Damping transmission structure of rotary scanning fish finder

Abstract

The application provides a damping transmission structure of a rotary scanning fish finder, which comprises a motor, a speed reducer, a stiffness anisotropic mechanism, a base and a transducer; the motor and the 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 stiffness anisotropic mechanism; and the other end of the stiffness anisotropic mechanism is connected with the transducer. On the basis of guaranteeing the reliability of the fish finder itself, the anisotropic stiffness mechanism is used to solve the mechanical vibration interference problem of the rotary scanning fish finder caused by the movement of a ship and ocean waves.

Description

Technical Field

[0001] This invention relates to the field of fish finder structures, and more specifically, to a shock-absorbing transmission structure for a rotary scanning fish finder. Background Technology

[0002] The development of the ocean and the exploration of its laws are of great significance and value. Among various detection methods, acoustic detection systems can overcome complex hydrological environments and have a long operating range, making them applicable to underwater exploration of all 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, accurate detection and monitoring of these resources are essential. The acoustic detection systems used for fishery resource detection mainly consist of equipment such as fish finders. Therefore, technological improvements to fish finders are of great significance.

[0004] In fisheries acoustic detection, fish schools are typically detected by emitting sound signals of a specific frequency. The different propagation speeds of these signals within the water and among fish create echoes at the fish's location. The distance to the fish school is determined by the speed of sound and its time difference, the fish density by the echo intensity, and their orientation by the beam transmission direction. This results in a two-dimensional fish density distribution map on the display interface. Typically, fish finders consist of a precisely rotatable mechanical scanning structure and a highly directional transmitting / receiving transducer assembly, with beam scanning and transmission achieved through mechanical rotation.

[0005] However, compared to other large vessels, fishing boats are generally small in size and light in weight, with relatively small inertia. Due to the influence of vessel movement, wind, waves, and noise, they inevitably experience large vibrations such as rolling and pitching. Under the influence of such disturbances, the results of underwater acoustic detection will inevitably be affected. Fish finders generally operate in the frequency band above several hundred kilohertz, while the frequency of the mechanical vibrations caused by the aforementioned interference is significantly lower than this frequency band, thus having a smaller impact on the transducer itself. However, the above interference has a significant impact on the mechanical structure of the fish finder. As can be seen from the working principle of the fish finder: the distance error to fish schools is mainly affected by the reflection path length error caused by the vertical azimuth error of the beam; the azimuth error of fish schools is mainly affected by the horizontal azimuth error of the beam; and the fish density error is mainly affected by the reduction in directivity gain and the attenuation of reflections from the sea surface and seabed caused by the beam azimuth error.

[0006] As mentioned above, the detection error of a fish finder mainly originates from beam orientation 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 that filters out mechanical vibration interference while ensuring accurate rotation and mechanical-electrical connections. The following section focuses on analyzing its vibration reduction capabilities:

[0007] In the horizontal direction, fish finders require high absolute positional accuracy. Modern fish finders can achieve a resolution of 1 degree, and the horizontal azimuth error of the transducer should be better than this value to ensure its actual accuracy. Conversely, regarding interference factors, water waves generally cause vertical oscillation, and the horizontal rotational inertia of a vessel is relatively large, resulting in a smaller horizontal azimuth error. This necessitates high horizontal rotational accuracy. Assuming the vibration damping system in this direction is a typical spring-damped system, the filtering structure in this direction requires a large displacement-force static gain, meaning the elastic elements must have a large stiffness coefficient, to ensure vibration filtering while reducing steady-state errors caused by friction and fluid resistance.

[0008] In the vertical direction, the absolute positional accuracy requirement for fish finders is not high. The positional detection accuracy requirement is not too high, and small changes in beam angle have limited impact on the acoustic path length. What needs to be avoided is excessive beam skew in the vertical direction, which would cause the beam to be primarily reflected from the seabed / surface, resulting in energy loss and affecting the judgment of fish density. However, as the previous analysis shows, the azimuth error in the vertical direction is relatively large, requiring significant high-frequency attenuation for effective filtering. Assuming the damping system is a typical spring-damped system, since the mass of the transducer and the front structural components is constant, a relatively small stiffness coefficient is needed in the vertical direction.

[0009] Furthermore, vessels of different sizes, speeds, and operating areas are subject to varying effects from wind, waves, and vibrations, necessitating a degree of adjustability in the design. Therefore, the stiffness-damping characteristics in both directions need to be decoupled.

[0010] Using conventional elastic structures for vibration damping, such as springs or flexible rods for low-pass filtering, is insufficient to meet the above requirements. Furthermore, the deformation of individual elastic elements in various directions can easily couple, further increasing the transducer's orientation uncertainty and consequently increasing signal processing difficulty and error. Therefore, a vibration damping transmission structure needs to be designed specifically for the characteristics of the fish finder's detection error. In addition, the vibration damping transmission structure of the fish finder requires stable and reliable mechanical and electrical connections and uniform, controllable rotational motion, further increasing its complexity.

[0011] To solve this problem, it is essential to design a shock-absorbing transmission structure suitable for rotary scanning fish finders. Summary of the Invention

[0012] To address the shortcomings of existing technologies, the purpose of this invention is to provide a shock-absorbing transmission structure for a rotary scanning fish finder.

[0013] The vibration damping transmission structure of a rotary scanning fish finder provided by the present invention includes: a motor, a reducer, a stiffness anisotropic mechanism, a base, and a transducer;

[0014] A motor and a reducer are mounted on the base. The motor is driven by the input shaft of the reducer. The output shaft of the reducer is connected to one end of the stiffness anisotropic mechanism. The other end of the stiffness anisotropic mechanism is connected to the transducer.

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

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

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

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

[0019] The rotary spring damping assembly is composed of a rotary damping sleeve and a torsion spring connected in parallel.

[0020] Preferably, the swing spring damping assembly includes: a spring and a damping element;

[0021] The swing spring damping assembly is composed of a spring and a damping element connected in parallel.

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

[0023] Preferably, an angle sensor is installed on the stiffness anisotropic mechanism. The angle sensor is located between the rotating base and the rotating shaft, and the axial direction of the angle sensor is parallel to the rotation axis direction of the rotating shaft.

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

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

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

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

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

[0029] 1. This application, while ensuring the reliability of the fish finder's own functions, solves the problem of mechanical vibration interference caused by ship movement and ocean waves in the rotating scanning fish finder by using an anisotropic stiffness mechanism;

[0030] 2. This application has fewer structural components, resulting in a compact, simple, and reliable structure;

[0031] 3. This application has a wide range of applications and can be used to design, manufacture, or modify and optimize various types of rotary scanning fish finders with wide applications. Attached Figure Description

[0032] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0033] Figure 1 This is a schematic diagram of the overall structure of the shock-absorbing transmission structure.

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

[0035] As shown in the figure:

[0036] Detailed Implementation

[0037] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0038] Example 1

[0039] This embodiment includes the following parts:

[0040] The drive and deceleration components include: a motor 1 and a reducer 2 mounted on a base 100, the reducer 2 having a hollow output shaft.

[0041] The mechanical connection damping part includes: a stiffness anisotropic mechanism 3 mounted on the output shaft of the reducer 2. The stiffness anisotropic mechanism 3 has the characteristic of low stiffness in the rotation direction of the output shaft of the reducer 2 and in a certain rotation direction perpendicular to that direction. The stiffness of the stiffness anisotropic mechanism 3 in the above-mentioned directions can be adjusted independently and decoupled.

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

[0043] An angle sensor 4 is installed on the stiffness anisotropic mechanism 3. The angle sensor is specifically installed between the rotating seat 31 and the rotating shaft 33. Its axis is parallel to the axis of the rotating shaft 33 and can realize the detection of steady-state error in the rotation direction.

[0044] 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; the 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 anisotropic mechanism 3, an angle sensor 4, a locking mechanism 5, a base 100, and a transducer 101. The motor 1 and reducer 2 are mounted on the base 100. The motor 1 is driven by the input shaft of the reducer 2, and the output shaft of the reducer 2 is connected to one end of the stiffness anisotropic mechanism 3. The other end of the stiffness anisotropic mechanism 3 is connected to the transducer 101. The stiffness anisotropic mechanism 3 includes: a rotating seat 31, a rotary spring damping assembly 32, a rotating shaft 33, a swing seat 34, a swing spring damping assembly 35, and a swing shaft 36. The rotating seat 31 is connected to the output shaft of the reducer 2, and the rotating seat 31 is rotatably connected to the rotating shaft 33. A rotary spring damping assembly 32 is disposed between the rotating shaft 33 and the rotating seat 31. The rotating shaft 33 is connected to the swing seat 34, and the swing seat 34 is rotatably connected to the swing shaft 36. A swing spring damping assembly 35 is disposed between the swing shaft 36 and the swing seat 34. The swing shaft 36 is connected to the transducer 101. An angle sensor 4 is mounted on the stiffness anisotropic mechanism 3. The angle sensor 4 is located between the rotating base 31 and the rotating shaft 33, and the axis of the angle sensor 4 is parallel to the rotation axis of the rotating shaft 33. A locking mechanism 5 is mounted 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 mounted on the rotating shaft 33, and the locking element 52 is telescopically mounted on the locking mechanism seat 51. When the locking element 52 is extended, it is located in the travel direction of the swing shaft 36 and restricts the swing of the swing shaft 36. A conductive slip ring is provided inside the output shaft of the reducer 2, and a flexible wire 102 is provided inside the stiffness anisotropic mechanism 3.

[0047] Combination Figure 2 As shown, the rotary spring damping assembly 32 includes: a first through hole 321, a rotary damping sleeve 322, and a torsion spring 323; the rotary spring damping assembly 32 is cylindrical, and the first through hole 321 is opened in the middle of the rotary spring damping assembly 32; the rotary spring damping assembly 32 is a known part in the art, which is formed by the rotary damping sleeve 322 and the torsion spring 323 connected in parallel, and the two can rotate coaxially. In one embodiment, the rotary damping sleeve 322 is placed outside the torsion spring 323, and the axes of the two are in the same direction. The two ends are fixed together and connected to the rotating seat 31 and the rotating shaft 33 respectively. The oscillating spring damping assembly 35 includes: a spring 351 and a damping element 352; the oscillating spring damping assembly 35 is a known part in the art, which is formed by the spring 351 and the damping element 352 connected in parallel. Spring 351 and damper 352 can achieve coaxial swing. In one embodiment, damper 352 is placed on one side of spring 351, with both ends fixed together and connected to swing base 34 and swing shaft 36 respectively. Swing base 34 is provided with a second through hole 341.

[0048] In one embodiment, the stiffness and damping of the rotary spring damping assembly 32 are adjusted to a system time constant of 0.1s-0.001s, and the stiffness and damping of the oscillating 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 drive and deceleration part includes a motor 1 and a reducer 2 mounted on the base 100. The input shaft of the reducer 2 is connected to the motor 1. Under the drive of the motor 1, it can achieve uniform rotational motion with a speed range of 1-120 rpm and a speed fluctuation of less than 5%. The output shaft of the reducer 2 is hollow.

[0054] II. The mechanical connection damping component includes a stiffness anisotropic mechanism 3 mounted on the output shaft of the reducer 2. Under normal conditions, the axis of the stiffness anisotropic mechanism 3 is perpendicular to the base 100. A detection transducer 101 is mounted at the other end of the stiffness anisotropic mechanism 3. The horizontal beam opening angle of the transducer 101 is perpendicular to the end face of the stiffness anisotropic mechanism 3, and the vertical beam opening angle is parallel to the end face of the stiffness anisotropic mechanism 3. The stiffness anisotropic mechanism 3 exhibits low stiffness in the rotational direction of the reducer 2's output shaft and in a specific rotational direction perpendicular to that direction. Therefore, the beam emission of the transducer 101 is damped in both the horizontal and vertical directions.

[0055] The anisotropic stiffness mechanism 3 consists of a rotating seat 31, a rotary spring damping assembly 32, a rotating shaft 33, a swing seat 34, a swing spring damping assembly 35, and a swing shaft 36. The rotary spring damping assembly 32 is installed between the rotating shaft 33 and the rotating seat 31. The rotary spring damping assembly 32 is a cylinder with a first through hole 321 in the middle. Specifically, the rotary spring damping assembly 32 is formed by a rotary damping sleeve 322 and a torsion spring 323 connected in parallel. The swing spring damping assembly 35 is installed between the swing shaft 36 and the swing seat 34, and is formed by a spring 351 and a damping element 352 connected in parallel. The rotary spring damping assembly 32 and the swing spring damping assembly 35 respectively adjust the stiffness and damping in the rotational and swinging directions. The rotary spring damping assembly 32 can be placed outside the rotating seat 31, and the swing spring damping assembly 35 can be placed beside the swing shaft 36. The rotary spring damping assembly 32 and the swing spring damping assembly 35 are used to dampen relative rotational motion. After assembly, the stiffness and damping of the rotary spring damping assembly 32 are adjusted to a system time constant of approximately 0.1s-0.001s, and the stiffness and damping of the oscillating spring damping assembly 35 are adjusted to a system time constant of approximately 10s-0.1s. Specifically, firstly, springs of different thicknesses are used to adjust the spring stiffness so that the undamped time constant is within the above range; then, the damper gap is adjusted to bring the system close to the critical damping state, with a damping coefficient of approximately 0.9-1.3. Thus, under the influence of factors such as sea waves and ship motion, the interference experienced by the transducer 101 beam emission direction can be reduced to a relatively optimal level.

[0056] An angle sensor 4 is mounted on the anisotropic stiffness mechanism 3. Specifically, the angle sensor 4 is installed between the rotating base 31 and the rotating shaft 33. The axis of the angle sensor 4 is parallel to the axial direction of the rotating shaft 33, and it can detect steady-state errors in the rotational direction. The angle sensor 4 can be implemented in ways including, but not limited to, using a rotary encoder. This avoids interference caused by factors such as friction, where the beam emission direction of the transducer 101 is inconsistent with the theoretical rotation direction. Based on resolution requirements and other specifications, an absolute encoder can be selected.

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

[0058] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They 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, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0059] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A shock absorbing transmission structure for a rotary scanning fish finder, characterized by The utility model relates to a kind of stiffness anisotropic mechanism, comprising: Motor (1), speed reducer (2), stiffness anisotropic mechanism (3), pedestal (100) and transducer (101); The motor (1) and the speed reducer (2) are installed on the pedestal (100), the motor (1) is drivingly connected to the input shaft of the speed reducer (2), the output shaft of the speed reducer (2) is connected to one end of the stiffness anisotropic mechanism (3), the other end of the stiffness anisotropic mechanism (3) is connected to the transducer (101); The stiffness anisotropic mechanism (3) comprises: rotating seat (31), rotating spring damping assembly (32), rotating shaft (33), swing seat (34), swing spring damping assembly (35) and swing shaft (36); The rotating seat (31) is connected to the output shaft of the speed reducer (2), the rotating seat (31) is rotationally connected to the rotating shaft (33), the 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 rotationally connected to the swing shaft (36), the 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); The rotating spring damping assembly (32) and the swing spring damping assembly (35) respectively realize stiffness adjustment in rotating and swinging directions.

2. The shock mounted drive structure for a rotating fish finder according to claim 1, wherein, The rotating spring damping assembly (32) comprises: rotating damping sleeve (322) and torsion spring (323); The rotating spring damping assembly (32) is provided as a cylinder, and the rotating spring damping assembly (32) is connected in parallel by the rotating damping sleeve (322) and the torsion spring (323).

3. The shock mounted drive structure for a rotating fish finder according to claim 1, wherein, The swing spring damping assembly (35) comprises: spring (351) and damping member (352); The swing spring damping assembly (35) is connected in parallel by the spring (351) and the damping member (352).

4. The shock mounted drive structure for a rotating fish finder according to claim 1 wherein: An angle sensor (4) is mounted on the stiffness anisotropic mechanism (3), the angle sensor (4) is located between the rotating seat (31) and the rotating shaft (33), and the axis direction of the angle sensor (4) is parallel to the rotating axis direction of the rotating shaft (33).

5. The shock mounted drive structure for a rotating fish finder according to claim 1 wherein: A locking mechanism (5) is mounted on the swing spring damping assembly (35).

6. The shock mounted drive structure for a rotating fish finder according to claim 1 wherein: The axial direction of the stiffness anisotropic mechanism (3) is perpendicular to the pedestal (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).

7. The shock mounted drive structure for a rotating fish finder according to claim 5 wherein, The locking mechanism (5) comprises: locking mechanism seat (51) and locking element (52); The locking mechanism seat (51) is mounted on the rotating shaft (33), the locking element (52) is telescopically mounted on the locking mechanism seat (51), and when the locking element (52) is extended, it is located in the running direction of the swing shaft (36) and limits the swing of the swing shaft (36).

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