Marine sonar carrier based on monitoring protection mechanism

Abstract

The invention relates to the technical field of marine sonar carriers, in particular to a marine sonar carrier based on a monitoring protection mechanism. The invention aims to provide a marine sonar carrier based on a monitoring protection mechanism, which comprises a mounting frame, and a fixing mechanism is arranged on the mounting frame and used for fixing the mounting frame on a bulwark of a ship body. Through cooperation of the proximity sensor and the protection cage, real-time monitoring of the surrounding environment of the sonar equipment is achieved, when it is detected that an object approaches, the system can automatically trigger a protection mechanism and drive the protection cage to cover and protect the sonar, and accidental impact damage caused by marine organisms, floating foreign matter and the like to the sonar is effectively prevented; and through cooperation of a first pressure sensor and an anti-collision plate, the system can control the marine sonar carrier to leave from seawater when an object collides with the anti-collision plate, continuous collision of the object to the marine sonar carrier is avoided, and therefore the safety and reliability of equipment operation are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of ship sonar vehicles, and in particular to a ship sonar vehicle based on a monitoring and protection mechanism. Background Art

[0002] A marine sonar carrier is a device specially designed for installing and carrying sonar equipment. It is widely used in ships, warships and ocean detection platforms. Its main function is to extend the sonar equipment into the sea water so that the sonar can work normally in the underwater environment and realize the detection, positioning and identification of underwater targets. As a key equipment in modern marine engineering, military reconnaissance and scientific research, the stability and reliability of sonar directly affect the safe navigation of ships and the efficiency of mission execution.

[0003] However, in actual application, ship-borne sonar vehicles and the sonar equipment they carry face many environmental challenges. Since traditional ship-borne sonar vehicles usually adopt a fixed structure and lack an effective protection mechanism against sudden external impacts, and ships need to be exposed to a complex marine environment for a long time during navigation, sonar equipment will inevitably be affected by seawater flow, marine biological activities and other floating foreign objects. For example, marine animals (such as whales, sharks, etc.) may collide with sonar equipment out of curiosity or accidental collision; at the same time, drifting garbage, fishing net fragments, rock debris and other foreign objects in the seawater may also collide with the sonar. These external factors can easily cause damage to the sonar casing and sensor components, and even affect its signal transmission and reception functions, thereby reducing the service life and working performance of the equipment. Summary of the Invention

[0004] The purpose of the present invention is to provide a ship sonar vehicle based on a monitoring and protection mechanism, which can solve the problem that the sonar equipment carried by the existing ship sonar vehicle lacks an effective protection mechanism against sudden external impacts when it is active in seawater, resulting in the sonar equipment being easily hit by marine organisms and other floating foreign objects, thereby causing damage to the sonar.

[0005] The object of the present invention is achieved through the following technical solutions: A ship sonar carrier based on a monitoring and protection mechanism includes a mounting frame, a fixing mechanism is provided on the mounting frame, the fixing mechanism is used to fix the mounting frame to the bulwark of the hull, a controller and an electric turntable are installed on the mounting frame, the turntable of the electric turntable is connected to a fixing frame, a movable tube is slidably provided on the fixing frame, an adjustment mechanism for adjusting the height of the movable tube is provided on the fixing frame, a flange for mounting the sonar is connected to the bottom of the movable tube, a proximity sensor is provided on the flange, the proximity sensor is used to sense objects approaching the sonar, a lifting mechanism is provided on the movable tube, a protective cage for protecting the sonar is connected to the lifting mechanism, the lifting mechanism is used to drive the protective cage to rise and fall, a first pressure sensor is installed on the side of the protective cage, the first pressure sensor is connected to an anti-collision plate, and the anti-collision plate is used to resist the impact of objects;

[0006] The lifting mechanism comprises a connecting block and a first electric push rod. The connecting block is installed on the movable tube, the connecting block is connected to the first electric push rod, and the protective cage is connected to the telescopic rod of the first electric push rod.

[0007] As a further preferred solution, the fixing mechanism includes a pressure plate, a screw and a nut. A pressure plate is slidably arranged on the mounting frame. A screw is also arranged on the mounting frame. The screw slides through the pressure plate. A nut is threaded on the screw, and the nut is used to limit the pressure plate.

[0008] As a further preferred solution, the adjustment mechanism includes a rack, a rotating shaft, a servo motor, a worm, a worm wheel and a gear. A rack is installed on the side of the movable tube, a rotating shaft is rotatably set on the fixed frame, and a servo motor is also installed on the fixed frame. A worm is connected to the output shaft of the servo motor, and a worm wheel and a gear are connected to the rotating shaft. The worm is engaged with the worm wheel, and the gear is engaged with the rack.

[0009] As a further preferred solution, it also includes a rotating cylinder, a rotating plate and a connecting plate. The rotating cylinder is coaxially rotated inside the protective cage, the rotating plates are rotated at intervals on the bottom of the rotating cylinder, and the connecting plate is rotatably arranged between the rotating plate and the bottom of the protective cage.

[0010] As a further preferred solution, it also includes guide bars and connecting rods. Two guide bars are provided on the movable tube, and a guide track is formed between the two guide bars. The guide track includes a spiral curve segment and a straight line segment connected to the upper and lower sides of the spiral curve segment. The rotating cylinder is connected to a connecting rod, and the connecting rod is slidably connected in the guide track. The straight line segment drives the rotating cylinder to move linearly along the axial direction of the movable tube, and the spiral curve segment drives the rotating cylinder to rotate along the central axis of the movable tube.

[0011] As a further preferred solution, a second pressure sensor is also included. The screw is sleeved with the second pressure sensor, and the second pressure sensor is used to sense the pressure applied by the nut.

[0012] As a further preferred solution, it also includes a limiting mechanism, which includes a support frame, a second electric push rod and a clamping rod. The support frame is installed on the mounting frame, and the second electric push rod is provided on the support frame. The clamping rod is connected to the telescopic rod of the second electric push rod, and a clamping slot for adapting the clamping rod is provided on the fixing frame. The clamping rod is used to be inserted into the clamping slot to limit the fixing frame.

[0013] Compared with the prior art, the advantages of the present invention are:

[0014] 1. The present invention realizes real-time monitoring of the environment around the sonar equipment through the cooperation of the proximity sensor and the protective cage. When an object is detected approaching, the system can automatically trigger the protection mechanism and drive the protective cage to cover and protect the sonar, effectively preventing accidental impact damage to the sonar caused by marine life, floating foreign objects, etc. In addition, through the cooperation of the first pressure sensor and the anti-collision plate, the system can also control the ship sonar vehicle to leave the sea water when an object collides with the anti-collision plate, avoiding the object from causing continuous impact on the ship sonar vehicle, thereby improving the safety and reliability of the equipment operation.

[0015] 2. The present invention provides a protective cage, a rotating cylinder, a rotating plate and a connecting rod mechanism. During the descent of the protective cage, the rotating cylinder covers the side and top surfaces of the sonar. The guide bar and the connecting rod cooperate to drive the rotating plate to close, forming a bottom shield, thereby achieving three-dimensional and comprehensive protection for the sonar and significantly improving the impact resistance.

[0016] 3. The present invention adopts a fixing mechanism consisting of a pressure plate, a screw and a nut, and cooperates with a second pressure sensor to monitor the fastening status in real time to ensure firm and reliable installation. At the same time, the limiting mechanism further enhances the stability in the working state and prevents displacement due to vibration or water impact. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0018] Figure 2 It is a schematic diagram of the three-dimensional structure of the fixing mechanism of the present invention.

[0019] Figure 3 It is a schematic diagram of the three-dimensional structure of the electric turntable, the fixing frame and the movable tube of the present invention.

[0020] Figure 4 It is a schematic diagram of the three-dimensional structure of the adjustment mechanism of the present invention.

[0021] Figure 5 It is a schematic diagram of the three-dimensional structure of the movable tube, flange and proximity sensor of the present invention.

[0022] Figure 6 It is a schematic diagram of the three-dimensional structure of the lifting mechanism of the present invention.

[0023] Figure 7 It is a schematic diagram of the three-dimensional structure of the first pressure sensor and the anti-collision plate of the present invention.

[0024] Figure 8 It is a schematic diagram of the three-dimensional structure of the rotating cylinder, guide bar and connecting rod of the present invention.

[0025] Figure 9 It is a schematic diagram of the three-dimensional structure of the rotating drum, rotating plate and connecting plate of the present invention.

[0026] Figure 10 This is a structural separation diagram of the protective cage and the rotating drum of the present invention.

[0027] Figure 11 It is a schematic diagram of the three-dimensional structure of the movable tube, guide bar and connecting rod of the present invention.

[0028] Figure 12 It is a schematic diagram of the three-dimensional structure of the second pressure sensor and the limiting mechanism of the present invention.

[0029] Explanation of the numbers: 1-mounting frame, 201-pressing plate, 202-screw, 203-nut, 3-controller, 4-electric turntable, 5-fixed frame, 6-movable tube, 701-rack, 702-rotating shaft, 703-servo motor, 704-worm, 705-worm gear, 706-gear, 8-flange, 9-proximity sensor, 1001-connecting block, 1002-first electric push rod, 11-protective cage, 12-first pressure sensor, 13-anti-collision plate, 14-rotating cylinder, 15-rotating plate, 16-connecting plate, 17-guide bar, 18-connecting rod, 19-second pressure sensor, 20-support frame, 21-second electric push rod, 22-clamping rod, 23-clamping slot. DETAILED DESCRIPTION

[0030] Example: A marine sonar vehicle based on a monitoring and protection mechanism, see Figure 1-Figure 7As shown, it includes a mounting frame 1; it also includes a fixing mechanism, a controller 3, an electric turntable 4, a fixing frame 5, a movable tube 6, an adjusting mechanism, a flange 8, a proximity sensor 9, a lifting mechanism, a protective cage 11, a first pressure sensor 12 and an anti-collision plate 13; a fixing mechanism is provided on the mounting frame 1, and the fixing mechanism is used to fix the mounting frame 1 on the bulwark of the hull; a controller 3 is installed on the top rear side of the mounting frame 1, and the controller 3 is electrically connected to the control center of the hull; an electric turntable 4 is provided on the left side of the mounting frame 1, and the controller 3 is electrically connected to the electric turntable 4; a fixing frame 5 is connected to the left side of the turntable of the electric turntable 4; a movable tube 6 is slidably provided on the fixing frame 5, and the movable tube 6 is a hollow tube, and a through hole is opened on the upper front side of the movable tube 6. The operator can put the line into the inner side of the movable tube 6 through the through hole, so that the line passes through the inner side of the movable tube 6; an adjusting mechanism is provided on the fixing frame 5, and the adjusting mechanism is used to adjust the height of the movable tube 6; the movable tube 6 A flange 8 is connected to the bottom, and the operator can fix the sonar to the bottom of the flange 8 with bolts to install the sonar; four proximity sensors 9 are evenly spaced on the side of the flange 8. The proximity sensor 9 is used to sense objects approaching the sonar, and the proximity sensor 9 is electrically connected to the controller 3; a lifting mechanism is provided on the movable tube 6, and a protective cage 11 for protecting the sonar is connected to the lifting mechanism. The lifting mechanism is used to drive the protective cage 11 to rise and fall so that the protective cage 11 covers the side of the sonar, thereby protecting the sonar; six first pressure sensors 12 are installed at intervals on the side of the protective cage 11, and the first pressure sensor 12 is electrically connected to the controller 3; an anti-collision plate 13 is connected between the six first pressure sensors 12, and strip holes are provided at intervals on the anti-collision plate 13. The strip holes are used for water to pass through, thereby reducing the resistance encountered by the anti-collision plate 13 when it moves in the ocean. The anti-collision plate 13 is used to withstand the impact of objects.

[0031] See Figure 1 and Figure 2 As shown, the fixing mechanism includes a pressure plate 201, a screw 202 and a nut 203; two pressure plates 201 are slidingly arranged on the upper side of the mounting frame 1, and the two pressure plates 201 are distributed front to back; two screws 202 are arranged on the left side of the upper side of the mounting frame 1, and the two screws 202 are distributed front to back, and the two screws 202 slide through the two pressure plates 201 respectively; nuts 203 are threadedly arranged on the two screws 202, and the nuts 203 are used to limit the pressure plates 201.

[0032] See Figure 3 and Figure 4As shown, the adjustment mechanism includes a rack 701, a rotating shaft 702, a servo motor 703, a worm 704, a worm wheel 705 and a gear 706; the rack 701 is installed on the right side of the movable tube 6; the rotating shaft 702 is rotatably provided on the upper right side of the top of the fixed frame 5; the servo motor 703 is installed on the upper rear side of the fixed frame 5; the worm 704 is connected to the output shaft of the servo motor 703; the worm wheel 705 is provided at the rear end of the rotating shaft 702, and the worm 704 is meshed with the worm wheel 705; the gear 706 is provided at the front end of the rotating shaft 702, and the gear 706 is meshed with the rack 701.

[0033] See Figure 3 and Figure 6 As shown, the lifting mechanism includes a connecting block 1001 and a first electric push rod 1002; the connecting block 1001 is installed on the lower side of the movable tube 6; two first electric push rods 1002 are connected to the bottom of the connecting block 1001, and the telescopic rods of the two first electric push rods 1002 are both connected to the top of the protective cage 11, and the first electric push rods 1002 are electrically connected to the controller 3.

[0034] In the initial state, the fixed frame 5 and the movable tube 6 are in a horizontal state;

[0035] Before use, the mounting bracket 1 is first placed on the bulwark of the hull, so that the bulwark of the hull is between the mounting bracket 1 and the pressure plate 201, with the screw 202 facing one side of the hull and the direction of the anti-collision plate 13 consistent with the direction of the hull sailing. Then, the pressure plate 201 is pushed to the side close to the bulwark, so that the pressure plate 201 presses the bulwark of the hull against the mounting bracket 1. Then, the nut 203 is screwed into the screw 202, and the nut 203 is moved on the screw 202 toward the side close to the pressure plate 201, so that the nut 203 contacts the pressure plate 201, and then the nut 203 limits the pressure plate 201. In this way, the mounting bracket 1 can be fixed to the bulwark of the hull. Then, the sonar is fixed to the flange 8 with bolts, thereby completing the installation of the sonar.

[0036] When the sonar needs to be placed in the seawater, the controller 3 controls the electric turntable 4 to drive the fixed frame 5 and the movable tube 6 to rotate (clockwise from left to right) until the fixed frame 5 and the movable tube 6 are in a vertical state (such as Figure 3As shown), the servo motor 703 then drives the worm 704 to rotate, causing the worm 704 to drive the worm wheel 705, the rotating shaft 702 and the gear 706 to rotate, thereby causing the gear 706 to drive the rack 701 and the movable tube 6 to move downward, thereby driving the flange 8, the sonar, the connecting block 1001, the first electric push rod 1002, the protective cage 11, the first pressure sensor 12 and the anti-collision plate 13 to move downward, so that the sonar enters the seawater until the sonar is at a specified depth in the ocean. Then, the sonar can be operated in the seawater, and the proximity sensor 9 and the first pressure sensor 12 are turned on by the controller 3, so that the proximity sensor 9 is sensitive to the proximity sonar. When the proximity sensor 9 senses that there is an object in the sea water approaching the sonar, the proximity sensor 9 will send a signal. After receiving the signal, the controller 3 will control the first electric push rod 1002 to drive the protection cage 11 to move downward, so that the protection cage 11 covers the sonar, thereby protecting the side of the sonar to prevent the sonar from being damaged by the impact of the object. If the object gradually moves away from the sonar, the proximity sensor 9 will sense that the object in the sea water is away from the sonar, and then the proximity sensor 9 will send a signal. After receiving the signal, the controller 3 will control the first electric push rod 1002 to drive the protection cage 11 to move upward and reset, so that the protection cage 11 no longer covers the sonar. If the object is closer When the object approaches the sonar further and collides with the anti-collision plate 13, the object will exert pressure on the anti-collision plate 13, causing the anti-collision plate 13 to exert pressure on the first pressure sensor 12. When the first pressure sensor 12 senses that the pressure reaches a preset value, the first pressure sensor 12 will send a signal. After receiving the signal, the controller 3 will control the electric turntable 4 to drive the fixing frame 5 and the movable tube 6 to rotate in the opposite direction (counterclockwise when viewed from left to right), so that the movable tube 6 drives the flange 8, the sonar, the connecting block 1001, the first electric push rod 1002, the protective cage 11, the first pressure sensor 12 and the anti-collision plate 13 to leave the sea water, thereby preventing the object from continuously exerting pressure on the anti-collision plate 13 and entering the anti-collision plate 13. The anti-collision plate 13, the first pressure sensor 12, the protective cage 11 and the sonar therein are protected until the fixed frame 5 and the movable tube 6 rotate in the opposite direction and are in a horizontal state. At the same time, after receiving the signal, the controller 3 will send the signal to the control center, and the control center will notify the operator to perform subsequent operations. After that, the operator can control the electric turntable 4 through the controller 3 to drive the fixed frame 5 and the movable tube 6 to rotate (clockwise when viewed from left to right), so that the movable tube 6 drives the flange 8, the sonar, the connecting block 1001, the first electric push rod 1002, the protective cage 11, the first pressure sensor 12 and the anti-collision plate 13 to return to the sea water, so that the sonar can continue to work in the sea water;

[0037] When the sonar needs to be retracted from the seawater, the proximity sensor 9 and the first pressure sensor 12 are turned off by the controller 3, and then the servo motor 703 drives the worm 704 to reverse, so that the worm 704 drives the worm wheel 705, the rotating shaft 702 and the gear 706 to reverse, so that the gear 706 drives the rack 701 and the movable tube 6 to move upward and reset, thereby driving the flange 8, the sonar, the connecting block 1001, the first electric push rod 1002, the protective cage 11, the first pressure sensor 12 and the anti-collision plate 13 to move upward and reset, so that the sonar is removed from the seawater. Then, the controller 3 controls the electric turntable 4 to drive the fixing frame 5 and the movable tube 6 to rotate in the opposite direction (counterclockwise when viewed from left to right) until the fixing frame 5 and the movable tube 6 rotate in the opposite direction and are horizontal. In this way, the sonar can be retracted from the seawater.

[0038] When the sonar is no longer needed, the sonar is removed from the flange 8, and the nut 203 is then unscrewed from the screw 202 to release the nut 203 from limiting the pressure plate 201. The pressure plate 201 is then pulled apart from the bulwark, and the mounting bracket 1 is finally removed from the bulwark of the hull.

[0039] See Figures 8-10 As shown, it also includes a rotating cylinder 14, a rotating plate 15 and a connecting plate 16; a rotating cylinder 14 is coaxially arranged on the inside of the protective cage 11, and the rotating cylinder 14 is used to cover the side and top surfaces of the sonar. Circular holes are spaced apart on the rotating cylinder 14 for water to pass through, thereby reducing the resistance encountered by the rotating cylinder 14 when it moves in the ocean; five rotating plates 15 are evenly spaced and rotated at the bottom of the rotating cylinder 14. After rotation, the five rotating plates 15 can be assembled into a circular plate, thereby blocking the bottom of the rotating cylinder 14, thereby protecting the bottom surface of the sonar, and circular holes are also spaced apart on the rotating plate 15 for water to pass through, thereby reducing the resistance encountered by the rotating plate 15 when it moves in the ocean; connecting plates 16 are rotatably arranged between the five rotating plates 15 and the bottom of the protective cage 11.

[0040] See Figure 8 and Figure 11 As shown, it also includes a guide bar 17 and a connecting rod 18. Two guide bars 17 are provided on the movable tube 6. A guide track is formed between the two guide bars 17. The guide track includes a spiral curve segment and a straight line segment connected to the upper and lower sides of the spiral curve segment. The rotating cylinder 14 is connected to the connecting rod 18. The connecting rod 18 is slidably connected in the guide track. The straight line segment drives the rotating cylinder 14 to move linearly along the axial direction of the movable tube 6, and the spiral curve segment drives the rotating cylinder 14 to rotate along the central axis of the movable tube 6.

[0041] By setting the rotating cylinder 14, the rotating plate 15, the connecting plate 16, the guide bar 17 and the connecting rod 18, when the first electric push rod 1002 drives the protective cage 11 to move downward, the protective cage 11 will drive the rotating cylinder 14, the rotating plate 15, the connecting plate 16 and the connecting rod 18 to move downward, so that the rotating cylinder 14 covers the sonar, thereby protecting the side and top surfaces of the sonar. When the connecting rod 18 moves downward to enter the spiral curve section of the guide bar 17, the guide bar 17 will squeeze the connecting rod 18 to move around the movable tube 6. The connecting rod 18 rotates, causing the rotating cylinder 14 to rotate, thereby causing the rotating cylinder 14 to pull the rotating plate 15 to rotate through the connecting plate 16, until the five rotating plates 15 are rotated to form a circular plate, thereby shielding the bottom of the rotating cylinder 14, thereby protecting the bottom surface of the sonar. In this way, the rotating cylinder 14 and the rotating plate 15 can form an all-round protection for the sonar, thereby improving the protection strength. When the connecting rod 18 moves downward to the spiral curve section away from the guide bar 17, the guide bar 17 will Stop squeezing the connecting rod 18, so that the connecting rod 18 stops rotating around the movable tube 6, thereby stopping the rotation of the rotating cylinder 14; when the first electric push rod 1002 drives the protective cage 11 to move upward and reset, the protective cage 11 will drive the rotating cylinder 14, the rotating plate 15, the connecting plate 16 and the connecting rod 18 to move upward and reset. When the connecting rod 18 moves upward to the spiral curve section entering the guide bar 17, the guide bar 17 will squeeze the connecting rod 18 around the movable tube 6 to reverse and reset, so that the connecting rod 18 drives the rotating cylinder 14, the rotating plate 15, the connecting plate 16 and the connecting rod 18 to move upward and reset. The cylinder 14 is reversed and reset, so that the rotating cylinder 14 pulls the rotating plate 15 through the connecting plate 16 to reverse and reset, so that the rotating plate 15 no longer blocks the bottom of the rotating cylinder 14. Then, as the rotating cylinder 14 moves upward and resets, the rotating cylinder 14 will no longer cover the sonar. When the connecting rod 18 moves upward to the spiral curve section away from the guide bar 17, the guide bar 17 will stop squeezing the connecting rod 18, so that the connecting rod 18 stops reversing around the movable tube 6, thereby stopping the rotating cylinder 14 from reversing.

[0042] See Figure 12 As shown, a second pressure sensor 19 is also included; the second pressure sensor 19 is sleeved on the screw 202, and the second pressure sensor 19 is used to sense the pressure applied by the nut 203, and the second pressure sensor 19 is electrically connected to the controller 3.

[0043] By setting the second pressure sensor 19, the second pressure sensor 19 can be inserted into the screw rod 202 before the nut 203 is screwed into the screw rod 202, and then the nut 203 is screwed into the screw rod 202, so that the nut 203 applies pressure to the second pressure sensor 19, and the second pressure sensor 19 applies pressure to the pressure plate 201, thereby limiting the pressure plate 201; thereafter, when the ship is sailing on the sea, the second pressure sensor 19 can be controlled by the controller 3 to continuously sense the pressure applied by the nut 203. When the second pressure sensor 19 senses that the pressure applied by the nut 203 is less than the preset value, it indicates that the nut 203 is loose. At this time, the second pressure sensor 19 will send a signal. After receiving the signal, the controller 3 will control the electric turntable 4 to drive the fixing frame 5 and the movable tube 6 to rotate in the opposite direction (counterclockwise when viewed from left to right). , so that the movable tube 6 drives the flange 8, sonar, connecting block 1001, first electric push rod 1002, protective cage 11, first pressure sensor 12 and anti-collision plate 13 to leave the sea water, thereby preventing the flowing sea water from continuously exerting pressure on the ship sonar vehicle, so as to prevent the ship sonar vehicle from falling off the ship after being continuously pressurized. At the same time, after receiving the signal, the controller 3 will send the signal to the control center, and the control center will notify the operator to perform subsequent operations. After that, the operator can tighten the loose nut 203, and then control the electric turntable 4 through the controller 3 to drive the fixing frame 5 and the movable tube 6 to rotate (clockwise when viewed from left to right), so that the movable tube 6 drives the flange 8, sonar, connecting block 1001, first electric push rod 1002, protective cage 11, first pressure sensor 12 and anti-collision plate 13 to return to the sea water.

[0044] See Figure 4 and Figure 12 As shown, it also includes a limiting mechanism, which includes a support frame 20, a second electric push rod 21 and a clamping rod 22; the support frame 20 is installed on the left side of the top of the mounting frame 1; the second electric push rod 21 is provided on the upper side of the support frame 20, and the second electric push rod 21 is electrically connected to the controller 3; the clamping rod 22 is connected to the telescopic rod of the second electric push rod 21, and a clamping slot 23 adapted to the clamping rod 22 is opened on the upper right side of the fixing frame 5, and the clamping rod 22 is used to be clamped into the clamping slot 23 to limit the fixing frame 5.

[0045] By setting a limiting mechanism, when the controller 3 controls the electric turntable 4 to drive the fixed frame 5 and the movable tube 6 to rotate, so that the fixed frame 5 and the movable tube 6 are in a vertical state, the controller 3 will control the telescopic rod of the second electric push rod 21 to extend, so that the telescopic rod of the second electric push rod 21 drives the clamping rod 22 to be clamped into the clamping slot 23, thereby limiting the fixed frame 5, thereby improving the stability of the fixed frame 5, the movable tube 6 and the components thereon; when the controller 3 needs to control the electric turntable 4 to drive the fixed frame 5 and the movable tube 6 to rotate in the opposite direction, the controller 3 will first control the telescopic rod of the second electric push rod 21 to shorten, so that the telescopic rod of the second electric push rod 21 drives the clamping rod 22 to leave the clamping slot 23, thereby releasing the limit on the fixed frame 5, and then the controller 3 will control the electric turntable 4 to drive the fixed frame 5 and the movable tube 6 to rotate in the opposite direction.

Claims

1. A marine sonar vehicle based on a monitoring and protection mechanism, comprising a mounting frame (1), characterized in that: The mounting frame (1) is provided with a fixing mechanism, which is used to fix the mounting frame (1) to the bulwark of the hull. The mounting frame (1) is provided with a controller (3) and an electric turntable (4). The turntable of the electric turntable (4) is connected to a fixing frame (5). A movable tube (6) is slidably provided on the fixing frame (5). The fixing frame (5) is provided with an adjusting mechanism for adjusting the height of the movable tube (6). The bottom of the movable tube (6) is connected to a flange (8) for installing a sonar. The flange (8) is provided with a proximity sensor (9). The proximity sensor (9) is used to sense an object approaching the sonar. The movable tube (6) is provided with a lifting mechanism. The lifting mechanism is connected to a protective cage (11) for protecting the sonar. The lifting mechanism is used to drive the protective cage (11) to lift and lower. A first pressure sensor (12) is installed on the side of the protective cage (11). The first pressure sensor (12) is connected to an anti-collision plate (13). The anti-collision plate (13) is used to resist the impact of an object. The lifting mechanism comprises a connecting block (1001) and a first electric push rod (1002); the connecting block (1001) is mounted on the movable tube (6); the connecting block (1001) is connected to the first electric push rod (1002); and the protective cage (11) is connected to the telescopic rod of the first electric push rod (1002).

2. A marine sonar vehicle based on a monitoring and protection mechanism according to claim 1, characterized in that: The fixing mechanism comprises a pressing plate (201), a screw (202) and a nut (203); the pressing plate (201) is slidably provided on the mounting frame (1); the screw (202) is further provided on the mounting frame (1); the screw (202) slidably penetrates the pressing plate (201); a nut (203) is threadedly provided on the screw (202); the nut (203) is used to limit the pressing plate (201).

3. The marine sonar vehicle based on the monitoring and protection mechanism according to claim 1, characterized in that: The adjustment mechanism includes a rack (701), a rotating shaft (702), a servo motor (703), a worm (704), a worm wheel (705) and a gear (706). The rack (701) is installed on the side of the movable tube (6). The rotating shaft (702) is rotatably provided on the fixed frame (5). The servo motor (703) is also installed on the fixed frame (5). The output shaft of the servo motor (703) is connected to the worm (704). The rotating shaft (702) is connected to the worm wheel (705) and the gear (706). The worm (704) is meshed with the worm wheel (705), and the gear (706) is meshed with the rack (701).

4. The marine sonar vehicle based on the monitoring and protection mechanism according to claim 1, characterized in that: The protective cage (11) further comprises a rotating cylinder (14), a rotating plate (15) and a connecting plate (16). The rotating cylinder (14) is coaxially rotatably provided inside the protective cage (11). The rotating plate (15) is rotatably provided at the bottom of the rotating cylinder (14). The connecting plate (16) is rotatably provided between the rotating plate (15) and the bottom of the protective cage (11).

5. The marine sonar vehicle based on the monitoring and protection mechanism according to claim 4, characterized in that: The movable tube (6) further comprises a guide bar (17) and a connecting rod (18). Two guide bars (17) are provided on the movable tube (6). A guide track is formed between the two guide bars (17). The guide track comprises a spiral curve segment and a straight line segment connected to the upper and lower sides of the spiral curve segment. The rotating cylinder (14) is connected to the connecting rod (18). The connecting rod (18) is slidably connected in the guide track. The straight line segment drives the rotating cylinder (14) to move linearly along the axial direction of the movable tube (6). The spiral curve segment drives the rotating cylinder (14) to rotate along the central axis of the movable tube (6).

6. The marine sonar vehicle based on the monitoring and protection mechanism according to claim 2, characterized in that: A second pressure sensor (19) is also included. The screw (202) is sleeved with the second pressure sensor (19). The second pressure sensor (19) is used to sense the pressure applied by the nut (203).

7. A marine sonar vehicle based on a monitoring and protection mechanism according to any one of claims 1 to 6, characterized in that: The invention also includes a limiting mechanism, which includes a support frame (20), a second electric push rod (21) and a clamping rod (22). The support frame (20) is installed on the mounting frame (1), the second electric push rod (21) is provided on the support frame (20), the clamping rod (22) is connected to the telescopic rod of the second electric push rod (21), and a clamping groove (23) adapted to the clamping rod (22) is provided on the fixing frame (5). The clamping rod (22) is used to be clamped into the clamping groove (23) to limit the fixing frame (5).

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