CN207780230U - A kind of overall structure of underwater robot guiding sonar - Google Patents
A kind of overall structure of underwater robot guiding sonar Download PDFInfo
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- CN207780230U CN207780230U CN201721884178.2U CN201721884178U CN207780230U CN 207780230 U CN207780230 U CN 207780230U CN 201721884178 U CN201721884178 U CN 201721884178U CN 207780230 U CN207780230 U CN 207780230U
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- China
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- electronic compartment
- fixed link
- energy converter
- seal
- underwater robot
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- Transducers For Ultrasonic Waves (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The utility model provides a kind of overall structure of underwater robot guiding sonar, including weather proof receptacle, plug radial seal O-ring, plug delta seal O-ring, electronic compartment end cap, electronic compartment delta seal O-ring, electronic compartment, energy converter mounting cylinder, polyurethane rubber layer, hydrophone end face seal O-ring, hydrophone, level hang fixed link A, level hangs fixed link B, hang fixed link A vertically and hang fixed link B vertically.The utility model facilitates multiple energy converter primitive mounting arrangements, is conducive to guide sonar with larger sound source level and good directive property；It has the following advantages：It is simple and practical in structure, it can be used as guiding and the anticollision device of underwater robot；The load performance and watertightness performance of overall structure are good, and engineer application feasibility is high.
Description
Technical field
The utility model is related to the technical fields of the overall structure of sonar, particularly relate to a kind of underwater robot guiding sonar
Overall structure.
Background technology
China waters is vast, and the territorial waters and numerous rivers and lakes, underwater robot for having more than 3,000,000 sq-kms exist
Possess special strategic position in national defense safety and national economy.In order to ensure that underwater robot can be transported normally safely under water
Row, " eyes " of the guiding sonar as underwater robot, needs to acquire and be transferred to host in real time by relevant data information,
To play the role of direction guiding and collision prevention.To enable underwater robot to be well adapted for complex water areas, it is desirable that it guides sonar
It is remote with detection range, the features such as searching rate is high and orientation accuracy is high.
Robot guiding sonar summarizes structure-design technique field under water, which kind of mode to arrange transducer array using,
How the smaller installing structure for transducer of design volume, how to ensure guide sonar underwater sealing performance, how to meet guiding
Sonar difference hangs the use demand of operating mode, this has become relevant technical staff in the field's critical issue urgently to be resolved hurrily.
Utility model content
The utility model embodiment provides a kind of overall structure of underwater robot guiding sonar, in order to solve existing skill
The mounting arrangements for guiding sonar in art on underwater robot do not adapt to the problem of difference hangs operating mode.
In order to solve the above-mentioned technical problem, the embodiments of the present invention adopt the following technical scheme that：
A kind of overall structure of underwater robot guiding sonar, including weather proof receptacle, plug radial seal O-ring, plug
Delta seal O-ring, electronic compartment end cap, electronic compartment delta seal O-ring, electronic compartment, energy converter mounting cylinder, polyurethane rubber
Layer, hydrophone end face seal O-ring, hydrophone, level hang fixed link A, level hangs fixed link B, hang fixed link A vertically
And fixed link B is hung vertically；The weather proof receptacle uses the dual-seal of delta seal and radial seal with electronic compartment end cap,
Installation is bolted again；The electronic compartment end cap uses delta seal with electronic compartment, and installation is bolted；The electricity
Sub- cabin circumferentially connect installation with energy converter mounting cylinder by bolt, and energy converter mounting cylinder periphery uses polyurethane rubber sulphur
Change；The hydrophone uses end face seal, the two that installation is bolted with energy converter mounting cylinder bottom.
Wherein, further include depth transducer pressing plate, be used for the installation and sealing of depth transducer；On the electronic compartment end cap
Depth transducer use radial seal, depth transducer pressing plate is bolted with electronic compartment end cap.
Preferably, the O-ring delta seal of the electronic compartment end cap and electronic compartment, electronic compartment are poly- with energy converter mounting cylinder
The urethane vulcanization of rubber seals, and energy converter primitive and the polyurethane rubber vulcanization of energy converter mounting cylinder seal, hydrophone and electronic compartment
O-ring end face seal.
Wherein, the energy converter mounting cylinder circumferentially opens up three layers of energy converter mounting hole, and every layer 8 uniformly distributed, every layer of energy converter
It is in 15 ° of angles successively from top to bottom between mounting hole.
Preferably, vertical hang is designed as pair between fixed link A, B and the horizontal coupling part for hanging fixed link A, B
Arc structure is opened, the split arc structure is coated with conductive cable contacts part by nitrile rubber.
Wherein, when guiding sonar, which is operated in, hangs state vertically, fixed link A, B is hung vertically and is symmetrically mounted on electronic compartment
End cap both ends, fixed-direction assist load-bearing；When the level of being operated in hangs state, level hangs fixed link A, B and is symmetrically mounted on
Electronic compartment end cap and energy converter mounting cylinder both ends, fixed-direction assist load-bearing.
Preferably, the electronic compartment end cap, depth transducer pressing plate, electronic compartment and the equal aluminium of energy converter mounting cylinder are closed
Golden material is made, and the level hangs fixed link A, B, hangs fixed link A, B vertically and stainless steel material is selected to be made.
The beneficial effects of the utility model are：The utility model embodiment provides a kind of underwater robot guiding sonar
Overall structure, including weather proof receptacle, plug radial seal O-ring, plug delta seal O-ring, electronic compartment end cap, electronic compartment three
Angle sealing O-ring, electronic compartment, energy converter mounting cylinder, polyurethane rubber layer, hydrophone end face seal O-ring, hydrophone, level
Hang fixed link A, level hangs fixed link B, hangs fixed link A vertically and hangs fixed link B vertically.The utility model is convenient
Multiple energy converter primitive mounting arrangements are conducive to guide sonar with larger sound source level and good directive property；With following
Advantage：It is simple and practical in structure, it can be used as guiding and the anticollision device of underwater robot；The load performance and watertightness of overall structure
Can be good, engineer application feasibility is high.
Description of the drawings
Fig. 1 is the general structure schematic diagram for the underwater robot guiding sonar that the utility model embodiment provides；
Fig. 2 is that the overall structure level for the underwater robot guiding sonar that the utility model embodiment provides hangs signal
Figure；
Fig. 3 is that the overall structure for the underwater robot guiding sonar that the utility model embodiment provides hangs signal vertically
Figure；
Fig. 4 is the electronic compartment end cap schematic diagram that the utility model embodiment provides；
Fig. 5 is the depth transducer pressing plate schematic diagram that the utility model embodiment provides；
Fig. 6 is the electronic compartment schematic diagram that the utility model embodiment provides；
Fig. 7 is the energy converter mounting cylinder schematic diagram that the utility model embodiment provides；
Fig. 8 is the hydrophone schematic diagram that the utility model embodiment provides；
Fig. 9 be the utility model embodiment provide hang mounting rod schematic diagram.
In figure：1- weather proof receptacles, 2- plug radial seal O-rings, 3- plug delta seal O-rings, 4- electronic compartment end caps,
5- electronic compartment delta seal O-rings, 6- depth transducer pressing plates, 7- electronic compartments, 8- energy converter mounting cylinders, 9- polyurethane rubbers
Layer, 10- hydrophone end face seal O-rings, 11- hydrophones, 21- levels hang fixed link A, 22- level and hang fixed link B, 31-
Hang fixed link A, 32- hangs fixed link B vertically vertically.
Specific implementation mode
With reference to the attached drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out clear
Chu is fully described by, it is clear that described embodiment is only the utility model a part of the embodiment, rather than whole implementation
Example.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained under the premise of not making creative work
The every other embodiment obtained, belongs to the scope of protection of the utility model.
With reference to attached drawing 1,2,3, the utility model embodiment provides a kind of overall structure of underwater robot guiding sonar,
It is close including weather proof receptacle 1, plug radial seal O-ring 2, plug delta seal O-ring 3, electronic compartment end cap 4, electronic compartment triangle
Seal O-ring 5, depth transducer pressing plate 6, electronic compartment 7, energy converter mounting cylinder 8, polyurethane rubber layer 9, hydrophone end face seal O
Shape circle 10, hydrophone 11, level hang fixed link A21, level hangs fixed link B22, the vertical fixed link A31 and vertical of hanging
Hang fixed link B32.
As shown in Figure 1, hydrophone 11 uses end face seal, the two to be bolted with 8 bottom of energy converter mounting cylinder.It will
Energy converter primitive (not marked in figure) be mounted on energy converter mounting cylinder 8 as shown in Figure 7 on, electronic compartment 7 structure such as Fig. 6, it with
Energy converter mounting cylinder 8 is by bolt circumferentially connection installation, then in the 8 dedicated encapsulating die of outside clamping of energy converter mounting cylinder
(not marked in figure), is vulcanized using polyurethane rubber, realize electronic compartment 7 and energy converter junction and energy converter primitive it
Between sealing.
Depth transducer (not marked in figure) is packed into the corresponding mounting cylinder of electronic compartment end cap 4, it will be such as Fig. 5 institutes with bolt
The depth transducer pressing plate 6 shown is connected on electronic compartment end cap, to realize that the installation of depth transducer is fixed and sealed.
By the seal groove for being inserted in weather proof receptacle 1 respectively of plug delta seal O-ring 3 and plug radial seal O-ring 2
It is interior, weather proof receptacle 1 and electronic compartment end cap 4 are connected as one using bolt；Delta seal O-ring is sleeved on electronic compartment end cap 4
Corresponding sealing station at, electronic compartment end cap 4 is connect with electronic compartment 7 with bolt.
According to the real work demand of underwater robot, when guiding sonar, which is operated in level, hangs state, such as Fig. 2 institutes
Show, cable is hung across level among fixed link, and level, which is hung fixed link A, B, using bolt is symmetrically mounted on electronic compartment end cap
With energy converter mounting cylinder both ends, level is hung the split plane of fixed link A, B and connected by blending bolt, ensures nitrile rubber by crowded
Pressure plays the role of assisting load-bearing.
Similarly, when guiding sonar, which is operated in, hangs state vertically, as shown in figure 3, cable passes through hangs fixation vertically
Among bar, hangs fixed link A, B by vertical using bolt and be symmetrically mounted on electronic compartment end cap both ends, blending bolt will be hung vertically
The split plane connection of fixed link A, B, ensures that nitrile rubber is squeezed, plays the role of assisting load-bearing.
In the utility model, the circumferential direction of energy converter mounting cylinder devises three layers of energy converter mounting hole, and every layer 8 uniformly distributed, changes
Energy device mounting hole is in 15 ° of angles successively from top to bottom between layers.The basic matrix being made of 24 energy converter primitives has larger
Radiation sound source level and good directive property, ensure that guiding sonar can have larger output signal-to-noise ratio, thus it can be greatly improved
Detection range.
In the utility model, electronic compartment end cap, depth transducer pressing plate, the material of electronic compartment and energy converter mounting cylinder are equal
Select aluminium alloy to mitigate the weight of overall structure, the material for hanging fixed link selects stainless steel to ensure its intensity.
The utility model embodiment provides a kind of overall structure of underwater robot guiding sonar, including weather proof receptacle,
Plug radial seal O-ring, electronic compartment end cap, electronic compartment delta seal O-ring, electronic compartment, changes plug delta seal O-ring
Energy device mounting cylinder, polyurethane rubber layer, hydrophone end face seal O-ring, hydrophone, level hang fixed link A, level is hung admittedly
Fixed pole B, it hangs fixed link A vertically and hangs fixed link B vertically.The utility model facilitates multiple energy converter primitive installation cloth
It sets, is conducive to guide sonar with larger sound source level and good directive property；It has the following advantages：It is simple and practical in structure, it can
Guiding as underwater robot and anticollision device；The load performance of overall structure is good with watertightness performance, and engineer application is feasible
Property it is high.
In the description of this specification, particular features, structures, materials, or characteristics can be real in any one or more
It applies and can be combined in any suitable manner in example or example.
Certainly, the utility model can also have other various embodiments, without departing substantially from the spirit of the present invention and its essence
In the case of, those skilled in the art can make various corresponding change and deformations, but this according to the utility model
A little change and distortions should all belong to the protection scope of the claims of the present utility model.
Claims (7)
1. a kind of overall structure of underwater robot guiding sonar, which is characterized in that including weather proof receptacle, plug radial seal O
Shape circle, electronic compartment end cap, electronic compartment delta seal O-ring, electronic compartment, energy converter mounting cylinder, gathers plug delta seal O-ring
Urethane rubber layer, hydrophone end face seal O-ring, hydrophone, level hang fixed link A, level hangs fixed link B, hangs vertically
It puts fixed link A and hangs fixed link B vertically；The weather proof receptacle and electronic compartment end cap are using delta seal and radial seal
Dual-seal, then installation is bolted；The electronic compartment end cap uses delta seal with electronic compartment, and peace is bolted
Dress；The electronic compartment circumferentially connect installation with energy converter mounting cylinder by bolt, and energy converter mounting cylinder periphery uses poly- ammonia
The ester vulcanization of rubber；The hydrophone uses end face seal, the two that installation is bolted with energy converter mounting cylinder bottom.
2. the overall structure of underwater robot guiding sonar according to claim 1, which is characterized in that further include that depth passes
Sensor pressing plate is used for the installation and sealing of depth transducer；Depth transducer on the electronic compartment end cap uses radial seal,
Depth transducer pressing plate is bolted with electronic compartment end cap.
3. the overall structure of underwater robot guiding sonar according to claim 2, which is characterized in that the electronic compartment end
The polyurethane rubber vulcanization of the O-ring delta seal of lid and electronic compartment, electronic compartment and energy converter mounting cylinder seals, energy converter primitive
Vulcanize with the polyurethane rubber of energy converter mounting cylinder and seals, the O-ring end face seal of hydrophone and electronic compartment.
4. the overall structure of underwater robot guiding sonar according to claim 3, which is characterized in that the energy converter peace
Fitted tube circumferentially opens up three layers of energy converter mounting hole, and every layer 8 uniformly distributed, is in successively from top to bottom between every layer of energy converter mounting hole
15 ° of angles.
5. the overall structure of underwater robot guiding sonar according to claim 4, which is characterized in that described to hang vertically
It is designed as split arc structure, the split arc structure between fixed link A, B and the horizontal coupling part for hanging fixed link A, B
It is coated by nitrile rubber with conductive cable contacts part.
6. the overall structure of the underwater robot guiding sonar according to any one of claim 1-5 claims, feature
It is, when guiding sonar, which is operated in, hangs state vertically, hangs fixed link A, B vertically and be symmetrically mounted on electronic compartment end cap two
End, fixed-direction assist load-bearing；When the level of being operated in hangs state, level hangs fixed link A, B and is symmetrically mounted on electronic compartment
End cap and energy converter mounting cylinder both ends, fixed-direction assist load-bearing.
7. the overall structure of the underwater robot guiding sonar according to any one of claim 1-5 claims, feature
It is, the electronic compartment end cap, depth transducer pressing plate, electronic compartment and energy converter mounting cylinder select aluminum alloy materials system
At the level hangs fixed link A, B, hangs fixed link A, B vertically and stainless steel material is selected to be made.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721884178.2U CN207780230U (en) | 2017-12-26 | 2017-12-26 | A kind of overall structure of underwater robot guiding sonar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721884178.2U CN207780230U (en) | 2017-12-26 | 2017-12-26 | A kind of overall structure of underwater robot guiding sonar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207780230U true CN207780230U (en) | 2018-08-28 |
Family
ID=63225598
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721884178.2U Expired - Fee Related CN207780230U (en) | 2017-12-26 | 2017-12-26 | A kind of overall structure of underwater robot guiding sonar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207780230U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115675775A (en) * | 2022-11-11 | 2023-02-03 | 中国船舶集团有限公司第七一六研究所 | Underwater extension set integrated device of sonar hoisting and releasing for surface naval vessel |
-
2017
- 2017-12-26 CN CN201721884178.2U patent/CN207780230U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115675775A (en) * | 2022-11-11 | 2023-02-03 | 中国船舶集团有限公司第七一六研究所 | Underwater extension set integrated device of sonar hoisting and releasing for surface naval vessel |
| CN115675775B (en) * | 2022-11-11 | 2023-10-10 | 中国船舶集团有限公司第七一六研究所 | Hanging sonar underwater extension integrated device for surface ship |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180828 Termination date: 20211226 |