CN115675738B - Channel type unmanned ship sonar arrangement device and installation method - Google Patents
Channel type unmanned ship sonar arrangement device and installation method Download PDFInfo
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- CN115675738B CN115675738B CN202211415109.2A CN202211415109A CN115675738B CN 115675738 B CN115675738 B CN 115675738B CN 202211415109 A CN202211415109 A CN 202211415109A CN 115675738 B CN115675738 B CN 115675738B
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Abstract
The invention relates to a channel type unmanned ship sonar arrangement device and an installation method, wherein the device comprises a ship body, a sonar collecting and releasing groove is formed in the outer side of the ship body, the ship body is provided with a sonar, the device further comprises an installation flange, a gear transmission system is fixed on the end face of the installation flange, a driving system is arranged at the input end of the gear transmission system, a swing arm is installed after the output end of the gear transmission system extends out of the installation flange, the swing arm is in a hollow cylindrical shape, a box-shaped sonar installation base is fixed on the bottom surface of the swing arm, and the driving system drives the sonar installation base to extend out of the sonar collecting and releasing groove and recover. By arranging the swing arm, the sonar is collected into a sonar groove when the unmanned ship is sailing at a high speed, and the sonar is put down from the groove to work normally when the unmanned ship is sailing at a low speed, so that the resistance of the unmanned ship when the unmanned ship is sailing at a high speed can be reduced, and meanwhile, the influence of water surface reverberation and waves on a sonar detection result is reduced; through pre-buried mounting flange in the hull, can arrange the device with the sonar of metal material and install on the hull of carbon fiber material, and guarantee watertight.
Description
Technical Field
The invention relates to the technical field of channel type unmanned boats, in particular to a channel type unmanned boat sonar arrangement device and an installation method.
Background
The channel type unmanned ship has the advantages of high navigational speed, large load and ultra-shallow draft, and is widely applied to the unmanned ship field. The channel type unmanned ship needs to be provided with a foresight sonar for sensing the environment, provides images and sounding data for the unmanned ship, and is used for detecting, identifying and collision early warning of obstacles such as river banks, reefs, fishing nets, fences and the like.
Among the prior art, forward-looking sonar system is mainly applied to the steel hull, and the head of steel hull designs into the water droplet shape generally, arranges the sonar in the hull through the embedded mode of welding, and the sonar that the steel hull carried has that beam angle is great, the radio frequency is higher, characteristics that volume and power are great. In the ship navigation process, the sonar angle does not need to be adjusted, and the software automatically corrects the data according to the ship motion period, so that the data obtained by the sonar under different motion postures of the ship can be effective.
The middle design of channel formula unmanned ship hull has the channel structure, and the hull adopts the carbon fiber material, and the arrangement device of forward looking sonar is usually stainless steel, has the problem that the opposite quality is connected during the installation, and needs to guarantee watertight between carbon fiber hull and the steel sonar arrangement device. Meanwhile, in the navigation process of the unmanned ship, if the sonar is exposed in water, the navigation resistance of the unmanned ship can be increased; when the sonar detects the environment, the water surface reverberation and the unmanned ship move along with the fluctuation of the waves, so that errors exist in the scanning result of the sonar.
Disclosure of Invention
Aiming at the defects in the prior art, the applicant provides a channel type unmanned ship sonar arrangement device and an installation method, so that the problem of arrangement of front view sonar of the channel type unmanned ship is solved, the sonar is collected into a sonar groove when the unmanned ship sails at a high speed, and the sonar is put down from the groove to normally work when the unmanned ship sails at a low speed, so that the resistance of the unmanned ship sails at the high speed can be reduced, and meanwhile, the influence of water surface reverberation and waves on a sonar detection result is reduced; through pre-buried mounting flange in the hull, can arrange the device with the sonar of metal material and install on the hull of carbon fiber material, and guarantee watertight.
The technical scheme adopted by the invention is as follows:
the groove type unmanned ship sonar arrangement device comprises a ship body, wherein a sonar collecting and releasing groove is formed in the outer side of the ship body, the ship body is provided with a sonar, the device further comprises a mounting flange, a gear transmission system is fixed on the end face of the mounting flange, a driving system is arranged at the input end of the gear transmission system, a swing arm is installed after the output end of the gear transmission system extends out of the mounting flange, the swing arm is in a hollow cylindrical shape, a box-shaped sonar installation base is fixed on the bottom surface of the swing arm, and the driving system drives the sonar installation base to extend out of and be recovered from the sonar collecting and releasing groove;
the gear transmission system is characterized in that: the device comprises a driving wheel connected with the output end of a driving system, wherein the driving wheel is provided with a driven wheel in a matched manner, the driven wheel is connected with a main shaft, the other end of the main shaft is connected with a swing arm, the outer side surface of the main shaft is provided with a rolling bearing group, the front end of the rolling bearing group is provided with a dynamic sealing piece, the outer part of the rolling bearing group is provided with an end cover, and the outer parts of the driving wheel and the driven wheel are provided with a gear box;
the sonar installation base is characterized in that: including being square bedplate, open at the middle part of bedplate has several waist round hole, and the fixed double-screw bolt is installed in the four corners of bedplate, and the bottom of two adjacent fixed double-screw bolts is fixed with spacing gasket, and the outside cover of fixed double-screw bolt has the connecting rod, and the sonar passes through waist round hole and bedplate fixed.
As a further improvement of the above technical scheme:
the end face of the end cover, which is connected with the main shaft, is provided with a first sealing ring, the end face of the end cover, which is connected with the ship body, is provided with a second sealing ring, and the inside of the gear box is provided with a third sealing ring.
The driving system is structured as follows: the device comprises a servo motor, wherein the output end of the servo motor is provided with a speed reducer, the speed reducer is connected with the input end of a gear transmission system, the servo motor is electrically connected with an encoder, and the encoder is fixed with the shaft end of a main shaft.
The structure of the rolling bearing group is as follows: the rolling bearing comprises a first rolling bearing and a second rolling bearing, wherein the first rolling bearing and the second rolling bearing are separated through a sleeve, and cover plate matching sleeves are arranged on the outer end faces of the first rolling bearing and the second rolling bearing.
And a cover plate limiting block is arranged on the outer side of the end cover.
One end of the driven wheel is provided with a locking nut and a stop washer, and the driven wheel is connected with the main shaft by a key.
The method for installing the channel type unmanned ship sonar arrangement device comprises the following steps:
s1, preparing, namely preparing a first base plate, a fine tooth sleeve, a second base plate, structural adhesive and a third base plate which are used in the installation process, and preparing a die for manufacturing a channel unmanned ship body and a profile die for a sonar collecting and releasing groove;
s2, manufacturing a carbon fiber boat body, and placing a first backing plate and a profile die of a sonar collecting and releasing groove on the inner surface of the die;
s3, performing process layering, locally thickening the installation part of the sonar arrangement device on the boat body, curing the boat body, demolding, and removing the first backing plate from the outer surface of the boat body;
s4, a through hole is formed in the mounting flange, and internal threads are machined in the through hole;
s5, positioning the mounting flange on the inner side of the boat body according to the mounting position of the sonar arrangement device, then opening a through hole on the boat body according to the position of the through hole of the mounting flange, and processing internal threads in the hole;
s6, screwing the fine tooth sleeve into the through holes of the mounting flange and the boat body;
s7, mounting a second backing plate in the fine tooth sleeve, pasting a local layer on the mounting plate flange, and completely covering the mounting flange by the local layer;
s8, after the curing of the pasted local layering is finished, removing the second backing plate, and opening through holes of the local layering according to the positions of the through holes of the boat body;
s9, coating structural adhesive on the surface of the local layering, tightly adhering the gear box with the local layering through the structural adhesive, arranging inner hexagon bolts around the gear box, arranging a third base plate on the outer side of the boat body, wherein the third base plate is used as a mounting base surface of the blind hole bolts, and locking the gear box and the mounting flange from the outer side of the boat body by the blind hole bolts;
s10, installing a driving system and a gear transmission system according to the positions of the mounting flange and the gear box, and then installing a swing arm and a sonar installation base.
As a further improvement of the above technical scheme:
the local layering adopts a method of vertically and horizontally weaving 45-90-degree carbon fiber cloth, the whole layer of cloth is adopted in the layering process of the 45-90-degree carbon fiber cloth, and the whole layer of cloth needs to be flattened layer by layer in the layering process.
And the sonar collecting and releasing groove is co-walled with the boat body.
The first backing plate is made of PVC, the second backing plate is made of wood or PVC, and the third backing plate is made of metal.
The beneficial effects of the invention are as follows:
the invention has compact and reasonable structure and convenient operation, and the sonar arrangement device is used for retracting or putting down the sonar, so that the navigation resistance of the unmanned ship for high-speed navigation can be reduced, the influence of water surface reverberation and waves on the sonar detection result can be reduced, and the purpose of ensuring the navigation speed of the unmanned ship and simultaneously taking into consideration the underwater detection task can be achieved; through setting up mounting flange, can solve the connection problem of different nature material, and guarantee the water tightness of hull.
The invention also has the following advantages:
(1) The swing arm is cylindrical, so that the strength and rigidity of the swing arm can be ensured, and the impact of water flow on the swing arm is reduced.
(2) The multistage sealing is carried out by arranging the sealing ring and the dynamic sealing piece, so that water can be prevented from penetrating into the boat body.
(3) By configuring the attitude instrument, the closed-loop control method is introduced into the swing arm type sonar arrangement, so that the sonar arrangement device has a pitch angle compensation function, and the sonar can directly acquire data without data correction.
(4) Through setting up encoder output feedback signal, can in time adjust the angle of swing arm, guarantee that the sonar is in best detection angle to can carry on the light-weight sonar that launch angle and power are less, make entire system lightweight.
(5) The sonar arrangement device can be used for replacing internal parts by opening the end cover, and maintenance and replacement are convenient and quick.
(6) The sonar installation base is of a single-plate structure, so that the weight of the base can be reduced while the sonar is protected and restrained.
(7) A certain number of waist round holes are formed in the seat plate, so that bases can be conveniently matched with sonars of different models.
(8) The outside of the hull sets up the third gasket to use blind hole bolt locking mounting flange, the inboard local shop floor surface of hull scribbles the structural adhesive, can improve unmanned ship's water proofness, can also guarantee installation intensity simultaneously.
(9) Because the root bending moment and the shearing force of the cantilever structure are large, the boat body is locally thickened, so that the local strength of the carbon fiber boat body is ensured.
(10) The local intensity of the layer area can be improved by adopting a method of longitudinally and transversely mixed weaving the layer of carbon fiber cloth with the angle of 45 degrees and 90 degrees.
(11) The local layering process is flattened layer by layer, so that the surface smoothness of the layering can be improved, and the water tightness of the boat body can be ensured by tightly and firmly attaching the boat body to the local layering and attaching the gearbox to the local layering.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a front view of fig. 1.
Fig. 3 is a cross-sectional view of section A-A of fig. 2.
Fig. 4 is a partial enlarged view at B in fig. 3.
Fig. 5 is a side view of fig. 1.
Fig. 6 is a schematic view of the present invention in an operating state.
Fig. 7 is a front view of fig. 6.
Fig. 8 is a right side view of fig. 6.
Fig. 9 is a schematic view of the present invention in an operational state when the hull is turned over.
FIG. 10 is a schematic view of the invention in a sonar receiving and releasing groove.
Fig. 11 is a partial enlarged view at C in fig. 10.
Fig. 12 is a right side view of fig. 10.
FIG. 13 is a schematic view of the inventive revenue sonar receiving and deploying groove when the hull is turned over.
Fig. 14 is a side view of fig. 13.
Fig. 15 is a schematic view of the structure of the mounting flange according to the present invention.
Fig. 16 is a schematic structural view of a third pad according to the present invention.
Fig. 17 is a front view of a hull mold in accordance with the present invention.
Fig. 18 is a cross-sectional view of fig. 17.
Fig. 19 is a partial view of the hull of the present invention in a mounted state.
Fig. 20 is a partial view of a hull of a boat in accordance with the present invention.
Fig. 21 is a partial view of a hull of a boat in accordance with the present invention.
Fig. 22 is a partial view of the hull of the present invention in a mounted state.
Fig. 23 is a partial view of the hull of the present invention during installation.
Fig. 24 is a view of a part of the hull of the present invention in a mounted state.
Fig. 25 is a partial view of the hull of the present invention in a mounted state.
Fig. 26 is a partial view of the hull of the present invention in installation.
Wherein: 1. a hull; 2. a sonar collecting and releasing groove; 3. a drive system; 4. a gear transmission system; 5. swing arms; 6. a sonar installation base; 7. sonar; 8. a mounting flange; 9. a carbon fiber hull plate; 10. adding a thick plate to the ship body; 11. a first backing plate; 12. a fine tooth sleeve; 13. a second backing plate; 14. locally layering; 15. structural adhesive; 16. a third backing plate; 17. a mold;
301. a servo motor; 302. a speed reducer; 303. encoder with a plurality of sensors
401. A driving wheel; 402. driven wheel; 403. a gear box; 404. a main shaft; 405. a sleeve; 406. a first rolling bearing; 407. a second rolling bearing; 408. the cover plate is matched with the sleeve; 409. a dynamic seal; 410. an end cap; 411. a cover plate limiting block; 412. a first seal ring; 413. a second seal ring; 414. a third seal ring; 415. a key; 416. a lock nut; 417. a stop washer;
601. a seat plate; 602. fixing a stud; 603. a connecting rod; 604. and a limiting gasket.
Detailed Description
The following describes specific embodiments of the present invention with reference to the drawings.
Embodiment one:
the structure and function of this embodiment are as follows:
as shown in fig. 1-15, the channel type unmanned ship sonar arrangement device comprises a ship body 1, a sonar collecting and placing groove 2 is formed in the outer side of the ship body 1, the ship body 1 is provided with a sonar 7, the channel type unmanned ship sonar arrangement device further comprises a mounting flange 8, a gear transmission system 4 is fixed on the end face of the mounting flange 8, a driving system 3 is arranged at the input end of the gear transmission system 4, a swing arm 5 is arranged after the output end of the gear transmission system 4 extends out of the mounting flange 8, the swing arm 5 is in a hollow cylindrical shape, a box-shaped sonar installation base 6 is fixed on the bottom surface of the swing arm 5, and the driving system 3 drives the sonar installation base 6 to extend out of and recycle from the sonar collecting and placing groove 2.
The gear transmission system 4 has the structure that: the driving device comprises a driving wheel 401 connected with the output end of a driving system 3, the driving wheel 401 is provided with a driven wheel 402 in a matched mode, the driven wheel 402 is connected with a main shaft 404, the other end of the main shaft 404 is connected with a swing arm 5, the outer side face of the main shaft 404 is provided with a rolling bearing group, the front end of the rolling bearing group is provided with a dynamic sealing piece 409, the outer part of the rolling bearing group is provided with an end cover 410, and the outer parts of the driving wheel 401 and the driven wheel 402 are provided with a gear box 403. The driving wheel 401, the driven wheel 402, the gear box 403 and a part of the main shaft 404 are located inside the hull 1.
The structure of sonar installation base 6 is: including being square bedplate 601, open at the middle part of bedplate 601 has several waist round hole, and fixed double-screw bolt 602 is installed in the four corners of bedplate 601, and the bottom of two adjacent fixed double-screw bolts 602 is fixed with spacing gasket 604, and the outside cover of fixed double-screw bolt 602 has connecting rod 603, and sonar 7 passes through waist round hole and bedplate 601 to be fixed. The sonar installation base 6 is of a single-plate structure, the rigidity of an installation base surface is increased through a frame system formed by the fixing studs 602 and the connecting rods 603, the sonar 7 is protected and restrained while the light weight is guaranteed, waist round holes are formed in the middle of the seat plate 601, and the sonar 7 of different models can be installed and fixed by matching the studs.
The end face of the end cap 410 connected with the main shaft 404 is provided with a first sealing ring 412, the end face of the end cap 410 connected with the hull is provided with a second sealing ring 413, and the interior of the gear box 403 is provided with a third sealing ring 414.
The driving system 3 has the structure that: the servo motor comprises a servo motor 301, wherein a speed reducer 302 is arranged at the output end of the servo motor 301, the speed reducer 302 is connected with the input end of a gear transmission system 4, the servo motor 301 is electrically connected with an encoder 303, and the encoder 303 is fixed with the shaft end of a main shaft 404. The drive mechanism 3 is arranged inside the hull 1 in the hold.
The structure of the rolling bearing group is as follows: comprises a first rolling bearing 406 and a second rolling bearing 407, wherein the first rolling bearing 406 and the second rolling bearing 407 are separated by a sleeve 405, and the outer end surfaces of the first rolling bearing 406 and the second rolling bearing 407 are provided with a cover plate matching sleeve 408. The rolling bearing group can increase the support area of the main shaft 404 while stabilizing the rotation of the main shaft 404. Grease is added in the process of installing the rolling bearing group.
A cover plate limiting block 411 is arranged on the outer side of the end cover 410. The number of the cover plate limiting blocks 411 is two, and the rotation angle of the swing arm 5 is limited. The end face of the swing arm 5 connected with the end cover 410 is provided with a bump, when the sonar installation base 6 is retracted into the sonar retraction groove 2, the main shaft 404 rotates anticlockwise, when the bump of the swing arm 5 is clamped by the cover plate limiting block 411 rotating to one end of the end cover 410, the sonar installation base 6 is completely retracted into the sonar retraction groove 2, at the moment, the main shaft 404 stops rotating, and the servo motor 301 keeps the rotation angle of the swing arm 5; when the sonar installation base 6 is put down from the sonar collecting and releasing groove 2, the main shaft 404 rotates clockwise, when the cover plate limiting block 411 at the other end of the end cover 410 is rotated to clamp the convex block of the swing arm 5, the sonar installation base 6 is put down completely, the sonar 7 starts to work, and the servo motor 301 adjusts the angle of the swing arm 5 through the main shaft 404 according to the feedback signal of the encoder 303, so that the sonar 7 is at the optimal detection angle. The cover plate limiting block 411 can reduce the impact of fluid on the driving system 3 and the gear transmission system 4 for a long time, and prolong the service lives of the servo motor 301 and the gears.
One end of the driven pulley 402 is provided with a lock nut 416 and a lock washer 417, and the driven pulley 402 is connected with the main shaft 404 by a key 415. The driven wheel 402 is prevented from being displaced by the lock nut 416 and the lock washer 417.
The working procedure of this embodiment is as follows:
firstly, carrying out wave resistance evaluation, and predicting the high-speed navigation attitude of the unmanned ship and the motion attitude of the sonar 7 under the low-speed working condition of the unmanned ship so as to determine the installation position of the sonar arrangement device on the ship body 1. The installation position of the sonar arrangement device needs to ensure that the sonar collecting and releasing groove 2 is positioned above the waterline when the unmanned ship sails at a high speed, and the sonar installation base 6 is positioned below the waterline when being completely put down.
The sonar 7 is fixed with the sonar installation base 6 through a waist round hole on the seat board 601, when the unmanned boat sails at a high speed, the sonar 7 needs to be completely contained in the sonar collecting and releasing groove 2, the servo motor 301 drives the driving wheel 401 to rotate through the speed reducer 302, so that the driven wheel 402 is driven to rotate, the driven wheel 402 drives the main shaft 404 to rotate, and the main shaft 404 drives the swing arm 5 to rotate, so that the sonar 7 is completely contained; when the unmanned ship sails at a low speed, the sonar 7 needs to be put down from the sonar collecting and releasing groove 2, and the servo motor 301 drives the swing arm 5 to rotate through the gear transmission system 4 so as to put down the sonar 7.
When the sonar 7 works, the longitudinal and transverse movement amplitude and period of the boat body 1 can be acquired through an attitude meter configured by the unmanned boat, the longitudinal and transverse movement amplitude and period are input to a computer through data processing, the computer outputs a required angle of the swing arm 5 to a servo motor driver according to the acquired data, the servo motor driver outputs a pulse signal to drive the servo motor 301, so that the rotation angle of the swing arm 5 is adjusted, and the encoder 303 outputs the pulse signal to the servo motor driver according to the rotation angle of the main shaft 404, so that closed-loop control is formed, and the rotation angle of the swing arm 5 can be timely adjusted to ensure the accuracy of detection results of the sonar 7.
Embodiment two:
as shown in fig. 15-26, taking the channel-type unmanned aerial vehicle sonar arrangement device provided in the first embodiment as an example, the present embodiment provides a method for installing the channel-type unmanned aerial vehicle sonar arrangement device.
The method comprises the following steps:
s1, preparing, namely preparing a first backing plate 11, a fine tooth sleeve 12, a second backing plate 13, a structural adhesive 15 and a third backing plate 16 which are used in the installation process, and preparing a die 17 for manufacturing the channel type unmanned ship body 1 and a profile die for a sonar collecting and releasing groove 2;
s1.1, firstly spraying gel coats on a die 17 of a channel type unmanned ship body 1, and carrying out the next step after curing the gel coats;
s2, manufacturing a carbon fiber boat body 1, placing a first backing plate 11 made of PVC and an outline mold of a sonar collecting and placing groove 2 on the inner surface of a mold 17, wherein the outline mold of the first backing plate 11 and the sonar collecting and placing groove 2 is not easy to shift due to gel coats solidified on the surface of the mold 17;
s2.1, determining the installation position of the sonar arrangement device on the boat body 1 according to a wave resistance evaluation result, wherein the placement positions of the first base plate 11 and the outline mold of the sonar accommodating groove 2 correspond to the installation position of the sonar arrangement device;
s2.2, the sonar collecting and releasing groove 2 and the transverse bulkhead of the boat body 1 are shared, and the size of the sonar collecting and releasing groove 2 can accommodate the whole sonar installation base 6;
s3, performing process layering, wherein the layering process needs to be performed gently, and the first base plate 11 and the outline mold of the sonar collecting and releasing groove 2 are prevented from being shifted;
s3.1, for convenience of explanation, the installation part of the sonar arrangement device is denoted by a carbon fiber hull plate 9 of a part of the boat body 1;
s3.2, as shown in figures 19-20, locally thickening the carbon fiber hull plate 9 through the hull thick plate 10, demoulding after the hull 1 is solidified, and removing the first backing plate 11 from the outer surface of the hull 1;
s3.3. the first shim plate 11 forms a groove on the outside of the carbon fibre hull plate 9, which groove is used for mounting the third shim plate 16;
s4, forming a through hole for the mounting flange 8 made of stainless steel, and processing internal threads in the hole;
s5, as shown in fig. 21-22, positioning a mounting flange 8 on the inner side of the boat body 1 according to the mounting position of the sonar arrangement device, then opening a through hole on the boat body 1 according to the position of the through hole of the mounting flange 8, and processing internal threads in the hole;
s6, as shown in FIG. 23, screwing the fine tooth sleeve 12 into the through holes of the mounting flange 8, the carbon fiber hull plate 9 and the hull thick plate 10;
s7, as shown in FIG. 24, a second backing plate 13 is arranged in the fine tooth sleeve 12, the second backing plate 13 can be made of wood or PVC, a local layer 14 is pasted on the mounting plate flange 8, and the local layer 14 completely covers the mounting flange 8;
s7.1, a method of longitudinally and transversely mixing and braiding the carbon fiber cloth with the angle of 45 degrees and 90 degrees is adopted as the local layering 14, a whole layer of cloth is adopted in the layering process of the carbon fiber with the angle of 45 degrees and 90 degrees, and the whole layer of cloth needs to be flattened layer by layer in the layering process;
s8, as shown in FIG. 25, after the curing of the pasted local ply 14 is completed, removing the second backing plate 13, and opening the through holes of the local ply 14 according to the positions of the through holes of the boat body 1;
s9, as shown in fig. 26, coating structural adhesive 15 on the surface of the local layer 14, tightly adhering a gear box 403 to the local layer 14 through the structural adhesive 15, arranging hexagon socket head cap bolts around the gear box 403, arranging a third backing plate 16 on the outer side of the carbon fiber hull plate 9, and locking the gear box 403 and the mounting flange 8 from the outer side of the carbon fiber hull plate 9 by the blind hole bolts, wherein the third backing plate 16 is used as a mounting base surface of the blind hole bolts;
s10, installing a driving system 3 and a gear transmission system 4 according to the positions of the mounting flange 8 and the gear box 403, and then installing a swing arm 5 and a sonar installation base 6;
s10.1, assembling a servo motor 301 and a speed reducer 302 into a whole, and assembling the speed reducer 302 at the input end of a gear box 403;
s10.2, the input end of a gear box 403 is provided with a driving wheel 401, a driven wheel 402 is matched and installed, and the driven wheel 402 is used as an output end to be connected with a driving main shaft 404;
s10.3, fixing a main shaft 404 and a driven wheel 402 through a key 415, a lock nut 416 and a stop washer 417, installing a rolling bearing group from the outer side surface of a boat body 1, sleeving a first rolling bearing 406 into the main shaft 404, installing a sleeve 405, finally installing a second rolling bearing 407, and installing a cover plate matching sleeve 408 at the outer end of the rolling bearing;
s10.4, sleeving a dynamic seal piece 409 on the main shaft 404, and fixing the end cover 410 and the gear box 403 by using bolts;
s10.5, reinstallation swing arm 5, sonar installation base 6 is connected to swing arm 5's bottom, uses the screw to pass through the waist round hole fixed sonar 7 on the bedplate 601, and the cable of sonar 7 passes through swing arm 5 and is connected with the power in the hull 1 through the water seal piece on the hull 1.
The installation method provided by the embodiment is practical and reliable, the installation flange 8 is pre-buried in the boat body 1 through the local layer 14, so that the swing arm type sonar arrangement device made of stainless steel can be installed on the channel type unmanned boat made of carbon fiber, and meanwhile, the water tightness of the unmanned boat is ensured; in the pasting process of the local ply 14, the carbon fiber cloth with the angle of 45 degrees and the angle of 90 degrees is used for longitudinally and transversely mixed braiding pasting and layer by layer flattening, so that the combination of the local ply and the boat body 1 is tighter and firmer, and the local strength of an open area of the boat body 1 can be ensured.
The above description is intended to illustrate the invention and not to limit it, the scope of which is defined by the claims, and any modifications can be made within the scope of the invention.
Claims (9)
1. The utility model provides a device is arranged to unmanned ship sonar of channel formula, includes hull (1), and the outside of hull (1) is provided with sonar collection and release groove (2), and hull (1) carries on sonar (7), its characterized in that: the device comprises a mounting flange (8), wherein a gear transmission system (4) is fixed on the end face of the mounting flange (8), a driving system (3) is arranged at the input end of the gear transmission system (4), a swing arm (5) is arranged after the output end of the gear transmission system (4) extends out of the mounting flange (8), the swing arm (5) is hollow and cylindrical, a sonar installation base (6) which is box-shaped is fixed on the bottom face of the swing arm (5), and the driving system (3) drives the sonar installation base (6) to extend out of and recycle from a sonar collecting and releasing groove (2);
the gear transmission system (4) is characterized in that: the automatic transmission device comprises a driving wheel (401) connected with the output end of a driving system (3), wherein the driving wheel (401) is provided with a driven wheel (402) in a matched mode, the driven wheel (402) is connected with a main shaft (404), the other end of the main shaft (404) is connected with a swing arm (5), the outer side face of the main shaft (404) is provided with a rolling bearing group, the front end of the rolling bearing group is provided with a dynamic sealing piece (409), the outer part of the rolling bearing group is provided with an end cover (410), and the outer parts of the driving wheel (401) and the driven wheel (402) are provided with a gear box (403);
the sonar installation base (6) is characterized in that: comprises a square seat board (601), a plurality of waist round holes are arranged in the middle of the seat board (601), fixing studs (602) are arranged at four corners of the seat board (601), a limiting gasket (604) is fixed at the bottom of each two adjacent fixing studs (602), a connecting rod (603) is sleeved outside each fixing stud (602), and a sonar (7) is fixed with the seat board (601) through a waist round hole;
the driving system (3) is structured as follows: the automatic transmission device comprises a servo motor (301), wherein a speed reducer (302) is arranged at the output end of the servo motor (301), the speed reducer (302) is connected with the input end of a gear transmission system (4), the servo motor (301) is electrically connected with an encoder (303), and the encoder (303) is fixed with the shaft end of a main shaft (404).
2. A channel unmanned boat sonar arrangement device as defined in claim 1, wherein: the end face that end cover (410) and main shaft (404) are connected is provided with first sealing washer (412), and the end face that end cover (410) and hull are connected is provided with second sealing washer (413), and the inside of gear box (403) is provided with third sealing washer (414).
3. A channel unmanned boat sonar arrangement device as defined in claim 1, wherein: the structure of the rolling bearing group is as follows: the novel rolling bearing comprises a first rolling bearing (406) and a second rolling bearing (407), wherein the first rolling bearing (406) and the second rolling bearing (407) are separated through a sleeve (405), and cover plate matching sleeves (408) are arranged on the outer end faces of the first rolling bearing (406) and the second rolling bearing (407).
4. A channel unmanned boat sonar arrangement device as defined in claim 1, wherein: and a cover plate limiting block (411) is arranged on the outer side of the end cover (410).
5. A channel unmanned boat sonar arrangement device as defined in claim 1, wherein: one end of the driven wheel (402) is provided with a lock nut (416) and a stop washer (417), and the driven wheel (402) is connected with the main shaft (404) by a key (415).
6. A method of installing a channel unmanned boat sonar arrangement device as defined in claim 1, wherein:
the method comprises the following steps:
s1, preparing, namely preparing a first base plate (11), a fine tooth sleeve (12), a second base plate (13), structural adhesive (15) and a third base plate (16) which are used in the installation process, and preparing a die (17) for manufacturing a channel type unmanned ship body (1) and an outline die for a sonar collecting and placing groove (2);
s2, manufacturing a carbon fiber boat body (1), and placing a first backing plate (11) and an outline mold of the sonar collecting and placing groove (2) on the inner surface of a mold (17);
s3, performing process layering, locally thickening the installation position of the sonar arrangement device on the boat body (1), curing the boat body (1), demolding, and removing the first backing plate (11) from the outer surface of the boat body (1);
s4, a through hole is formed in the mounting flange (8), and internal threads are machined in the through hole;
s5, positioning the mounting flange (8) on the inner side of the boat body (1) according to the mounting position of the sonar arrangement device, then opening a through hole on the boat body (1) according to the position of the through hole of the mounting flange (8), and processing internal threads in the hole;
s6, screwing the fine tooth sleeve (12) into the through holes of the mounting flange (8) and the boat body (1);
s7, installing a second base plate (13) in the fine tooth sleeve (12), pasting a local layer (14) on the mounting flange (8), and completely covering the mounting flange (8) by the local layer (14);
s8, after curing of the pasted local layer (14), removing the second base plate (13), and opening through holes of the local layer (14) according to the through hole positions of the boat body (1);
s9, coating structural adhesive (15) on the surface of the local pavement layer (14), tightly adhering a gear box (403) to the local pavement layer (14) through the structural adhesive (15), arranging inner hexagon bolts around the gear box (403), arranging a third backing plate (16) on the outer side of the boat body (1), and locking the gear box (403) and the mounting flange (8) by the blind hole bolts from the outer side of the boat body (1) by using the third backing plate (16) as a mounting base surface of the blind hole bolts;
s10, installing a driving system (3) and a gear transmission system (4) according to the positions of the mounting flange (8) and the gear box (403), and then installing a swing arm (5) and a sonar installation base (6).
7. A method of installing a channel unmanned boat sonar arrangement device as defined in claim 6, wherein: the local layer (14) adopts a method of longitudinally and transversely mixed weaving the carbon fiber cloth with the angle of 45 degrees and 90 degrees, the whole layer of cloth is adopted in the layer-laying process of the carbon fiber with the angle of 45 degrees and 90 degrees, and the whole layer of cloth needs to be flattened layer by layer in the layer-laying process.
8. A method of installing a channel unmanned boat sonar arrangement device as defined in claim 6, wherein: the sonar collecting and releasing groove (2) is co-walled with the boat body (1).
9. A method of installing a channel unmanned boat sonar arrangement device as defined in claim 6, wherein: the first backing plate (11) is made of PVC, the second backing plate (13) is made of wood or PVC, and the third backing plate (16) is made of metal.
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| CN115675738A (en) | 2023-02-03 |
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