Driving mechanism for sonar equipment and holder comprising same

Abstract

The utility model provides a driving mechanism for sonar equipment and a holder comprising the same, the driving mechanism comprises an outer frame and a rotating disc rotatably arranged in the outer frame, the rotating disc is used for installing the sonar equipment, and when the rotating disc rotates relative to the outer frame, the rotating disc can drive the sonar equipment to rotate; a rotating shaft is fixedly arranged on the rotating disc, a rotating device is arranged in the rotating shaft, a driving shaft of the rotating device and the rotating disc are eccentric, the rotating device and the outer frame are connected through a transmission mechanism, and the rotating device can drive the rotating disc and the outer frame to rotate relatively. Due to the fact that the driving mechanism is provided with the transmission assembly, the sonar equipment can be driven to rotate under the condition that the driving shaft and the rotating shaft are eccentric, the transverse overturning angle of the sonar equipment can be changed, the sonar equipment can work at different transverse overturning angles, and the working efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of underwater sonar technology, and in particular to a drive mechanism for a sonar device and a gimbal containing the same. Background Technology

[0002] Underwater sonar is a technology that uses the properties of sound waves to propagate underwater to detect, locate, and sense underwater objects. It is widely used in fields such as marine research, military, marine engineering, underwater navigation, and communication.

[0003] Sonar equipment emits sound wave signals through a transmitter. The sound waves propagate in the water. If they encounter an obstacle (such as another object or the seabed), some of the sound waves will be reflected back. The receiver of the sonar (usually a hydrophone) captures the reflected sound waves, i.e., the echo. By analyzing the intensity, time delay, and frequency changes of the echo, the distance, direction, size, and shape of the object can be determined.

[0004] However, the vertical opening angle of the field of view of two-dimensional image sonar equipment is generally no more than 20 degrees, and the scanning range is small, which results in the low efficiency of sonar equipment in searching for targets. Utility Model Content

[0005] This application provides a drive mechanism for a sonar device and a gimbal containing the same, thereby solving the technical problem of low efficiency in target searching by sonar devices in the prior art.

[0006] To solve the above-mentioned technical problems, in a first aspect, embodiments of this application provide a driving mechanism for a sonar device, including an outer frame and a turntable rotatably disposed within the outer frame. The turntable is used to mount the sonar device, and when the turntable rotates relative to the outer frame, it can drive the sonar device to rotate.

[0007] A rotating shaft is fixed on the turntable, and a rotating device is installed inside the rotating shaft. The drive shaft of the rotating device is eccentric to the turntable, and the rotating device is connected to the outer frame through a transmission mechanism. The rotating device drives the turntable and the outer frame to rotate relative to each other.

[0008] Furthermore, the front end of the rotating shaft is fixed on the turntable, and rotates relative to the outer frame through the turntable;

[0009] The rear end of the pivot is connected to the rear end of the outer frame via a tail pivot.

[0010] Furthermore, the transmission mechanism includes a rotating power arm and a transmission link that are rotatably adjacent at one end, wherein the other end of the rotating power arm is connected to the drive shaft of the rotating device, and the other end of the transmission link is rotatably connected to the rear end of the outer frame.

[0011] The outer frame between the transmission link and the tail shaft constitutes an equivalent rocker arm, and the rotating power arm, the transmission link, and the equivalent rocker arm form a double rocker arm mechanism.

[0012] When the rotating device drives the rotating power arm to rotate, the double rocker mechanism drives the outer frame and the turntable to rotate relative to each other.

[0013] Furthermore, the rotating power arm is connected to the transmission link shaft via the first link shaft; the transmission link shaft is connected to the rear end of the outer frame via the second link shaft.

[0014] Furthermore, the drive mechanism also includes a limiting device, which is used to limit the angle of relative rotation between the turntable and the outer frame.

[0015] Furthermore, the limiting device includes a first limiting part for limiting the rotation of the rotating shaft by a predetermined angle in a first direction, and a second limiting part for limiting the rotation of the rotating shaft by the predetermined angle in a second direction, wherein the first direction is opposite to the second direction;

[0016] The first limiting part is located on the motion trajectory of the rotating shaft along the first direction to limit the angle of rotation of the rotating shaft along the first direction; the second limiting part is located on the motion trajectory of the rotating power arm to limit the angle of rotation of the rotating shaft along the second direction by preventing the rotating power arm from moving.

[0017] Furthermore, the first limiting part is a boss provided on the rear end of the outer frame.

[0018] Furthermore, the second limiting part is the rear end face of the outer frame.

[0019] Furthermore, the inside of the rotating shaft is hollow to form a cabin, the rotating device is disposed in the cabin, the rear end of the rotating shaft is provided with a cabin tail cover, and the rotating shaft of the rotating device passes through the cabin tail cover.

[0020] Furthermore, the first limiting part is located on the rotation trajectory of the tail cover of the cabin, so as to limit the rotation angle of the rotating shaft in the first direction by preventing the tail cover of the cabin from rotating in the first direction.

[0021] Secondly, embodiments of this application also provide a gimbal, including a drive mechanism for a sonar device as described in any of the first aspects.

[0022] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0023] (1) This application provides a drive mechanism for a sonar device. Because the drive mechanism is equipped with a transmission component, it can drive the sonar device to rotate when the drive shaft and the rotation shaft are eccentric, thereby changing the lateral flip angle of the sonar device. This allows the sonar device to work at different lateral flip angles, thereby improving the scanning range of the sonar device and thus improving the efficiency of the sonar device in searching for targets.

[0024] (2) In the embodiments of this application, with the cooperation of the transmission component and the limiting device, the motor does not need to use expensive servo motors or other rotating devices with rotation angle control capabilities. Instead, a more inexpensive ordinary motor can be used. Through the cooperation of the transmission component and the limiting device, the control of rotation angle and rotation direction can also be achieved. This not only reduces production costs, but also makes the angle control more precise and reliable by using a mechanical limiting device, which is suitable for underwater sonar equipment.

[0025] (3) In this embodiment, the rear end of the rotating shaft and the rear end of the outer frame are rotatably connected by the tail rotating shaft. Combined with the rotation of the turntable at the front end of the rotating shaft and the frame under the guidance of the slide line, the front and rear ends of the rotating shaft can smoothly drive the turntable to rotate relative to the outer frame, thereby ensuring that the sonar device is more stable during rotation. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the gimbal structure in one embodiment of the present invention;

[0028] Figure 2 This is a partial structural diagram of the drive mechanism in one embodiment of the present invention. Figure 1 ;

[0029] Figure 3 for Figure 2 Exploded view of the structure shown;

[0030] Figure 4 This is an exploded view of the gimbal structure in one embodiment of the present invention;

[0031] Figure 5 This is a rear view of the gimbal in one embodiment of the present invention;

[0032] Figure 6This is a schematic diagram of the outer frame in one embodiment of the present invention;

[0033] Figure 7 This is a front view of the pan-tilt unit when the sonar device is in the first position according to one embodiment of the present invention;

[0034] Figure 8 This is an isometric view of the gimbal when the sonar device is in the first position according to one embodiment of the present invention;

[0035] Figure 9 This is a rear view of the gimbal when the sonar device is in the first position according to one embodiment of the present invention;

[0036] Figure 10 This is a top view of the pan-tilt unit when the sonar device is in the first position according to one embodiment of the present invention;

[0037] Figure 11 This is a front view of the gimbal when the sonar device is located between the first position and the second position in one embodiment of the present invention;

[0038] Figure 12 This is an isometric view of the gimbal when the sonar device is located between the first and second positions in one embodiment of the present invention;

[0039] Figure 13 This is a rear view of the gimbal when the sonar device is located between the first and second positions in one embodiment of the present invention.

[0040] Figure 14 This is a front view of the pan-tilt unit when the sonar device is in the second position according to one embodiment of the present invention;

[0041] Figure 15 This is an isometric view of the gimbal when the sonar device is in the second position according to one embodiment of the present invention;

[0042] Figure 16 This is a rear view of the gimbal when the sonar device is in the second position according to one embodiment of the present invention;

[0043] Figure 17 This is a top view of the gimbal when the sonar device is in the second position according to one embodiment of the present invention. Detailed Implementation

[0044] This application provides a drive mechanism for a sonar device and a gimbal containing the same, thereby solving the technical problem of low efficiency in target searching by sonar devices in the prior art.

[0045] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0046] like Figure 1 As shown, one or more embodiments of this application provide a gimbal for detecting, locating, and sensing underwater targets. It includes a drive mechanism and a sonar device 200 mounted on the drive mechanism. The drive mechanism can rotate the sonar device 200 to change its lateral tilt angle, allowing the sonar device 200 to rotate at different lateral tilt angles (i.e., at...). Figure 1 Under the working condition shown, it works within the rotation angle in the vertical plane, such as... Figures 8-16 As shown, this is to increase the scanning range of the sonar device 200, thereby improving the efficiency of the sonar device 200 in searching for targets. In addition, the pan-tilt unit is also equipped with a cable 400 for communication with external devices.

[0047] like Figures 1-3 As shown, the drive mechanism 100 includes an outer frame 120 and a turntable 110 rotatably and coaxially disposed within the outer frame 120. The sonar device 200 is disposed on the turntable 110. Thus, when the turntable 110 rotates relative to the outer frame 120, it can drive the sonar device 200 to rotate synchronously, thereby adjusting the lateral flip angle of the sonar device 200, increasing the scanning range of the sonar device 200, and thus improving the working efficiency of the sonar device 200.

[0048] like Figures 1-3 As shown, the turntable 110 is circular in shape. The end face of the turntable 110 is provided with a first mounting port 113 for mounting the sonar device 200 and a second mounting port 112 for mounting the rotating shaft 300 described below. The outer circumferential surface of the turntable 110 is provided with a first slide groove 111 extending circumferentially along the turntable 110.

[0049] like Figures 1-3As shown, the outer frame 120 includes a frame body 121 coaxially fitted around the turntable 110 and a gantry 122 connected to one end of the frame body 121. The gantry 122 includes a crossbeam 1221 (i.e., the rear end face of the outer frame 120) opposite to and parallel to the frame body 121, and vertical beams 1222 disposed at both ends of the crossbeam 1221, with the vertical beams 1222 connected to the frame body 121. The frame body 121 is annular, and the inner diameter of the frame body 121 is slightly larger than the outer diameter of the turntable 110 to allow the turntable 110 to rotate within the frame body 121. The inner wall of the frame 121 is provided with a second slide groove 123 extending circumferentially along the frame 121. The first slide groove 111 and the second slide groove 123 can be aligned internally and externally to form an annular channel for the slide line 130 described below to pass through when the turntable 110 is assembled into the frame 121. The slide line 130 extends within the annular channel to form a guide rail for the turntable 110 to rotate relative to the frame 121. The outer wall of the slide line 130 is annular and the cross-section is circular, which can effectively reduce frictional resistance and make the turntable 110 rotate more smoothly relative to the frame 121. In addition, the slide rail 130 itself has high strength, and the diameter of the slide rail 130 is larger than the outer diameter of the turntable 110 and smaller than the outer diameter of the second slide rail annular groove 123. That is, the slide rail 130 is embedded between the first slide rail annular groove 111 and the second slide rail annular groove 123, and there is a gap between it and the annular channel. In this way, the slide rail 130 allows the turntable 110 to rotate relative to the frame 121, while restricting the axial displacement of the turntable 110 and the frame 121, thereby preventing the turntable 110 and the frame 121 from separating axially.

[0050] like Figure 1 , Figures 4-6 As shown, the drive mechanism 100 also includes a rotating shaft 300, the front end of which is fixedly mounted on the second mounting port 112, and the rear end of which extends toward the crossbeam 1221 at the rear end of the gantry 122.

[0051] The rotating shaft 300 has a semi-circular cross-sectional shape. Its horizontal outer surface is adjacent to the sonar device 200, and a base 330 is fixed to its horizontal outer surface by a first screw. The base 330 has a shaft hole 331 extending along the central axis of the turntable 110. The inner surface of the crossbeam 1221 is rotatably provided with a tail rotating shaft 380 that can be inserted into the shaft hole 331. The tail rotating shaft 380 can be a rotating screw shaft. The tail rotating shaft 380 is coaxially arranged with the shaft hole 331. When the tail rotating shaft 380 is fixedly inserted into the shaft hole 331, it can guide the rear end of the rotating shaft 300 to rotate relative to the outer frame 120. Combined with the rotation between the front turntable 110 and the frame 121 under the guidance of the slide line 130, the front and rear ends of the rotating shaft 300 can smoothly drive the turntable 110 to rotate relative to the outer frame 120, thereby ensuring that the sonar device 200 is more stable during rotation.

[0052] like Figure 1 , 4 As shown, the rotating shaft 300 has a hollow interior forming a cabin 320. A motor 340 is installed inside the cabin 320. The front end of the rotating shaft 300 is provided with a cabin front cover 310, and the rear end is fixed with a cabin tail cover 350 by a second screw 351 to seal the motor 340 inside the cabin 320. The motor shaft 341 of the motor 340 passes vertically through the cabin tail cover 350. The motor 340 drives the rotating shaft 300 to rotate the turntable 110 relative to the outer frame 120. Since the motor shaft 341 is eccentric to the central axis of the turntable 110, the motor 340 is connected to the outer frame 120 through a transmission assembly.

[0053] The transmission assembly includes a rotating power arm 360 disposed on the outer end face of the tail cover 350 of the hull. One end of the rotating power arm 360 is fixedly connected to the motor shaft 341, and the other end is axially connected to one end of the transmission connecting rod 370 via a first connecting rod shaft 361. The other end of the transmission connecting rod 370 is connected to a second connecting rod shaft 371, which is rotatably mounted on the crossbeam 1221 of the mast 122 and parallel to the tail shaft 380. Specifically, the crossbeam 1221 has a through hole 1223 for the second connecting rod shaft 371 to rotatably pass through, such as... Figure 6 As shown.

[0054] Among them, such as Figure 5As shown, the crossbeam 1221 between the second connecting rod shaft 371 and the tail rotating shaft 380 is equivalent to a rocker arm, i.e., equivalent rocker arm a. Thus, the rotating power arm 360, the transmission connecting rod 370, and the equivalent rocker arm a form a double rocker mechanism. When the motor shaft 341 drives the rotating power arm 360 to rotate, the rotating power arm 360 drives the transmission connecting rod 370 to rotate, and the transmission connecting rod 370 drives the outer frame 120 to rotate relative to the turntable 110. When the outer frame 120 is fixed to the external component and cannot rotate, the turntable 110 rotates relative to the outer frame 120. In this way, the drive mechanism 100 realizes the drive rotation between the eccentrically arranged motor 340 and the turntable 110.

[0055] Furthermore, the gimbal is also equipped with a limiting device, which is used to limit the angle of rotation of the turntable 110 relative to the outer frame 120.

[0056] For example, in one embodiment of this application, the gimbal requires the turntable 110 to be able to rotate 90° clockwise and 90° counterclockwise relative to the outer frame 120 to reset, thereby enabling the sonar device 200 to be in a first position (e.g., Figures 7-10 (as shown) and the second position (as shown) Figures 14-17 The device switches between the two positions (as shown). To this end, the limiting device includes a first limiting part 390 for constraining the rotating shaft 300 to rotate 90° clockwise and a second limiting part for rotating 90° counterclockwise.

[0057] like Figure 6 , 10 As shown in Figure 17, the first limiting part 390 is a boss provided on the inner surface of the crossbeam 1221. The first limiting part 390 and the tail pivot 38 are provided on the left and right sides of the second connecting rod shaft 371, and the first limiting part 390 is located on the clockwise rotation trajectory of the hull tail cover 350, so as to prevent the hull tail cover 350 from continuing to move clockwise after rotating 90° clockwise, thereby preventing the pivot 300 from continuing to move clockwise. Figure 10 As shown.

[0058] The second limiting part is located on the movement trajectory of the rotating power arm 360, thereby preventing the rotating shaft 300 from continuing to move counterclockwise after rotating 90° counterclockwise. The second limiting part can be the lower surface of the crossbeam 1221 facing the rotating power arm 360, such as... Figure 17 As shown.

[0059] Thus, when it is necessary to switch from the first position to the second position, the motor 340 drives the rotating power arm 360 to rotate clockwise, and under the action of the double rocker mechanism, the rotating shaft 300 moves counterclockwise, as... Figures 11-13 As shown, when the rotating arm 360 rotates to contact the second limiting part (the crossbeam 1221), as Figure 17As shown, the sonar device 200 is located in the second position, as... Figures 14-17 As shown, motor 340 stops to reduce power consumption.

[0060] Conversely, when it is necessary to switch from the second position to the first position, the motor 340 drives the rotating power arm 360 to rotate counterclockwise, and under the action of the double rocker mechanism, the rotating shaft 300 moves clockwise, as... Figures 11-13 As shown, when the tail cover 350 of the hull rotates to abut against the first limiting part (protrusion), as... Figure 10 As shown, the sonar device 200 is located in the first position, as... Figures 7-10 As shown, motor 340 stops to reduce power consumption.

[0061] Thus, by restricting the rotation of the tail cover 350 and the rotating power arm 360 from two rotational directions, the first limiting part 390 and the second limiting part respectively control the rotation angle and switch the direction of the rotating shaft 300 to meet personalized needs.

[0062] Furthermore, it should be noted that, through the cooperation of the transmission component and the limiting device in this embodiment, the motor can be used without using expensive servo motors or other rotating devices with rotation angle control capabilities. Instead, a more inexpensive ordinary motor can be used. By cooperating with the transmission component and the limiting device, control of rotation angle and direction can still be achieved. This not only reduces production costs, but also, by using a mechanical limiting device, angle control is more precise and reliable, making it suitable for sonar equipment used in underwater operations.

[0063] It should be understood that although quantifiers such as "first," "second," etc., may be used herein to describe various units, these units should not be limited by these terms. These terms are used merely to distinguish one unit from another. For example, without departing from the scope of the exemplary embodiments, a first unit may be referred to as a second unit, and similarly, a second unit may be referred to as a first unit.

[0064] The directional terms such as "outer," "middle," and "inner" mentioned or potentially used in this specification are defined relative to the structures shown in the accompanying drawings. They are relative concepts and may therefore vary depending on their location and usage. Therefore, these or other directional terms should not be interpreted as restrictive.

[0065] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, an indirect connection through an intermediate medium, or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0066] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion, such that a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or apparatus.

[0067] The above description is merely a preferred embodiment of this application and is not intended to limit this application in any form or substance. It should be noted that those skilled in the art can make various improvements and additions without departing from the method of this application, and these improvements and additions should also be considered within the protection scope of this utility model. Any modifications, alterations, and equivalent changes made by those skilled in the art without departing from the spirit and scope of this application, based on the disclosed technical content, are equivalent embodiments of this application. Furthermore, any modifications, alterations, and evolutions made to the above embodiments based on the essential technology of this application still fall within the scope of the technical solution of this application.

Claims

1. A driving mechanism for a sonar apparatus, characterized by comprising: The sonar device is installed on the rotating disc (110) and can rotate with the rotating disc (110) when the rotating disc (110) rotates relative to the outer frame (120); The rotating shaft (300) is fixed to the rotating disc (110) and rotates relative to the outer frame (120) through the rotating disc (110); 2. The drive mechanism for a sonar apparatus according to claim 1, wherein The rear end of the rotating shaft (300) is connected to the rear end of the outer frame (120) through a tail rotating shaft (380). The transmission mechanism includes a rotatable rotating power arm (360) and a transmission connecting rod (370), wherein one end of the rotating power arm (360) is connected to the driving shaft of the rotating device, and the other end of the transmission connecting rod (370) is rotatably connected to the rear end of the outer frame (120); 3. A drive mechanism for a sonar device as claimed in claim 2, wherein The outer frame (120) between the transmission connecting rod (370) and the tail rotating shaft (380) constitutes an equivalent rocker, and the rotating power arm (360), the transmission connecting rod (370) and the equivalent rocker (a) form a double rocker mechanism; When the rotating device drives the rotating power arm (360) to rotate, the double rocker mechanism drives the outer frame (120) and the rotating disc (110) to rotate relative to each other. The rotating power arm (360) is connected to the transmission connecting rod (370) through a first connecting rod shaft (361); 4. A drive mechanism for a sonar device as claimed in claim 3, wherein The transmission connecting rod (370) is connected to the rear end of the outer frame (120) through a second connecting rod shaft (371). The drive mechanism further comprises a limiting device for limiting the relative rotation angle between the rotating disc (110) and the outer frame (120).

5. The drive mechanism for a sonar apparatus according to claim 3, wherein The limiting device comprises a first limiting portion for limiting the rotation of the rotating shaft (300) by a predetermined angle in a first direction, and a second limiting portion for limiting the rotation of the rotating shaft (300) by the predetermined angle in a second direction, and the first direction is opposite to the second direction.

6. A drive mechanism for a sonar device as claimed in claim 5, wherein The first limiting portion is located on the movement track of the rotating shaft (300) in the first direction to limit the rotation angle of the rotating shaft (300) in the first direction; and the second limiting portion is located on the movement track of the rotating power arm (360) to limit the rotation angle of the rotating shaft (300) in the second direction by preventing the movement of the rotating power arm (360). The first limiting portion (390) is a boss provided on the rear end of the outer frame (120).

7. A drive mechanism for a sonar device as claimed in claim 6, wherein The second limiting portion is the rear end surface of the outer frame (120).

8. The drive mechanism for a sonar apparatus according to claim 6, wherein ​ 9. The drive mechanism for a sonar apparatus according to claim 6, wherein The rotation shaft (300) is internally hollow to form a cabin (320), the rotation device is arranged in the cabin (320), and the rear end of the rotation shaft (300) is provided with a cabin tail cover (350), and the rotation shaft of the rotation device penetrates through the cabin tail cover (350); The first limiting part is located on the rotation track of the cabin tail cover (350), so as to limit the rotation angle of the rotation shaft (300) in the first direction by preventing the rotation of the cabin tail cover (350) in the first direction.

10. A gimbal, comprising: The drive mechanism for the sonar device comprises the drive mechanism according to any one of claims 1-9.

Images