Underwater robot launching structure of multi-axis unmanned aerial vehicle

Abstract

The invention discloses an underwater robot launching structure of a multi-axis unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicles. The underwater robot throwing structure specifically comprises a hoisting unit and a diving unit, the hoisting unit is mainly installed on the lower side of the unmanned aerial vehicle, the diving unit is mainly installed on the upper side of an underwater robot, the hoisting unit comprises a hanging bracket and a winding device, the hanging bracket is fixed to the lower side of the unmanned aerial vehicle, and the winding device is fixed to the lower side of the unmanned aerial vehicle. The winding device mainly comprises a motor, a winding shaft, a cable and other conventional structures, winding and unwinding of the cable are controlled through the motor and the winding shaft, the bottom end of the cable is connected to the diving unit, and therefore the purpose that the unmanned aerial vehicle downwards releases the underwater robot or upwards recycles the underwater robot is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to an underwater robot launching structure for a multi-axis UAV. Background Art

[0002] In the field of drone technology, different types of drones are needed for different application scenarios, and the demand for underwater exploration is gradually increasing.

[0003] Currently, for underwater exploration, drones are commonly used in conjunction with underwater robots. The drones are used to lower the underwater robots into the water for exploration and data collection.

[0004] However, underwater robots for underwater exploration have two situations: recovery and non-recovery. When the underwater robot does not need to be recovered, it needs to be released and kept underwater. Generally, the rope between the drone and the underwater robot is cut. This method is unstable, for example: cutting failure, the length of the cut rope is too long, etc.

[0005] Therefore, a launching structure that can cooperate with the release and recovery of underwater robots is needed. Summary of the Invention

[0006] In view of the above-mentioned technical deficiencies, the technical problem to be solved by the present invention is to provide an underwater robot deployment structure for a multi-axis UAV.

[0007] In order to solve the above technical problems, the present invention adopts the following technical solutions: The present invention provides an underwater robot launching structure of a multi-axis UAV, comprising a UAV, characterized in that it also includes Hoisting unit: includes a hanger and a reeling device, the reeling device is used to release and reel the cable; Submersible unit: includes a submersible frame and a disconnecting device, wherein the disconnecting device is used to separate the reeling cable from the submersible frame.

[0008] Preferably, the disconnecting device includes a mother lock arranged at the bottom end of the winding cable and a sub-lock arranged on the lower diving frame. The mother lock is preset with a slot for slidingly inserting the sub-lock, and a lock slot is provided on the opposite inner walls of the slot. The sub-lock is provided with a sliding slot, and the two ends of the sliding slot are respectively aligned with the lock slot. A pair of locking blocks that move relative to or opposite to each other are provided in the sliding slot.

[0009] Preferably, a horizontal fixed shaft is provided on the submersible frame, a connecting column is extended from the lower end of the sub-lock, an axis groove is provided on the connecting column for rotationally cooperating with the fixed shaft, a linkage groove is coaxially provided in the connecting column, the two ends of the linkage groove are respectively connected with the sliding groove and the axis groove, a linkage rod is slidably provided in the linkage groove, the lower end of the linkage rod is slidably abutted against the fixed shaft, a groove is preset on the fixed shaft, the upper end of the linkage rod is respectively hinged to the locking block with a supporting rod, and a tension spring is further provided between the locking blocks; When the connecting post rotates, the lower end of the connecting rod smoothly enters and exits the groove.

[0010] Preferably, the female lock is provided with a vertically extending limit groove, the lower end of the limit groove is connected to the lock groove, and the lock block is preset with a card groove aligned with the limit groove, and a limit pin is slidably provided in the limit groove.

[0011] Preferably, a floating block is provided on the upper end of the limiting pin.

[0012] Preferably, a pair of limiting rings are provided on the fixed shaft, and the limiting rings are respectively located on both sides of the connecting column.

[0013] Preferably, an adjusting bolt is threadedly connected to the limiting ring, and the adjusting bolt is in abutment with the fixed shaft.

[0014] Preferably, the limiting ring comprises an inner ring and an outer ring, a rolling body is provided between the inner ring and the outer ring, and the inner ring is in abutment with the connecting column.

[0015] The beneficial effects of the present invention are: When a drone carries an underwater robot, it can ensure the stability of the underwater robot's mounting and avoid accidents such as falling off; when the underwater robot enters the water, it can also relatively easily control the separation between the underwater robot and the drone, thereby facilitating the realization of different operational requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 This is a schematic diagram of the state of the drone lowering the underwater robot.

[0018] Figure 2 This is a half-section diagram of the mother lock and child lock in the disconnecting device, used to show the internal structure of the child and mother locks.

[0019] Figure 3 for Figure 2 The cross-sectional view at AA in the middle is used to show the structural schematic diagram of the groove on the fixed shaft.

[0020] Figure 4 Schematic diagram of the structural relationship between the fixed shaft limit ring and the connecting column.

[0021] Explanation of the accompanying drawings: 1. UAV; 2. Underwater robot; 31. Cable; 41. Fixed shaft; 411. Groove; 42. Limiting ring; 421. Outer ring; 422. Inner ring; 6. Mother lock; 61. Limiting groove; 62. Limiting pin; 63. Floating block; 64. Slot; 65. Locking slot; 7. Sub-lock; 71. Locking block; 711. Card slot; 72. Sliding slot; 73. Connecting column; 731. Shaft slot; 732. Linking slot; 74. Linking rod; 75. Support rod; 76. Tension spring. DETAILED DESCRIPTION

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0023] Figure 1-3 As shown, the present invention provides an underwater robot deployment structure of a multi-axis UAV. For ease of understanding, a UAV 1 and an underwater robot 2 are introduced in this embodiment.

[0024] The launching structure specifically includes a hoisting unit and a diving unit. The hoisting unit is mainly installed on the lower side of the drone 1, and the diving unit is mainly installed on the upper side of the underwater robot 2. The hoisting unit includes a hanger and a winding device. The hanger is fixed to the lower side of the drone 1. The winding device mainly includes conventional structures such as a motor, a winding shaft and a cable 31. The cable 31 is retracted and released by the motor and the winding shaft, and the bottom end of the cable 31 is connected to the diving unit, thereby achieving the purpose of the drone 1 releasing the underwater robot 2 downward or recovering the underwater robot 2 upward.

[0025] The submersible unit specifically includes a submersible frame and a disconnection device. The submersible frame is fixedly installed on the underwater robot 2. The specific submersible frame structure can be adaptively adapted to different underwater robots 2. The disconnection device mainly includes a sub-lock 7 arranged on the upper side of the submersible frame, and a mother lock 6 is provided at the lower end of the cable 31. The connection and release of the underwater robot 2 are achieved through the cooperation of the mother lock 6 and the sub-lock 7.

[0026] A slot 64 is preset on the lower side of the mother lock 6, and the sub-lock 7 is inserted and installed in the slot 64. A pair of opposite lock slots 65 are preset on the inner wall of the slot 64, and a horizontally extending sliding slot 72 is preset in the sub-lock 7. When the sub-lock 7 is inserted into the slot 64, the two ends of the sliding slot 72 can be aligned with the lock slot 65. At the same time, a pair of locking blocks 71 are installed in the sliding slot 72. By controlling the relative or opposite movement of the locking blocks 71 in and out of the lock slot 65, the separation and fixed connection between the mother lock 6 and the sub-lock 7 are realized.

[0027] When the locking cam 73 is in the state of being moved, the locking cam 73 is in the state of being moved by the lock 71, and the lock 73 is in the state of being moved by the lock 71, and the lock 73 is in the state of being moved by the lock 71. When the locking cam 73 is in the state of being moved, the lock 73 is in the state of being moved. When the underwater robot 2 needs to be released after being underwater, the underwater robot 2 and the drone 1 are controlled to move relatively away from each other. At this time, under the pull of the cable 31, the disconnecting device rotates, and the tension spring 76 drives the locking block 71 to always move in the direction of disengaging from the locking groove 65 until the lower end of the connecting rod 74 completely enters the groove 411. At this time, the locking block 71 is also completely out of the locking groove 65, unlocking the mother lock 6 and the child lock 7, thereby achieving the purpose of releasing the underwater robot 2.

[0028] At the same time, a pair of limiting rings 42 are installed on the fixed shaft 41 to limit the movement of the connecting column 73. The limiting ring 42 specifically includes an inner ring 422 and an outer ring 421. The inner ring 422 abuts against the connecting column 73, and an adjusting bolt is installed along the radial direction of the outer ring 421. By rotating the adjusting bolt to squeeze or move away from the fixed shaft 41, the position adjustment of the outer ring 421 is achieved. A plurality of rolling bodies are also provided between the inner ring 422 and the outer ring 421, so that the inner ring 422 and the outer ring 421 can rotate relative to each other, thereby achieving the goal of limiting the position of the connecting column 73 while ensuring its smooth rotation.

[0029] Since the stability of the connection between the drone 1 and the underwater robot 2 needs to be guaranteed in the non-underwater state, a limit slot 61 is extended downward from the upper end of the female lock 6, and the lower end of the limit slot 61 is connected to the lock slot 65, and a card slot 711 aligned with the limit slot 61 is opened on the lock block 71.

[0030] By inserting the limit pin 62 into the limit slot 61, when not underwater, the limit pin 62 is embedded in the card slot 711, thereby locking the movement of the lock block 71, ensuring the stability of the installation of the underwater robot 2; At the same time, a floating block 63 is fixed to the upper end of the limit pin 62. When the underwater robot 2 enters the water, the floating block 63 floats up due to the buoyancy, causing the limit pin 62 to disengage from the slot 711, thereby unlocking the movement of the lock block 71.

[0031] The working principle of the present invention is: When the drone 1 carries the underwater robot 2, the limit pin 62 is embedded in the locking slot 711 under the action of gravity, so that the locking block 71 cannot be separated from the locking slot 65, thereby ensuring the stability of the underwater robot 2 during the carrying process and preventing it from accidentally falling. When the underwater robot 2 is lowered underwater, the limit pin 62 moves upward to unlock the movement of the lock block 71; Then it is determined whether the underwater robot 2 needs to be released. If release is required, the drone 1 is controlled to move relatively away from the underwater robot 2. At this time, under the pull of the cable 31, the disconnecting device rotates, and the tension spring 76 drives the locking block 71 to always move in the direction of disengaging from the locking groove 65 until the lower end of the connecting rod 74 completely enters the groove 411. At this time, the locking block 71 is also completely out of the locking groove 65, unlocking the mother lock 6 and the child lock 7, thereby achieving the purpose of releasing the underwater robot 2.

[0032] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. An underwater robot deployment structure for a multi-axis UAV, comprising a UAV (1), characterized in that: Also includes A hoisting unit comprising a hanger and a reeling device, wherein the reeling device is used to release and reel in the cable (31); The submersible unit comprises a submersible frame and a disconnecting device, wherein the disconnecting device is used to separate the reeling cable (31) from the submersible frame.

2. The underwater robot deployment structure of a multi-axis UAV according to claim 1, characterized in that: The disconnecting device includes a mother lock (6) arranged at the bottom end of the winding cable (31) and a sub-lock (7) arranged on the lower diving frame, the mother lock (6) is preset with a slot (64) for slidingly inserting the sub-lock (7), the opposite inner walls of the slot (64) are provided with a lock slot (65), the sub-lock (7) is provided with a sliding slot (72), the two ends of the sliding slot (72) are respectively aligned with the lock slot (65), and the sliding slot (72) is provided with a pair of locking blocks (71) that move relative to or opposite to each other.

3. The underwater robot deployment structure of a multi-axis UAV as claimed in claim 2, characterized in that: A horizontal fixed shaft (41) is provided on the submersible frame, a connecting column (73) is extended from the lower end of the sub-lock (7), an axis groove (731) which is rotatably matched with the fixed shaft (41) is provided on the connecting column (73), a linkage groove (732) is coaxially provided in the connecting column (73), the two ends of the linkage groove (732) are respectively connected with the sliding groove (72) and the axis groove (731), a linkage rod (74) is slidingly provided in the linkage groove (732), the lower end of the linkage rod (74) is in sliding contact with the fixed shaft (41), a groove (411) is preset on the fixed shaft (41), the upper end of the linkage rod (74) is hinged with a supporting rod (75) between the locking block (71), and a tension spring (76) is also provided between the locking block (71); When the connecting post (73) rotates, the lower end of the connecting rod (74) smoothly enters and exits the groove (411).

4. The underwater robot deployment structure of a multi-axis UAV as claimed in claim 3, characterized in that: The female lock (6) is provided with a vertically extending limiting groove (61), the lower end of the limiting groove (61) is communicated with the lock groove (65), and the locking block (71) is pre-set with a locking groove (711) aligned with the limiting groove (61), and a limiting pin (62) is slidably provided in the limiting groove (61).

5. The underwater robot deployment structure of a multi-rotor UAV as claimed in claim 4, characterized in that: A floating block (63) is provided at the upper end of the limiting pin (62).

6. The underwater robot deployment structure of a multi-rotor UAV as claimed in claim 3, characterized in that: A pair of limiting rings (42) are provided on the fixed shaft (41), and the limiting rings (42) are respectively located on both sides of the connecting column (73).

7. The underwater robot deployment structure of a multi-rotor UAV according to claim 6, characterized in that: An adjusting bolt is threadedly connected to the limiting ring (42), and the adjusting bolt is in abutment with the fixed shaft (41).

8. The underwater robot deployment structure of a multi-rotor UAV according to claim 7, characterized in that: The limiting ring (42) comprises an inner ring (422) and an outer ring (421), a rolling body is provided between the inner ring (422) and the outer ring (421), and the inner ring (422) is in abutment with the connecting column (73).

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