Damping transmission structure of rotary scanning type fish finder

Abstract

The invention provides a damping transmission structure of a rotary scanning type fish finder. The damping transmission structure comprises a motor, a speed reducer, a rigidity anisotropy mechanism, a base and a transducer, a motor and a speed reducer are installed on the base, the motor is in transmission connection with an input shaft of the speed reducer, an output shaft of the speed reducer is connected with one end of the rigidity anisotropy mechanism, and the other end of the rigidity anisotropy mechanism is connected with the transducer. On the basis that the function reliability of the fish finder is guaranteed, the problem that the rotary scanning type fish finder is interfered by mechanical vibration caused by ship movement and ocean waves is solved through the anisotropic rigidity mechanism.

Description

Technical Field

[0001] The invention relates to the field of fish finder structures, in particular to a shock-absorbing transmission structure of a rotary scanning fish finder. Background Art

[0002] The development of the ocean and the exploration of its laws are of great significance and value to my country's national economy and military. Among various detection methods, the acoustic detection system can overcome the complex hydrological environment and has a long range, which makes it applicable to underwater detection of various scales.

[0003] In the development of the ocean, the development of marine fishery resources is a traditional and extremely important component. To achieve the effective development and utilization of fishery resources, it is necessary to accurately detect and monitor fishery resources. The acoustic detection system used in fishery resource detection is mainly equipment such as fish finders. Therefore, the technical improvement of fish finders is extremely meaningful.

[0004] In fishery acoustic detection, the detection of fish schools is generally achieved by emitting acoustic signals of a specific frequency and using the different propagation speeds in fish and water to form echoes at the location of fish schools. The distance of the fish school is determined by the speed of sound and the time difference, the fish density is determined by the echo intensity, and its position is determined by the beam emission direction. Thus, a two-dimensional fish density distribution map is formed on the display interface. Usually, the fish finder is mainly composed of a mechanical scanning structure that can be precisely rotated and a transmitting / receiving transducer assembly with strong directivity, and the scanning emission of the beam is achieved through mechanical rotation.

[0005] However, compared with other large ships, fishing boats are generally small in size, light in weight, and have relatively small inertia. Due to the influence of ship movement, wind and waves, noise and other conditions, large roll, pitch and other vibrations are inevitable. Under the influence of such disturbances, the results of hydroacoustic detection will inevitably be affected. Fish finders generally operate in a frequency band above several hundred kilohertz, and the frequency of the mechanical vibration caused by the interference is significantly lower than this frequency band, so the impact on the transducer itself is relatively small. However, the above interference has a greater impact on the mechanical structure of the fish finder. From the working principle of the fish finder, it can be seen that: the fish school distance error is mainly affected by the reflection path length error caused by the vertical azimuth error of the beam; the fish school azimuth error is mainly affected by the horizontal azimuth error of the beam; the fish density error is mainly affected by the reduction of directional gain caused by the beam azimuth error and the attenuation of sea surface and seabed reflections.

[0006] As can be seen from the above, the detection error of the fish finder mainly comes from the beam azimuth error caused by mechanical vibration interference. To reduce this error and achieve more accurate fish detection, the key lies in designing a reasonable mechanical structure to filter out mechanical vibration interference while achieving accurate rotation and mechanical and electrical connection functions. The following focuses on the analysis of its vibration reduction:

[0007] In the horizontal direction, the absolute position accuracy of the fish finder is required to be relatively high. The resolution of a better fish finder can reach 1 degree, and the horizontal azimuth error of the fish finder transducer should be better than this value to ensure its actual accuracy. Relatively speaking, in terms of interference factors, water waves generally cause vertical swings, and the moment of inertia of the ship in the horizontal direction is large, and the azimuth error amplitude in the horizontal direction is small. This requires its horizontal rotation accuracy to be high. Assuming that the shock absorption system in this direction is a general spring-damping system, the filter structure in this direction is required to have a large displacement-force static gain, that is, the elastic element therein has a large stiffness coefficient, so as to reduce the steady-state error caused by friction and fluid resistance while ensuring the vibration filtering effect.

[0008] In the vertical direction, the absolute position accuracy of the fish finder is not high. The position detection accuracy of the fish finder is not too high, and the small change of the beam angle has limited effect on the length of the acoustic path. What needs to be avoided is the excessive deflection of the beam in the vertical direction, which causes the beam to be mainly reflected by the seabed / sea surface, resulting in energy loss and thus affecting the judgment of fish density. However, from the previous analysis, it can be seen that the amplitude of the azimuth error in the vertical direction is large, and a large high-frequency attenuation is required to achieve effective filtering. Assuming that the shock absorption system is a general spring-damper system, since the mass of the transducer and the front structure is constant, a smaller stiffness coefficient is required in the vertical direction.

[0009] In addition, ships of different sizes, speeds, and daily working areas are subject to different effects of wind, waves, vibration, etc., which requires the design scheme to have a certain degree of adjustability. Therefore, the stiffness-damping characteristics in the two directions need to be decoupled.

[0010] If conventional elastic structures are used to achieve shock absorption, such as springs or flexible rods to achieve low-pass filtering, it is difficult to achieve the above requirements. In addition, the deformation of a single elastic element in each direction is prone to mutual coupling, which further increases the uncertainty of the transducer's position, and in turn increases the difficulty and error of signal processing. Therefore, it is necessary to design its shock-absorbing transmission structure based on the characteristics of the fish finder's detection error. In addition, the shock-absorbing transmission structure of the fish finder also requires stable and reliable mechanical and electrical connections and uniform, controllable rotational motion, which further increases its complexity.

[0011] In order to solve this problem, it is necessary to design a shock-absorbing transmission structure suitable for a rotary scanning fish finder. Summary of the invention

[0012] In view of the defects in the prior art, an object of the present invention is to provide a shock-absorbing transmission structure of a rotary scanning fish finder.

[0013] A vibration-absorbing transmission structure of a rotary scanning fish finder provided by the present invention comprises: a motor, a reducer, a stiffness anisotropy mechanism, a base and a transducer;

[0014] A motor and a reducer are installed on the base, the motor is transmission-connected to the input shaft of the reducer, the output shaft of the reducer is connected to one end of the stiffness anisotropy mechanism, and the other end of the stiffness anisotropy mechanism is connected to the transducer.

[0015] Preferably, the stiffness anisotropy mechanism comprises: a rotating seat, a rotating spring damping assembly, a rotating shaft, a swinging seat, a swinging spring damping assembly and a swinging shaft;

[0016] The rotating seat is connected to the output shaft of the reducer, the rotating seat is rotatably connected to the rotating shaft, a rotating spring damping assembly is arranged between the rotating shaft and the rotating seat, the rotating shaft is connected to the swing seat, the swing seat is rotatably connected to the swing shaft, a swing spring damping assembly is arranged between the swing shaft and the swing seat, and the swing shaft is connected to the transducer.

[0017] Preferably, the rotation spring damping assembly comprises: a first through hole, a rotation damping sleeve and a torsion spring;

[0018] The rotation spring damping assembly is configured as a cylinder, and a first through hole is opened in the middle of the rotation spring damping assembly;

[0019] The rotary spring damping assembly is formed by connecting a rotary damping sleeve and a torsion spring in parallel.

[0020] Preferably, the swing spring damping assembly comprises: a spring and a damping member;

[0021] The swing spring damping assembly is formed by connecting a spring and a damping element in parallel.

[0022] Preferably, the stiffness and damping of the rotation spring damping assembly are adjusted to a system time constant of 0.1s-0.001s, and the stiffness and damping of the swing spring damping assembly are adjusted to a system time constant of 10s-0.1s.

[0023] Preferably, an angle sensor is installed on the stiffness anisotropy mechanism, the angle sensor is located between the rotating seat and the rotating shaft, and the axial direction of the angle sensor is parallel to the rotational axis direction of the rotating shaft.

[0024] Preferably, a locking mechanism is installed on the swing spring damping assembly;

[0025] The locking mechanism comprises: a locking mechanism seat and a locking element;

[0026] The locking mechanism seat is installed on the rotating shaft. The locking mechanism seat can telescopically install a locking element. When the locking element is extended, it is located in the travel direction of the swing shaft and limits the swing of the swing shaft.

[0027] Preferably, the axial direction of the stiffness anisotropy mechanism is perpendicular to the base, the horizontal beam opening angle direction of the transducer is perpendicular to the end face of the stiffness anisotropy mechanism, and the vertical beam opening angle direction of the transducer is parallel to the end face of the stiffness anisotropy mechanism.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] 1. This application solves the problem of mechanical vibration interference of the rotating scanning fish finder caused by ship movement and ocean waves by using anisotropic stiffness mechanism on the basis of ensuring the functional reliability of the fish finder itself;

[0030] 2. The application has fewer structural components, and the structure is compact, simple and reliable;

[0031] 3. This application has a wide range of applications and can be used to design, produce, modify, and optimize various types of rotating scanning fish finders that are widely used. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] 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:

[0033] Figure 1 It is the overall structural diagram of the shock-absorbing transmission structure;

[0034] Figure 2 It is a partial schematic diagram of the shock-absorbing transmission structure;

[0035] As shown in the figure:

[0036] DETAILED DESCRIPTION

[0037] 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.

[0038] Example 1

[0039] This embodiment includes the following parts:

[0040] The driving and deceleration part includes: a motor 1 and a reducer 2 mounted on a base 100 , wherein the reducer 2 is provided with a hollow output shaft.

[0041] The mechanical connection damping part includes: a stiffness anisotropic mechanism 3 installed on the output shaft of the reducer 2, the stiffness anisotropic mechanism 3 has the characteristic of lower stiffness in the rotation direction of the output shaft of the reducer 2 and in a specific rotation direction perpendicular to the direction; the stiffness of the stiffness anisotropic mechanism 3 in the above directions can be adjusted independently and decoupled.

[0042] The electrical connection part includes: a conductive slip ring installed in the output shaft of the reducer 2 and a flexible wire 102 installed on the stiffness anisotropy mechanism 3, wherein the conductive slip ring is installed on the output shaft of the reducer 2 and can rotate arbitrarily along the rotation direction of the output shaft of the reducer 2. It is a commonly used electrical connection method for rotating parts in engineering to achieve electrical connection of the transducer.

[0043] An angle sensor 4 is installed on the stiffness anisotropy mechanism 3. The angle sensor is specifically installed between the rotating seat 31 and the rotating shaft 33. The axial direction of the angle sensor is parallel to the axial direction of the rotating shaft 33, and can realize the detection of steady-state errors in the rotating direction.

[0044] A locking mechanism 5 is installed on the swing spring damping assembly 35 to realize the locking function between the swing seat 34 and the swing shaft 36; its specific implementation method includes but is not limited to electric or pneumatic mechanisms.

[0045] Specifically,

[0046] like Figure 1As shown, this embodiment includes: a motor 1, a reducer 2, a stiffness anisotropy mechanism 3, an angle sensor 4, a locking mechanism 5, a base 100 and a transducer 101; the motor 1 and the reducer 2 are mounted on the base 100, the motor 1 is connected to the input shaft of the reducer 2 by transmission, the output shaft of the reducer 2 is connected to one end of the stiffness anisotropy mechanism 3, and the other end of the stiffness anisotropy mechanism 3 is connected to the transducer 101. The stiffness anisotropy mechanism 3 includes: a rotating seat 31, a rotating spring damping assembly 32, a rotating shaft 33, a swinging seat 34, a swinging spring damping assembly 35 and a swinging shaft 36; the rotating seat 31 is connected to the output shaft of the reducer 2, the rotating seat 31 is rotatably connected to the rotating shaft 33, a rotating spring damping assembly 32 is arranged between the rotating shaft 33 and the rotating seat 31, the rotating shaft 33 is connected to the swinging seat 34, the swinging seat 34 is rotatably connected to the swinging shaft 36, a swinging spring damping assembly 35 is arranged between the swinging shaft 36 and the swinging seat 34, and the swinging shaft 36 is connected to the transducer 101. An angle sensor 4 is installed on the stiffness anisotropy mechanism 3. The angle sensor 4 is located between the rotating seat 31 and the rotating shaft 33. The axial direction of the angle sensor 4 is parallel to the rotation axis direction of the rotating shaft 33. A locking mechanism 5 is installed on the swing spring damping assembly 35. The locking mechanism 5 includes: a locking mechanism seat 51 and a locking element 52; the locking mechanism seat 51 is installed on the rotating shaft 33, and the locking mechanism seat 51 can be telescopically installed with the locking element 52. When the locking element 52 is extended, it is located in the travel direction of the swing shaft 36 and limits the swing of the swing shaft 36. A conductive slip ring is arranged in the output shaft of the reducer 2, and a flexible wire 102 is arranged inside the stiffness anisotropy mechanism 3.

[0047] Combination Figure 2 As shown, the rotation spring damping assembly 32 includes: a first through hole 321, a rotation damping sleeve 322 and a torsion spring 323; the rotation spring damping assembly 32 is set as a cylinder, and the middle part of the rotation spring damping assembly 32 is provided with a first through hole 321; the rotation spring damping assembly 32 is a part known in the art, and is formed by a rotation damping sleeve 322 and a torsion spring 323 connected in parallel, and the two can realize coaxial rotation. One implementation method is to place the rotation damping sleeve 322 outside the torsion spring 323, and the two axes are in the same direction, and the two ends are fixed together, and respectively connect the rotating seat 31 and the rotating shaft 33. The swing spring damping assembly 35 includes: a spring 351 and a damping member 352; the swing spring damping assembly 35 is a part known in the art, and is formed by a spring 351 and a damping member 352 connected in parallel. The spring 351 and the damping member 352 can realize coaxial swinging. One implementation method is to place the damping member 352 on one side of the spring 351, and fix the two ends together and respectively connect the swing seat 34 and the swing shaft 36. The swing seat 34 is provided with a second through hole 341.

[0048] In one embodiment, the stiffness and damping of the rotation spring damping assembly 32 are adjusted to a system time constant of 0.1s-0.001s, and the stiffness and damping of the swing spring damping assembly 35 are adjusted to a system time constant of 10s-0.1s.

[0049] In one embodiment, the axial direction of the stiffness anisotropic mechanism 3 is perpendicular to the base 100, the horizontal beam opening angle direction of the transducer 101 is perpendicular to the end face of the stiffness anisotropic mechanism 3, and the vertical beam opening angle direction of the transducer 101 is parallel to the end face of the stiffness anisotropic mechanism 3.

[0050] Example 2

[0051] Example 2 is a preferred example of Example 1.

[0052] This embodiment includes the following parts:

[0053] 1. The driving and deceleration part includes a motor 1 and a reducer 2 installed on a base 100, wherein the input shaft of the reducer 2 is connected to the motor 1. Driven by the motor 1, it can achieve a uniform rotational motion with a speed range of 1-120rpm and a speed jitter of less than 5%. The output shaft of the reducer 2 is hollow.

[0054] 2. Mechanical connection shock absorption part, including the stiffness anisotropic mechanism 3 installed on the output shaft of the reducer 2. When not affected by external force, the axis of the stiffness anisotropic mechanism 3 is perpendicular to the base 100. The detection transducer 101 is installed at the other end of the stiffness anisotropic mechanism 3, and the horizontal beam opening angle direction of the transducer 101 is perpendicular to the end face of the stiffness anisotropic mechanism 3, and the vertical beam opening angle direction is parallel to the end face of the stiffness anisotropic mechanism 3. The stiffness anisotropic mechanism 3 has the characteristic of lower stiffness in the rotation direction of the output shaft of the reducer 2 and in a specific rotation direction perpendicular to the direction. As a result, the horizontal / vertical directions of the beam emission of the transducer 101 are damped.

[0055] The stiffness anisotropy mechanism 3 is composed of a rotating seat 31, a rotating spring damping assembly 32, a rotating shaft 33, a swinging seat 34, a swinging spring damping assembly 35, and a swinging shaft 36. The rotating spring damping assembly 32 is installed between the rotating shaft 33 and the rotating seat 31. The rotating spring damping assembly 32 is a cylinder with a first through hole 321 in the middle. The rotating spring damping assembly 32 is specifically formed by a rotating damping sleeve 322 and a torsion spring 323 in parallel; the swinging spring damping assembly 35 is installed between the swinging shaft 36 and the swinging seat 34, and is formed by a spring 351 and a damping member 352 in parallel. The rotating spring damping assembly 32 and the swinging spring damping assembly 35 respectively realize the stiffness and damping adjustment of the rotating and swinging directions. The rotating spring damping assembly 32 can be placed outside the rotating seat 31, and the swinging spring damping assembly 35 can be placed beside the swinging shaft 36. The rotating spring damping assembly 32 and the swinging spring damping assembly 35 are used to damp relative rotational motion. After assembly, the stiffness and damping of the rotating spring damping assembly 32 are adjusted to a system time constant of about 0.1s-0.001s, and the stiffness and damping of the swing spring damping assembly 35 are adjusted to a system time constant of about 10s-0.1s. Specifically, firstly, the spring stiffness is adjusted using springs of different thicknesses so that the undamped time constant is within the above range; then the damper gap is adjusted so that the system is close to the critical damping state, and the damping coefficient is about 0.9-1.3. As a result, under the influence of factors such as waves and ship movement, the interference in the beam emission direction of the transducer 101 can be reduced to a better level.

[0056] An angle sensor 4 is installed on the stiffness anisotropy mechanism 3. The angle sensor 4 is specifically installed between the rotating seat 31 and the rotating shaft 33. The axial direction of the angle sensor 4 is parallel to the axial direction of the rotating shaft 33, and can detect the steady-state error in the rotation direction. The specific implementation of the angle sensor 4 includes but is not limited to the use of a rotary encoder. In this way, the interference caused by the inconsistency between the beam emission direction of the transducer 101 and the theoretical rotation direction caused by factors such as friction can be avoided. According to the resolution requirements and other indicators, the encoder can use an absolute encoder.

[0057] A locking mechanism 5 is installed on the swing spring damping assembly 35, which can realize the locking function between the swing seat 34 and the swing shaft 36; its specific implementation method includes but is not limited to electric or pneumatic mechanisms. In this way, the transducer 101 will not be deflected due to inertia under conditions such as rapid acceleration / turning of the ship.

[0058] 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.

[0059] 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. A shock-absorbing transmission structure of a rotary scanning fish finder, characterized in that: include: A motor (1), a reducer (2), a stiffness anisotropy mechanism (3), a base (100), and a transducer (101); The base (100) is mounted with a motor (1) and a reducer (2); the motor (1) is drivingly connected to the input shaft of the reducer (2); the output shaft of the reducer (2) is connected to one end of the anisotropic stiffness mechanism (3); and the other end of the anisotropic stiffness mechanism (3) is connected to the transducer (101).

2. The shock-absorbing transmission structure of the rotary scanning fish finder according to claim 1 is characterized in that: The stiffness anisotropy mechanism (3) comprises: a rotating seat (31), a rotating spring damping assembly (32), a rotating shaft (33), a swinging seat (34), a swinging spring damping assembly (35) and a swinging shaft (36); The rotating seat (31) is connected to the output shaft of the reducer (2), the rotating seat (31) is rotatably connected to the rotating shaft (33), a rotating spring damping assembly (32) is arranged between the rotating shaft (33) and the rotating seat (31), the rotating shaft (33) is connected to the swing seat (34), the swing seat (34) is rotatably connected to the swing shaft (36), a swing spring damping assembly (35) is arranged between the swing shaft (36) and the swing seat (34), and the swing shaft (36) is connected to the transducer (101).

3. The shock-absorbing transmission structure of the rotary scanning fish finder according to claim 2 is characterized in that: The rotation spring damping assembly (32) comprises: a rotation damping sleeve (322) and a torsion spring (323); The rotation spring damping assembly (32) is configured as a cylinder, and the rotation spring damping assembly (32) is formed by connecting a rotation damping sleeve (322) and a torsion spring (323) in parallel.

4. The shock-absorbing transmission structure of the rotary scanning fish finder according to claim 2 is characterized in that: The swing spring damping assembly (35) comprises: a spring (351) and a damping member (352); The swing spring damping assembly (35) is composed of a spring (351) and a damping element (352) connected in parallel.

5. The shock-absorbing transmission structure of the rotary scanning fish finder according to claim 2, characterized in that: The stiffness and damping of the rotating spring damping assembly (32) are adjusted to a system time constant of 0.1s-0.001s, and the stiffness and damping of the swing spring damping assembly (35) are adjusted to a system time constant of 10s-0.1s.

6. The damping transmission structure of the rotary scanning fish finder according to claim 2, characterized in that: An angle sensor (4) is installed on the stiffness anisotropy mechanism (3); the angle sensor (4) is located between the rotating seat (31) and the rotating shaft (33); and the axial direction of the angle sensor (4) is parallel to the axial direction of the rotating shaft (33).

7. The damping transmission structure of the rotary scanning fish finder according to claim 2, characterized in that: A locking mechanism (5) is installed on the swing spring damping assembly (35).

8. The damping transmission structure of the rotary scanning fish finder according to claim 2, characterized in that: The axial direction of the stiffness anisotropy mechanism (3) is perpendicular to the base (100), the horizontal beam opening angle direction of the transducer (101) is perpendicular to the end face of the stiffness anisotropy mechanism (3), and the vertical beam opening angle direction of the transducer (101) is parallel to the end face of the stiffness anisotropy mechanism (3).

9. The shock-absorbing transmission structure of the rotary scanning fish finder according to claim 7, characterized in that: The locking mechanism (5) comprises: a locking mechanism seat (51) and a locking element (52); The locking mechanism seat (51) is installed on the rotating shaft (33). The locking mechanism seat (51) can be telescopically installed with a locking element (52). When the locking element (52) is extended, it is located in the travel direction of the swing shaft (36) and limits the swing of the swing shaft (36).

Images