CN117416479A - Underwater sonar detection platform for ship and working method - Google Patents

Underwater sonar detection platform for ship and working method Download PDF

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Publication number
CN117416479A
CN117416479A CN202311396768.0A CN202311396768A CN117416479A CN 117416479 A CN117416479 A CN 117416479A CN 202311396768 A CN202311396768 A CN 202311396768A CN 117416479 A CN117416479 A CN 117416479A
Authority
CN
China
Prior art keywords
cylinder module
electric cylinder
sonar
swinging
lifting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202311396768.0A
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Chinese (zh)
Inventor
沈林
郭启寅
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai New Era Robot Co ltd
Original Assignee
Shanghai New Era Robot Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai New Era Robot Co ltd filed Critical Shanghai New Era Robot Co ltd
Publication of CN117416479A publication Critical patent/CN117416479A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B49/00—Arrangements of nautical instruments or navigational aids
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
    • B63B2017/0054—Rests or supports for movable ship-borne equipment

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The invention provides an underwater sonar detection platform for a ship and a working method thereof, which relate to the field of sonar detection equipment and comprise a lifting electric cylinder module, a swinging frame, a sonar device and a control device, wherein the lifting electric cylinder module is arranged in a cabin at the bottom of a ship body, and the swinging electric cylinder module is rotatably arranged on a movable rod of the lifting electric cylinder module; the swing frame is rotationally connected with the movable end of the lifting electric cylinder module, and the swing frame is rotationally connected with the movable end of the swing electric cylinder module, and comprises a storage state and a working state under the action of the control device. The movable rod of the lifting electric cylinder module stretches into the water body, and the movable rod of the swinging electric cylinder module reciprocates to drive the sonar device to swing, so that the sonar device always keeps at a horizontal position, swing generated by impact on a ship body is counteracted, the sonar is ensured to always keep at the horizontal position, and the accuracy of sonar detection is improved.

Description

Underwater sonar detection platform for ship and working method
Technical Field
The invention relates to the field of sonar detection equipment, in particular to an underwater sonar detection platform for a ship and a working method.
Background
The continuous development of modern society science and technology makes more and more advanced instruments and equipment applied to modern mapping, has gradually replaced original traditional measuring means. The instrument and equipment for underwater topography measurement comprise an echo sounder, a multi-beam sounder and the like, and the working principle of the instrument and equipment is that sound waves are utilized.
At present, the appearance of unmanned survey vessel has replaced traditional manual measurement, and is convenient ageing and safe and reliable, has saved manpower, material resources, has improved work efficiency. And the sonar equipment is combined with the unmanned ship, and underwater sound waves are utilized to detect underwater targets.
The prior Chinese patent application document with the publication number of CN101811562A discloses an underwater side-scan sonar collecting and releasing device arranged below a bow deck of a boat. The submarine bow slot is convenient for installing the sonar on the submarine bow, and can be used for accommodating underwater sonar which can be covered after being accommodated; the sonar is arranged on the retraction rod, and the retraction rod is driven to rotate through a transmission device consisting of a marine motor, a speed reducer, a stainless steel chain and the like to send sonar into water, and after the sonar reaches a boat bow working position vertical to the bottom of the boat, the electric push rod pushes the positioning pin to be inserted into the positioning hole, so that the rigidity of the sonar retraction rod is improved; the rotation angle of sonar receiving and releasing is measured by an encoder connected to the rotation shaft.
In the prior art, a ship-borne underwater sonar platform can swing together with a sonar platform driven by the swing of a ship body, so that the accuracy of sonar detection is reduced, and the problem to be improved exists.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an underwater sonar detection platform for a ship and a working method.
The invention provides an underwater sonar detection platform for a ship, which comprises a lifting electric cylinder module, a swinging frame, a sonar device and a control device, wherein the lifting electric cylinder module is arranged in a cabin at the bottom of a ship body, and the swinging electric cylinder module is rotatably arranged on a movable rod of the lifting electric cylinder module; the swing frame is rotationally connected with the movable end of the lifting electric cylinder module, and is rotationally connected with the movable end of the swing electric cylinder module, and comprises a storage state and a working state under the action of the control device; the storage state is as follows: the lifting electric cylinder module, the swinging frame and the sonar device are all contained in a cabin at the bottom of the ship body; the working state is as follows: the movable rod of the lifting electric cylinder module stretches into the water body, and the movable rod of the swinging electric cylinder module makes reciprocating motion to drive the sonar device to swing so that the sonar device is always kept at a horizontal position.
Preferably, the swing frame comprises a swing shaft seat and a sonar installation plate, the swing shaft seat is rotationally connected with the movable end of the lifting electric cylinder module, the sonar installation plate is fixedly connected with the swing shaft seat, and the sonar installation plate is rotationally connected with the movable end of the swing electric cylinder module.
Preferably, two rotation connection points are arranged between the swing shaft seat and the movable end of the lifting cylinder module; the rotating connection point of the sonar installation plate and the movable end of the swinging electric cylinder module is positioned right below the rotating connection point of the swinging electric cylinder module and the movable rod of the lifting electric cylinder module; and the rotating connection points of the sonar installation plate and the movable end of the swinging electric cylinder module are positioned on the central line of the connecting line of the rotating connection points of the two swinging shaft seats and the movable end of the lifting electric cylinder module.
Preferably, the range of oscillation of the sonar device is ±25°.
Preferably, the fixed rod of the lifting electric cylinder module is fixedly connected with the inner wall of the cabin at the bottom of the ship body through a fixed frame.
Preferably, a waterproof cable tube is arranged on the movable rod of the lifting electric cylinder module.
Preferably, the opening end of the cabin is provided with a mounting frame, and the mounting frame is rotatably provided with a cabin door;
the mounting frame is provided with a guide block, the guide block is provided with a guide groove, a moving rod is arranged in the guide groove in a sliding manner, one end of the moving rod is movably connected with the cabin door, one end of the moving rod, which is far away from the cabin door, is provided with an elastic piece, and two ends of the elastic piece are respectively connected with the moving rod and the cabin door;
an abutting block is arranged on the moving rod, and an abutting plate is arranged at the joint of the lifting electric cylinder module and the sonar device;
when the sonar device is retracted into the cabin, the lifting electric cylinder module drives the abutting plate to ascend, the lifting electric cylinder module abuts against the abutting block in the ascending process to drive the moving rod to ascend, the moving rod drives the cabin door to close, and the elastic piece is stretched; when the sonar device stretches out of the cabin, the abutting plate and the abutting block lose the abutting force, the cabin door is opened through the tensile force of the elastic piece, and the moving rod is driven by the cabin door to reset.
Preferably, the telescopic travel of the lifting electric cylinder module comprises 550mm, and the telescopic travel of the swinging electric cylinder module comprises 100mm.
Preferably, the hull is provided with a horizontal gyroscope, the horizontal gyroscope is in signal connection with a control device, and the control device converts the acquired horizontal gyroscope signal into a control signal for controlling the swinging cylinder module to move.
The invention provides an underwater sonar detection platform for a ship and a working method thereof, which comprises the following steps:
s1, a control device controls a lifting cylinder module to extend a sonar device out of a cabin at the bottom of a ship body;
s2, a horizontal gyroscope on the ship body acquires a ship body attitude signal, and the acquired ship body attitude signal is transmitted to a control device;
and S3, the control device converts the acquired ship attitude signal into a control signal for controlling the swinging electric cylinder module to move, and controls the swinging electric cylinder module to move so that the sonar device is always kept at a horizontal position.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the movable rod of the lifting electric cylinder module extends into the water body, and the movable rod of the swinging electric cylinder module reciprocates to drive the sonar device to swing, so that the sonar device is always kept at the horizontal position, thereby counteracting the swing generated by the impact of the ship body, ensuring that the sonar is always kept at the horizontal position, and being beneficial to improving the accuracy of sonar detection.
2. According to the invention, the ship body attitude signal is obtained through the horizontal gyroscope, the control device converts the obtained ship body attitude signal into the control signal for controlling the movement of the swinging electric cylinder module, and controls the movement of the swinging electric cylinder module to enable the sonar device to be always kept at the horizontal position, so that the real-time regulation and control of the sonar device are realized, and the timeliness of the regulation of the sonar device is improved.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is an exploded view of the overall structure of an underwater sonar detection platform embodying the present invention;
FIG. 2 is a schematic diagram mainly showing that an elevating cylinder module of an underwater sonar detection platform is in an elongation state;
FIG. 3 is a schematic diagram mainly showing that an elevating cylinder module of an underwater sonar detection platform is in a contracted state;
FIG. 4 is a schematic diagram showing the swing state of an underwater sonar detection platform according to the present invention;
FIG. 5 is a schematic diagram showing the structure of the underwater sonar detection platform retracted in the cabin;
FIG. 6 is a schematic diagram of a structure of the underwater sonar detection platform extending out of the cabin;
FIG. 7 is a schematic diagram of the structure of an underwater sonar detection platform with a cabin door mainly embodied by the invention;
FIG. 8 is an enlarged view of a portion of FIG. 7;
FIG. 9 is a schematic view of the front side panel of the structure of FIG. 8 with the mounting bracket hidden;
FIG. 10 is an enlarged view of a portion of FIG. 9;
FIG. 11 is a schematic view showing the structure of the abutment plate and the abutment block in a highlighted manner;
fig. 12 is a schematic view showing the structure of the guide block and the guide groove in a highlighted manner.
The figure shows: 1. a lifting cylinder module; 2. swinging the electric cylinder module; 3. a swing frame; 31. a swinging shaft seat; 32. a sonar mounting plate; 4. a sonar device; 5. a cabin; 6. a fixing frame; 7. waterproof cable tube; a mounting frame 8; a hatch 9; a guide block 10; a guide groove 11; a moving lever 12; an abutment block 13; an abutment plate 14; a joint member 15; an elastic pad 16.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
As shown in fig. 1 to 12, the underwater sonar detection platform for a ship provided by the invention comprises a lifting electric cylinder module 1, a swinging electric cylinder module 2, a swinging frame 3, a sonar device 4 and a control device, wherein the lifting electric cylinder module 1 is arranged in a cabin 5 at the bottom of a ship body, and the swinging electric cylinder module 2 is rotatably arranged on a movable rod of the lifting electric cylinder module 1. The swinging frame 3 is rotationally connected with the movable end of the lifting electric cylinder module 1, and the swinging frame 3 is rotationally connected with the movable end of the swinging electric cylinder module 2, and comprises a storage state and a working state under the action of a control device.
Storage state: the lifting electric cylinder module 1, the swinging electric cylinder module 2, the swinging frame 3 and the sonar device 4 are all contained in a cabin 5 at the bottom of the ship body.
Working state: the movable rod of the lifting electric cylinder module 1 stretches into the water body, and the movable rod of the swinging electric cylinder module 2 makes reciprocating motion to drive the sonar device 4 to swing, so that the sonar device 4 is always kept at the horizontal position.
Specifically, the lifting electric cylinder module 1 is a linear reciprocating electric cylinder, and a fixed rod of the lifting electric cylinder module 1 is fixedly connected with the inner wall of the ship bottom cabin 5 through a fixed frame 6. Further, the fixing frames 6 are respectively installed at the upper end and the lower end of the fixing rod through screw fastening, and the two fixing frames 6 are both fixedly connected with the inner wall of the ship bottom cabin 5 through screws. The movable rod of the lifting electric cylinder module 1 can extend downwards into water, so that the waterproof cable tube 7 is arranged on the movable rod of the lifting electric cylinder module 1 to ensure that the lifting electric cylinder module 1 can stably run in water. Specifically, the present application proposes a preferred embodiment as follows: the telescopic travel of the lifting cylinder module 1 comprises 550mm.
More specifically, the swinging frame 3 comprises a swinging shaft seat 31 and a sonar installation plate 32, the swinging shaft seat 31 is rotationally connected with the movable end of the lifting electric cylinder module 1, the sonar installation plate 32 is fixedly connected with the swinging shaft seat 31, and the sonar installation plate 32 is rotationally connected with the movable end of the swinging electric cylinder module 2. Further, two rotation connection points are arranged between the swinging shaft seat 31 and the movable end of the lifting cylinder module 1. The rotation tie point of sonar mounting plate 32 and swing jar module 2 active end is located, and swing jar module 2 and lift jar module 1 movable rod's rotation tie point directly under, and the rotation tie point of sonar mounting plate 32 and swing jar module 2 active end is located, and two swing axle bed 31 and lift jar module 1 active end's rotation tie point line is on the central line. The sonar device 4 is mounted on the lower surface of the sonar mounting plate 32 by screw fastening.
Furthermore, both ends of the length of the swinging shaft seat 31 are rotatably connected with the movable end of the lifting electric cylinder module 1 through the cooperation of the bearing and the rotating shaft. The lower side of the swinging shaft seat 31 is attached to the upper side of one end of the sonar installation plate 32 and is fixedly connected with the upper side through screws, and the other end of the sonar installation plate 32 is matched with the movable end of the swinging electric cylinder module 2 through a bearing and a rotating shaft to be rotatably connected with the movable end.
Still further, the swing electric cylinder module 2 is a telescopic electric cylinder with certain waterproof performance, and the fixed end of the swing electric cylinder module 2 is rotatably installed on the movable rod of the lifting electric cylinder module 1 through a shaft and a bearing. When the swing electric cylinder module 2 is started, the swing electric cylinder module 2 performs telescopic movement, the fixed end of the swing electric cylinder module 2 rotates around the joint of the swing electric cylinder module 2 and the movable rod of the lifting electric cylinder module 1, the movable end of the swing electric cylinder module 2 rotates relative to the sonar mounting plate 32, the swing shaft seat 31 rotates relative to the movable rod of the lifting electric cylinder module 1, and therefore the sonar device 4 mounted on the lower portion of the sonar mounting plate 32 is driven to swing. Among other things, the present application proposes a preferred embodiment as follows: the telescopic stroke of the oscillating cylinder module 2 comprises 100mm.
The swing range of the sonar device 4 is preferably ±25°. It should be further noted that the swing range of the sonar device 4 can be adjusted according to the requirement in actual use.
Still further, be provided with the horizontal gyroscope on the hull, horizontal gyroscope and controlling means signal connection, controlling means converts the horizontal gyroscope signal who obtains into the control signal who controls the motion of swing jar module 2.
The open end of cabin 5 is provided with mounting bracket 8, rotates on the mounting bracket 8 and is provided with hatch door 9, is provided with guide block 10 on the mounting bracket 8, is provided with guide slot 11 on the guide block 10, and the sliding of guide slot 11 is provided with movable rod 12, and the one end and the hatch door 9 swing joint of movable rod 12, the one end that the hatch door 9 was kept away from to movable rod 12 are provided with the elastic component, and movable rod 12 and hatch door 9 are connected respectively at the both ends of elastic component, are provided with butt piece 13 on the movable rod 12, and the junction of lift jar module 1 and sonar device 4 is provided with butt board 14.
When the sonar device 4 is retracted into the cabin 5, the lifting cylinder module 1 drives the abutting plate 14 to lift, the abutting plate is abutted with the abutting block 13 in the lifting process, the moving rod 12 is driven to lift, the moving rod 12 drives the cabin door to be closed, and the elastic piece is stretched; when the sonar device 4 extends out of the cabin 5, the abutting plate 14 and the abutting block 13 lose the abutting force, the cabin door 9 is opened by the pulling force of the elastic piece, and the moving rod 12 is driven by the cabin door 9 to reset.
In this embodiment, two doors 9 are provided, which are respectively provided on both sides of the mounting frame 8 through rotation shafts, and two guide blocks 10, moving rods 12 and elastic members are also respectively provided.
The movable rod 12 is connected with the cabin door 9 through a joint piece 15 and a rotating shaft, an elastic pad 16 is arranged on the abutting plate 14, and the elastic pad 16 is used for abutting against the abutting block 13.
The elastic member is a spring, as shown in fig. 7, one end of the spring is connected to the a position, and the other end of the spring bypasses the outer side of the mounting frame 8 and is connected to the B position through the C position.
When the sonar device 4 withdraws the cabin 5, the lifting cylinder module 1 drives the abutting plate 14 to lift, the abutting plate 14 abuts against the abutting block 13 in the lifting process, then the moving rod 12 is driven to lift through the abutting block 13, the moving rod 12 drives the cabin door to close through the joint piece 15, and at the moment, the elastic piece is stretched due to the lifting of the moving rod 12. When the sonar device 4 stretches out of the cabin 5, the lifting cylinder module 1 drives the abutting plate 14 to descend, in the descending process of the abutting plate 14, the abutting plate 14 and the abutting block 13 lose the abutting force, the moving rod 12 loses the supporting force, and the cabin door 9 is opened through the tensile force of the elastic piece due to the fact that the elastic piece is in the tensile state, and the moving rod is driven by the cabin door 9 to reset.
It is emphasized that this application provides a can install the underwater sonar detection platform on small-size unmanned ship at sea for detect the position and the size etc. of underwater object, this device installs in the special cabin of hull bottom, when not working, can pack up in the cabin completely, when needing the during operation, through dedicated lift jar module 1, descend 550mm to stretch out the cabin outward to in lift jar module 1's lower part, install swing jar module 2, can realize installing in sonar equipment swing, its swing range is by the horizontal gyroscope control on the hull, can guarantee that the sonar remains horizontal position throughout, and avoid the sonar that the hull rocked and produce not horizontal rocking. The waterproof motor cylinder is adopted, so that the four-level sea condition is met.
The invention also provides an underwater sonar detection platform for the ship and a working method thereof, comprising the following steps:
s1, a control device controls a lifting cylinder module 1 to extend a sonar device 4 out of a cabin 5 at the bottom of a ship body;
s2, a horizontal gyroscope on the ship body acquires a ship body attitude signal, and the acquired ship body attitude signal is transmitted to a control device;
and S3, the control device converts the acquired ship attitude signal into a control signal for controlling the movement of the swing electric cylinder module 2, and controls the movement of the swing electric cylinder module 2 to enable the sonar device 4 to be always kept at the horizontal position.
Those skilled in the art will appreciate that the invention provides a system and its individual devices, modules, units, etc. that can be implemented entirely by logic programming of method steps, in addition to being implemented as pure computer readable program code, in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units for realizing various functions included in the system can also be regarded as structures in the hardware component; means, modules, and units for implementing the various functions may also be considered as either software modules for implementing the methods or structures within hardware components.
In the description of the present application, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the devices or elements being referred to must have a specific orientation, be configured and operated in a specific orientation, and are not to be construed as limiting the present application.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the invention. The embodiments of the present application and features in the embodiments may be combined with each other arbitrarily without conflict.

Claims (10)

1. The underwater sonar detection platform for the ship is characterized by comprising a lifting electric cylinder module (1), a swinging electric cylinder module (2), a swinging frame (3), a sonar device (4) and a control device, wherein the lifting electric cylinder module (1) is arranged in a cabin (5) at the bottom of the ship body, and the swinging electric cylinder module (2) is rotatably arranged on a movable rod of the lifting electric cylinder module (1);
the swinging frame (3) is rotationally connected with the movable end of the lifting electric cylinder module (1), and the swinging frame (3) is rotationally connected with the movable end of the swinging electric cylinder module (2), and comprises a storage state and a working state under the action of the control device;
the storage state is as follows: the lifting electric cylinder module (1), the swinging electric cylinder module (2), the swinging frame (3) and the sonar device (4) are all contained in a cabin (5) at the bottom of the ship body;
the working state is as follows: the movable rod of the lifting electric cylinder module (1) stretches into the water body, and the movable rod of the swinging electric cylinder module (2) reciprocates to drive the sonar device (4) to swing so that the sonar device (4) is always kept at a horizontal position.
2. An underwater sonar detection platform for a ship as claimed in claim 1, characterized in that the swinging frame (3) comprises a swinging shaft seat (31) and a sonar installation plate (32), the swinging shaft seat (31) is rotatably connected with the movable end of the lifting electric cylinder module (1), the sonar installation plate (32) is fixedly connected with the swinging shaft seat (31), and the sonar installation plate (32) is rotatably connected with the movable end of the swinging electric cylinder module (2).
3. An underwater sonar detection platform for ships as claimed in claim 2, characterized in that there are two rotational connection points between the swing shaft seat (31) and the movable end of the lifting cylinder module (1);
the rotating connection point of the sonar installation plate (32) and the movable end of the swinging electric cylinder module (2) is positioned right below the rotating connection point of the movable rod of the swinging electric cylinder module (2) and the lifting electric cylinder module (1);
and the rotating connection points of the sonar installation plate (32) and the movable end of the swinging electric cylinder module (2) are positioned on the central line of the connecting line of the rotating connection points of the two swinging shaft seats (31) and the movable end of the lifting electric cylinder module (1).
4. An underwater sonar detection platform for a ship as claimed in claim 3, characterised in that the range of oscillation of the sonar device (4) is ± 25 °.
5. An underwater sonar detection platform for ships as in claim 1, characterized in that the fixed rod of the lifting cylinder module (1) is fastened and connected with the inner wall of the bottom cabin (5) of the ship body through a fixed frame (6).
6. An underwater sonar detection platform for ships as claimed in claim 1, characterised in that the movable bar of the lifting cylinder module (1) is provided with a waterproof cable tube (7).
7. An underwater sonar detection platform for ships as claimed in claim 1, characterised in that the open end of the cabin (5) is provided with a mounting frame (8), the mounting frame (8) being provided with a hatch (9) in rotation;
the device is characterized in that a guide block (10) is arranged on the mounting frame (8), a guide groove (11) is formed in the guide block (10), a moving rod (12) is arranged in the guide groove (11) in a sliding mode, one end of the moving rod (12) is movably connected with the cabin door (9), an elastic piece is arranged at one end, far away from the cabin door (9), of the moving rod (12), and two ends of the elastic piece are respectively connected with the moving rod (12) and the cabin door (9);
an abutting block (13) is arranged on the moving rod (12), and an abutting plate (14) is arranged at the joint of the lifting electric cylinder module (1) and the sonar device (4);
when the sonar device (4) withdraws the cabin (5), the lifting electric cylinder module (1) drives the abutting plate (14) to ascend, the lifting electric cylinder module is abutted with the abutting block (13) in the ascending process to drive the moving rod (12) to ascend, the moving rod (12) drives the cabin door to close, and the elastic piece is stretched; when the sonar device (4) stretches out of the cabin (5), the abutting plate (14) and the abutting block (13) lose the abutting force, the cabin door (9) is opened through the tensile force of the elastic piece, and the moving rod (12) is driven by the cabin door (9) to reset.
8. An underwater sonar detection platform for ships as claimed in claim 1, characterised in that the telescopic travel of the lifting cylinder module (1) comprises 550mm and the telescopic travel of the swinging cylinder module (2) comprises 100mm.
9. An underwater sonar detection platform for a ship as claimed in claim 1, characterised in that the hull is provided with a level gyroscope which is in signal connection with a control device which converts the acquired level gyroscope signals into control signals for controlling the movement of the swinging cylinder module (2).
10. A method of operating an underwater sonar detection platform for a ship, characterized in that an underwater sonar detection platform for a ship as claimed in any one of claims 1 to 9 is used, comprising the steps of:
step S1, a control device controls a lifting cylinder module (1) to extend a sonar device (4) out of a cabin (5) at the bottom of a ship body;
s2, a horizontal gyroscope on the ship body acquires a ship body attitude signal, and the acquired ship body attitude signal is transmitted to a control device;
and S3, the control device converts the acquired ship attitude signal into a control signal for controlling the movement of the swinging electric cylinder module (2), and controls the movement of the swinging electric cylinder module (2) to enable the sonar device (4) to be always kept at the horizontal position.
CN202311396768.0A 2023-09-08 2023-10-25 Underwater sonar detection platform for ship and working method Pending CN117416479A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202311162254 2023-09-08
CN2023111622549 2023-09-08

Publications (1)

Publication Number Publication Date
CN117416479A true CN117416479A (en) 2024-01-19

Family

ID=89522464

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311396768.0A Pending CN117416479A (en) 2023-09-08 2023-10-25 Underwater sonar detection platform for ship and working method

Country Status (1)

Country Link
CN (1) CN117416479A (en)

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