CN113341402A - Sonar device for sonar monitoring robot - Google Patents
Sonar device for sonar monitoring robot Download PDFInfo
- Publication number
- CN113341402A CN113341402A CN202110809480.6A CN202110809480A CN113341402A CN 113341402 A CN113341402 A CN 113341402A CN 202110809480 A CN202110809480 A CN 202110809480A CN 113341402 A CN113341402 A CN 113341402A
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- CN
- China
- Prior art keywords
- sonar
- cover
- cover body
- monitoring robot
- generator
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/521—Constructional features
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/026—Acoustical sensing devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/56—Display arrangements
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Acoustics & Sound (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention belongs to the field of underwater detection, and particularly relates to a sonar device. A sonar equipment for sonar monitoring robot includes: the outer surface of the cover body is provided with a plurality of flexible screens, the flexible screens are used for displaying a monitoring environment in a mirror image mode, and the bottom end of the cover body is provided with a base; the top cover covers the top end of the cover body, and the bottom end of the top cover is provided with a rotatable sonar generator which can be arranged in the inner cavity of the cover body; the outer side of the sonar generator is provided with the cover body, a double-layer protection structure for the sonar generator is formed, and meanwhile, the flexible screen on the outer side of the cover body can display a monitored environment in real time, so that the use safety of the whole device is further improved; at the upper and lower both ends assembly top cap and the end cover of the cover body, whole sonar device adopts split type structure, and the use of end cover can be accomplished and is handled the sealing of cover body bottom, when carrying out sonar monitoring and handling, utilizes the gripper in the end cover, still can snatch the required sample in the seabed, strengthens the device's functionality.
Description
Technical Field
The invention belongs to the field of underwater detection, and particularly relates to a sonar device.
Background
SONAR is the transliteration of the english abbreviation "SONAR," where the text is collectively referred to as: sound Navigation And Ranging (Sound Navigation And Ranging) is electronic equipment which completes underwater detection And communication tasks by using the propagation characteristics of Sound waves underwater through electroacoustic conversion And information processing; it has two types of active and passive, and belongs to the field of acoustic positioning. Sonar is an electronic device for detecting, positioning and communicating underwater targets by using underwater sound waves, and is the most widely and most important device in underwater acoustics.
When the existing underwater operation is carried out, a sonar robot is often used for carrying out environment monitoring and processing work. And sonar robot is in the course of the work, and its supporting sonar device is as core component, can appear following technical problem when specifically using: firstly, when the traditional sonar device enters the seabed, the traditional sonar device is easily attacked by fishes or other organisms due to the irregularity or the particularity of the appearance of the traditional sonar device, so that the normal operation of the traditional sonar device is influenced; secondly, when assembling and connecting the sonar device and the robot, more bolts are generally needed to be used for fixing, so that the problem of inconvenient disassembly and assembly exists.
Disclosure of Invention
The purpose of the invention is: the sonar device for the sonar monitoring robot is provided for solving the problems that the existing sonar device is low in safety when used on the seabed and not convenient enough when being disassembled and assembled.
The technical scheme of the invention is as follows: a sonar equipment for sonar monitoring robot includes:
the cover body, its surface is provided with a plurality of flexible screens, and the flexible screen is used for the mirror image to show monitoring environment to set up the base in the bottom of the cover body.
The top cap, its lid dress to the top of the cover body, and rotatable sonar generator is installed to the bottom of top cap, and the inner chamber of the cover body can be settled to this sonar generator, the draw-in groove has been seted up on the top of top cap.
The bottom cover is fixedly assembled at the bottom end of the base, a vacuum pump is installed on one side of the bottom cover and used for extracting air in an inner cavity of the cover body, and a mechanical claw is installed inside the bottom cover.
The roof-rack, its fixed mounting is to the surface of sonar monitoring robot, and the bottom of roof-rack is provided with the rand, and this rand can clamp and adorn in the draw-in groove that corresponds, install the hydraulic assembly who is used for connecting rand and top cap in the rand.
Further, the cover body and the sonar generator are both spherical structures, and the sonar generator does not contact with the inner wall of the cover body all the time.
Further, the cover body is connected with the base integral type of bottom, be provided with the upper seal circle between the cover body and the top cap, through setting up a plurality of bolt fixed connection cover bodies and top cap.
Furthermore, the internally mounted of top cap has driving motor, and the supporting output shaft's of driving motor one end and sonar generator's fixed surface are connected.
Furthermore, the cross-section of draw-in groove is the ring form, and a plurality of slots have evenly been seted up to the inner wall of draw-in groove, the degree of depth of draw-in groove equals with the degree of depth of rand.
Furthermore, a lower sealing ring is arranged between the bottom cover and the base, the specifications of the upper sealing ring and the lower sealing ring are the same, and the bottom cover and the base are fixedly connected through a plurality of bolts.
Furthermore, a sealing valve for sealing the opening end of the bottom cover is installed at the bottom end of the bottom cover, a mechanical claw in the bottom cover is used for grabbing a seabed sample, and the mechanical claw is assembled in the bottom cover in a folding mode.
Furthermore, the vacuum pump is embedded in the bottom cover and is not communicated with the inner cavity of the bottom cover, and an air exhaust port matched with the vacuum pump is communicated with the inner cavity of the cover body.
Furthermore, the top frame is connected with the clamping ring through a plurality of connecting rods.
Furthermore, the hydraulic assembly comprises a hydraulic pipe, a plurality of hydraulic cylinders arranged on the inner side of the hydraulic pipe and plug-in units assembled in the hydraulic cylinders, the hydraulic pipe is distributed annularly, and the plug-in units can be inserted into corresponding slots.
Has the advantages that: 1. according to the invention, the cover body is arranged on the outer side of the sonar generator to form a double-layer protection structure for the sonar generator, and the flexible screen on the outer side of the cover body can display the monitoring environment in real time, so that the problem that the traditional sonar device is easy to attack fishes during submarine operation is solved, and the use safety of the whole device is further improved.
2. According to the invention, the top cover and the bottom cover are assembled at the upper end and the lower end of the cover body, the whole sonar device adopts a split structure, the bottom cover can be used for sealing the bottom end of the cover body, and when sonar monitoring treatment is carried out, a mechanical claw in the bottom cover can be used for grabbing samples required by the seabed, so that the functionality of the device is enhanced.
3. The top cover and the top frame are combined for use, each plug-in unit is ensured to be inserted into the corresponding slot by the aid of the hydraulic assembly arranged in the clamping ring, stability of the top cover and the top frame after connection is ensured, flexible disassembly and assembly are facilitated, other fixed parts such as bolts are avoided, and use flexibility of the whole device is reflected.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention in an explosive state;
FIG. 2 is a cross-sectional view of the internal structure of the housing of the present invention;
FIG. 3 is a schematic view of the top cover and the top frame of the present invention in an assembled state;
FIG. 4 is a schematic diagram of the hydraulic assembly of the present invention;
fig. 5 is a schematic view of the internal structure of the under cover of the present invention.
Description of reference numerals: 1-a cover body; 2-a top cover; 21-card slot; 3-a top frame; 4-bottom cover; 5-sonar generator; 6-upper sealing ring; 7-a flexible screen; 8-a base; 9-lower sealing ring; 10-a drive motor; 11-sealing the valve; 12-a vacuum pump; 121-an air extraction opening; 13-a collar; 14-a slot; 15-hydraulic pipes; 16-a hydraulic cylinder; 17-an insert; 18-mechanical claw.
Detailed Description
Refer to the attached figure, a sonar equipment for sonar monitoring robot includes:
the cover body 1, its surface is provided with a plurality of flexible screens 7, and the quantity of this flexible screen 7 can be a plurality of groups, and each flexible screen 7 all can assemble the surface that covers the cover body 1 to adopt waterproof resistance to compression technique, make it can use under water, and flexible screen 7 is used for the mirror image to show monitoring environment, and sets up base 8 in the bottom of the cover body 1, and the external diameter of this base 8 coincide with the external diameter on end cover 4 top.
The bottom cover 4 is fixedly assembled to the bottom end of the base 8, a vacuum pump 12 is installed on one side of the bottom cover 4, the vacuum pump 12 is used for extracting air in the inner cavity of the cover body 1, after the vacuum pump 12 is started, air extraction of the air in the cover body 1 is completed, the air is in a vacuum state, the vacuum adsorption force generated by the vacuum pump is utilized, the connection end face among the cover body 1, the top cover 2 and the bottom cover 4 is in a closed state, and mechanical claws 18 are installed inside the bottom cover 4.
The roof-rack 3, its fixed assembly is to the surface of sonar monitoring robot, and the bottom of roof-rack 3 is provided with rand 13, and this rand 13 can clamp to corresponding draw-in groove 21 in, installs the hydraulic assembly who is used for connecting rand 13 and top cap 2 in the rand 13, and this hydraulic assembly is used for fixed connection corresponding top cap 2 and roof-rack 3.
As shown in fig. 1, the cover 1 and the sonar generator 5 are both spherical structures, and the sonar generator 5 does not always contact the inner wall of the cover 1.
Sonar generator 5 is hollow spherical structure, and cover body 1 also is hollow spherical structure simultaneously to play dual protection to the component in sonar generator 5 and handle, even cover body 1 that is located the outside receives the device, can not influence sonar generator 5's normal use yet.
As shown in fig. 1, the cover body 1 is integrally connected with a base 8 at the bottom end, an upper sealing ring 6 is arranged between the cover body 1 and the top cover 2, and the cover body 1 and the top cover 2 are fixedly connected through a plurality of bolts.
By adopting the technical scheme:
set up cover body 1 in sonar generator's the outside, form the double-deck protective structure to sonar generator 5, the flexible screen 7 in cover body 1 outside simultaneously can show the monitoring environment in real time, has solved the condition that traditional sonar device received the fish attack easily when the seabed operation, further improves the safety in utilization of whole device.
As shown in fig. 2, a driving motor 10 is installed inside the top cover 2, and one end of the driving motor 10, which is matched with an output shaft, is fixedly connected with the surface of the sonar generator 5.
The driving motor 10 can drive the whole sonar generator 5 to rotate.
As shown in fig. 1 and 3, the cross section of the slot 21 is circular, and a plurality of slots 14 are uniformly formed on the inner wall of the slot 21, and the depth of the slot 21 is equal to the depth of the collar 13.
The retainer ring 13 can be completely embedded into the corresponding slot 21 to complete the primary limiting processing of the retainer ring 13, and then each plug-in unit 17 is inserted into the corresponding slot 14 to complete the fixing processing of the retainer ring 13.
As shown in fig. 1, a lower seal ring 9 is arranged between the bottom cover 4 and the base 8, and the specifications of the upper and lower seal rings are the same, and the bottom cover 4 and the base 8 are fixedly connected by arranging a plurality of bolts.
As shown in fig. 5, the bottom end of the bottom cover 4 is provided with a sealing valve 11 for closing the open end of the bottom cover 4, a gripper 18 inside the bottom cover 4 is used for grabbing the seabed sample, and the gripper 18 is folded and assembled inside the bottom cover 4.
After the sealing valve 11 is opened, the mechanical claw 18 is used to expand the mechanical claw for subsequent operations, the claw body at one end of the driving arm can complete the grabbing of the sample, if necessary, a camera probe can be arranged on the claw body, then the sample is sent into the inner cavity of the bottom cover 4, and then the sealing valve 11 is closed.
By adopting the technical scheme:
at the upper and lower both ends assembly top cap 2 and end cover 4 of the cover body 1, whole sonar device adopts split type structure, and the use of end cover 4 can be accomplished and is handled the sealing of the cover body 1 bottom, when carrying out sonar monitoring and handling, utilizes gripper 18 in the end cover 4, still can snatch the required sample in the seabed, strengthens the device's functionality.
As shown in fig. 5, the vacuum pump 12 is embedded in the bottom cover 4 and is not communicated with the inner cavity of the bottom cover 4, and the pumping port 121 matched with the vacuum pump 12 is communicated with the inner cavity of the cover body 1; after the vacuum pump 12 is turned on, the inner cavity of the cover body 1 in the connected state can be evacuated, and the sealing property of the connection end faces of the cover body 1, the top cover 2, and the bottom cover 4 can be achieved by the vacuum suction force generated in the inner cavity.
As shown in fig. 3, the top frame 3 is connected with the collar 13 by a plurality of connecting rods.
As shown in fig. 4, the hydraulic assembly includes a hydraulic pipe 15, a plurality of hydraulic cylinders 16 disposed inside the hydraulic pipe 15, and inserts 17 fitted into the hydraulic cylinders 16, the hydraulic pipe 15 is distributed in a ring shape, and the inserts 17 are inserted into the corresponding slots 14.
By adopting the technical scheme:
with top cap 2 and roof-rack 3 combined use, utilize the hydraulic pressure subassembly that sets up in rand 13, ensure that each plug-in components 17 inserts the slot 14 that corresponds, ensure the steadiness after top cap 2 and roof-rack 3 are connected, when conveniently carrying out nimble dismouting, avoid using other fixed parts such as bolt, embodied the use flexibility of whole device.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. The utility model provides a sonar equipment for sonar monitoring robot which characterized in that includes:
the device comprises a cover body (1), wherein the outer surface of the cover body is provided with a plurality of flexible screens (7), the flexible screens (7) are used for displaying a monitoring environment in a mirror image mode, and the bottom end of the cover body (1) is provided with a base (8);
the cover comprises a top cover (2) which covers the top end of the cover body (1), wherein the bottom end of the top cover (2) is provided with a rotatable sonar generator (5), the sonar generator (5) can be arranged in the inner cavity of the cover body (1), and the top end of the top cover (2) is provided with a clamping groove (21);
the bottom cover (4) is fixedly assembled at the bottom end of the base (8), a vacuum pump (12) is installed on one side of the bottom cover (4), the vacuum pump (12) is used for extracting air in the inner cavity of the cover body (1), and a mechanical claw (18) is installed inside the bottom cover (4);
the device comprises a top frame (3) fixedly assembled on the surface of the sonar monitoring robot, a clamping ring (13) is arranged at the bottom end of the top frame (3), the clamping ring (13) can be clamped into a corresponding clamping groove (21), and a hydraulic assembly used for connecting the clamping ring (13) and a top cover (2) is installed in the clamping ring (13).
2. The sonar device for the sonar monitoring robot according to claim 1, wherein: the cover body (1) and the sonar generator (5) are both of a sphere structure, and the sonar generator (5) is not contacted with the inner wall of the cover body (1) all the time.
3. The sonar device for the sonar monitoring robot according to claim 1, wherein: the cover body (1) is connected with a base (8) of the bottom in an integrated mode, an upper sealing ring (6) is arranged between the cover body (1) and the top cover (2), and the cover body (1) and the top cover (2) are fixedly connected through a plurality of bolts.
4. The sonar device for the sonar monitoring robot according to claim 1, wherein: the inside mounting of top cap (2) has driving motor (10), and the supporting output shaft's of driving motor (10) one end and sonar generator (5) fixed surface are connected.
5. The sonar device for the sonar monitoring robot according to claim 1, wherein: the cross-section of draw-in groove (21) is the ring form, and a plurality of slots (14) have evenly been seted up to the inner wall of draw-in groove (21), the degree of depth of draw-in groove (21) equals with the degree of depth of rand (13).
6. The sonar device for the sonar monitoring robot according to claim 1, wherein: a lower sealing ring (9) is arranged between the bottom cover (4) and the base (8), the specifications of the upper sealing ring and the lower sealing ring are the same, and the bottom cover (4) and the base (8) are fixedly connected through a plurality of bolts.
7. The sonar device for the sonar monitoring robot according to claim 1, wherein: the bottom end of the bottom cover (4) is provided with a sealing valve (11) for sealing the opening end of the bottom cover (4), a mechanical claw (18) in the bottom cover (4) is used for grabbing a seabed sample, and the mechanical claw (18) is assembled in the bottom cover (4) in a folding mode.
8. The sonar device for the sonar monitoring robot according to claim 1, wherein: the vacuum pump (12) is embedded in the bottom cover (4) and is not communicated with the inner cavity of the bottom cover (4), and an air suction port (121) matched with the vacuum pump (12) is communicated with the inner cavity of the cover body (1).
9. The sonar device for the sonar monitoring robot according to claim 1, wherein: the top frame (3) is connected with the clamping ring (13) through a plurality of connecting rods.
10. The sonar device for the sonar monitoring robot according to claim 5, wherein: the hydraulic assembly comprises a hydraulic pipe (15), a plurality of hydraulic cylinders (16) arranged on the inner side of the hydraulic pipe (15) and plug-in pieces (17) assembled in the hydraulic cylinders (16), the hydraulic pipe (15) is distributed annularly, and the plug-in pieces (17) can be plugged into corresponding slots (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110809480.6A CN113341402A (en) | 2021-07-15 | 2021-07-15 | Sonar device for sonar monitoring robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110809480.6A CN113341402A (en) | 2021-07-15 | 2021-07-15 | Sonar device for sonar monitoring robot |
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| Publication Number | Publication Date |
|---|---|
| CN113341402A true CN113341402A (en) | 2021-09-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110809480.6A Pending CN113341402A (en) | 2021-07-15 | 2021-07-15 | Sonar device for sonar monitoring robot |
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| CN (1) | CN113341402A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114740461A (en) * | 2022-06-07 | 2022-07-12 | 深圳市晟达通讯设备有限公司 | Sonar system and be used for this sonar system's underwater positioning antenna |
| CN117097415A (en) * | 2023-10-17 | 2023-11-21 | 中国电建集团西北勘测设计研究院有限公司 | Underwater image information transmission device based on sonar |
| CN117930248A (en) * | 2024-03-25 | 2024-04-26 | 海底鹰深海科技股份有限公司 | Sonar and method of assembling same |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114740461A (en) * | 2022-06-07 | 2022-07-12 | 深圳市晟达通讯设备有限公司 | Sonar system and be used for this sonar system's underwater positioning antenna |
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| CN117097415B (en) * | 2023-10-17 | 2024-01-23 | 中国电建集团西北勘测设计研究院有限公司 | Underwater image information transmission device based on sonar |
| CN117930248A (en) * | 2024-03-25 | 2024-04-26 | 海底鹰深海科技股份有限公司 | Sonar and method of assembling same |
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