CN212900458U

CN212900458U - Underwater attitude adjusting device

Info

Publication number: CN212900458U
Application number: CN202021168199.6U
Authority: CN
Inventors: 李雷; 李芳德; 李伟; 石建飞; 孙裕超
Original assignee: Third Research Institute Of China Electronics Technology Group Corp
Current assignee: Third Research Institute Of China Electronics Technology Group Corp
Priority date: 2020-06-22
Filing date: 2020-06-22
Publication date: 2021-04-06
Anticipated expiration: 2030-06-22

Abstract

The utility model relates to an underwater posture adjusting device, from bottom to top include base, first mechanism, second mechanism and second platform, and the second mechanism rotates through first pivot to be connected in first mechanism, and the second platform rotates through the second pivot to be connected in second mechanism, first pivot and second pivot quadrature. This device compact structure, two sets of worms, worm wheel cooperation are speed reduction servo motor under water and are realized X, Y axle small-angle modulation, have avoided the speed of adjustment too fast to miss optimum angle to have auto-lock and angle display function, two mechanism rotate the operation independence, have promoted experimenter's under water convenience of controlling.

Description

Underwater attitude adjusting device

Technical Field

The utility model belongs to the ocean equipment field specifically relates to an underwater posture adjusting device.

Background

With the development of modern science and technology and military technology, the ocean technology is unprecedented, but underwater is still unknown and dangerous due to the influence of the diversity of ocean environments and the limitation of the development of sonar technology. In recent years, along with the development, a large number of important targets appear in coastal areas, the targets are more and more seriously threatened by direct fighting force from underwater, particularly frogmans and the like, and the frogmans are small in size, small in target strength, weak in echo characteristics, small in target noise and very difficult to accurately detect and identify. Therefore, the defense against the frogman is an important problem to be solved and improved urgently.

The underwater use performance of sonar is limited by marine environment and affects the specific universality, and the problem that sonar equipment with different functions cannot be avoided in the use process is particularly the underwater posture of sonar, and the technical problem to be solved is more urgent, for example: the sea waves cause the navigation platform to bump and swing; the seabed terrain is uneven, the uncertainty of the sonar laying direction and the like can cause the change of the sonar attitude, and the detection performance of the sonar can be directly influenced. Therefore, the adjustment of the posture of the sonar in the using process is an important means for improving the performance of the equipment. In the prior art, the traditional adjusting mode is manual adjustment, the manual adjustment has the problems of slow adjusting speed, labor waste, inconvenient operation and the like, and an electric adjusting mode is adopted in recent years, and the electric adjusting mode often has the following problems: (1) the motor drives the rotating shaft, the rotating speed is too high, the optimal position is easy to miss, and the controllability is poor; (2) the self-locking anti-reverse function is not provided, and an anti-reverse structure is required to be additionally arranged independently; (3) the adjustment angle is not accurate, and an overlarge angle adjustment range is not suitable for a narrow space of the sonar and cannot be mastered on a specific attitude angle; (4) most posture adjusting devices are large in size and inconvenient to operate.

Disclosure of Invention

In order to overcome the technical defect that prior art manual regulation inefficiency and electric adjustment are not accurate, the utility model provides an gesture adjusting device under water to shallow water district operation, this device adopts first mechanism, the cooperation of second mechanism quadrature to realize independently carrying out accurate small-angle accurate regulation on X, Y axle two directions, compact structure, when not missing best angle of adjustment, self-locking function and angle display still have, this device easy operation is convenient, angle of adjustment is accurate, and manufacturing cost is lower, can be popularized by wide application.

The utility model discloses a overcome the scheme that the problem that exists adopted among the prior art:

the underwater posture adjusting device comprises a base, a first mechanism, a second mechanism and a second platform from bottom to top, wherein the second mechanism is connected to the first mechanism in a rotating mode through a first rotating shaft, the second platform is connected to the second mechanism in a rotating mode through a second rotating shaft, and the first rotating shaft is orthogonal to the second rotating shaft.

Preferably, first mechanism includes base, first motor, first bearing, first worm wheel and first pivot, first motor is installed on the base, and first motor is connected through first worm with first bearing, first worm drives first worm wheel and rotates, first worm wheel is installed in first pivot.

Preferably, the first worm is in flat key connection with the first motor, and the first worm is in interference connection with the first bearing.

Preferably, the second mechanism comprises a first platform, a second motor, a second bearing, a second worm wheel and a second rotating shaft, the second motor is installed on the first platform, the second motor is connected with the second bearing through the second worm, the second worm drives the second worm wheel to rotate, and the second worm wheel is installed on the second rotating shaft.

Preferably, the second worm is in flat key connection with the second motor, and the second worm is in interference connection with the second bearing.

The first rotating shaft is rotatably connected with a first platform of the second mechanism, the second rotating shaft is rotatably connected with a second platform, and the rotating angle of the first platform and the second platform is +/-20 degrees.

Preferably, the internal threads of the first worm, the first worm wheel, the second worm and the second worm wheel are provided with small helix angles.

Preferably, the worm drives the worm wheel to drive, the worm wheel cannot drive the worm to drive, and the rotation of the worm and the worm wheel has self-locking performance.

Preferably, the number of the two pairs of worm and worm wheel transmission meshing teeth is large, the transmission is stable, and the noise is low.

Preferably, the rotation speed ratio of the two worm wheels and the two worms is 1: 20.

preferably, the first worm and the second worm are the same, and the first worm wheel and the second worm wheel are the same.

Preferably, the first and second mechanisms are identical in configuration and size.

Preferably, a limiting block is arranged on one side of the motor on the base and the first platform, and an inclination angle is arranged on the upper section of the limiting block and is the same as the angle of the movement plane of the first platform and the second platform.

Preferably, the first motor and the second motor are underwater deceleration servo motors and are respectively connected with a controller, and a cable in the attitude adjusting device is provided with a watertight connector assembly.

Preferably, the posture adjusting device is further provided with an inclination angle sensor.

Preferably, the tilt sensor is externally connected with a display interface or a PC (personal computer) terminal, and the signal is connected with the remote terminal control terminal through an RS485 port.

The utility model discloses beneficial effect who has:

(1) the first mechanism of the utility model is connected with the second mechanism, the rotating shafts of the two mechanisms are orthogonal, the structure is compact, the eccentric force is reduced, and the structural stability is ensured;

(2) the two groups of worm screws and the worm wheel of the utility model are matched to ensure that the two groups of mechanisms rotate in the X-axis direction and the Y-axis direction respectively, which are not interfered with each other, strong in independence and good in controllability;

(3) the utility model discloses the internal thread of worm and worm wheel is the little lead angle of spiral, makes this device have auto-lock performance, has saved unnecessary angle locking mechanical system, has reduced transmission efficiency's loss.

(4) The utility model has the advantages of large number of meshing tooth pairs of the worm and the worm wheel, stable transmission and low noise;

(5) the utility model discloses a worm and the worm wheel of the little lead angle of speed reduction servo motor cooperation under water have ensured the meticulous adjustment of slow speed low-angle.

(6) For the traditional device for manually adjusting the posture of the underwater equipment, the underwater equipment posture adjusting device reduces the water entering times of divers, saves a large amount of equipment arrangement time in the early stage, and increases the safety and the operation convenience of testers.

Drawings

Fig. 1 is a schematic structural view of an underwater posture adjusting device of the present invention;

fig. 2 is a working schematic diagram of a worm and a worm wheel of the underwater posture adjusting device of the present invention;

fig. 3 is the utility model relates to a worm and motor, bearing connection schematic diagram in posture adjustment device first mechanism under water.

In the figure, a bracket-100, a first mechanism-200, a base-210, a first motor-220, a first bearing-230, a first worm-240, a first worm wheel-250, a first rotating shaft-260, a second mechanism-300, a first platform-310, a second motor-320, a second bearing-330, a second worm-340, a second worm wheel-350, a second rotating shaft-360, a second platform-400, a tilt angle sensor-500 and a limiting block-600.

Detailed Description

The following detailed description of the embodiments and the accompanying drawings are provided to illustrate the principles of the invention, but are not intended to limit the scope of the invention, i.e., the invention is not limited to the preferred embodiments described, but the scope of the invention is defined by the claims. In the description of the present invention, it is to be noted that, unless otherwise specified, "a plurality" means two or more; furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The terms "mounted" and "connected" are to be construed broadly, e.g., as meaning a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood as the case may be, by those of ordinary skill in the art.

As shown in fig. 1-2, an underwater posture adjustment device includes, from bottom to top, a first mechanism 200, a second mechanism 300, and a second platform 400, wherein the second mechanism 300 is rotatably connected to the first mechanism 200 through a first rotating shaft 260, the second platform 400 is rotatably connected to the second mechanism 300 through a second rotating shaft 360, and the first rotating shaft 260 is orthogonal to the second rotating shaft 360.

In specific implementation, the first mechanism 200 is installed on the support 100, the support 100 is an underwater base tool for bearing equipment and is connected with the whole set of device through bolts, and a second platform of the second mechanism is provided with sonar; the first platform 310 and the second platform 400 rotate in the X-axis direction and the Y-axis direction respectively, so that the structure is compact, independent, small and light; two sets of mechanisms can adopt the same structure size, have reduced manufacturing cost and the installation degree of difficulty, and first, second pivot quadrature can reduce eccentric force, ensures stable in structure.

As shown in fig. 2-3, fig. 2 is a schematic structural diagram of a first mechanism and a second mechanism, wherein the first mechanism 200 includes a base 210, a first motor 220, a first bearing 230, a first worm 240, a first worm wheel 250, and a first rotating shaft 260, the first motor 220 is mounted on the base 210, the first motor 220 is connected to the first bearing 230 through the first worm 240, the first worm 240 drives the first worm wheel 250 to rotate, and the first worm wheel 250 is mounted on the first rotating shaft 260.

The second mechanism 300 comprises a first platform 310, a second motor 320, a second bearing 330, a second worm 340, a second worm gear 350 and a second rotating shaft 360, wherein the second motor 320 is installed on the first platform 310, the second motor 320 is connected with the second bearing 330 through the second worm 340, the second worm 340 drives the second worm gear 350 to rotate, and the second worm gear 350 is installed on the second rotating shaft 360.

As shown in fig. 3, a schematic diagram of the connection between the worm 240 in the first mechanism 200 and the first motor 220 and the first bearing 230 is shown, specifically, the first worm 240 is in flat key connection with the first motor 220, and the first worm 240 is in interference connection with the first bearing 230.

The connection relationship of the second mechanism is the same as that of the first mechanism, the connection relationship of the second mechanism is that the second worm 340 is in flat key connection with the second motor 320, and the second worm 340 is in interference connection with the second bearing 330.

The first rotating shaft 260 is connected with the first platform 310 of the second structure 300, the second rotating shaft 360 is connected with the second platform 400, and the rotating angles of the first platform 310 and the second platform 400 are +/-20 degrees.

In the concrete implementation, because the sonar setting space is comparatively narrow under water, wide-angle quick adjustment is not applicable to the attitude adjustment that the sonar does not have, obtains through inventor's intellectual labor, and the adjusting range is used the most common angle range of regulation at 20 degrees, has also avoided the adjustment angle too big and has caused the waste in time, has promoted controllability.

Specifically, two groups of worms and worm wheels form a combined revolute pair to realize the adjustment of X, Y in two directions; of course, the two groups of worm wheels and the two groups of worms can be in the same structural size, so that the uniform rotating speed can be regulated and controlled, and the manufacturing cost and the assembly difficulty can be reduced.

As shown in fig. 2-3, the internal threads of the first worm 240, the first worm wheel 250, the second worm 340, and the second worm wheel 350 are of a small lead angle. The small lead angle of the screw enables the two groups of worm wheels and the worm to have a self-locking function, namely the worm can drive the worm wheels to drive, but the worm wheels cannot drive the worm to drive, the self-locking function saves a redundant locking mechanism of the equipment, the inaccurate angle caused by reverse rotation is avoided, the operation efficiency is improved, and the transmission loss is reduced.

It is worth mentioning that the small lead angle of the internal thread enables the number of the meshing tooth pairs of the worm and the worm wheel to be larger, so that stable transmission without reversion is guaranteed, and noise is reduced.

The structure of the utility model is convenient to assemble, the connection relation is simple and stable, and a stable foundation is provided for the underwater posture adjusting device; the worm and the worm wheel are adopted to form a revolute pair to enable the first plane and the second platform to rotate stably, so that the problems that in the prior art, reverse rotation cannot be prevented and self-locking is not caused are solved, and the problems that in the prior art, a motor directly drives a rotating shaft to rotate too fast and the angle is adjusted too large are solved.

Specifically, as shown in fig. 2, a limit block 600 is disposed on one side of the motor on the posture adjustment device base 210 and the first platform 310, and an inclination angle is disposed on the upper section of the limit block 600, and is the same as the movement plane angle of the first platform 310 and the second platform 400.

In specific implementation, the inclination angle of the upper section of the limiting block 600 is 20 degrees, and when the angle between the first platform 310 and the second platform 400 is greater than the angle of the upper section of the limiting block by 20 degrees, the limiting block 600 provides mechanical protection for the motor.

Specifically, the first motor 220 and the second motor 320 are underwater deceleration servo motors, the first motor 220 and the second motor 320 are respectively connected with a controller, and a cable in the attitude adjusting device is provided with a watertight connector assembly.

The attitude adjusting apparatus is further provided with a tilt sensor 500, wherein the tilt sensor 500 is mounted on the base 210, but the mounting position of the tilt sensor 500 is not limited to the base 210 and can also be provided on the first platform 310.

In specific implementation, the controller respectively controls the forward and reverse rotation of the two groups of underwater speed reduction servo motors, the motors rotate to drive the worms and the worm wheels to realize the angle change of the first platform and the second platform in two directions of the X, Y shaft respectively, the rotation in the two directions is controlled to be independent and not interfered with each other, namely, the motors drive the worms to rotate, the worms and the worm wheels rotate at proportional speed, the rotating shafts arranged on the worm wheels rotate to drive the first platform or the second platform to rotate to complete angle adjustment, and the angle of the first platform and the angle of the second platform are displayed by the inclination angle sensing. Of course, the utility model discloses implement not only can the folk prescription to angular adjustment, also can adjust simultaneously two directions simultaneously, the controller is not only limited to two yet, the effectual nature controlled that has promoted posture adjustment device.

In the concrete implementation, the working environment of the underwater posture adjusting device is that the depth is less than or equal to 30 meters, and the rotating speed ratio of the worm wheel to the worm is 1: 20, the rotating speed of the underwater speed-reducing servo motor is 10r/min, the rotating speeds of the second platform and the first platform are 10r/min, and the rotating angular speed is 3 degrees/second; according to the specific data, the underwater speed reduction servo motor is matched with the worm wheel and the worm to rotate in proportion, so that the adjustment of a small angle is guaranteed, the best posture position is not missed, the adjustment efficiency and accuracy are improved, and the problems that manual adjustment is time-consuming and labor-consuming and the underwater adjustment speed is too high to miss the best angle in the prior art are solved.

It is worth mentioning that an inclination angle sensor 500 is further arranged on the underwater posture adjusting device, the inclination angle sensor 500 is externally connected with a display interface or a PC end, and signals are connected with a remote terminal control end through an RS485 port. Of course, the specific implementation of the device is not limited to posture adjustment and display, a target angle can be input through a terminal controller, the target signal angle is sent to a sensor, the specific revolution is calculated through the known rotation speed of the worm and gear, the rotation speed of the motor and the rotation angle per second, and the tilt angle sensor can also be used for sensing and checking the target angle; finally, after the sonar posture is adjusted in place, the plug of the watertight connector is pulled off, the watertight plug is inserted back into the watertight socket again, and the display end and the handheld remote controller are taken away; the utility model discloses corrosion resistance materials such as 304 stainless steel, tombarthite almag are adopted to the part among the attitude adjusting device, have ensured the life of device long-term underwater environment such as sea water.

The utility model firstly overcomes the problems of complex structure and inconvenient and quick operation in the background technology, adopts the compact connection of an upper layer mechanism and a lower layer mechanism to ensure that two groups of rotating shafts are orthogonal, not only provides a stable rotating foundation for the device, but also has simple assembly and low cost; secondly, the first platform and the second platform can independently rotate in the two directions of the X, Y shaft by the two groups of worms and worm gears, and the self-locking function is realized, so that unnecessary accessories and repeated operation caused by reverse rotation are reduced; and thirdly, the underwater speed-reducing servo motor drives the worm, the worm wheel and the rotating shaft to rotate in proportion, so that the first platform and the second platform rotate at a slow speed and a small angle, the problem of missing the optimal angle is avoided, and finally, the angle sensor and the controller are arranged, so that the controllability is improved.

While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. The present invention is not intended to be limited to the particular embodiments disclosed herein, but rather to include all embodiments falling within the scope of the appended claims.

Claims

1. The utility model provides an underwater posture adjusting device, includes first mechanism (200), second mechanism (300) and second platform (400) from bottom to top, its characterized in that:

the second mechanism (300) is rotatably connected to the first mechanism (200) through a first rotating shaft (260), the second platform (400) is rotatably connected to the second mechanism (300) through a second rotating shaft (360), and the first rotating shaft (260) is orthogonal to the second rotating shaft (360).

2. The attitude adjustment device according to claim 1, characterized in that:

the first mechanism (200) comprises a base (210), a first motor (220), a first bearing (230), a first worm (240), a first worm wheel (250) and a first rotating shaft (260), wherein the first motor (220) is installed on the base (210), the first motor (220) is connected with the first bearing (230) through the first worm (240), the first worm (240) drives the first worm wheel (250) to rotate, and the first worm wheel (250) is installed on the first rotating shaft (260).

3. The attitude adjustment device according to claim 2, characterized in that: the first worm (240) is in flat key connection with the first motor (220), and the first worm (240) is in interference connection with the first bearing (230).

4. The attitude adjustment device according to claim 3, characterized in that:

the second mechanism (300) comprises a first platform (310), a second motor (320), a second bearing (330), a second worm (340), a second worm wheel (350) and a second rotating shaft (360), wherein the second motor (320) is installed on the first platform (310), the second motor (320) is connected with the second bearing (330) through the second worm (340), the second worm (340) drives the second worm wheel (350) to rotate, and the second worm wheel (350) is installed on the second rotating shaft (360).

5. The attitude adjustment device according to claim 4, characterized in that: the second worm (340) is in flat key connection with a second motor (320), and the second worm (340) is in interference connection with a second bearing (330).

6. The attitude adjustment device according to claim 5, characterized in that: first pivot (260) rotate first platform (310) of connecting second mechanism (300), second pivot (360) rotate and connect second platform (400), the turned angle of first platform (310), second platform (400) is 20 degrees.

7. The attitude adjustment device according to claim 5, wherein the internal threads of the first worm (240), the first worm wheel (250), the second worm (340), and the second worm wheel (350) are of a helix angle.

8. The attitude adjustment device according to claim 5, characterized in that: a limiting block (600) is arranged on one side of a motor on the base (210) and the first platform (310), an inclined angle is arranged on the upper section of the limiting block (600), and the inclined angle is the same as the movement plane angle of the first platform (310) and the second platform (400).

9. The attitude adjustment device according to claim 5, characterized in that: the first motor (220) and the second motor (320) are underwater speed-reducing servo motors.

10. The attitude adjustment device according to any one of claims 1 to 9, characterized in that: and the attitude adjusting device is also provided with an inclination angle sensor (500).