An amphibious UAV snorkeling structure

Abstract

The present invention relates to the field of unmanned aerial vehicles, and discloses an amphibious unmanned aerial vehicle snorkeling structure, which includes an airbag connected to the unmanned aerial vehicle and an inner support device located inside the airbag. The inner support device includes an inner support base, an inner support assembly pivotally connected to the inner support base, and a driver for driving the inner support assembly to expand. The airbag can be elastically deformed, and the airbag is provided with at least one chamber. An inner support assembly for propping up the chamber is arranged in each chamber of the airbag. When the inner support assembly expands, the volume of the chamber where the inner support assembly is located becomes larger, driving the volume of the liquid displaced by the airbag to become larger.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicles, and particularly to an amphibious unmanned aerial vehicle snorkeling structure. Background Art

[0002] The unmanned aerial vehicle market is gradually emerging. Unmanned aerial vehicles are used in various fields such as agriculture, photography, and inspection. For underwater searches, unmanned aerial vehicles also have a place. An underwater unmanned aerial vehicle is provided with a snorkeling structure inside, which is convenient for the underwater unmanned aerial vehicle to query at different depths.

[0003] In the Chinese utility model patent with the application number CN201520173751.3, a submersible multi-rotor unmanned aerial vehicle is involved. Among them, a compressed air storage device is provided in the unmanned aerial vehicle. The compressed air storage device can inflate the airbag. Such a compressed air storage device needs to be realigned and loaded again after use, which is inconvenient later and cannot be recycled. Summary of the Invention

[0004] Aiming at the disadvantage that the snorkeling structure of the unmanned aerial vehicle in the prior art needs to be refilled after using the compressed air storage device when snorkeling in water, the present invention provides an amphibious unmanned aerial vehicle snorkeling structure.

[0005] To solve the above technical problems, the present invention is solved by the following technical solutions: An amphibious unmanned aerial vehicle snorkeling structure includes an airbag connected to the unmanned aerial vehicle and an inner support device located inside the airbag. The inner support device includes an inner support base, an inner support assembly pivotally connected to the inner support base, and a driver for driving the inner support assembly to expand. The airbag can be elastically deformed. The airbag is provided with at least one chamber, and an inner support assembly for propping up the chamber is provided in each chamber of the airbag. When the inner support assembly expands, the volume of the chamber where the inner support assembly is located becomes larger, driving the volume of the liquid displaced by the airbag to become larger.

[0006] By adopting the above scheme, the external size of the airbag is changed through the inner support device, so as to change the volume of the liquid displaced by the airbag. According to F_float = ρ_liquid·g·V_displaced, when the volume of the liquid displaced by the airbag is larger, the buoyancy received by the unmanned aerial vehicle connected to the airbag is larger, and it is easier to drive the unmanned aerial vehicle to rise. When the inner support device does not prop up the airbag, the liquid displaced by the airbag is smaller, thereby reducing the buoyancy received by the unmanned aerial vehicle and facilitating the unmanned aerial vehicle to sink in water. By changing the liquid displacement area of the airbag through the inner support assembly, the buoyancy of the unmanned aerial vehicle is changed. Compared with increasing the buoyancy of the unmanned aerial vehicle by inflating with a gas source, this scheme can be recycled multiple times compared with a disposable gas cylinder.

[0007] Preferably, the inner support assembly includes an inner support member pivotally connected to the inner support base and a driving member whose movement is controlled by a driver, wherein one end of the inner support member away from the pivot joint abuts against the airbag, and the driving member can move to abut against the inner support member and drive the inner support member to rotate around its pivot joint, and the end of the inner support member away from the pivot joint moves in a direction away from the inner support base.

[0008] By adopting the above scheme, the driving member is driven to move, and the movement of the driving member can drive the inner support member to rotate around its pivot point. The inner support member props up the airbag while rotating, thereby changing the liquid-spatting area of ​​the airbag.

[0009] Preferably, an inner support plate is pivotally connected to one end of the inner support member away from the inner support base, and inner support members are pivotally connected to both sides of the inner support plate symmetrically. The inner support members are arranged in parallel. When the driving member drives the inner support member to rotate, the inner support plate moves parallel to and away from the inner support base.

[0010] By adopting the above solution, the inner support plate can increase the contact area with the airbag, which is convenient for changing the discharge volume of the airbag to a greater extent.

[0011] Preferably, several chambers are provided in the airbag, and internal support assemblies are provided in each of the chambers. The driver is connected to a pushing member, and the driving members of the internal support assemblies are cooperatively connected with the pushing member. When the driver drives the pushing member to move, the pushing member drives the driving member to move.

[0012] By adopting the above scheme, the function of the plurality of chambers is to prop up the chambers separately. When the chambers are propped up separately, the buoyancy of the drone changes sequentially, and the drone can use different buoyancy according to different depths in the water.

[0013] Preferably, the pushing member is provided with a guide groove, and the driving member is provided with a pivot section, the pivot section is located in the guide groove, the guide groove is inclined relative to the moving direction of the pushing member, and the pivot section is slidably arranged along the guide groove. When the pushing member moves, the driving member moves away from or close to the pushing member.

[0014] With the above solution, the function of the guide groove is to drive the pusher to move relatively via the guide groove.

[0015] Preferably, positioning groove one and positioning groove two are respectively provided at both ends of the guide groove. When the driving member is not in abutment with the inner support member, the pivot section is located in positioning groove one. When the driving member drives the inner support member to rotate, the pivot section is located in the guide groove. When the driving member drives the inner support member to rotate into place, the pivot section is located in positioning groove two.

[0016] By adopting the above solution, the first positioning groove and the second positioning groove facilitate the positioning of the pivoting section at both ends.

[0017] Preferably, a driving member is provided on the pushing member, and the number of driving members is the same as that of the inner support components. The pushing member is provided with the same number of guiding grooves as the driving members. The lengths of the first positioning groove and the second positioning groove at both ends of the guiding groove cooperating with different driving members are different. When the pushing member moves, different driving members do not enter the guiding groove from the first positioning groove simultaneously.

[0018] With the above solution, the different lengths of the first positioning groove and the second positioning groove cause the pivot section to enter the guiding groove at different times, so that different chambers can be jacked up in sequence.

[0019] Preferably, the sum of the lengths of the first positioning groove and the second positioning groove cooperating with different driving members is equal, and the lengths of the first positioning groove and the second positioning groove cooperating with different driving members are both multiples of the length of the guiding groove.

[0020] With the above solution, since the lengths of the first positioning groove and the second positioning groove are both integer multiples of the length of the guiding groove, different driving members enter the guiding groove in sequence. After one driving member moves out of the guiding groove, another driving member enters the guiding groove cooperating with it. Thus, after one chamber is fully lifted, another chamber will start to be lifted.

[0021] Preferably, the airbag is made of an elastic deformation material, and a negative pressure is set inside the airbag.

[0022] With the above solution, the airbag in a negative pressure state can always be attached to the inner support member and the inner support plate when the inner support member retracts.

[0023] Since the present invention adopts the above technical solutions, it has remarkable technical effects: by changing the external size of the airbag through the inner support device, the volume of the liquid displaced by the airbag is changed. When the volume of the liquid displaced by the airbag is larger, the buoyancy received by the drone connected to the airbag is larger, and it is easier to drive the drone to rise. When the inner support device does not support the airbag, the liquid displaced by the airbag is smaller, so as to reduce the buoyancy received by the drone and facilitate the drone to sink in the water. By changing the liquid discharge area of the airbag through the inner support components, the buoyancy of the drone is changed. Compared with inflating with a gas source to increase the buoyancy of the drone, this solution can be recycled multiple times compared with a disposable gas cylinder. By arranging multiple separate chambers in the airbag and arranging inner support members in the chambers, the function of the inner support members is to support the chambers simultaneously or in sequence. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a schematic diagram of the snorkeling structure installed on the drone in Embodiment 1;

[0025] Figure 2 is a schematic diagram of the external structure of the snorkeling structure in Embodiment 1;

[0026] Figure 3It is an exploded view of the snorkeling structure assembly in the first embodiment;

[0027] Figure 4 It is a schematic diagram of the state where the inner support component does not support the airbag in the first embodiment;

[0028] Figure 5 It is a schematic diagram of the state where the inner support component supports all the airbags in the first embodiment;

[0029] Figure 6 It is a schematic diagram of the state where the inner support component supports part of the airbags in the second embodiment.

[0030] The names of the parts referred to by each digital label in the above drawings are as follows: 1. Airbag; 2. Inner support base; 3. Driver; 4. Chamber; 5. Inner support member; 6. Inner support plate; 7. Driving member; 8. Pivoting seat; 9. Guide hole; 10. Pushing member; 11. Pivoting section; 12. Guide groove; 13. Rack section; 14. Gear; 15. Sealing cover; 16. First positioning groove; 17. Second positioning groove. Detailed implementation manners

[0031] The present invention will be further described in detail below in conjunction with the drawings and embodiments.

[0032] Embodiment 1:

[0033] An amphibious UAV snorkeling structure. First, refer to Figure 1 and Figure 2 , which includes an airbag 1 and an inner support device located inside the airbag 1. The inner support device includes an inner support base 2, an inner support component pivotally connected to the inner support base 2, and a driver 3 for driving the inner support component to unfold. The airbag 1 is made of an elastically deformable material, such as rubber silicone, etc. Combining Figure 3 , at least one chamber 4 is provided inside the airbag 1. In this embodiment, three chambers 4 are provided inside the airbag 1, but it is not limited to three, and it can also be one or more chambers 4. The chambers 4 are separated by diaphragms. An inner support component for supporting the chamber 4 is provided in each chamber 4. The chambers 4 communicate with each other. Each chamber 4 can be independently supported by the inner support component located in the chamber 4. The airbag 1 is set to be in a negative pressure state. The advantage of the negative pressure setting is that when the inner support component does not support the airbag 1, the airbag 1 is in a flat state, and the airbag 1 fits with the inner support component. When the inner support component drives the airbag 1 to elastically deform, the outside of the airbag 1 is driven to become larger, thereby driving the volume of the airbag 1 to become larger, so that the volume of the liquid displaced by the airbag 1 becomes larger, thereby changing the buoyancy of the UAV to increase, and the UAV can be driven to quickly float out of the water or the UAV can snorkel to a certain height in the water.

[0034] Refer to Figure 2 and Figure 3, One side of the inner support base 2 is connected to the frame of the drone. The airbag 1 is connected to the side of the inner support base 2 away from the drone frame. The open end of the airbag 1 is adhesively connected to the inner support base 2. The inner support assembly includes an inner support member 5 pivotally connected to the side of the inner support base 2 facing the airbag 1, an inner support plate 6 pivotally connected to the inner support member 5, and a driving member 7 for driving the inner support member 5 to rotate. The inner support plate 6 is in the shape of a square plate. At both ends of the two symmetric sides of the inner support plate 6, an inner support member 5 is pivotally connected respectively. On the side of the inner support base 2 facing the airbag 1 and inside the airbag 1, a number of pivot seats 8 are integrally formed. Both ends of the inner support member 5 are pivotally connected to the pivot seats 8 and the inner support plate 6 respectively. The four inner support members 5 are all arranged in parallel. On the inner support base 2, on both sides of the pivot seats 8, a guiding hole 9 for the driving member 7 to slide is provided respectively. The part of the driving member 7 cooperating with the inner support member 5 is in the shape of a "U". The two upper ends of the driving member 7 in the shape of a "U" are respectively located in the guiding holes 9 on both sides of the pivot seats 8. The guiding hole 9 is in the shape of a long strip. When the driving member 7 slides along the guiding hole 9 towards the airbag 1, it can abut against the pivot member. When the driving member 7 continues to move, it drives the pivot member to rotate around its pivot seat 8. When the length direction of the pivot member is parallel to the inner support base 2, the pivot plate is in the farthest state relative to the inner support base 2. During the process of the driving member 7 driving the inner support member 5 to rotate, the inner support plate 6 moves relative to the inner support base 2 in a parallel and separated state, thus lifting the airbag 1, changing the external volume of the airbag 1, and thus changing the buoyancy.

[0035] See Figures 3 to 5 , Since there are three chambers 4 provided in the airbag 1, and inner support assemblies are provided in all three chambers 4, the driver 3 can simultaneously drive the three inner support assemblies to support the three chambers 4. A long strip-shaped pushing member 10 is slidably connected to the side of the inner support bottom plate away from the airbag 1. The pushing member 10 can simultaneously push the driving members 7 of the three inner support assemblies. The cross-section of the pushing member 10 is in the shape of a "U". The parts of the driving members 7 not cooperating with the inner support members 5 are all located inside the pushing member 10. On the opposite sides of the driving member 7, pivot sections 11 are respectively convexly provided. On the opposite side surfaces of the pushing member 10, guiding grooves 12 are respectively provided. The pivot sections 11 are located in the guiding grooves 12 and can slide along the guiding grooves 12. The guiding grooves 12 are inclinedly provided relative to the moving direction of the pushing member 10. At both ends of the guiding grooves 12, a positioning groove one 16 and a positioning groove two 17 are respectively provided. One ends of both the positioning groove one 16 and the positioning groove two 17 are communicated with both ends of the guiding groove 12 respectively. The positioning groove one 16 is located on the side of the guiding groove 12 away from the inner support member 5, and the positioning groove two 17 is located on the side of the guiding groove 12 facing the inner support member 5. The positioning groove one 16 and the positioning groove two 17 are arranged parallel to the length direction of the pushing member 10. The functions of the positioning groove one 16 and the positioning groove two 17 are to facilitate the positioning of the pivot sections 11.

[0036] See Figures 3 to 5, there are three guiding grooves 12 respectively provided on the opposite two side surfaces of the pushing member 10. The three guiding grooves 12 are respectively arranged in cooperation with the three pushing members 10. The sliding direction of the pushing member 10 is perpendicular to the sliding direction of the driving member 7. When the pushing member 10 moves, the pivoting section 11 slides along the guiding groove 12, and the driving member 7 moves away from or close to the pushing member 10 through the pivoting section 11. When the pivoting section 11 is located at one end of the guiding groove 12 away from the pivoting seat 8 and enters the guiding groove one 16, the driving member 7 does not cooperate with the inner support member 5. When the pivoting section 11 moves along the guiding groove 12 towards one end of the pivoting seat 8 and enters the guiding groove two 17, the driving member 7 cooperates with the inner support member 5 and drives the inner support member 5 to rotate around the pivoting seat 8.

[0037] See Figure 3 , a rack section 13 is provided on the pushing member 10. The driver 3 adopts a reduction motor. A gear 14 that cooperates with the rack section 13 is key-connected to the output shaft of the driver 3. The gear 14 meshes with the rack section 13. The driver 3 is threadedly connected to the inner support base 2 on the side away from the airbag 1 through screws. The driver 3 can drive the pushing member 10 to slide back and forth in its length direction through the gear 14 and the rack section 13. A sealing cover 15 is provided on the side of the inner support base 2 away from the airbag 1. The driver 3, the pushing member 10 and the guiding hole 9 located on the inner support base 2 are all located inside the sealing cover 15. The sealing cover 15 is threadedly connected to the inner support bottom plate through screws. A sealing ring is provided between the sealing cover 15 and the inner support bottom plate to prevent water vapor from entering the airbag 1 and the sealing cover 15. A wire passing hole for the wires of the driver to pass through is provided on the sealing cover 15, and a sealing ring for sealing is also provided in the wire passing hole.

[0038] Embodiment Two:

[0039] In Embodiment One, the driver 3 simultaneously drives the three inner support components to support the three chambers 4. When the driving member 7 is not in contact and cooperation with the inner support member 5, the pivoting section 11 is located in the positioning groove one 16. When the driving member 7 drives the inner support member 5 to rotate, the pivoting section 11 is located in the guiding groove 12. When the driving member 7 drives the inner support member 5 to rotate in place, the pivoting section 11 is located in the positioning groove two 17.

[0040] In this embodiment, the three chambers 4 are supported in sequence. In this embodiment, the lengths of the positioning groove one 16 and the positioning groove two 17 at both ends of the three guiding grooves 12 are different. Among these three groups, the total lengths of the positioning groove one 16 and the positioning groove two 17 are equal. The designed lengths of the positioning groove one 16 and the positioning groove two 17 in the three groups are as follows;

[0041] The length of the guiding groove 12 is N, the number of driving members 7 is Q, the length of the first positioning groove 16 in the first group is N×0, the length of the second positioning groove 17 in the first group is N×(Q - 1), the length of the first positioning groove 16 in the second group is N×1, the length of the second positioning groove 17 in the second group is N×(Q - 2), the length of the first positioning groove 16 in the third group is N×2, the length of the second positioning groove 17 in the second group is N×(Q - 2). When there are more than three groups, it can be deduced by analogy. The lengths of the first positioning groove 16 and the second positioning groove 17 that cooperate with different driving members 7 are both zero or positive integer multiples of the length of the guiding groove 12.

[0042] When the driving member 7 in the previous group of cooperation enters the second positioning groove 17 from the sliding groove, the driving member 7 in the next group of cooperation enters the sliding groove from the first positioning groove 16, so as to achieve the function of jacking up in sequence. The number and degree of the inflated air chambers of the airbag 1 can also be controlled by the driver 3 to control the buoyancy of the drone in water.

Claims

1. An amphibious UAV snorkeling structure, characterized in that, It includes an airbag (1) connected to a drone and an inner support device located inside the airbag (1). The inner support device includes an inner support base (2), an inner support assembly pivotally connected to the inner support base (2), and a driver (3) for driving the inner support assembly to unfold. The airbag (1) can be elastically deformed, and the airbag (1) is provided with at least one chamber (4). An inner support assembly for propping up the chamber (4) is provided in each chamber (4) of the airbag (1). When the inner support assembly unfolds, the volume of the chamber (4) where the inner support assembly is located becomes larger, driving the volume of the liquid displaced by the airbag (1) to become larger. The inner support assembly includes an inner support member (5) pivotally connected to the inner support base (2) and a driving member (7) controlled by the driver (3) to move. One end of the inner support member (5) away from the pivot connection abuts against the airbag (1). When the driving member (7) moves, it can abut against the inner support member (5) and drive the inner support member (5) to rotate around its pivot connection. One end of the inner support member (5) away from the pivot connection moves in a direction away from the inner support base (2). A plurality of chambers (4) are provided inside the airbag (1), and inner support assemblies are provided in each of the plurality of chambers (4). The inner support assemblies can prop up the plurality of chambers (4) sequentially or simultaneously. The driver (3) is connected to a pushing member (10). The driving members (7) of the plurality of inner support assemblies are all cooperatively connected to the pushing member (10). When the driver (3) drives the pushing member (10) to move, the pushing member (10) drives the driving member (7) to move. The pushing member (10) is provided with a guiding groove (12), and the driving member (7) is provided with a pivot section (11). The pivot section (11) is located inside the guiding groove (12). The guiding groove (12) is inclined relative to the moving direction of the pushing member (10). The pivot section (11) is slidably arranged along the guiding groove (12). When the pushing member (10) moves, the driving member (7) moves in a direction away from or close to the pushing member (10). Positioning grooves one (16) and two (17) are respectively provided at both ends of the guiding groove (12). When the driving member (7) is not in abutting cooperation with the inner support member (5), the pivot section (11) is located inside the positioning groove one (16). When the driving member (7) drives the inner support member (5) to rotate, the pivot section (11) is located inside the guiding groove (12). When the driving member (7) drives the inner support member (5) to rotate in place, the pivot section (11) is located inside the positioning groove two (17). The pushing member (10) is provided with driving members (7) corresponding to the number of inner support assemblies. The pushing member (10) is provided with the same number of guiding grooves (12) as the driving members (7). The lengths of the positioning grooves one (16) and two (17) at both ends of the guiding grooves (12) cooperating with different driving members (7) are different. When the pushing member (10) moves, different driving members (7) do not enter the guiding grooves (12) from the positioning groove one (16) simultaneously.

2. The amphibious UAV snorkeling structure according to claim 1, characterized in that, An inner support plate (6) is pivotally connected to one end of the inner support member (5) away from the inner support base (2). Inner support members (5) are pivotally connected to both symmetric sides of the inner support plate (6). The inner support members (5) are all arranged in parallel. When the driving member (7) drives the inner support member (5) to rotate, the inner support plate (6) moves parallel to and away from the inner support base (2).

3. The amphibious UAV snorkeling structure according to claim 1, characterized in that, The total lengths of the first positioning groove (16) and the second positioning groove (17) at both ends of the guiding groove (12) that are matched with different driving members (7) are equal, and the lengths of the first positioning groove (16) and the second positioning groove (17) that are matched with different driving members (7) are both multiples of the length of the guiding groove (12).

4. The amphibious UAV snorkeling structure according to claim 1, characterized in that, The airbag (1) is made of an elastically deformable material, and a negative pressure is provided inside the airbag (1).

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