lead screw 32 while also reducing the bearing capacity of the drive motor. The deployment process of the deployment device involves powering the drive motor 8 via a watertight cable sealed on the upper end cap 7. The drive motor 8 has a built-in control circuit. When the thrust seat assembly 4 contacts the upper watertight switch 70, the motor automatically stops rotating, and the device deploys to its maximum position. The large expansion / retraction ratio enables flexible deployment of the deployment device, while also facilitating transportation and storage.

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

[0089] The specific embodiments of the present application have been described. It is to be understood that the application is not limited to particular details described herein and that various modifications can be made therein without departing from the scope of the claimed application. Embodiments and features disclosed in this document, including in the examples, can be combined with each other, unless specifically contradicted by or inconsistent with each other.

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 motor drive 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) is matched with 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 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 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. 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 sleeves (68) are 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 load-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 fastened to the carrying plate (65); The thrust seat assembly (4) moves up and down to drive the extension arm assembly (5) to expand and retract; 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 fixed to the upper nut mounting cover (52) and the lower nut mounting cover (55) by screws, respectively; 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 be A certain angle of rotation, but not complete circumferential rotation; 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), driving the floating nut assembly (50) to move up and down, and the nut (54) is stuck between 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 drives 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).

2. The underwater expandable acoustic array carrying device according to claim 1, characterized in that: The autonomous control sealed cabin assembly (1) comprises: a sealing upper end cover (7), a drive motor (8), a sealing housing (9), a motor reducer (10), a motor mounting flange (11), a diaphragm coupling (12), an adapter shaft (13), a sealing 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 sealing upper end cover (7), the sealing shell (9), the sealing lower end cover (14), the pressure cover (17), and the dust cover (15) together form a sealed cabin, wherein the sealing lower end cover (14), the pressure cover (17), and the dust cover (15) form a lower sealing cover; the driving motor (8) and the motor reducer (10) are fastened to the motor mounting flange (11), and the driving motor (8) is mounted on the sealing lower end cover (14), and the driving motor (8), the motor reducer (10), and the motor mounting flange (11) are fastened to the motor mounting flange (11). 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 provided in the middle of the adapter shaft (13), an angular contact ball bearing (18) is provided at one end, and a thrust roller bearing (19) is provided 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 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) 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 limiting 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; The motor drive assembly (3) is connected to the motor shaft through a double diaphragm coupling 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 to 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 (32) is provided with a screw top shoulder (38) on the shaft shoulder, which can directly support the thrust bearing (37); the screw (32) is also provided with a screw 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 (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 (32) is subjected to axial pressure; The thrust seat assembly (4) includes: a thrust seat ear (46), a thrust seat splicing block (47), a press-fit 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), and 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-fit plate (48).

3. The underwater expandable acoustic array carrying device according to claim 2, characterized in that: 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), wherein the V-shaped elastic guide body (82) is fixed to the sliding body (83); the polytetrafluoroethylene wear-resistant sleeve (57) is fixed to 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.

4. 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) has an adaptive relationship with the plurality of 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).

5. The underwater expandable acoustic array carrying device according to claim 2, characterized in that: The lower limit watertight switch assembly (69) includes: a sealing seat (71), a sealing shell (72), a conductive copper screw (73), a push rod (74), a rectangular spring (75), a sealing cover (76), a watertight connector (77), an arc-shaped conductive groove (78) and a sealing plug (79), wherein the arc-shaped conductive groove (78) has two or more components and is evenly distributed inside the sealing seat (71), the circuit of the watertight connector (77) is connected to the arc-shaped conductive groove (78), the conductive copper screw (73) and the push rod (74) are connected 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); The lower limit watertight 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 limit watertight switch assembly (69) through the line state of the watertight connector (77); When 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 to the ejector pin by the mechanical device 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), at which 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) recovers, 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 limit watertight switch assembly (69) is restored.

6. The underwater expandable acoustic array carrying device according to claim 5, characterized in that: The thrust seat assembly (4) contacts the upper limit watertight switch assembly (70) and the lower limit watertight switch assembly (69) respectively, and is capable of changing 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.

7. 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) via 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.

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

9. 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 columns (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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