A drone for ocean rescue

Abstract

The present invention relates to a marine rescue drone, belonging to the technical field of marine rescue. A dynamic balancing mechanism is introduced, wherein the mechanism is composed of first to fourth connecting rods that are cross-hinged, wherein the first and third connecting rods are located in different horizontal planes and form a multi-degree-of-freedom linkage system with a frame, and the second and fourth connecting rods are respectively hinged to the two ends of a support block. When the fire extinguishing agent is consumed and the center of gravity shifts, the support block drives the connecting rod system to be linked under the action of gravity: the first and third connecting rods rotate around the frame hinge point, and the four and second connecting rods push and pull the two ends of the support block respectively, so that the support block slides adaptively in a direction parallel to the frame. Since the first and third connecting rods are equal in length and cross-arranged, their motion trajectories are hyperbolic, which accurately matches the center of gravity shift characteristics caused by the nonlinear consumption of the fire extinguishing agent, thereby converting the sliding displacement of the support block into nonlinear torque compensation, effectively offsetting the unbalanced torque.

Description

Technical Field

[0001] The present invention belongs to the technical field of ocean rescue, and in particular relates to an unmanned aerial vehicle for ocean rescue. Background Art

[0002] In recent years, rescue drones have been increasingly used in the field of marine firefighting to perform firefighting tasks because they are fast to respond, highly maneuverable, and can accurately deliver fire extinguishing agents. However, existing drones usually fix the fire extinguisher directly on the drone bracket. This design has some shortcomings: it cannot "dynamically adjust the position". During the firefighting process, as the fire extinguishing agent is continuously sprayed, the weight distribution of the entire drone will gradually become unbalanced. This center of gravity shift will cause the drone to fly unsteadily, especially in complex environments such as high temperatures at the fire scene and strong ocean winds. It may cause violent shaking or even loss of control, seriously affecting rescue safety. What's more troublesome is that the residual liquid in the fire extinguisher may sway during flight, further exacerbating the center of gravity drift. Traditional control systems find it difficult to accurately respond to such irregular changes.

[0003] To this end, some rescue drones are currently trying to use a "guide rail sliding" solution, which is to allow the fire extinguisher to automatically move its position as it is consumed to maintain balance. However, this type of solution relies on motor drive and sensor feedback systems, and has obvious limitations: there are obvious defects: first, the motor response is delayed, and the friction resistance of the guide rail cannot keep up with the rapid consumption of the fire extinguishing agent; second, the high temperature and dust at the fire scene can easily cause electronic equipment to malfunction; the most critical thing is that the guide rail sliding can only achieve linear displacement, and the physical relationship between the consumption of fire extinguishing agent and the center of gravity offset has nonlinear characteristics. Simple linear adjustment cannot completely offset the torque imbalance. Therefore, there is an urgent need for a marine rescue drone that does not require external energy, can adapt to complex environments, and has a dynamic balance mechanism that can autonomously match nonlinear center of gravity changes, so as to fundamentally improve the stability and adaptability of the rescue drone. Summary of the Invention

[0004] In order to solve the above-mentioned problems existing in the prior art, the present invention provides a marine rescue drone, which solves the problem in the prior art that the physical relationship between fire extinguishing agent consumption and center of gravity offset has nonlinear characteristics, and simple linear adjustment cannot completely offset the torque imbalance.

[0005] The purpose of the present invention can be achieved through the following technical solutions: A marine rescue drone, comprising a drone body, a frame arranged below the drone, a dynamic balancing mechanism arranged on the frame, and a fire extinguishing device arranged on the dynamic balancing mechanism, wherein the fire extinguishing device is arranged on the dynamic balancing mechanism through a support block, and the dynamic balancing mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, wherein the two ends of the first connecting rod are respectively hinged to one end of the second connecting rod and the frame, the two ends of the third connecting rod are respectively hinged to the other end of the second connecting rod and the frame, the first connecting rod and the third connecting rod are cross-arranged and ... The rod and the third link are located in different horizontal planes, the midpoint of the second link is hinged to one end of the support block, the midpoint of the first link is hinged to one end of the fourth link, and the other end of the fourth link is hinged to the other end of the support block. When the fire extinguishing agent in the fire extinguishing device is consumed and the center of gravity shifts, the first link, the second link, the third link and the fourth link are linked by gravity drive, so that the support block adaptively slides in a direction parallel to the frame to the center of gravity position of the drone to offset the nonlinear torque imbalance, and after the sliding is completed, it is fixed by self-locking between the first link, the second link, the third link and the fourth link.

[0006] As a further solution of the present invention, an L-shaped connecting rod is provided at one end of the support block, one end of the L-shaped connecting rod is arranged perpendicularly to the other end of the support block, the other end of the L-shaped connecting rod is hinged to the midpoint of the second connecting rod, and a vertical connecting rod is vertically provided at the other end of the support block, and the vertical connecting rod is hinged to the other end of the fourth connecting rod.

[0007] As a further solution of the present invention, the vertical rod of the L-shaped connecting rod is equal to the vertical connecting rod.

[0008] As a further solution of the present invention, the frame is provided with a limiting groove matching the vertical connecting rod, and a roller is vertically provided on the vertical connecting rod. When the support block slides to the center of gravity position, the roller is embedded in the groove.

[0009] As a further solution of the present invention, there are two dynamic balancing mechanisms, and the two dynamic balancing mechanisms are symmetrically arranged on both sides of the support block.

[0010] As a further solution of the present invention, the support block is an elastic support block, an arc-shaped groove is provided on the elastic support block, an arc-shaped frame is provided on the frame, the fire extinguishing device is a fire extinguisher, the arc-shaped groove and the fire extinguisher are locked together, a guide wheel is provided on the arc-shaped frame, and the guide wheel is in contact with the outer wall of the fire extinguisher.

[0011] As a further solution of the present invention, the third connecting rod and the fourth connecting rod are arranged in parallel.

[0012] As a further solution of the present invention, the length of the fourth connecting rod is half of the length of the first connecting rod.

[0013] As a further solution of the present invention, the first connecting rod and the third connecting rod have the same length.

[0014] As a further solution of the present invention, the first connecting rod is hinged to the frame through a first hinge block, and the third connecting rod is hinged to the frame through a second hinge block. The first hinge block and the second hinge block are respectively located at two ends of the frame, and the first hinge block and the second hinge block are located in different planes.

[0015] The beneficial effects of the present invention are:

[0016] By introducing a dynamic balancing mechanism, the problem of unstable flight caused by center of gravity shift due to fire extinguishing agent consumption in drones previously described is fundamentally solved. The mechanism consists of cross-hinged first to fourth links, where the first and third links are located at different horizontal planes and form a multi-degree-of-freedom linkage system with the frame. The second and fourth links are respectively hinged to the ends of the support block. When the center of gravity shifts due to fire extinguishing agent consumption, the support block drives the linkage system to work under the action of gravity: the first and third links rotate about the frame hinge point, and the fourth and second links push and pull the ends of the support block, respectively, causing it to slide adaptively parallel to the frame. Because the first and third links are equal in length and cross-arranged, their motion trajectories are hyperbolic, precisely matching the center of gravity shift characteristics caused by nonlinear fire extinguishing agent consumption. This converts the sliding displacement of the support block into nonlinear torque compensation, effectively offsetting the unbalanced torque. When the support block slides to the equilibrium position, the fourth link forms a dead center with the first and third links. The reaction force at the hinge point and the friction force work together to achieve self-locking fixation, stabilizing the position without relying on motors or sensors. This design achieves passive drive, nonlinear adjustment and autonomous locking through a purely mechanical structure, completely avoiding the problems in traditional solutions where electronic equipment is susceptible to interference from high-temperature dust and linear adjustment cannot match nonlinear torque, significantly improving the stability and reliability of the drone in complex fire environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] To facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0018] Figure 1 This is an isometric view of the overall structure of the rescue drone of the present invention;

[0019] Figure 2 This is a front view of the overall structure of the rescue drone of the present invention;

[0020] Figure 3 This is a side view of the overall structure of the rescue drone of the present invention;

[0021] Figure 4 It is a front view of the dynamic balancing mechanism of the present invention;

[0022] Figure 5 It is an axial side view of the dynamic balancing mechanism of the present invention;

[0023] Figure 6 It is a schematic diagram of the cooperation between the dynamic balancing mechanism and the support block of the present invention.

[0024] Description of main component symbols:

[0025] In the figure: 1. UAV body; 2. Frame; 3. Dynamic balancing mechanism; 31. First connecting rod; 32. Second connecting rod; 33. Third connecting rod; 34. Fourth connecting rod; 35. L-shaped connecting rod; 36. Vertical connecting rod; 4. Fire extinguishing device; 5. Camera; 6. Support block. DETAILED DESCRIPTION

[0026] In order to further illustrate the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the specific implementation methods, structures, features and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0027] See also Figures 1-6 As shown, this embodiment provides a marine rescue drone, including a drone body 1, a frame 2 arranged below the drone, a dynamic balancing mechanism 3 arranged on the frame 2, and a fire extinguishing device 4 arranged on the dynamic balancing mechanism 3. The fire extinguishing device 4 is arranged on the dynamic balancing mechanism 3 through a support block 6. The dynamic balancing mechanism 3 includes a first connecting rod 31, a second connecting rod 32, a third connecting rod 33 and a fourth connecting rod 34. The two ends of the first connecting rod 31 are respectively hinged to one end of the second connecting rod 32 and the frame 2, and the two ends of the third connecting rod 33 are respectively hinged to the other end of the second connecting rod 32 and the frame 2. The first connecting rod 31 and the third connecting rod 33 are cross-arranged and the first connecting rod 31 and the third connecting rod 33 are located at different positions. In the horizontal plane, the midpoint of the second link 32 is hinged to one end of the support block 6, the midpoint of the first link 31 is hinged to one end of the fourth link 34, and the other end of the fourth link 34 is hinged to the other end of the support block 6. When the fire extinguishing agent in the fire extinguishing device 4 is consumed and the center of gravity shifts, the first link 31, the second link 32, the third link 33 and the fourth link 34 are linked by gravity drive, so that the support block 6 adaptively slides to the center of gravity position of the drone in a direction parallel to the frame 2 to offset the nonlinear moment imbalance, and after the sliding is completed, it is fixed by self-locking between the first link 31, the second link 32, the third link 33 and the fourth link 34. In addition, a camera 5 is also installed on the drone body 1. Figure 1 shown.

[0028] It should be noted that the core structure of the dynamic balancing mechanism 3 is composed of a first link 31, a second link 32, a third link 33 and a fourth link 34, which are cross-hinged to the frame 2 to form a multi-degree-of-freedom linkage system. Figure 4 As shown, the support block 6 is connected to the fire extinguishing device 4, and adaptive sliding is achieved through the gravity drive of the connecting rod. After the sliding is completed, the position is automatically locked by the geometric constraint of the connecting rod. When the fire extinguishing agent is consumed and the center of gravity is shifted, the support block 6 is unbalanced, causing the first connecting rod 31 and the third connecting rod 33 to rotate around the hinge point of the frame 2; the midpoint of the first connecting rod 31 pushes one end of the support block 6 through the fourth connecting rod 34, and the third connecting rod 33 pulls the other end of the support block 6 through the second connecting rod 32 to form a two-way driving force; the geometric relationship of the cross-link converts the gravitational potential energy into the horizontal sliding kinetic energy of the support block 6. Since the first connecting rod 31 and the third connecting rod 33 are equal in length and cross each other, their motion trajectory is hyperbolic, which is different from the nonlinear motion caused by the consumption of the fire extinguishing agent. The center of gravity offset is matched; the sliding displacement of the support block 6 is in nonlinear proportional relationship with the center of gravity offset, which accurately offsets the torque imbalance. When the support block 6 slides to the equilibrium position, the fourth link 34 forms a through-center dead point with the first link 31 and the third link 33. At this time, the direction of the internal force of the connecting rod system changes, and the friction force and the reaction force of the hinge point jointly lock the position of the support block 6 without the need for external energy. This design relies entirely on gravity and mechanical linkage to avoid the risk of failure of electronic equipment such as motors and sensors, and adapts to high temperature and dust environments. The geometric design of the cross-link makes the displacement of the support block 6 nonlinearly corresponding to the center of gravity offset, which accurately offsets the torque imbalance. The through-center dead point design ensures that the equilibrium position is automatically locked to prevent secondary offset during flight.

[0029] In recent years, rescue drones have been increasingly used in the field of marine firefighting to perform firefighting tasks because of their fast response, strong maneuverability, and ability to accurately deliver fire extinguishing agents. However, existing drones usually fix the fire extinguisher directly on the drone bracket. This design has some shortcomings: it cannot "dynamically adjust the position". During the firefighting process, as the fire extinguishing agent is continuously sprayed, the weight distribution of the entire drone will gradually become unbalanced. This center of gravity shift will cause the drone to fly unsteadily, especially in complex environments such as high temperatures at the fire scene and strong ocean winds. It may cause violent shaking or even loss of control, seriously affecting rescue safety. What's more troublesome is that the residual liquid in the fire extinguisher may sway during flight, further exacerbating the center of gravity. Drift. Traditional control systems find it difficult to accurately respond to such irregular changes. Currently, some rescue drones on the market are trying to use the "guide rail sliding" solution, which allows the fire extinguisher to automatically move its position as it is consumed to maintain balance. However, this type of solution relies on motor drive and sensor feedback systems, and has obvious limitations: there are obvious defects: first, the motor response is delayed, and the friction resistance of the guide rail cannot keep up with the rapid consumption of the fire extinguishing agent; second, the high temperature and dust at the fire scene can easily cause electronic equipment to malfunction; most importantly, the guide rail sliding can only achieve linear displacement, and the physical relationship between the consumption of fire extinguishing agent and the offset of the center of gravity has nonlinear characteristics. Simple linear adjustment cannot completely offset the torque imbalance.

[0030] In order to solve the above problems, in this embodiment, by introducing a dynamic balancing mechanism 3, the problem of unstable flight of the UAV caused by the displacement of the center of gravity due to the consumption of fire extinguishing agent in the background technology is fundamentally solved. The mechanism is composed of a first connecting rod 31, a second connecting rod 32, a third connecting rod 33 and a fourth connecting rod 34 cross-hinged, wherein the first connecting rod 31 and the third connecting rod 33 are located at different horizontal planes and form a multi-degree-of-freedom linkage system with the frame 2, and the second connecting rod 32 and the fourth connecting rod 34 are respectively hinged to the two ends of the support block 6. When the center of gravity is shifted due to the consumption of the fire extinguishing agent, the support block 6 drives the linkage system to work under the action of gravity: the first connecting rod 31 and the third connecting rod 33 are hinged around the hinge point of the frame 2 The fourth link 34 and the second link 32 respectively push and pull the ends of the support block 6, causing it to slide adaptively parallel to the frame 2. Because the first and third links 31 and 33 are of equal length and arranged crosswise, their motion trajectory is hyperbolic, precisely matching the center of gravity offset characteristics caused by the nonlinear consumption of the fire extinguishing agent. This converts the sliding displacement of the support block 6 into nonlinear torque compensation, effectively offsetting the unbalanced torque. When the support block 6 slides to the equilibrium position, the fourth link 34 forms a dead center with the first and third links 31 and 33. The reaction force of the hinge point and the friction force work together to achieve self-locking fixation, stabilizing the position without relying on motors or sensors. This design achieves passive drive, nonlinear adjustment, and autonomous locking through a purely mechanical structure, completely avoiding the problems of traditional solutions such as the susceptibility of electronic equipment to interference from high-temperature dust and the inability of linear adjustment to match nonlinear torque. It significantly improves the stability and reliability of the UAV in complex fire scenes and strong winds at sea.

[0031] When the rescue drone is in use, if the support block 6 transmits the driving force only through a single connecting rod, the direction of the force may deviate from the center of gravity of the support block 6, resulting in uneven torque distribution. For example, when the first connecting rod 31 pushes one end of the support block 6 through the fourth connecting rod 34, if there is a lack of symmetrical pulling force or supporting structure, the support block 6 will be affected by the lateral component of force during sliding, resulting in a rotation tendency; at the same time, single-point force will aggravate local friction, resulting in jitter due to friction fluctuations during sliding. This design defect will destroy the stability of the support block 6 sliding in the direction parallel to the frame 2, affecting the accuracy of dynamic balance. In order to solve the above problem, in one embodiment, an L-shaped connecting rod 35 is provided at one end of the support block 6, one end of the L-shaped connecting rod 35 is perpendicularly arranged to the other end of the support block 6, the other end of the L-shaped connecting rod 35 is hinged to the midpoint of the second connecting rod 32, and a vertical connecting rod 36 is perpendicularly provided at the other end of the support block 6, the vertical connecting rod 36 is hinged to the other end of the fourth connecting rod 34, and the L-shaped connecting rod 35 and the vertical connecting rod 36 form a double-point hinge, which disperses the force and constrains the sliding direction of the support block 6, ensures parallel movement along the frame 2, improves the linear accuracy of the sliding path, and avoids trajectory deviation caused by single-point drive.

[0032] In addition, if the L-shaped connecting rod 35 and the vertical connecting rod 36 are of different lengths, the force transmission path will be asymmetric. For example, the longer L-shaped connecting rod 35 will amplify the driving force arm of the second connecting rod 32, while the shorter vertical connecting rod 36 will limit the reverse force of the fourth connecting rod 34, resulting in uneven force at both ends of the support block 6. This unbalanced force couple will force the support block 6 to rotate around its geometric center, causing it to tilt, thereby causing the sliding trajectory to deviate from the expected direction and unable to accurately compensate for the nonlinear torque imbalance. In this regard, in one embodiment, the vertical rod of the L-shaped connecting rod 35 is equal to the vertical connecting rod 36 in length. The equal-length design ensures the symmetry of force transmission, avoids the support block 6 from generating rotational torque during the sliding process, maintains the geometric symmetry of the dynamic balancing mechanism 3, and improves the accuracy of the balance adjustment.

[0033] Although the connecting rod system achieves self-locking by passing the center dead point, if the matching clearance between the limiting groove and the roller is too large, or the friction coefficient of the hinge point is insufficient, external vibrations, such as airflow disturbances during the flight of a drone, may cause the support block 6 to be out of the locked state. In addition, the inertial effect will cause the support block 6 to produce a slight rebound after rapid sliding due to incomplete dissipation of kinetic energy, destroying the established equilibrium position and causing the torque compensation to fail. In order to avoid this problem, in one embodiment, a limiting groove matching the vertical connecting rod 36 is provided on the frame 2, and a roller is vertically arranged on the vertical connecting rod 36. When the support block 6 slides to the center of gravity position, the roller is embedded in the groove. The roller is embedded in the limiting groove to form a mechanical lock, and the position of the support block 6 is fixed by physical limiting, thereby enhancing the self-locking stability of the equilibrium position and preventing accidental displacement.

[0034] Because the range of motion of a single dynamic balancing mechanism 3 is limited by the geometric dimensions and articulation angle of the connecting rod, for example, when the fire extinguishing agent is rapidly consumed on one side of the drone, the support block 6 needs to slide significantly to offset the asymmetric torque. However, the connecting rod length and swing angle of a single mechanism cannot accommodate extreme offsets. Furthermore, a single mechanism can only be adjusted along a fixed direction and cannot handle multi-axis torque, resulting in insufficient balancing ability under complex loads. Therefore, in one embodiment, the number of dynamic balancing mechanisms 3 is two, and the two dynamic balancing mechanisms 3 are symmetrically arranged on either side of the support block 6. This symmetrical dual-mechanism arrangement expands the degree of adjustment freedom, can simultaneously offset torque imbalances in different directions, improves the overall balancing ability of the system, and adapts to the needs of multiple scenarios.

[0035] Furthermore, due to the lack of elastic deformation ability of the rigid connection, when the UAV is impacted or vibrated during flight, the contact surface between the fire extinguisher and the support block 6 will generate local high pressure due to the direct transmission of stress, exacerbating the friction resistance. During long-term operation, metal fatigue or surface wear will form burrs, further increasing the sliding resistance and even getting stuck. In addition, the rigid structure cannot absorb high-frequency vibration energy, which can easily lead to cracks or fractures at the connection. In one embodiment, the support block 6 is an elastic support block 6, an arc-shaped groove is provided on the elastic support block 6, an arc-shaped frame is provided on the frame 2, and the fire extinguishing device 4 is a fire extinguisher. The arc-shaped groove is engaged and locked with the fire extinguisher, and a guide wheel is provided on the arc-shaped frame. The guide wheel is in contact with the outer wall of the fire extinguisher. The elastic support block 6 engages and locks the fire extinguisher through the arc-shaped groove, reducing rigid impact, and the guide wheel is in contact with the outer wall of the fire extinguisher, reducing sliding resistance, ensuring smooth sliding of the fire extinguisher, and protecting the device from mechanical damage.

[0036] Furthermore, if the third link 33 and the fourth link 34 are not arranged in parallel, their movement directions will be uncoordinated. For example, the swing of the third link 33 may generate a component force perpendicular to the frame 2, while the thrust direction of the fourth link 34 deviates from the expected path, causing the support block 6 to be subjected to lateral tension when sliding. The superposition of such multi-directional forces will cause the actual trajectory of the support block 6 to deviate from the theoretical straight line, forming an irregular serpentine motion, which cannot effectively offset the nonlinear torque imbalance. In one embodiment, the third link 33 and the fourth link 34 are arranged in parallel. The parallel link design ensures that the force transmission direction is consistent, optimizes the linearity of the motion trajectory, and improves the motion stability of the dynamic balancing mechanism 3.

[0037] It is worth mentioning that if the length of the fourth link 34 is twice that of the first link 31 instead of half, its leverage effect will excessively amplify the sliding distance of the support block 6, resulting in a small center of gravity offset causing excessive displacement, exceeding the actual compensation requirements; on the contrary, if the fourth link 34 is too short, a larger center of gravity offset is required to trigger effective sliding, the response speed is delayed, and the improper proportion will destroy the matching relationship between force and displacement, reducing the adjustment sensitivity and efficiency. Therefore, in one embodiment, the length of the fourth link 34 is half the length of the first link 31. The specific ratio optimizes the leverage effect, so that the sliding distance of the support block 6 is accurately matched with the center of gravity offset, thereby improving the sensitivity and effectiveness of torque compensation.

[0038] Furthermore, if the first link 31 and the third link 33 are of different lengths, the radii of the motion paths of their hinge points will be inconsistent. For example, the longer link will swing more widely, transmitting a stronger driving force to the support block 6, while the shorter link will exert a weaker counteracting force, resulting in an unbalanced force on both ends of the support block 6. This asymmetric force distribution can distort the geometric relationship of the dynamic balancing mechanism 3, causing torque compensation to deviate from the theoretical value, ultimately affecting the flight stability of the drone. In one embodiment, the first link 31 and the third link 33 are of the same length. These equal-length links ensure symmetrical force distribution, avoid stress concentration within the dynamic balancing mechanism 3, maintain the mechanical balance of the system, and extend the service life of the mechanism.

[0039] Continuing from the previous embodiment, when the hinge blocks of the first link 31 and the third link 33 are located in the same plane, their swing trajectories may overlap in space. For example, when the first link 31 swings upward, it may collide with the downward swing path of the third link 33, forcing the link system to deviate from the designed motion range. In addition, the dense hinge points in the same plane will increase local friction heat, accelerate lubrication failure, and cause increased motion resistance or even jamming. In one embodiment, the first link 31 is hinged to the frame 2 through a first hinge block, and the third link 33 is hinged to the frame 2 through a second hinge block. The first hinge block and the second hinge block are respectively located at both ends of the frame 2, and the first hinge block and the second hinge block are located in different planes. The design of hinge blocks in different planes reduces motion interference, improves the flexibility and durability of the mechanism, optimizes the smoothness of the coordinated motion of multiple links, and reduces mechanical wear.

[0040] Finally, one point that needs to be added is that the dynamic balancing mechanism 3 is a purely mechanical structure and does not require intervention from the flight control system. Its adaptive sliding relies entirely on gravity and geometric constraints, and operates independently of the original attitude control module of the drone. The hinge shaft passing through the center dead point through the fourth link 34 and the hinge point of the frame 2 adopts a high-hardness steel needle bearing, and a rubber buffer pad is embedded in the limiting groove to ensure that additional friction is generated through deformation after the roller is embedded. The material of the first link 31 is aviation aluminum alloy, and the surface of the sliding track of the support block 6 is coated with polytetrafluoroethylene to reduce the friction coefficient.

[0041] The working principle and process of the present invention:

[0042] The center of gravity of the drone is adaptively adjusted during the fire-fighting process through the dynamic balancing mechanism 3. When the center of gravity shifts due to the consumption of the fire-extinguishing agent, the support block 6 drives the four-bar linkage system under the action of gravity: the first link 31 and the third link 33 rotate around the hinge point of the frame 2, and the fourth link 34 pushes and the second link 32 pulls the two ends of the support block 6, causing it to slide parallel to the frame 2. Since the first and third links 33 are of equal length and arranged crosswise, their hyperbolic motion trajectory precisely matches the center of gravity shift characteristics of the nonlinear consumption of the fire-extinguishing agent. The sliding displacement of the support block 6 is converted into nonlinear torque compensation, effectively offsetting the unbalanced torque. During the entire process, the purely mechanical structure is driven by gravitational potential energy, without the need for external energy or electronic control.

[0043] When the support block 6 slides to the equilibrium position, the fourth link 34 forms a dead point with the first link 31 and the third link 33. At this time, the reaction force of the hinge point and the friction force work together to achieve self-locking fixation. This design uses geometric constraints and physical limitations, such as the roller embedded in the groove of the frame 2 to ensure the stability of the equilibrium state and avoid secondary offset caused by flight vibration or inertial rebound. The bisymmetrical dynamic balancing mechanism 3 further expands the adjustment freedom. The elastic support block 6 cooperates with the guide wheel to reduce sliding resistance. The parallel link design optimizes the force transmission direction. Ultimately, the flight stability and reliability of the UAV in the complex environment of the fire scene are significantly improved.

[0044] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as above in terms of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art can, without departing from the scope of the technical solution of the present invention, make some changes or modifications to equivalent embodiments using the technical contents disclosed above. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A UAV for marine rescue, characterized in that: The invention comprises a drone body, a frame arranged below the drone, a dynamic balancing mechanism arranged on the frame, and a fire extinguishing device arranged on the dynamic balancing mechanism, wherein the fire extinguishing device is arranged on the dynamic balancing mechanism through a support block, and the dynamic balancing mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod, and a fourth connecting rod, wherein the two ends of the first connecting rod are respectively hinged to one end of the second connecting rod and the frame, and the two ends of the third connecting rod are respectively hinged to the other end of the second connecting rod and the frame, and the first connecting rod and the third connecting rod are cross-arranged and located at different horizontal planes. The midpoint of the second link is hinged to one end of the support block, the midpoint of the first link is hinged to one end of the fourth link, and the other end of the fourth link is hinged to the other end of the support block. When the fire extinguishing agent in the fire extinguishing device is consumed and the center of gravity shifts, the first link, the second link, the third link and the fourth link are linked by gravity drive, so that the support block adaptively slides in a direction parallel to the frame to the center of gravity position of the drone to offset the nonlinear torque imbalance, and after the sliding is completed, it is fixed by self-locking between the first link, the second link, the third link and the fourth link.

2. The marine rescue drone according to claim 1, characterized in that: An L-shaped connecting rod is provided at one end of the support block, one end of the L-shaped connecting rod is perpendicularly arranged to the other end of the support block, the other end of the L-shaped connecting rod is hinged to the midpoint of the second connecting rod, and a vertical connecting rod is perpendicularly provided at the other end of the support block, and the vertical connecting rod is hinged to the other end of the fourth connecting rod.

3. The marine rescue drone according to claim 2, characterized in that: The vertical rod of the L-shaped connecting rod is equal to the vertical connecting rod in length.

4. The marine rescue drone according to claim 2, characterized in that: The frame is provided with a limiting groove matching the vertical connecting rod, and the vertical connecting rod is vertically provided with a roller. When the support block slides to the center of gravity position, the roller is embedded in the groove.

5. The marine rescue drone according to claim 1, characterized in that: There are two dynamic balancing mechanisms, and the two dynamic balancing mechanisms are symmetrically arranged on both sides of the support block.

6. The marine rescue drone according to claim 1, characterized in that: The support block is an elastic support block, an arc-shaped groove is provided on the elastic support block, an arc-shaped frame is provided on the frame, the fire extinguishing device is a fire extinguisher, the arc-shaped groove and the fire extinguisher are locked together, a guide wheel is provided on the arc-shaped frame, and the guide wheel is in contact with the outer wall of the fire extinguisher.

7. The marine rescue drone according to claim 1, characterized in that: The third connecting rod and the fourth connecting rod are arranged in parallel.

8. The marine rescue drone according to claim 1, characterized in that: The length of the fourth connecting rod is half of the length of the first connecting rod.

9. The marine rescue drone according to claim 1, characterized in that: The first connecting rod and the third connecting rod have the same length.

10. The marine rescue drone according to claim 9, characterized in that: The first connecting rod is hinged to the frame through a first hinge block, and the third connecting rod is hinged to the frame through a second hinge block. The first hinge block and the second hinge block are respectively located at two ends of the frame, and the first hinge block and the second hinge block are located in different planes.

Images