Underwater unmanned vehicle

Abstract

The unmanned underwater vehicle comprises a vehicle body, a water storage cavity and a water control mechanism, the vehicle body is provided with the water storage cavity and the water control mechanism, the water control mechanism is used for controlling water to enter and exit from the water storage cavity, the vehicle body is further provided with a controller, a main storage battery, a radio transmission module and a camera, and four horizontal servo motors are fixed to the vehicle body. Propellers are coaxially fixed to rotating shafts of the servo motors correspondingly, a containing groove penetrating downwards is formed in the bottom of the machine body, and a sampling groove is formed in the bottom of the machine body. When the lower through opening is not shielded by the upper supporting cylinder, upward and downward water flows can be generated by controlling the speed regulating motor to rotate forwards and backwards, the upward water flow is discharged outwards through the lower through opening, and the downward water flow flows into the lower supporting cylinder through the lower through opening and is discharged from the bottom of the lower supporting cylinder, so that the machine body is pushed; in this way, sinking and floating of the underwater unmanned vehicle can be accelerated, and multiple functions are achieved through the auger.

Description

Technical Field

[0001] The present invention relates to an aircraft, and in particular to an underwater unmanned aircraft. Background Art

[0002] In order to obtain relevant underwater data and reduce the cost of data collection, unmanned aerial vehicles will be used for data collection when permitted. Different data collection devices will be used according to the collected data, such as commonly used cameras and sampling mechanisms. However, existing sampling mechanisms often only have a single effect and cannot have other functions at the same time, which makes the utilization efficiency of the sampling mechanism low, highlighting the shortcomings of the existing technology. Summary of the invention

[0003] The purpose of the present invention is to provide an underwater unmanned vehicle to solve the above technical problems.

[0004] To achieve the above purpose, the present invention adopts the following technical solutions: An underwater unmanned vehicle comprises a body, a water storage chamber, and a water control mechanism, wherein the body is provided with a water storage chamber and a water control mechanism, wherein the water control mechanism is used to control water entering and exiting the water storage chamber, the body is also equipped with a controller, a main battery, a radio transmission module, and a camera, and is fixed with four horizontal servo motors, wherein the rotating shafts of the servo motors are coaxially fixed with propellers, a receiving groove penetrating downward is provided at the bottom of the body, and a sampling groove is provided at the bottom, an on-off mechanism is provided at the upper part of the sampling groove for controlling whether the sampling groove is connected to the outside world, the bottom of the sampling groove is connected to the receiving groove and forms an upper through-port, a vertical lower supporting cylinder is installed at the bottom of the body, a lower through-port is radially penetrated at the upper part of the lower supporting cylinder, the receiving groove is sealingly and slidingly connected with the upper supporting cylinder at the upper and lower parts, and two The described upper and lower cylinders are connected with the upper and lower cylinders in a sealed manner, and the bottom of the cylinder is connected with the upper and lower cylinders in a sealed manner. The controller, main battery, radio transmission module, camera, servo motor and speed regulating motor are electrically connected.

[0005] On the basis of the above technical scheme, the coupling mechanism includes a hollow shaft, a guide block, a sliding frame, a compression spring, a roller, a plug rod, a No. 1 electric push rod, a push plate, a limit plate, a limit ring, and a guide rod. The rotating shaft of the speed regulating motor is coaxially fixed with a hollow shaft, and the hollow shaft is fixed with a radially fixed guide block and is sealed and plugged with the upper support tube. The hollow shaft can slide and rotate up and down in a sealed manner compared to the upper support tube. The guide block is horizontally slidably connected to the sliding frame, and a compression spring is fixed between the sliding frame and the guide block, and they are rotatably connected with a vertical roller. The sliding frame is fixed with a horizontal plug rod, and the plug rod is horizontally gap-plugged with the hollow shaft, the hollow shaft is axially plugged with the shaft of the auger, and the plug rod is radially plugged with the shaft of the auger A horizontal No. 1 electric push rod is fixed in the accommodating groove, and a vertical push plate is fixed at the push rod end of the No. 1 electric push rod. When the No. 1 electric push rod extends out of the push plate and the speed regulating motor rotates, the push plate can contact the roller and push the roller and the sliding frame to disengage the insertion rod from the shaft of the auger. A horizontal limit plate is fixed on the outer edge of the upper part of the lower support cylinder, and the limit plate is plugged into the body up and down. The limit plate has a built-in auxiliary battery or dry battery, and also has a built-in radio transmitting module, and the auxiliary battery or dry battery is electrically connected to the radio transmitting module. A limit ring is coaxially fixed to the inner wall of the bottom of the lower support cylinder, and a guide rod is radially fixed to the auger, and the guide rod is horizontally slidably connected to the limit ring, and the body is also equipped with a salvage mechanism.

[0006] On the basis of the above technical scheme, the on-off mechanism includes a piston groove, a piston, a water delivery hole, a water through hole, an inner tension spring, a wedge rod, a lower support frame, and a wedge block. The outer wall of the body is provided with a plurality of horizontal piston grooves, the piston groove is connected with the receiving groove, and each of the piston grooves is sealed and horizontally slidably connected with a piston. The piston is penetrated by a water delivery hole, the upper part of the water delivery hole radially penetrates the end of the piston close to the outer wall of the body, and the bottom of the water delivery hole radially penetrates the end of the piston close to the receiving groove. A water through hole is provided at the upper part of the sampling groove, the water through hole is connected with the piston groove, and can be connected with the bottom of the water delivery hole of the piston, and the water through hole When connected to the bottom of the water delivery hole, the upper part of the water delivery hole is connected to the outside world, and the piston groove can completely seal the water delivery hole. The piston and the piston groove are jointly fixed with an inner tension spring. The piston has a tendency to approach the receiving groove under the elastic tension of the inner tension spring. Each piston is respectively fixed with a horizontal wedge rod, and a plurality of vertical lower support frames are fixed to the top of the upper support tube. A wedge block is fixed to the upper part of the lower support frame. The wedge surface of the wedge block can contact the wedge surface of the wedge rod. When the upper support tube moves downward, the wedge rod can be squeezed by the wedge block, so that the piston overcomes the elastic tension of the inner tension spring and moves away from the receiving groove.

[0007] On the basis of the above technical scheme, the salvage mechanism includes a clamp, an electromagnet, and a permanent magnet. The bottom of the body is hinged with a clamp, and the clamp is in an "L"-shaped structure. A plurality of vertical electromagnets are fixed at equal angles on the circumference of the bottom of the body. A permanent magnet is fixed to each clamp, and the electromagnet corresponds to the permanent magnet up and down. The electromagnet is electrically connected to the controller. The bottom of the body is made of a material that can be magnetically attracted. When the clamp is swung downward to a certain angle, the permanent magnet can be magnetically attracted to the bottom of the body.

[0008] Based on the above technical solution, the bent parts of each clamp are respectively connected to a vertical light rod for sliding up and down movement. The light rod and the clamp are jointly fixed with an external tension spring. The light rod has a tendency to move downward under the elastic tension of the external tension spring. When each clamp swings downward to a certain extent, the light rods can gather and touch each other.

[0009] On the basis of the above technical solution, the water control mechanism includes a No. 3 electric push rod and a piston plate. The water storage chamber runs through the top of the machine body. The piston plate is sealingly and slidingly connected up and down in the water storage chamber. A vertical No. 3 electric push rod is fixed to the upper part of the machine body. The push rod of the No. 3 electric push rod is fixed to the piston plate and is electrically connected to the controller.

[0010] On the basis of the above technical solution, a concave water storage tank is provided at the top of the piston plate, an atomizer is fixed in the water storage tank, and the atomizer is electrically connected to the controller.

[0011] Based on the above technical solution, a horizontal upper support frame is fixed to the top of the body, a vertical needle is fixed to the bottom middle end of the upper support frame, a paint bag is pasted in the water tank, and the paint bag stores water-soluble liquid paint that is obviously different from the usage environment. The needle can pierce the paint bag to allow the paint to flow into the water tank.

[0012] Compared with the prior art, the present invention has the following advantages: the present invention controls the No. 2 electric push rod to extend, so that the inlet and outlet are connected with the upper through port, thereby facilitating the entry of materials into the sampling trough, and then controls the speed regulating motor to rotate forward slowly. Under the obstruction of the lower support tube, the silt is transported upward, so that the silt can enter the sampling trough through the inlet and outlet and the upper through port, and at the same time controls the on-off mechanism to open, so that the silt and water in the sampling trough are discharged first, and after the silt is continuously replenished into the sampling trough for a period of time, controls the on-off mechanism to close, and then controls the speed regulating motor to stop, and controls the No. 2 electric push rod to retract, so that the upper support tube blocks the upper through port, and then stabilizes the sample in the sampling trough, that is, the sampling of silt and water can be realized.

[0013] When the lower opening is not blocked by the upper supporting tube, upward and downward water flows can be generated by controlling the forward and reverse rotation of the speed regulating motor. The upward water flow is discharged outwards through the lower opening, and the downward water flow flows into the lower supporting tube through the lower opening and is discharged from the bottom of the lower supporting tube, thereby pushing the body, thereby accelerating the sinking and floating of the underwater unmanned vehicle, that is, realizing multiple functions by using the auger. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the axonometric structure of the present invention.

[0015] Figure 2 It is a front sectional structural schematic diagram of the present invention.

[0016] Figure 3 It is a right sectional structural schematic diagram of the present invention.

[0017] Figure 4 It is a schematic diagram of the cooperation between the hollow shaft and the auger of the present invention.

[0018] Figure 5 It is a schematic diagram of the coordination between the water delivery hole and the water through hole of the present invention.

[0019] Figure 6 It is a schematic diagram of the cooperation between the limit ring and the guide rod of the present invention.

[0020] Figure 7 It is a working schematic diagram of the present invention.

[0021] In the figure: 1, body, 2, water storage chamber, 4, controller, 5, main battery, 6, servo motor, 7, propeller, 8, receiving tank, 9, sampling tank, 11, upper opening, 12, lower support tube, 13, lower opening, 14, upper support tube, 15, No. 2 electric push rod, 16, entrance and exit, 17, speed regulating motor, 19, auger, 20, hollow shaft, 21, guide block, 22, sliding frame, 23, compression spring, 24, roller, 25, plug rod, 26, No. 1 electric push rod, 27 , push plate, 28, limit plate, 29, limit ring, 30, guide rod, 31, piston groove, 32, piston, 33, water supply hole, 34, water hole, 35, inner tension spring, 36, wedge rod, 37, lower support frame, 38, wedge block, 39, clamping claw, 40, electromagnet, 41, permanent magnet, 42, bare rod, 43, external tension spring, 44, No. 3 electric push rod, 45, piston plate, 46, water storage tank, 47, atomizer, 48, upper support frame, 49, needle, 50, paint bag. DETAILED DESCRIPTION

[0022] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] like Figure 1-Figure 7As shown, an underwater unmanned vehicle includes a body 1, a water storage chamber 2, and a water control mechanism. The body 1 is provided with a water storage chamber 2 and a water control mechanism, and the water control mechanism is used to control the water in and out of the water storage chamber 2. The body 1 is also equipped with a controller 4, a main battery 5, a radio transmission module and a camera, and is fixed with four horizontal servo motors 6, and the rotating shafts of each of the servo motors 6 are coaxially fixed with propellers 7. The bottom of the body 1 is provided with a receiving groove 8 penetrating downward, and a sampling groove 9 is provided at the bottom. The upper part of the sampling groove 9 is provided with an on-off mechanism for controlling whether the sampling groove 9 is connected to the outside world. The bottom of the sampling groove 9 is connected with the receiving groove 8 and forms an upper opening 11. A vertical lower support tube 12 is installed at the bottom of the body 1, and a lower opening 13 is radially penetrated on the upper part of the lower support tube 12. The receiving groove 8 is sealed and slidably connected with an upper support tube 14, and a No. 2 electric push rod 15 is fixed on the upper part. The push rod of the No. 2 electric push rod 15 is fixed to the upper support tube 14, and the upper support tube 14 is radially penetrated with an entrance and exit 16, and can be sealed and slidably connected with the lower support tube 12 in an up and down manner, and the entrance and exit 16 can be aligned and communicated with the upper through port 11, and when aligned and communicated with the upper through port 11, the lower through port 13 is sealed and blocked by the upper support tube 14, the upper through port 11 can be blocked and blocked by the upper support tube 14, and when blocked and blocked by the upper support tube 14, the lower through port 13 can not be blocked and blocked by the upper support tube 14, and a speed regulating motor 17 is installed on the upper part of the accommodating groove 8, and the output shaft of the speed regulating motor 17 is connected to a vertical auger 19 through a coupling mechanism, and the auger 19 is gap-inserted with the upper support tube 14 and the lower support tube 12, and the bottom protrudes from the bottom end of the lower support tube 12, and the controller 4, the main battery 5, the radio transmission module, the camera, the servo motor 6 and the speed regulating motor 17 are electrically connected.

[0024] When in use, the controller 4 is controlled by radio signals and a radio transmission module. The controller 4 controls the forward and reverse rotation of each servo motor 6 to adjust the horizontal position of the body 1. The water inlet and outlet of the water storage chamber 2 are controlled by controlling the water control mechanism. When the volume of water in the water storage chamber 2 is large, the buoyancy of the unmanned aerial vehicle is reduced, and the unmanned aerial vehicle sinks. When the volume of water in the water storage chamber 2 is small, the buoyancy of the unmanned aerial vehicle is increased, and the unmanned aerial vehicle floats, thereby controlling the buoyancy and sinking of the aircraft. When sampling is not needed, the No. 2 electric push rod 15 is controlled to retract the push rod, so that the upper opening 11 can be sealed and blocked by the upper support tube 14, so that water cannot be poured into the sampling slot 9; and when it is necessary to collect water samples at a certain height, the No. 2 electric push rod 15 is controlled to extend the push rod, so that the inlet and outlet 16 can be connected with the upper opening 11, so that water can be poured into the sampling slot 9; when it is necessary to sample the flowing solid materials such as mud and sand on the bottom of the water, the unmanned aerial vehicle is controlled to sink to the bottom of the water, and then the speed regulating motor 17 is controlled to rotate forward at a slow speed, so that the auger 19 can gradually rotate into the mud and sand, and then the mud and sand are transported upward under the obstruction of the lower support tube 12, and at the same time, the No. 2 electric push rod 15 is controlled to extend the push rod, so that the inlet and outlet 16 is connected with the upper opening 11, so that the mud and sand can pass through the outlet The inlet 16 and the upper passage 11 enter the sampling trough 9, and at the same time, the on-off mechanism is controlled to open, so that the mud and water in the sampling trough 9 are discharged first. After the mud is continuously replenished into the sampling trough 9 for a period of time, the on-off mechanism is controlled to close, and then the speed regulating motor 17 is controlled to stop, and the No. 2 electric push rod 15 is controlled to retract, so that the upper support tube 14 blocks the upper passage 11, and then the sample in the sampling trough 9 is stabilized; when the lower passage 13 is not blocked by the upper support tube 14, by controlling the forward and reverse rotation of the speed regulating motor 17, upward and downward water flows can be generated, and the upward water flow is discharged outward through the lower passage 13, and the downward water flow flows into the lower support tube 12 through the lower passage 13, and is discharged from the bottom of the lower support tube 12, thereby pushing the body 1, thereby accelerating the sinking and floating of the underwater unmanned vehicle.

[0025] The coupling mechanism includes a hollow shaft 20, a guide block 21, a sliding frame 22, a compression spring 23, a roller 24, a plug rod 25, a No. 1 electric push rod 26, a push plate 27, a limit plate 28, a limit ring 29, and a guide rod 30. The rotating shaft of the speed regulating motor 17 is coaxially fixed with the hollow shaft 20. The hollow shaft 20 is fixed with a radially fixed guide block 21 and is sealed and plugged with the upper support cylinder 14. The hollow shaft 20 can be sealed and slid up and down and sealed and rotated compared with the upper support cylinder 14. The guide block 21 is horizontally slidably connected to the sliding frame 22. A compression spring 23 is fixed between the sliding frame 22 and the guide block 21, and a vertical roller 24 is rotatably connected. The sliding frame 22 is fixed with a horizontal plug rod 25. The plug rod 25 is horizontally gap-plugged with the hollow shaft 20. The hollow shaft 20 is axially plugged with the shaft of the auger 19. The plug rod 25 is axially plugged with the shaft of the auger 19. Radially plug-in, a horizontal No. 1 electric push rod 26 is fixed in the accommodating groove 8, and a vertical push plate 27 is fixed to the push rod end of the No. 1 electric push rod 26. When the No. 1 electric push rod 26 extends out of the push plate 27 and the speed regulating motor 17 rotates, the push plate 27 can contact the roller 24 and push the roller 24 and the sliding frame 22 so that the insertion rod 25 is disengaged from the shaft of the auger 19. A horizontal limit plate 28 is fixed on the outer edge of the upper part of the lower support cylinder 12, and the limit plate 28 is plugged up and down with the body 1. The limit plate 28 has a built-in auxiliary battery or dry battery, and also has a built-in radio transmission module. The auxiliary battery or dry battery is electrically connected to the radio transmission module. A limit ring 29 is coaxially fixed to the inner wall of the bottom of the lower support cylinder 12, and a guide rod 30 is radially fixed to the auger 19. The guide rod 30 is horizontally slidably connected to the limit ring 29, and the body 1 is also equipped with a salvage mechanism.

[0026] Furthermore, when taking samples of mud and sand, if it is found that the sampling point is special and needs to be marked, when the auger 19 has been screwed into the mud and sand, by controlling the No. 1 electric push rod 26 to extend the push rod, the speed regulating motor 17 can make the roller 24 contact with the push plate 27 when rotating, so that it is squeezed and pushed by the push plate 27, and then the sliding frame 22 overcomes the elastic repulsion of the compression spring 23 and moves, so that the insertion rod 25 is disengaged from the shaft of the auger 19. As the body 1 floats up, the auger 19 is retained in the mud and sand, and driven by the guide rod 30, the lower support tube 12 is also retained in the mud and sand. At this time, the radio transmission module is used to mark the point, and the retained auger 19, the lower support tube 12 and the limit plate 28 can be salvaged later by a salvage mechanism or an external salvage device, and the position of the sampling point can be known by the radio transmission module, which is convenient for salvage and further processing of the sampling point.

[0027] The on-off mechanism includes a piston groove 31, a piston 32, a water delivery hole 33, a water through hole 34, an inner tension spring 35, a wedge rod 36, a lower support frame 37, and a wedge block 38. The outer wall of the body 1 is provided with a plurality of horizontal piston grooves 31, the piston groove 31 is connected to the receiving groove 8, and a piston 32 is sealed and horizontally slidably connected in each of the piston grooves 31. The piston 32 is penetrated by a water delivery hole 33. The upper part of the water delivery hole 33 radially penetrates the end of the piston 32 close to the outer wall of the body 1, and the bottom of the water delivery hole 33 radially penetrates the end of the piston 32 close to the receiving groove 8. The upper part of the sampling groove 9 is provided with a water through hole 34, the water through hole 34 is connected to the piston groove 31, and can be connected to the bottom of the water delivery hole 33 of the piston 32, and the water through hole 34 is connected to the delivery hole 33 of the piston 32. When the bottoms of the water holes 33 are connected, the upper part of the water holes 33 is connected to the outside world, and the piston groove 31 can completely seal the water holes 33. The piston 32 and the piston groove 31 are jointly fixed with an inner tension spring 35. The piston 32 has a tendency to approach the receiving groove 8 under the elastic tension of the inner tension spring 35. Each piston 32 is respectively fixed with a horizontal wedge rod 36. A plurality of vertical lower support frames 37 are fixed to the top of the upper support cylinder 14. A wedge block 38 is fixed to the upper part of the lower support frame 37. The wedge surface of the wedge block 38 can contact the wedge surface of the wedge rod 36. When the upper support cylinder 14 moves downward, the wedge block 38 can squeeze the wedge rod 36 so that the piston 32 overcomes the elastic tension of the inner tension spring 35 and moves away from the receiving groove 8.

[0028] Furthermore, when the No. 2 electric push rod 15 retracts the push rod, the wedge block 38 moves away from the wedge rod 36. At this time, the piston 32 retracts into the piston groove 31 under the elastic tension of the internal tension spring 35, thereby preventing the sample in the sampling groove 9 from flowing out. When the No. 2 electric push rod 15 extends the push rod, that is, the upper opening 11 is aligned and connected with the entrance and exit 16, under the squeezing of the wedge block 38, the pistons 32 move away from each other. At this time, the water hole 34 is connected with the water delivery hole 33, so that the sampling groove 9 can be connected with the outside through the water hole 34 and the water delivery hole 33, and then the sample is discharged from here.

[0029] The salvage mechanism includes a clamp 39, an electromagnet 40, and a permanent magnet 41. The bottom of the body 1 is hinged with a clamp 39, and the clamp 39 is in an "L"-shaped structure. A plurality of vertical electromagnets 40 are fixed at equal angles on the circumference of the bottom of the body 1. A permanent magnet 41 is fixed to each of the clamps 39, and the electromagnets 40 correspond to the permanent magnets 41 up and down. The electromagnets 40 are electrically connected to the controller 4. The bottom of the body 1 is made of a material that can be magnetically attracted. When the clamp 39 is swung downward to a certain angle, the permanent magnet 41 can be magnetically attracted to the bottom of the body 1.

[0030] Furthermore, when not in the salvage state, the electromagnet 40 magnetically attracts the permanent magnet 41, and the jaws 39 are open to each other. When salvage is required, the electromagnet 40 is passed with a reverse current, so that the jaws 39 are extended downward, and finally the permanent magnet 41 is magnetically attracted to the bottom of the body 1. At this time, the jaws 39 are close to each other, so as to grab and salvage the limit plate 28.

[0031] The bent parts of each of the clamping jaws 39 are respectively connected to a vertical light rod 42 for sliding up and down. The light rod 42 and the clamping jaws 39 are fixed with an external tension spring 43. The light rod 42 has a tendency to move downward under the elastic tension of the external tension spring 43. When each of the clamping jaws 39 swings downward to a certain extent, the light rods 42 can gather and touch each other.

[0032] Furthermore, when salvage is required, a reverse current is passed through the electromagnet 40, so that each clamping claw 39 pops up downward, and finally causes the permanent magnet 41 to be magnetically attracted to the bottom of the body 1. At this time, the clamping claws 39 are close to each other, and when the light rod 42 is blocked by the lower support tube 12, it can overcome the elastic tension of the external tension spring 43 and shrink compared to the clamping claw 39, thereby grabbing and salvaging the limit plate 28. If there is no obstruction from the lower support tube 12, the light rods 42 that touch each other can also salvage underwater objects (such as stones, sea cucumbers, starfish, etc.), thereby increasing the scope of application of salvage.

[0033] The water control mechanism includes a No. 3 electric push rod 44 and a piston plate 45. The water storage chamber 2 runs through the top of the body 1. The piston plate 45 is sealed and slidably connected up and down in the water storage chamber 2. A vertical No. 3 electric push rod 44 is fixed to the upper part of the body 1. The push rod of the No. 3 electric push rod 44 is fixed to the piston plate 45 and is electrically connected to the controller 4.

[0034] Furthermore, by controlling the extension and retraction of the No. 3 electric push rod 44, the piston plate 45 can be moved up and down along the water storage chamber 2, thereby controlling the volume of water entering the upper part of the water storage chamber 2, thereby controlling the displacement, adjusting the size of the buoyancy, and achieving floating and sinking.

[0035] A concave water storage tank 46 is formed at the top of the piston plate 45 . An atomizer 47 is fixed in the water storage tank 46 . The atomizer 47 is electrically connected to the controller 4 .

[0036] Furthermore, when the unmanned aerial vehicle sinks and finally floats to the surface, a certain volume of water will be stored in the water tank 46. The atomizer 47 is then controlled to work, so that the water in the water tank 46 can be atomized, thereby improving the recognizability and facilitating observation and operation by the user.

[0037] A horizontal upper support frame 48 is fixed to the top of the body 1, a vertical piercing needle 49 is fixed to the bottom of the middle of the upper support frame 48, a paint bag 50 is pasted in the water storage tank 46, and the paint bag 50 stores water-soluble liquid paint that is obviously different from the use environment. The piercing needle 49 can pierce the paint bag 50 to allow the paint to flow into the water storage tank 46.

[0038] Furthermore, as the No. 3 electric push rod 44 is fully extended, the piston plate 45 rises to the highest point, so that the paint bag 50 is punctured by the needle 49. At this time, the paint is mixed with the water in the water tank 46 and then atomized, which can improve the recognition, making it easier for users to observe and operate.

[0039] The above is a preferred embodiment of the present invention. For ordinary technicians in this field, according to the teachings of the present invention, without departing from the principles and spirit of the present invention, changes, modifications, substitutions and variations made to the implementation methods are still within the scope of protection of the present invention.

Claims

1. An underwater unmanned vehicle, comprising a body (1), a water storage chamber (2), and a water control mechanism, wherein the body (1) is provided with the water storage chamber (2) and the water control mechanism, wherein the water control mechanism is used to control the flow of water into and out of the water storage chamber (2), the body (1) is also equipped with a controller (4), a main battery (5), a radio transmission module, and a camera, and is fixed with four horizontal servo motors (6), wherein the rotating shafts of the servo motors (6) are respectively coaxially fixed with propellers (7), and characterized in that: The bottom of the machine body (1) is provided with a receiving groove (8) penetrating downwards, and a sampling groove (9) is provided at the bottom. The upper part of the sampling groove (9) is provided with an on-off mechanism for controlling whether the sampling groove (9) is connected to the outside. The bottom of the sampling groove (9) is connected to the receiving groove (8) and forms an upper opening (11). A vertical lower support cylinder (12) is installed at the bottom of the machine body (1). The upper part of the lower support cylinder (12) is radially penetrated by a lower opening (13). The receiving groove (8) is sealed and slidably connected to an upper support cylinder (14) up and down, and a second electric push rod (15) is fixed to the upper part. The push rod of the second electric push rod (15) is fixed to the upper support cylinder (14). The upper support cylinder (14) is radially penetrated by an inlet and outlet (16) and can be sealed and slidably connected to the lower support cylinder (12) up and down. The inlet and outlet (16) ) can be aligned and connected with the upper opening (11), and when aligned and connected with the upper opening (11), the lower opening (13) is sealed and blocked by the upper support tube (14); the upper opening (11) can be blocked and blocked by the upper support tube (14), and when blocked and blocked by the upper support tube (14), the lower opening (13) can not be blocked and blocked by the upper support tube (14); a speed regulating motor (17) is installed on the upper part of the accommodating groove (8); the output shaft of the speed regulating motor (17) is connected to a vertical auger (19) through a coupling mechanism; the auger (19) is interspacedly plugged with the upper support tube (14) and the lower support tube (12), and the bottom protrudes from the bottom end of the lower support tube (12); the controller (4), the main battery (5), the radio transmission module, the camera, the servo motor (6) and the speed regulating motor (17) are electrically connected.

2. An underwater unmanned vehicle according to claim 1, characterized in that: The coupling mechanism comprises a hollow shaft (20), a guide block (21), a sliding frame (22), a compression spring (23), a roller (24), an insertion rod (25), a No. 1 electric push rod (26), a push plate (27), a limit plate (28), a limit ring (29), and a guide rod (30). The rotating shaft of the speed regulating motor (17) is coaxially fixed with the hollow shaft (20). The hollow shaft (20) is radially fixed with the guide block (21) and is sealed and plugged with the upper support cylinder (14). The hollow shaft (20) can be Compared with the upper support cylinder (14) that slides up and down in a sealed manner and rotates in a sealed manner, the guide block (21) is horizontally slidably connected to a sliding frame (22), a compression spring (23) is fixed between the sliding frame (22) and the guide block (21), and a vertical roller (24) is rotatably connected, and a horizontal insertion rod (25) is fixed to the sliding frame (22), the insertion rod (25) is horizontally gap-plugged with the hollow shaft (20), the hollow shaft (20) is axially plugged with the shaft of the auger (19), and the insertion rod (25) is axially plugged with the shaft of the auger The shaft of the auger (19) is radially plugged in, a horizontal No. 1 electric push rod (26) is fixed in the receiving groove (8), and a vertical push plate (27) is fixed at the end of the push rod of the No. 1 electric push rod (26). When the No. 1 electric push rod (26) extends out of the push plate (27) and the speed regulating motor (17) rotates, the push plate (27) can contact the roller (24) and push the roller (24) and the sliding frame (22) so that the plug rod (25) is disconnected from the shaft of the auger (19), and a water-tight seal is fixed on the upper outer edge of the lower support cylinder (12). A flat limit plate (28) is inserted into the machine body (1) up and down, the limit plate (28) has a built-in auxiliary battery or dry battery, and also has a built-in radio transmission module, the auxiliary battery or dry battery is electrically connected to the radio transmission module, a limit ring (29) is coaxially fixed to the inner wall of the bottom of the lower support tube (12), a guide rod (30) is radially fixed to the auger (19), the guide rod (30) is horizontally slidably connected to the limit ring (29), and the machine body (1) is also equipped with a salvaging mechanism.

3. An underwater unmanned vehicle according to claim 2, characterized in that: The on-off mechanism comprises a piston groove (31), a piston (32), a water delivery hole (33), a water passing hole (34), an inner tension spring (35), a wedge rod (36), a lower support frame (37), and a wedge block (38). The outer wall of the body (1) is provided with a plurality of horizontal piston grooves (31), the piston grooves (31) are connected to the receiving groove (8), and a piston (32) is sealed and horizontally slidably connected in each of the piston grooves (31). The piston (32) is penetrated by a water delivery hole (33), the upper part of the water delivery hole (33) radially penetrates the end of the piston (32) close to the outer wall of the body (1), and the bottom of the water delivery hole (33) radially penetrates the end of the piston (32) close to the receiving groove (8). The upper part of the sampling groove (9) is provided with a water passing hole (34), the water passing hole (34) is connected to the piston groove (31), and can be connected to the bottom of the water delivery hole (33) of the piston (32). When the piston (34) is connected to the bottom of the water delivery hole (33), the upper part of the water delivery hole (33) is connected to the outside world. The piston groove (31) can completely seal the water delivery hole (33). The piston (32) and the piston groove (31) are fixed with an inner tension spring (35). The piston (32) has a tendency to approach the receiving groove (8) under the elastic tension of the inner tension spring (35). Each of the pistons (32) is respectively fixed with a horizontal wedge rod (3 6), a plurality of vertical lower support frames (37) are fixed to the top of the upper support cylinder (14), a wedge block (38) is fixed to the upper part of the lower support frame (37), the wedge surface of the wedge block (38) can contact the wedge surface of the wedge rod (36), and when the upper support cylinder (14) moves downward, the wedge block (38) can squeeze the wedge rod (36) so that the piston (32) overcomes the elastic tension of the inner tension spring (35) and moves away from the accommodating groove (8).

4. An underwater unmanned vehicle according to claim 2 or 3, characterized in that: The salvaging mechanism comprises a clamp (39), an electromagnet (40), and a permanent magnet (41). The bottom of the body (1) is hinged with a clamp (39) at the top and bottom. The clamp (39) is in an "L"-shaped structure. A plurality of vertical electromagnets (40) are fixed at equal angles on the circumference of the bottom of the body (1). Each of the clamps (39) is fixed with a permanent magnet (41). The electromagnet (40) corresponds to the permanent magnet (41) at the top and bottom. The electromagnet (40) is electrically connected to the controller (4). The bottom of the body (1) is made of a material that can be magnetically attracted. When the clamp (39) swings downward to a certain angle, the permanent magnet (41) can be magnetically attracted to the bottom of the body (1).

5. An underwater unmanned vehicle according to claim 4, characterized in that: The bent portion of each clamping jaw (39) is respectively connected to a vertical light rod (42) in a sliding manner up and down. The light rod (42) and the clamping jaw (39) are fixed with an external tension spring (43). The light rod (42) has a tendency to move downward under the elastic tension of the external tension spring (43). When each clamping jaw (39) swings downward to a certain extent, the light rods (42) can gather and touch each other.

6. An underwater unmanned vehicle according to any one of claims 1, 2, 3, and 5, characterized in that: The water control mechanism comprises a No. 3 electric push rod (44) and a piston plate (45); the water storage chamber (2) passes through the top of the machine body (1); the piston plate (45) is sealed and slidably connected up and down in the water storage chamber (2); a No. 3 electric push rod (44) is fixed vertically on the upper part of the machine body (1); the push rod of the No. 3 electric push rod (44) is fixed to the piston plate (45) and is electrically connected to the controller (4).

7. An underwater unmanned vehicle according to claim 6, characterized in that: A concave water storage tank (46) is formed at the top of the piston plate (45), an atomizer (47) is fixed in the water storage tank (46), and the atomizer (47) is electrically connected to the controller (4).

8. An underwater unmanned vehicle according to claim 7, characterized in that: A horizontal upper support frame (48) is fixed to the top of the machine body (1), a vertical piercing needle (49) is fixed to the middle bottom of the upper support frame (48), a pigment bag (50) is pasted in the water storage tank (46), and the pigment bag (50) stores water-soluble liquid pigment that is obviously different from the use environment, and the piercing needle (49) can pierce the pigment bag (50) to allow the pigment to flow into the water storage tank (46).

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