Watertight drive assembly and calibration device having a watertight drive assembly

Abstract

The utility model discloses a watertight drive assembly and a calibration device with the watertight drive assembly, wherein the watertight drive assembly is used to drive an ultra-short baseline array to rotate. The watertight drive assembly comprises a wiring terminal, a drive unit, a watertight compartment, a sealing ring and an assembly unit, wherein the watertight compartment has a watertight cavity and a side opening and a bottom opening respectively connected to the watertight cavity, the wiring terminal is watertightly installed on the side opening, the drive unit is accommodated in the watertight cavity in a manner that a rotor extends to the outside through the bottom opening, the drive unit is connected to the wiring terminal, the sealing ring is sleeved on the rotor of the drive unit and installed on the watertight compartment, the sealing ring seals the bottom opening of the watertight compartment, the assembly unit has a relative assembly top end and an assembly bottom end, the assembly top end of the assembly unit is assembled on the rotor of the drive unit, and the assembly bottom end of the assembly unit is used to assemble the ultra-short baseline array.

Description

Technical Field

[0001] The utility model relates to a calibration device in the technical field of hydroacoustic engineering, in particular to a watertight driving component and a calibration device with the watertight driving component. Background Art

[0002] At present, countries attach more and more importance to marine resources and continue to invest in the development and utilization of marine resources. Therefore, ultra-short baseline systems for accurate positioning of underwater submersibles and divers are widely used, wherein the ultra-short baseline system is composed of an ultra-short baseline array and an electronic cabin connected to the ultra-short baseline array. The ultra-short baseline array, which receives the sound signal of the sound source, is the core device of the ultra-short baseline system, and its accuracy has an important influence on the positioning accuracy of the ultra-short baseline system. However, due to the assembly error of the ultra-short baseline array and the limitations of the vulcanization process, the ultra-short baseline array inevitably has errors after being manufactured. How to measure the error to assist in the calibration of the ultra-short baseline array is a technical problem that the inventor of the utility model is committed to solving. Utility Model Content

[0003] One object of the utility model is to provide a watertight drive assembly and a calibration device with the watertight drive assembly, wherein the calibration device can calibrate an ultra-short baseline array in an anechoic water tank.

[0004] One object of the utility model is to provide a watertight drive assembly and a calibration device with the watertight drive assembly, wherein during the calibration of the ultra-short baseline array, the watertight drive assembly can keep the ultra-short baseline array in a receiving position to form a receiving transducer, and at the same time, the driving unit of the watertight drive assembly can drive the ultra-short baseline array to rotate to change the azimuth angle of the ultra-short baseline array, so that the ultra-short baseline array can receive sound signals at various azimuth angles.

[0005] One object of the utility model is to provide a watertight drive assembly and a calibration device with the watertight drive assembly, wherein the watertight drive assembly can adjust the height position of the ideal center of the acoustic center of the ultra-short baseline array.

[0006] According to one aspect of the present invention, the present invention provides a watertight drive assembly for driving an ultra-short baseline array to rotate, wherein the watertight drive assembly comprises:

[0007] a terminal block;

[0008] a drive unit, wherein the drive unit has a rotor;

[0009] a watertight compartment, wherein the watertight compartment has a watertight cavity and a side opening and a bottom opening respectively connected to the watertight cavity, wherein the wiring terminal is watertightly mounted on the side opening of the watertight compartment, wherein the driving unit is accommodated in the watertight cavity of the watertight compartment in a manner that the rotor extends to the outside of the watertight compartment through the bottom opening, and the driving unit is connected to the wiring terminal;

[0010] a sealing ring, wherein the sealing ring is sleeved on the rotor of the driving unit and installed in the watertight compartment, and the sealing ring seals the bottom opening of the watertight compartment; and

[0011] An assembly unit, wherein the assembly unit has an assembly top end and an assembly bottom end opposite to each other, the assembly top end of the assembly unit is assembled to the rotor of the driving unit, and the assembly bottom end of the assembly unit is used to assemble the ultra-short baseline array.

[0012] According to one embodiment of the utility model, the watertight compartment includes a shell and a bottom cover, the bottom cover is installed on the shell to form the watertight compartment between the shell and the bottom cover, wherein the side opening is provided on the shell, the bottom opening is provided on the bottom cover, and the drive unit is installed on the shell.

[0013] According to one embodiment of the utility model, the watertight drive assembly includes an adapter ring, which surrounds the top of the drive unit, and the adapter ring is locked to the top of the drive unit and to the housing, so that the drive unit is installed on the housing by the adapter ring.

[0014] According to an embodiment of the utility model, the adapter ring has an escape opening for escaping the wiring terminal.

[0015] According to one embodiment of the utility model, the assembly unit includes an extension arm, an assembly flange and a clamping portion, wherein the assembly flange is arranged at the top of the extension arm to form the assembly top end of the assembly unit, and the assembly flange is installed on the rotor of the drive unit, wherein the clamping portion is arranged at the bottom of the extension arm to form the assembly bottom end of the assembly unit, and the clamping portion is used to clamp the ultra-short baseline array so as to assemble the ultra-short baseline array at the assembly bottom end of the assembly unit.

[0016] According to one embodiment of the utility model, the clamping part includes a first clamping block, a second clamping block and two adjusting rods, and the clamping part has a clamping cavity, wherein the first clamping block and the second clamping block are arranged face to face, one end of the two adjusting rods extends to the two threaded holes of the first clamping block after passing through the two screw holes of the second clamping block respectively, and each of the adjusting rods is screwed to the first clamping block respectively, so that each of the adjusting rods enables the clamping part to form a clamping cavity with adjustable size between the first clamping block and the second clamping block, wherein one of the first clamping block and the second clamping block is installed at the bottom of the extension arm.

[0017] According to an embodiment of the present invention, a side of the first clamping block facing the second clamping block has a "V"-shaped groove.

[0018] According to an embodiment of the utility model, the bottom of the extension arm has a notch, and the position of the notch corresponds to the position of the clamping cavity of the clamping part and the two are connected.

[0019] According to an embodiment of the utility model, the watertight drive assembly includes a boom and a pan head installed at the bottom of the boom, and the watertight compartment is arranged on the pan head.

[0020] According to an embodiment of the utility model, the watertight drive assembly includes an adapter plate, and opposite sides of the adapter plate are respectively installed on the pan head and the watertight compartment, so that the watertight compartment is set on the pan head by the adapter plate.

[0021] According to another aspect of the utility model, the utility model further provides a calibration device with a watertight drive assembly, comprising:

[0022] a calibration stand;

[0023] an arc-shaped arm, wherein the arc-shaped arm is mounted on the calibration frame and extends along a height direction;

[0024] A plurality of fixing components, wherein each of the fixing components is disposed on the arc-shaped arm at intervals along the extension direction of the arc-shaped arm, and each of the fixing components can be respectively installed with a transmitting transducer; and

[0025] a watertight drive assembly, wherein the watertight drive assembly is disposed on the calibration frame and is located on the concave side of the arc-shaped arm, so that the watertight drive assembly suspends another transducer on the concave side of the arc-shaped arm, wherein the watertight drive assembly further comprises:

[0026] a terminal block;

[0027] a drive unit, wherein the drive unit has a rotor;

[0028] a watertight compartment, wherein the watertight compartment has a watertight cavity and a side opening and a bottom opening respectively connected to the watertight cavity, wherein the wiring terminal is watertightly mounted on the side opening of the watertight compartment, wherein the driving unit is accommodated in the watertight cavity of the watertight compartment in a manner that the rotor extends to the outside of the watertight compartment through the bottom opening, and the driving unit is connected to the wiring terminal;

[0029] a sealing ring, wherein the sealing ring is sleeved on the rotor of the driving unit and installed in the watertight compartment, and the sealing ring seals the bottom opening of the watertight compartment; and

[0030] An assembly unit, wherein the assembly unit has an assembly top end and an assembly bottom end opposite to each other, the assembly top end of the assembly unit is assembled to the rotor of the driving unit, and the assembly bottom end of the assembly unit is used to assemble the ultra-short baseline array. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of a calibration device with a watertight drive assembly according to the utility model.

[0032] Figure 2 It is a three-dimensional schematic diagram of a watertight driving assembly of the calibration device according to the above preferred embodiment of the utility model.

[0033] Figure 3 It is a schematic diagram of an exploded view of the watertight drive assembly of the calibration device according to the above preferred embodiment of the utility model from one perspective.

[0034] Figure 4 It is a schematic diagram of an exploded view from another perspective of the watertight drive assembly of the calibration device according to the above preferred embodiment of the utility model.

[0035] Figure 5 It is a schematic cross-sectional view of the watertight drive assembly of the calibration device according to the above preferred embodiment of the utility model.

[0036] Figure 6 It is a schematic diagram of a partial structure of the watertight drive assembly of the calibration device according to the above preferred embodiment of the utility model from one perspective.

[0037] Figure 7 It is a schematic diagram of an exploded view from another perspective of the above-mentioned local structure of the watertight drive assembly of the calibration device according to the above-mentioned preferred embodiment of the utility model. DETAILED DESCRIPTION

[0038] Before describing in detail any embodiment of the utility model, it should be understood that the utility model is not limited in its application to the construction and arrangement details of the components described below or illustrated in the following figures. The utility model can have other embodiments and can be practiced or carried out in various ways. In addition, it should be understood that the words and terms used here are for descriptive purposes and should not be considered restrictive. The use of "including" or "having" and its variations herein is intended to cover the items and their equivalents and additional items displayed below. Unless otherwise specified or limited, the terms "install", "connect", "support" and "couple" and their variations are widely used and cover direct installation and indirect installation, connection, support and connection. In addition, "connect" and "couple" are not limited to physical or mechanical connections or connections.

[0039] Furthermore, on the first aspect, in the disclosure of the present invention, the terms "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore the above terms cannot be understood as limitations on the present invention; on the second aspect, the term "one" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the element may be multiple, and the term "one" cannot be understood as a limitation on the quantity.

[0040] Referring to the drawings of the specification of the utility model Figures 1 to 7 A calibration device with a watertight drive assembly according to a preferred embodiment of the utility model will be disclosed and explained in the following description, wherein the calibration device includes a calibration frame 10, an arc arm 20, a plurality of fixing assemblies 30 and a watertight drive assembly 40.

[0041] Reference Figure 1 , the arc arm 20 is mounted on the calibration frame 10, and the arc arm 20 extends along the height direction. Specifically, the calibration frame 10 is in the shape of a letter "[", and the bottom, convex side and top of the arc arm 20 are respectively mounted on the bottom, side and top of the calibration frame 10, so as to mount the arc arm 20 on the calibration frame 10 and allow the arc arm 20 to extend along the height direction.

[0042] In order to form the calibration frame 10 in the shape of a letter "[", in the calibration device of the present invention, the calibration frame 10 includes a base frame 11, a top frame 12 and a side frame 13, the bottom of the side frame 13 is arranged on one side of the base frame 11, the top of the side frame 13 is arranged on one side of the top frame 12, and the top frame 12 is located directly above the base frame 11, so that the base frame 11, the top frame 12 and the side frame 13 form the calibration frame 10 in the shape of a letter "[", wherein the arc-shaped arm 20 The bottom is installed on the base frame 11, the top of the arc arm 20 is installed on the top frame 12, and the convex side of the arc arm 20 is installed on the side frame 13. In this way, the arc arm 20 can not only be installed on the calibration frame 10, but also a stable triangular structure can be formed between the bottom of the arc arm 20, the base frame 11 and the side frame 13, and a stable triangular structure can be formed between the top of the arc arm 20, the top frame 12 and the side frame 13 to ensure the stability of the calibration device.

[0043] Continue to refer to the attached Figure 1 Each of the fixing components 30 is arranged on the arc-shaped arm 20 at intervals along the extending direction of the arc-shaped arm 20, wherein each of the fixing components 30 can be respectively installed with a transducer so that the transducer forms a transmitting transducer. In other words, the transmitting transducers installed on the fixing components 30 are transducers for simulating a sound source to transmit a sound signal.

[0044] It is worth mentioning that the specific structure of the fixing component 30 is not limited in the calibration device of the present invention. For example, the fixing component 30 can be a gimbal, or the fixing component 30 includes a gimbal. In this way, the fixing component 30 can not only be used to install the transmitting transducer, but also can adjust the posture of the transmitting transducer, thereby adjusting the geometric center of the transducer so that the geometric centers of the transmitting transducers can be coplanar.

[0045] It is worth mentioning that the specific number of the fixing components 30 is not limited in the calibration device of the present invention. Figures 1 to 7 In the specific example of the calibration device of the present invention shown, the number of the fixing components 30 can be 17, that is, the 17 fixing components 30 are arranged at intervals from each other along the extension direction of the arc-shaped arm 20. After the posture of the transmitting transducer is adjusted by the fixing components 30, the geometric centers of the 17 transmitting transducers can be coplanar.

[0046] The watertight drive assembly 40 is arranged on the calibration frame 10, and the watertight drive assembly 40 is located on the concave side of the arc arm 20, so that the ultra-short baseline array is suspended on the concave side of the arc arm 20 by the watertight drive assembly 40. It can be understood that the ultra-short baseline array is a receiving transducer. In other words, the ultra-short baseline array suspended on the concave side of the arc arm 20 by the watertight drive assembly 40 can receive the acoustic signal emitted by the transmitting transducer fixed to the fixing assembly 30, so as to calibrate the ultra-short baseline array suspended on the concave side of the arc arm 20 by the watertight drive assembly 40. It can be understood that since each of the fixing assemblies 30 is arranged at intervals from each other along the extension direction of the arc arm 20, after each of the transmitting transducers is respectively installed on each of the fixing assemblies 30, the distance from each of the transmitting transducers to the ultra-short baseline array can be consistent.

[0047] Specifically, the watertight drive assembly 40 includes a watertight compartment 41 , a wiring terminal 42 , a drive unit 43 , a sealing ring 44 and an assembly unit 45 .

[0048] Reference Figure 5 The watertight compartment 41 has a watertight cavity 411, a side opening 412 and a bottom opening 413, and the side opening 412 and the bottom opening 413 are respectively connected to the watertight cavity 411.

[0049] In the attached Figures 1 to 7 In this specific example of the calibration device of the present invention shown, the watertight compartment 41 includes a shell 414 and a bottom cover 415, and the bottom cover 415 is installed on the shell 414 to form the watertight cavity 411 of the watertight compartment 41 between the bottom cover 415 and the shell 414, wherein the side opening 412 of the watertight compartment 41 is provided on the shell 414, and the bottom opening 413 of the watertight compartment 41 is provided on the bottom cover 415.

[0050] It is worth mentioning that the specific manner in which the bottom cover 415 is mounted on the housing 414 is not limited in the calibration device of the present invention. Figures 1 to 7In the specific example of the calibration device of the present invention shown, the housing 414 has a plurality of first threaded holes 4141, and the bottom cover 415 has a plurality of first screw holes 4151, and the positions of the first screw holes 4151 of the bottom cover 415 correspond to the positions of the first threaded holes 4141 of the housing 414, wherein one end of each screw 100 extends to each first threaded hole 4141 of the housing 414 after passing through each first screw hole 4151 of the bottom cover 415, and the screw 100 and the housing 414 are screwed together so that the bottom cover 415 is mounted on the housing 414 by each screw 100. It can be understood that in order to further increase the watertightness of the watertight compartment 41, the watertight compartment 41 may add a sealing ring, such as a silicone or rubber sealing ring, between the housing 414 and the bottom cover 415.

[0051] Reference Figure 5 The connection terminal 42 is watertightly installed at the side opening 412 of the watertight compartment 41 to prevent water from entering the watertight cavity 411 through the side opening 412 of the watertight compartment 41.

[0052] Continue to refer to the attached Figures 5 to 7 The driving unit 43 has a rotor 431, wherein the driving unit 43 is accommodated in the watertight cavity 411 of the watertight compartment 41 and connected to the wiring terminal 42, and the rotor 431 of the driving unit 43 extends from the watertight cavity 411 to the outside of the watertight compartment 41 through the bottom opening 413 of the watertight compartment 41, wherein the sealing ring 44 is sleeved on the rotor 431 of the driving unit 43 and the bottom cover 415 installed on the watertight compartment 41, so that the bottom opening 413 of the watertight compartment 41 is closed by the sealing ring 44, so that the sealing ring 44 can prevent water from entering the watertight cavity 411 through the bottom opening 413 of the watertight compartment 41, so as to avoid short circuit of the wiring terminal 42 and / or the driving unit 43. Preferably, the sealing ring 44 can be a sealing bearing, which can not only prevent water from entering the watertight chamber 411 through the bottom opening 413 of the watertight compartment 41, but also allow the rotor 431 of the driving unit 43 to rotate. Figures 5 to 7 The watertight drive assembly 40 further includes a retaining spring 410, which is clamped on the inner wall of the bottom opening 413 of the bottom cover 415 for forming the watertight compartment 41, and the retaining spring 410 is located below the sealing ring 44 to prevent the sealing ring 44 from falling off from the bottom cover 415.

[0053] In some examples of the calibration device of the present invention, the driving unit 43 is installed in the housing 414 to accommodate the driving unit 43 in the watertight cavity 411 of the watertight compartment 41. Figures 5 to 7 The watertight drive assembly 40 further includes an adapter ring 46, which surrounds the top of the drive unit 43, and is locked to the top of the drive unit 43 and to the housing 414, so that the drive unit 43 is installed on the housing 414 by the adapter ring 46. Optionally, in other examples of the calibration device of the present invention, the opposite sides of the adapter ring 46 can also be bonded to the housing 414 and the top of the drive unit 43 by glue, so that the drive unit 43 is installed on the housing 414 by the adapter ring 46.

[0054] It can be understood that some of the screw rods 100 can be used to lock the adapter ring 46 to the top of the drive unit 43 and to the housing 414. Specifically, the adapter ring 46 has a plurality of second screw holes 461 and a plurality of third screw holes 462, the top of the drive unit 43 has a plurality of second threaded holes 432, and the housing 414 has a plurality of third threaded holes 4142, wherein the positions of the respective second threaded holes 432 of the drive unit 43 correspond to the positions of the respective second screw holes 461 of the adapter ring 46, and one end of each of the screw rods 100 extends to each of the second threaded holes 432 of the drive unit 43 after passing through each of the second screw holes 461 of the adapter ring 46, and the screw rods 100 and the drive unit 43 are screwed so that each of the screw rods 100 can lock the drive unit 43. The adapter ring 46 is installed on the top of the drive unit 43, so that the adapter ring 46 is locked to the shell 414, wherein the positions of the third threaded holes 4142 of the shell 414 correspond to the positions of the third screw holes 462 of the adapter ring 46, and one end of each screw 100 extends to the third threaded hole 4142 of the shell 414 after passing through the third screw holes 462 of the adapter ring 46, and the screw 100 and the shell 414 are screwed together so that the adapter ring 46 is installed on the shell 414 by each screw 100, so that the adapter ring 46 is locked to the shell 414.

[0055] Preferably, the adapter ring 46 has an escape opening 463 for escaping the wiring terminal 42 , which is helpful to reduce the size of the watertight drive assembly 40 .

[0056] Continue to refer to the attached Figures 1 to 7The assembly unit 45 has an assembly top end 451 and an assembly bottom end 452 opposite to each other, wherein the assembly top end 451 of the assembly unit 451 is assembled to the rotor 431 of the driving unit 43, and the assembly bottom end 452 of the assembly unit 45 extends to the concave side of the arc arm 20 and is used to install the ultra-short baseline array, so that the ultra-short baseline array can receive the acoustic signal emitted by the transmitting transducer.

[0057] Specifically, the assembly unit 45 includes an extension arm 453 and an assembly flange 454 and a clamping portion 455 respectively disposed at opposite ends of the extension arm 453 .

[0058] More specifically, the assembly flange 454 is disposed at the top of the extension arm 453 to form the assembly top 451 of the assembly unit 45, and the assembly flange 454 is mounted on the rotor 431 of the drive unit 43 to assemble the assembly top 451 of the assembly unit 45 to the rotor 431 of the drive unit 43. In this specific example of the calibration device of the utility model, the assembly flange 454 includes a first flange 4541 and a sleeve 4542 extending upward from the first flange 4541 in an integral manner, and the sleeve 4542 is fixedly mounted on the rotor 431 of the drive unit 43 to allow the rotor 431 of the drive unit 43 to drive the assembly flange 454 to rotate synchronously, wherein the top of the extension arm 453 has a second flange 4531, and the second flange 4531 of the extension arm 453 can be locked by a set of locking components 50, so that the assembly flange 454 is disposed at the top of the extension arm 453.

[0059] Reference Figure 3 and Figure 4 The assembly flange 454 is provided with a plurality of first through holes 4543 on the first flange plate 4541, and the extension arm 453 is provided with a plurality of second through holes 4532 on the second flange plate 4531, and the positions of the first through holes 4543 of the assembly flange 454 correspond to the positions of the second through holes 4532 of the extension arm 453, wherein each of the locking components 50 includes a locking rod 51 and a locking cap 52, and one end of the locking rod 51 is screwed onto the locking cap 52 after passing through the first through hole 4543 of the assembly flange 454 and the second through hole 4532 of the extension arm 453, so that the assembly flange 454 and the top of the extension arm 453 are locked by the locking component 50.

[0060] Reference Figures 2 to 4The clamping portion 455 includes a first clamping block 4551, a second clamping block 4552 and two adjusting rods 4553, and the clamping portion 455 has a clamping cavity 4554, wherein the first clamping block 4551 has two fourth threaded holes 45511, and the second clamping block 4552 has two fourth screw holes 45521, the first clamping block 4551 and the second clamping block 4552 are arranged face to face, and the positions of the fourth threaded holes 45511 of the first clamping block 4551 and the fourth threaded holes 4552 of the second clamping block 4552 are respectively The positions of the screw holes 45521 correspond to each other, and one end of each adjusting rod 4553 extends to each of the fourth threaded holes 45511 of the first clamping block 4551 after passing through each of the fourth screw holes 45521 of the second clamping block 4552, and each of the adjusting rods 4553 is screwed onto the first clamping block 4551, respectively, so that each of the adjusting rods 4553 enables the clamping portion 455 to form a clamping cavity 4554 with adjustable size between the first clamping block 4551 and the second clamping block 4552 for clamping the ultra-short baseline array.

[0061] In this specific example of the calibration device of the present invention, the first clamping block 4551 of the clamping portion 455 is installed at the bottom of the extension arm 453, so that the clamping portion 455 is arranged at the bottom of the extension arm 453. Figure 3 and Figure 4 The bottom of the extension arm 453 has a third flange 4533 and at least one fifth screw hole 4534 provided on the third flange 4533, the first clamping block 4551 has at least one fifth threaded hole 45512, the position of the fifth screw hole 4534 of the extension arm 453 corresponds to the position of the fifth threaded hole 45512 of the first clamping block 4551, one end of the screw 100 extends to the fifth threaded hole 45512 of the first clamping block 4551 after passing through the fifth screw hole 4534 of the extension arm 453, and the screw 100 and the first clamping block 4551 are screwed to install the first clamping block 4551 on the bottom of the extension arm 453. Optionally, in other examples of the calibration device of the present invention, the second clamping block 4552 of the clamping portion 455 is installed on the bottom of the extension arm 453.

[0062] Preferably, a side of the first clamping block 4551 facing the second clamping block 4552 has a "V"-shaped groove 45513, so that the first clamping block 4551 and the second clamping block 4552 cooperate with each other to reliably clamp the ultra-short baseline array.

[0063] Preferably, the bottom of the extension arm 453 has a notch 4535, the position of the notch 4535 corresponds to the position of the clamping cavity 4554 of the clamping part 455, and the notch 4535 of the extension arm 453 is connected to the clamping cavity 4554 of the clamping part 455, wherein when the ultra-short baseline array is clamped in the clamping cavity 4554 of the clamping part 455, the notch 4535 of the extension arm 453 can avoid a part of the position of the ultra-short baseline array.

[0064] Reference Figures 1 to 5 The watertight drive assembly 40 further includes a boom 47 and a pan-tilt platform 48. The top of the boom 47 is installed on the top frame 12 of the calibration frame 10, and the pan-tilt platform 48 is installed on the bottom of the boom 47. The watertight compartment 41 is arranged on the pan-tilt platform 48, so that the watertight drive assembly 40 can suspend the ultra-short baseline array on the concave side of the arc arm 20, and the pan-tilt platform 48 can adjust the posture of the ultra-short baseline array to change the ideal position of the acoustic center of the ultra-short baseline array, for example, change the height position of the ideal position of the acoustic center of the ultra-short baseline array, so that the ideal position of the acoustic center of the ultra-short baseline array and the geometric center of the transmitting transducer can be coplanar.

[0065] It is worth mentioning that the specific type of the pan / tilt 48 is not limited in the calibration device of the present invention, as long as it can be used to adjust the posture of the ultra-short baseline array.

[0066] In order to set the watertight compartment 41 on the pan-tilt head 48, in this specific example of the calibration device of the present invention, the watertight drive assembly 40 includes an adapter plate 49, and the opposite sides of the adapter plate 49 are respectively installed on the pan-tilt head 48 and the watertight compartment 41, so that the watertight compartment 41 can be set on the pan-tilt head 48 by the adapter plate 49.

[0067] Specifically, the shell 414 of the watertight compartment 41 has a plurality of sixth threaded holes 4143, and the gimbal adapter plate 49 has a plurality of sixth screw holes 491, and the positions of the respective sixth screw holes 491 of the gimbal adapter plate 49 correspond to the positions of the respective sixth threaded holes 4143 of the shell 414, wherein one end of each of the screws 100 extends to each of the sixth threaded holes 4143 of the shell 414 after passing through each of the sixth screw holes 491 of the gimbal adapter plate 49, and the screw 100 and the shell 414 are screwed to install the gimbal adapter plate 49 on the shell 414.

[0068] The bottom of the boom 47 has a fourth flange 471 and a plurality of seventh screw holes 472 provided on the fourth flange 471, the gimbal 48 has a plurality of eighth screw holes 481, and the gimbal adapter plate 49 has a plurality of seventh threaded holes 492, and the positions of the respective seventh screw holes 472 of the boom 47, the positions of the respective eighth screw holes 481 of the gimbal 48, and the positions of the respective seventh threaded holes 492 of the gimbal adapter plate 49 correspond to each other, wherein one end of each of the screws 100 extends to each of the seventh threaded holes 492 of the gimbal adapter plate 49 after passing through each of the seventh screw holes 472 of the boom 47 and each of the eighth screw holes 481 of the gimbal 48, and the screw 100 and the gimbal adapter plate 49 are screwed together to install the gimbal 48 on the bottom of the boom 47 and to install the gimbal adapter plate 49 on the bottom of the gimbal 48.

[0069] Before using the calibration device of the present invention to measure the error of the ultra-short baseline array, first, each of the transmitting transducers is installed on each of the fixing components 30, so that the transmitting transducers form a transmitting transducer array distributed along the height direction, and the postures of the transmitting transducers are adjusted by the fixing components 30 so that the geometric centers of the transmitting transducers are coplanar. Secondly, the ultra-short baseline array is installed on the clamping part 455 of the assembly unit 45 of the watertight drive component 40, so that the ultra-short baseline array forms a receiving transducer, and the ultra-short baseline array is suspended on the concave side of the arc arm 20 by the watertight drive component 40. The pan-tilt head 48 can adjust the posture of the ultra-short baseline array so that the ideal position of the acoustic center of the ultra-short baseline array is coplanar with the geometric centers of the transmitting transducers, and this plane is perpendicular to the horizontal plane.

[0070] When the calibration device of the utility model is used to measure the ultra-short baseline array, the calibration device is placed in a anechoic water pool, and the rotor 431 of the drive unit 43 can drive the ultra-short baseline array to rotate when rotating, so as to change the azimuth angle of the ultra-short baseline array, so that the ultra-short baseline array can sequentially receive the acoustic signals emitted by these transmitting transducers at different azimuth angles. In this case, each of the transmitting transducers is enabled to transmit an acoustic signal in turn, and the received data of the ultra-short baseline array is obtained. Estimated values ​​of azimuth and elevation angles within the vertical opening angle range in the azimuth case , , and the true value , Compare and get the measurement error calibration value of azimuth and elevation angle , According to the measurement error calibration values ​​of the azimuth and elevation angles under all horizontal opening angles, a curve fitting method is used for interpolation processing to obtain a table of fine measurement error calibration values ​​within the three-dimensional space measurement range. Subsequently, in the actual application of the ultra-short baseline system, after obtaining the estimated values ​​of the azimuth and elevation angles under a certain horizontal opening angle, the measurement error calibration values ​​of the azimuth and elevation angles under the horizontal opening angle are obtained by looking up the table, and the measurement error calibration value is subtracted from the estimated value to complete the calibration of the ultra-short baseline system.

[0071] It is worth mentioning that the true value of the azimuth angle is the angle between the projection of the line connecting the geometric center of the transmitting transducer and the theoretical position of the acoustic center of the ultra-short baseline array on the xy plane and the x-axis, and the true value of the pitch angle is the angle between the line connecting the geometric center of the transmitting transducer and the theoretical position of the acoustic center of the ultra-short baseline array and the xy plane.

[0072] It should be understood by those skilled in the art that the embodiments of the present invention described above and shown in the accompanying drawings are only examples and do not limit the present invention. The purpose of the present invention has been fully and effectively achieved. The functions and structural principles of the present invention have been demonstrated and explained in the embodiments, and the embodiments of the present invention may be deformed or modified in any way without departing from the principles.

Claims

1. A watertight drive assembly, used to drive an ultra-short baseline array to rotate, characterized in that: include: a terminal block; a drive unit, wherein the drive unit has a rotor; a watertight compartment, wherein the watertight compartment has a watertight cavity and a side opening and a bottom opening respectively connected to the watertight cavity, wherein the wiring terminal is watertightly mounted on the side opening of the watertight compartment, wherein the driving unit is accommodated in the watertight cavity of the watertight compartment in a manner that the rotor extends to the outside of the watertight compartment through the bottom opening, and the driving unit is connected to the wiring terminal; a sealing ring, wherein the sealing ring is sleeved on the rotor of the driving unit and installed in the watertight compartment, and the sealing ring seals the bottom opening of the watertight compartment; as well as An assembly unit, wherein the assembly unit has an assembly top end and an assembly bottom end opposite to each other, the assembly top end of the assembly unit is assembled to the rotor of the driving unit, and the assembly bottom end of the assembly unit is used to assemble the ultra-short baseline array.

2. A watertight drive assembly according to claim 1, wherein the watertight compartment comprises a shell and a bottom cover, the bottom cover is installed on the shell to form the watertight compartment between the shell and the bottom cover, wherein the side opening is provided on the shell, and the bottom opening is provided on the bottom cover, wherein the drive unit is installed on the shell.

3. A watertight drive assembly according to claim 2, wherein the watertight drive assembly includes an adapter ring, the adapter ring surrounds the top of the drive unit, and the adapter ring is locked to the top of the drive unit and to the shell, so that the drive unit can be installed on the shell by the adapter ring.

4. The watertight drive assembly according to claim 3, wherein the adapter ring has an escape opening for escaping the wiring terminal.

5. A watertight drive assembly according to claim 1, wherein the assembly unit comprises an extension arm, an assembly flange and a clamping portion, wherein the assembly flange is arranged at the top of the extension arm to form the assembly top end of the assembly unit, and the assembly flange is installed on the rotor of the drive unit, wherein the clamping portion is arranged at the bottom of the extension arm to form the assembly bottom end of the assembly unit, and the clamping portion is used to clamp the ultra-short baseline array to assemble the ultra-short baseline array to the assembly bottom end of the assembly unit.

6. A watertight drive assembly according to claim 5, wherein the clamping part includes a first clamping block, a second clamping block and two adjusting rods, and the clamping part has a clamping cavity, wherein the first clamping block and the second clamping block are arranged face to face, one end of the two adjusting rods extends to the two threaded holes of the first clamping block after passing through the two screw holes of the second clamping block respectively, and each of the adjusting rods is screwed to the first clamping block respectively, so that each of the adjusting rods enables the clamping part to form a clamping cavity with adjustable size between the first clamping block and the second clamping block, wherein one of the first clamping block and the second clamping block is installed at the bottom of the extension arm.

7. The watertight drive assembly according to claim 6, wherein a side of the first clamping block facing the second clamping block has a "V"-shaped groove.

8. The watertight drive assembly according to claim 6, wherein the bottom of the extension arm has a notch, the position of the notch corresponds to the position of the clamping cavity of the clamping part and the two are connected.

9. The watertight drive assembly according to any one of claims 1 to 8, wherein the watertight drive assembly comprises a boom and a pan head installed at the bottom of the boom, and the watertight compartment is arranged on the pan head.

10. The watertight drive assembly according to claim 9, wherein the watertight drive assembly comprises an adapter plate, and opposite sides of the adapter plate are respectively installed on the pan-tilt head and the watertight compartment, so that the watertight compartment can be set on the pan-tilt head by the adapter plate.

11. A calibration device with a watertight drive assembly, characterized in that: include: a calibration stand; an arc-shaped arm, wherein the arc-shaped arm is mounted on the calibration frame and extends along a height direction; A plurality of fixing components, wherein each of the fixing components is arranged on the arc-shaped arm at intervals along the extension direction of the arc-shaped arm, and each of the fixing components can be respectively installed with a transmitting transducer; as well as A watertight drive assembly according to any one of claims 1 to 10, wherein the watertight drive assembly is arranged on the calibration frame, and the watertight drive assembly is located on the concave side of the arc arm, so that the ultra-short baseline array is suspended on the concave side of the arc arm by the watertight drive assembly.

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