An underwater robot launching structure of a multi-axis unmanned aerial vehicle

Abstract

The application discloses a kind of underwater robot launching structure of multi-axis unmanned aerial vehicle, it is related to unmanned aerial vehicle technical field.The underwater robot launching structure of multi-axis unmanned aerial vehicle is disclosed, and launching structure specifically includes hoisting unit and diving unit, hoisting unit is mainly installed in the underside of unmanned aerial vehicle, diving unit is mainly installed in the upside of underwater robot, wherein hoisting unit includes hanger and winding device, hanger is fixed to the underside of unmanned aerial vehicle, winding device mainly includes motor, winding shaft and cable and other conventional structures, the winding and unwinding of cable are controlled by motor and winding shaft, the bottom end of cable is connected to diving unit, to realize the purpose that unmanned aerial vehicle releases underwater robot downward or recovers underwater robot upward.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and more specifically to an underwater robot deployment structure for a multi-axis UAV. Background Technology

[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] Current methods for underwater exploration commonly employ drones in conjunction with underwater robots, with drones deploying underwater robots into the waters for exploration and data collection.

[0004] However, underwater robots used for underwater exploration can be either recovered or not recovered. When the underwater robot does not need to be recovered, it needs to be released and left underwater. This is usually done by cutting the rope between the drone and the underwater robot. This method is unstable, for example, the cutting may fail or the rope may be cut too long.

[0005] Therefore, a deployment structure is needed that can coordinate with the release and retrieval of underwater robots. Summary of the Invention

[0006] To address the aforementioned technical shortcomings, the present invention aims to provide an underwater robot deployment structure for a multi-axis unmanned aerial vehicle (UAV).

[0007] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: The present invention provides an underwater robot deployment structure for a multi-axis unmanned aerial vehicle (UAV), comprising an UAV, characterized in that it further comprises...

[0008] Lifting unit: includes a lifting frame and a winding device, the winding device being used to release and wind up the cable;

[0009] Diving unit: includes a diving frame and a disconnection device, the disconnection device being used to separate the winding cable from the diving frame.

[0010] Preferably, the disconnection device includes a female lock disposed at the bottom end of the winding cable and a female lock disposed on the lowering frame. The female lock has a slot for slidingly inserting the female lock. The inner walls of the slot are provided with locking grooves. The female lock is provided with a sliding groove. The two ends of the sliding groove are respectively aligned and engaged with the locking groove. A pair of locking blocks that move relative to or away from each other are provided in the sliding groove.

[0011] Preferably, the lower submersible frame is provided with a horizontal fixed shaft, the lower end of the sublock extends with a connecting post, the connecting post is provided with a shaft groove that rotates with the fixed shaft, a linkage groove is coaxially provided in the connecting post, the two ends of the linkage groove are respectively connected to a sliding groove and a shaft groove, a linkage rod is slidably provided in the linkage groove, the lower end of the linkage rod slides against the fixed shaft, the fixed shaft is pre-grooved, the upper end of the linkage rod is hinged to a support rod between the lock blocks, and a tension spring is also provided between the lock blocks;

[0012] When the connecting column rotates, the lower end of the connecting rod smoothly moves in and out of the groove.

[0013] Preferably, the female lock is provided with a vertically extending limiting groove, the lower end of the limiting groove is connected to the lock groove, and the lock block is provided with a pre-set slot that aligns with and cooperates with the limiting groove, and a limiting pin is slidably provided in the limiting groove.

[0014] Preferably, a floating block is provided at the upper end of the limiting pin.

[0015] 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.

[0016] Preferably, the limiting ring is threaded with an adjusting bolt, and the adjusting bolt is in abutting fit with the fixed shaft.

[0017] Preferably, the limiting ring includes an inner ring and an outer ring, a rolling element is provided between the inner ring and the outer ring, and the inner ring abuts against the connecting post.

[0018] The beneficial effects of this invention are as follows:

[0019] When drones carry underwater robots, they can ensure the stability of the underwater robot's attachment and prevent accidents such as detachment. After the underwater robot enters the water, the separation between the underwater robot and the drone can be controlled relatively easily, thus facilitating the fulfillment of different operational requirements. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram illustrating the process of a drone lowering an underwater robot.

[0022] Figure 2 This is a half-sectional schematic diagram of the main lock and the slave lock in the disconnection device, used to show the internal structure of the slave and main locks.

[0023] Figure 3 for Figure 2 The cross-sectional view at point AA is used to show the structural schematic diagram of the groove on the fixed shaft.

[0024] Figure 4 This is a schematic diagram showing the structural relationship between the upper limit ring and the connecting column of the fixed shaft.

[0025] Explanation of reference numerals in the attached drawings: 1. Unmanned aerial vehicle (UAV); 2. Underwater robot; 31. Cable; 41. Fixed shaft; 411. Groove; 42. Limiting ring; 421. Outer ring; 422. Inner ring; 6. Main lock; 61. Limiting groove; 62. Limiting pin; 63. Floating block; 64. Slot; 65. Lock groove; 7. Sub-lock; 71. Lock block; 711. Card slot; 72. Sliding groove; 73. Connecting column; 731. Shaft groove; 732. Linkage groove; 74. Linkage rod; 75. Support rod; 76. Tension spring. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] Figure 1-3 As shown, the present invention provides an underwater robot deployment structure for a multi-axis unmanned aerial vehicle (UAV). For ease of understanding, this embodiment introduces a UAV 1 and an underwater robot 2.

[0028] The deployment structure specifically includes a hoisting unit and a diving unit. The hoisting unit is mainly installed on the lower side of the UAV 1, while the diving unit is mainly installed on the upper side of the underwater robot 2. The hoisting unit includes a gantry and a winding device. The gantry is fixed to the lower side of the UAV 1, and the winding device mainly includes conventional structures such as a motor, a winding shaft, and a cable 31. The motor and the winding shaft control the winding and unwinding of the cable 31. The bottom end of the cable 31 is connected to the diving unit, thereby achieving the purpose of the UAV 1 to release the underwater robot 2 downwards or retrieve the underwater robot 2 upwards.

[0029] The diving unit specifically includes a diving frame and a disconnection device. The diving frame is fixedly installed on the underwater robot 2. The specific structure of the diving frame can be adapted to different underwater robots 2. The disconnection device mainly includes a sub-lock 7 set on the upper side of the diving frame and a female lock 6 set at the lower end of the cable 31. The connection and release of the underwater robot 2 are realized through the cooperation of the female lock 6 and the sub-lock 7.

[0030] The female lock 6 has a slot 64 pre-set on its lower side, and the female lock 7 is inserted into the slot 64. There is a pair of opposing lock grooves 65 pre-set on the inner wall of the slot 64. The female lock 7 has a horizontally extending sliding groove 72 pre-set. When the female lock 7 is inserted into the slot 64, the two ends of the sliding groove 72 can be aligned with the lock grooves 65. At the same time, a pair of locking blocks 71 are installed in the sliding groove 72. By controlling the relative or opposite movement of the locking blocks 71 into and out of the lock grooves 65, the separation and fixed connection between the female lock 6 and the female lock 7 can be realized.

[0031] In addition, to facilitate the control of the movement of the aforementioned locking block 71, a connecting post 73 is provided extending from the lower end of the sub-lock 7. At the same time, a horizontal fixed shaft 41 is installed on the lower frame. A shaft groove 731 is pre-set at the lower end of the connecting post 73 to rotatably engage with the fixed shaft 41. A linkage groove 732 is hollowly provided inside the connecting post 73. The two ends of the linkage groove 732 are respectively connected to the sliding groove 72 and the shaft groove 731. A linkage rod 74 is slidably provided in the linkage groove 732. The lower end of the linkage rod 74 slides against the outer side of the fixed shaft 41. A groove 411 with a smooth transition is pre-set on the outer side of the fixed shaft 41. The upper end of the linkage rod 74 is hinged to the locking block 71 with a support rod 75. A tension spring 76 is provided between the aforementioned locking blocks 71.

[0032] When the underwater robot 2 needs to be released after it has reached the underwater surface, the underwater robot 2 and the drone 1 are kept relatively far apart. At this time, the cable 31 pulls the disconnection device to rotate. The tension spring 76 drives the locking block 71 to always tend to move in the direction of disengaging from the locking groove 65 until the lower end of the linkage rod 74 is completely inserted into the groove 411. At this time, the locking block 71 is also completely disengaged from the locking groove 65, unlocking the mother lock 6 and the daughter lock 7, thus achieving the purpose of releasing the underwater robot 2.

[0033] Meanwhile, a pair of limiting rings 42 are installed on the fixed shaft 41 to restrict 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 on the outer ring 421 radially. By rotating the adjusting bolt to press or move away from the fixed shaft 41, the position adjustment of the outer ring 421 can be controlled. Multiple rolling elements 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, that is, while restricting the position of the connecting column 73, its smooth rotation is ensured.

[0034] Since it is necessary to ensure the stability of the connection between the UAV 1 and the underwater robot 2 in the non-underwater state, a limiting groove 61 is provided extending downward from the upper end of the main lock 6. The lower end of the limiting groove 61 is connected to the lock groove 65, and a slot 711 aligned with the limiting groove 61 is provided on the lock block 71.

[0035] By inserting a limiting pin 62 into the limiting groove 61, the limiting pin 62 is embedded in the slot 711 in the non-underwater state, thereby locking the movement of the locking block 71 and ensuring the stability of the underwater robot 2 installation.

[0036] Meanwhile, a floating block 63 is fixed at the upper end of the limiting pin 62. When the underwater robot 2 enters the water, the floating block 63 is lifted by buoyancy, causing the limiting pin 62 to disengage from the slot 711, thereby unlocking the movement of the locking block 71.

[0037] The working principle of this invention is:

[0038] When the drone 1 carries the underwater robot 2, the limiting pin 62 is embedded in the slot 711 under the action of gravity, so that the locking block 71 cannot be disengaged from the slot 65, thereby ensuring the stability of the underwater robot 2 during transportation and preventing accidental drop.

[0039] When the underwater robot 2 is lowered into the water, the limit pin 62 moves upward to unlock the movement of the lock block 71;

[0040] Then, it is determined whether the underwater robot 2 needs to be released. If it needs to be released, the drone 1 is controlled to move away from the underwater robot 2. At this time, under the pull of the cable 31, the disconnection 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 linkage rod 74 is completely inserted into the groove 411. At this time, the locking block 71 is also completely disengaged from the locking groove 65, and the female lock 6 and the female lock 7 are unlocked, thus achieving the purpose of releasing the underwater robot 2.

[0041] 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 foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An underwater robot deployment structure for a multi-axis unmanned aerial vehicle (UAV), comprising an UAV (1), characterized in that, Also includes Lifting unit: includes a lifting frame and a winding device, the winding device being used to release and wind up the cable (31). Submersible unit: includes a submersible frame and a disconnection device, wherein the disconnection device is used to separate the winding cable (31) from the submersible frame; The disconnection device includes a female lock (6) located at the bottom of the winding cable (31) and a female lock (7) located on the lower frame. The female lock (6) has a slot (64) for slidingly inserting the female lock (7). The inner walls of the slot (64) are provided with locking grooves (65). The female lock (7) has a sliding groove (72). The two ends of the sliding groove (72) are aligned and engaged with the locking groove (65). The sliding groove (72) has a pair of locking blocks (71) that move relative to or away from each other. The master lock (6) is provided with a vertically extending limiting groove (61), the lower end of the limiting groove (61) is connected to the lock groove (65), and the lock block (71) is provided with a pre-set slot (711) that is aligned and cooperates with the limiting groove (61), and a limiting pin (62) is slidably provided in the limiting groove (61). A floating block (63) is provided at the upper end of the limiting pin (62).

2. The underwater robot deployment structure for a multi-axis unmanned aerial vehicle as described in claim 1, characterized in that, A horizontal fixed shaft (41) is provided on the lower submersible frame. A connecting column (73) extends from the lower end of the sublock (7). A shaft groove (731) is provided on the connecting column (73) to rotate with the fixed shaft (41). A linkage groove (732) is coaxially provided in the connecting column (73). The two ends of the linkage groove (732) are respectively connected to the sliding groove (72) and the shaft groove (731). A linkage rod (74) is slidably provided in the linkage groove (732). The lower end of the linkage rod (74) slides against the fixed shaft (41). A groove (411) is pre-set on the fixed shaft (41). A support rod (75) is hinged between the upper end of the linkage rod (74) and the lock block (71). A tension spring (76) is also provided between the lock blocks (71).

3. The underwater robot deployment structure for a multi-axis unmanned aerial vehicle as described in claim 2, characterized in that, A pair of limiting rings (42) are provided on the fixed shaft (41), and the limiting rings (42) are located on both sides of the connecting column (73).

4. The underwater robot deployment structure for a multi-axis unmanned aerial vehicle as described in claim 3, characterized in that, The limiting ring (42) is threaded with an adjusting bolt, which abuts against the fixed shaft (41).

5. The underwater robot deployment structure for a multi-axis unmanned aerial vehicle as described in claim 4, characterized in that, The limiting ring (42) includes an inner ring (422) and an outer ring (421). A rolling element is provided between the inner ring (422) and the outer ring (421). The inner ring (422) abuts against the connecting column (73).

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