Portable underwater unmanned aerial vehicle and power supply device thereof

Abstract

The invention discloses a portable underwater unmanned aerial vehicle and a power supply device thereof, and belongs to the technical field of underwater unmanned aerial vehicles, the underwater unmanned aerial vehicle comprises a machine shell, a clamp is arranged at the bottom of the machine shell, the clamp comprises a rotating U-shaped support located at the bottom of the machine shell, and a first motor used for driving the U-shaped support to rotate is fixed in the machine shell; a second connecting block is rotatably arranged on the first U-shaped support, a second motor used for driving the second connecting block to rotate is fixed to one side of the first U-shaped support, first electric telescopic rods are vertically fixed to the two sides of the second connecting block, and second electric telescopic rods are vertically fixed to output shafts of the first electric telescopic rods. According to the underwater unmanned aerial vehicle, by arranging the clamp, on one hand, the to-be-collected object can be conveniently clamped, on the other hand, the underwater unmanned aerial vehicle can be controlled to jump at the water bottom under the unpowered condition, electric energy is saved, meanwhile, the cage door can be opened, the collected object can be placed in the storage cage, and when the underwater unmanned aerial vehicle is placed on the power supply device, the electric energy is saved. And the clamping plate can be used as a paddle.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater drones, and in particular relates to a portable underwater drone and a power supply device thereof. Background Art

[0002] Underwater drones, also known as unmanned remotely operated vehicles (ROVs), are drones designed for extreme underwater operations. The underwater environment is harsh and dangerous, and human diving depths are limited, so underwater robots have become an important tool for ocean development.

[0003] Underwater drones are usually equipped with automated clamps for collecting objects on the bottom of the water. The clamps thereon only have a clamping function, so that the operation of the underwater drone can only be driven by a thruster, which undoubtedly makes the underwater drone have high energy consumption. Underwater drones are usually powered by batteries. However, if the battery is too large, it will increase the weight of the underwater drone, which not only makes the energy consumption of the underwater drone large during operation, but also makes the underwater drone less flexible during operation. If the battery is too small, it will affect the endurance of the underwater drone. In order to solve the above problems, a portable underwater drone and a power supply device thereof are now provided.

[0004] It should be noted that the above content falls within the technical knowledge of the inventor and does not necessarily constitute prior art. Summary of the Invention

[0005] In order to solve the above problems, the purpose of the present invention is to provide a portable underwater drone and its power supply device. By setting a clamp, on the one hand, it is convenient to clamp the objects to be collected, and on the other hand, it can control the underwater drone to jump on the bottom of the water without power, saving electricity. At the same time, the cage door can be opened to put the collected objects into the storage cage. When the underwater drone is placed on the power supply device, the splint can also be used as a paddle to control the power supply device to glide on the water surface, which can achieve multiple uses of one machine and reduce equipment costs.

[0006] To achieve the above objectives, the present invention provides a portable underwater drone, which includes a housing, and a clamp is provided at the bottom of the housing.

[0007] The clamp includes a U-shaped bracket that rotates at the bottom of the casing, a first motor for driving the U-shaped bracket to rotate is fixed in the casing, a second connecting block is rotatably provided on the first U-shaped bracket, a second motor for driving the second connecting block to rotate is fixed on one side of the first U-shaped bracket, a first electric telescopic rod is vertically fixed on both sides of the second connecting block, a second electric telescopic rod is vertically fixed on the output shaft of the first electric telescopic rod, and a motor bracket is fixed on the output shaft of the second electric telescopic rod.

[0008] A sixth motor is fixed to one side of the motor bracket, and the output shaft of the sixth motor passes through the motor bracket and is fixed to the first drive box. The output shaft of the sixth motor is parallel to the output shaft of the second motor. A third motor is fixed in the first drive box, and the output shaft of the third motor is perpendicular to the output shaft of the second motor. The output shaft of the third motor passes through one side plate of the first drive box and is vertically fixed with a sleeve, a sliding shaft is sleeved in the sleeve, a splint is fixed on the sliding shaft, and a second spring is fixedly connected between the splint and the sleeve.

[0009] Furthermore, propellers are installed on both sides of the casing, a diving cover is installed on the head of the casing, a camera is installed in the diving cover, and symmetrically distributed searchlights are installed on the casing, with two searchlights located on both sides of the diving cover respectively.

[0010] Furthermore, support frames are fixed below both sides of the casing, a number of casters are fixed below the support frames, and a storage cage for storing the collected objects is fixed at the bottom of the casing.

[0011] Furthermore, an entrance and exit are provided on one side of the storage cage, a cage door for closing the entrance and exit is slidably provided on the storage cage, a push plate is vertically fixed on the cage door, a symmetrically distributed first connecting block is fixed on the top plate of the storage cage, and a first spring is fixedly connected between the first connecting block and the push plate.

[0012] Furthermore, the underwater drone also includes a counterweight block, and a rope is fixedly connected between the counterweight block and the casing.

[0013] A power supply device is applied to the above-mentioned water drone, and the power supply device includes a base plate, a first slot is provided above each end of the base plate, a first baffle is rotatably provided in the first slot, symmetrical wheels are rotatably provided on the first baffle, a second baffle is rotatably provided on one side of the base plate, and a third baffle is vertically fixed on the other side, and a fifth motor is fixed on the base plate for driving the second baffle to rotate.

[0014] A driving box is fixed in the bottom plate, a slope is provided on one side of the driving box close to the second baffle, and a mobile power supply is fixed in the driving box.

[0015] Furthermore, a limiting member is installed on the first baffle, and a limiting groove for limiting the water drone is opened above the driving box.

[0016] Furthermore, a second slot is provided above the third baffle, and symmetrically distributed vertical brackets are fixed above the third baffle, a fourth motor and a socket are fixed on both sides of one of the vertical brackets, a fourth electric telescopic rod is fixed on the other vertical bracket, and the output shaft of the fourth motor passes through the corresponding vertical bracket and is fixed with an insert.

[0017] Furthermore, the power supply device also includes a winding shaft, which is located between two vertical brackets. A plug adapted to the socket is fixed to one end of the winding shaft close to the socket. The output shaft of the fourth electric telescopic rod passes through the corresponding vertical bracket and is rotatably connected to one end of the winding shaft. A sliding groove adapted to the plug block is provided at the other end of the winding shaft. The socket is electrically connected to the mobile power supply. An electric wire is connected to the plug. A pull rope is fixed to one side of the electric wire. The electric wire and the pull rope are wound around the winding shaft. The free ends of the electric wire and the pull rope are fixed to one side of the casing.

[0018] Furthermore, symmetrically distributed slots are provided on the top of the second baffle and the third baffle, symmetrically distributed thread grooves are provided on both sides of the base plate, a movable groove is provided on one end of the first baffle close to the base plate, and a mounting hole is provided on the end of the movable groove away from the first baffle.

[0019] The limiting member includes a rotating block installed in the movable groove, a mounting shaft is fixed on one side of the rotating block, and a screw rod adapted to the threaded groove is fixed on the other side. The mounting shaft passes through the mounting hole and is vertically fixed with a connecting rod, and an insertion rod adapted to the slot is fixed on the connecting rod.

[0020] The portable underwater drone and its power supply device proposed by the present invention can bring the following beneficial effects:

[0021] 1. The underwater drone of the present invention can conveniently pick up objects to be collected by providing a clamp. On the other hand, it can control the underwater drone to jump underwater without power, saving electricity. At the same time, the cage door can be opened to place the collected objects into the storage cage. When the underwater drone is placed on the power supply device, the clamping plate can be used as a paddle to control the power supply device to glide on the water surface, thus achieving multiple uses of one machine and reducing equipment costs.

[0022] 2. The underwater drone of the present invention adjusts the two clamping plates to face each other, then controls the clamping plates to clamp the counterweight block, activates the thruster to control the movement of the underwater drone, and adjusts the center of gravity of the counterweight block through the cooperation of the second motor and the second electric telescopic rod, thereby adjusting the tilt direction of the underwater drone's nose, thereby controlling the movement direction of the underwater drone;

[0023] 3. By providing a power supply device, the present invention can not only move on the water surface through the clamping plate driver to transport the underwater drone to a set position, and then release the underwater drone into the water, but also achieve separation of the mobile power supply from the underwater drone, thereby preventing the underwater drone from being overloaded. In addition, when the underwater drone is out of power, the fourth motor and the fourth electric telescopic rod cooperate with the control plug to be inserted into the slide slot, and the control plug is simultaneously plugged into the socket to charge the underwater drone, thereby increasing the flight time of the underwater drone.

[0024] 4. The present invention places the underwater drone on the drive box, folds the first baffle upward to adjust the wheels to a vertical position, and then inserts the control rod into the corresponding slot. At this time, the power supply device can be used as a cart, making it convenient to carry the underwater drone;

[0025] 5. The underwater drone of the present invention flattens the first baffle and then rotates it so that the wheels become horizontal and are located below the first baffle. Then, the limiting member is rotated so that the screw rod is installed in the threaded groove to limit the first baffle and place the power supply device on the water surface. At this time, the wheels can increase the buoyancy of the power supply device. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0027] Figure 1 This is a schematic structural diagram of a portable underwater drone from a first perspective of the present invention.

[0028] Figure 2 This is a schematic structural diagram of a portable underwater drone from a second perspective of the present invention.

[0029] Figure 3 for Figure 2 Enlarged structural diagram at point A in the middle.

[0030] Figure 4 for Figure 2 Enlarged structural diagram at point B in the middle.

[0031] Figure 5 for Figure 2 Enlarged structural diagram at point C in the middle.

[0032] Figure 6 This is a schematic diagram of the unfolded structure of the power supply device of the present invention and the structure of the underwater drone.

[0033] Figure 7 for Figure 6 Enlarged structural diagram at point D in the middle.

[0034] Figure 8 It is a partial structural cross-sectional schematic diagram of the power supply device of the present invention.

[0035] Figure 9 This is a schematic diagram of the folding structure of the power supply device of the present invention and the structure of the underwater drone.

[0036] Figure 10 This is a schematic structural diagram of the power supply device of the present invention cut along the axis of the installation shaft.

[0037] Figure 11for Figure 9 Enlarged structural diagram at E in the middle.

[0038] In the figure: 1, housing; 2, propeller; 3, diving cover; 4, searchlight; 5, storage cage; 6, support frame; 7, clamp; 8, counterweight; 52, cage door; 53, push plate; 54, first connecting block; 55, first spring; 61, caster; 71, U-shaped bracket; 72, second connecting block; 73, second motor; 74, first electric telescopic rod; 75, second electric telescopic rod; 76, motor bracket; 77, first drive box; 78, sixth motor; 79, third motor; 710, bushing; 711, sliding shaft; 712, clamping plate; 713, second spring; 81, rope Rope; 91, bottom plate; 92, first baffle; 93, limiter; 94, drive box; 95, second baffle; 96, third baffle; 97, vertical bracket; 98, slot; 99, reel; 910, fourth motor; 911, wire; 912, pull rope; 913, wheel; 914, plug; 915, slide; 916, fourth electric telescopic rod; 917, socket; 918, plug; 919, threaded groove; 9110, movable groove; 921, mounting hole; 931, rotating block; 932, mounting shaft; 933, connecting rod; 934, plug; 935, screw rod. DETAILED DESCRIPTION

[0039] In order to more clearly illustrate the overall concept of the present invention, a detailed description is given below in an exemplary manner in conjunction with the accompanying drawings.

[0040] In the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0041] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0042] In the present invention, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0043] In the present invention, unless otherwise clearly specified and limited, a first feature "above" or "below" a second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. In the description of this specification, the descriptions with reference to the terms "one scheme", "some schemes", "examples", "specific examples", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the scheme or example are included in at least one scheme or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same scheme or example. Moreover, the specific features, structures, materials or characteristics described may be combined in an appropriate manner in any one or more schemes or examples.

[0044] The embodiment of the present invention provides a portable underwater drone, which includes a housing 1, such as Figure 1 As shown, propellers 2 are installed on both sides of the casing 1, a diving cover 3 is installed on the head of the casing 1, a camera is installed in the diving cover 3, and symmetrically distributed searchlights 4 are installed on the casing 1, and the two searchlights 4 are respectively located on both sides of the diving cover 3.

[0045] Support frames 6 are fixed below both sides of the casing 1 , and a number of casters 61 are fixed below the support frames 6 . A storage cage 5 for storing collected objects is fixed at the bottom of the casing 1 , and a clamp 7 is provided at the bottom of the casing 1 .

[0046] One side of the storage cage 5 is provided with an inlet and outlet, such as Figure 2 、 Figure 3 As shown, a cage door 52 for closing the entrance and exit is slidably provided on the storage cage 5, a push plate 53 is vertically fixed on the cage door 52, and symmetrically distributed first connecting blocks 54 are fixed on the top plate of the storage cage 5, and a first spring 55 is fixedly connected between the first connecting block 54 and the push plate 53.

[0047] The fixture 7 includes a U-shaped bracket 71 that is located at the bottom of the housing 1 and rotates. Figure 4As shown, a first motor (not shown in the figure) for driving the U-shaped bracket 71 to rotate is fixed in the housing 1, a second connecting block 72 is rotatably provided on the first U-shaped bracket 71, a second motor 73 for driving the second connecting block 72 to rotate is fixed on one side of the first U-shaped bracket 71, a first electric telescopic rod 74 is vertically fixed on both sides of the second connecting block 72, a second electric telescopic rod 75 is vertically fixed on the output shaft of the first electric telescopic rod 74, and a motor bracket 76 is fixed on the output shaft of the second electric telescopic rod 75, as shown in FIG. Figure 5 As shown, a sixth motor 78 is fixed to one side of the motor bracket 76, and the output shaft of the sixth motor 78 passes through the motor bracket 76 and is fixed with a first drive box 77. The output shaft of the sixth motor 78 is parallel to the output shaft of the second motor 73, and a third motor 79 is fixed in the first drive box 77. The output shaft of the third motor 79 is perpendicular to the output shaft of the second motor 73, and the output shaft of the third motor 79 passes through one side plate of the first drive box 77 and is vertically fixed with a sleeve 710. A sliding shaft 711 is sleeved in the sleeve 710, and a splint 712 is fixed on the sliding shaft 711. A second spring 713 is fixedly connected between the splint 712 and the sleeve 710. A battery for powering various electrical components thereon is installed in the water drone.

[0048] The underwater drone further includes a counterweight 8 , and a rope 81 is fixedly connected between the counterweight 8 and the housing 1 .

[0049] A power supply device is applied to the above-mentioned water drone, and the power supply device includes a bottom plate 91, such as Figure 6 As shown, a first slot is provided above both ends of the base plate 91, a first baffle 92 is rotatably provided in the first slot, symmetrical wheels 913 are rotatably provided on the first baffle 92, a second baffle 95 is rotatably provided on one side of the base plate 91, and a third baffle 96 is vertically fixed on the other side, and a fifth motor (not shown in the figure) is fixed on the base plate 91 for driving the second baffle 95 to rotate.

[0050] A second slot is provided above the third baffle 96, a drive box 94 is fixed in the bottom plate 91, a slope is provided on the side of the drive box 94 close to the second baffle 95, a mobile power supply is fixed in the drive box 94, a limiting member 93 for limiting the first baffle 92 is installed, and a limiting groove (not marked in the figure) for limiting the water drone is provided above the drive box 94.

[0051] The second baffle 95 and the third baffle 96 are provided with symmetrically distributed slots 98 on their upper sides, and the third baffle 96 is fixed with symmetrically distributed vertical brackets 97 on its upper side. Figure 7 、 Figure 8As shown, a fourth motor 910 and a socket 917 are fixed on both sides of one vertical bracket 97, a fourth electric telescopic rod 916 is fixed on the other vertical bracket 97, and the output shaft of the fourth motor 910 passes through the corresponding vertical bracket 97 and is fixed with an insert 914.

[0052] The power supply device also includes a reel 99, which is located between the two vertical brackets 97. A plug 918 adapted to the socket 917 is fixed to one end of the reel 99 close to the socket 917. The output shaft of the fourth electric telescopic rod 916 passes through the corresponding vertical bracket 97 and is rotatably connected to one end of the reel 99. A slide groove 915 adapted to the plug block 914 is provided at the other end of the reel 99. The socket 917 is electrically connected to the mobile power supply. An electric wire 911 is connected to the plug 918. A pull rope 912 is fixed to one side of the electric wire 911. The electric wire 911 and the pull rope 912 are wound around the reel 99. The free ends of the electric wire 911 and the pull rope 912 are fixed to one side of the casing 1.

[0053] Both sides of the bottom plate 91 are provided with symmetrically distributed thread grooves 919. Figure 9 、 Figure 10 and Figure 11 As shown, a movable groove 9110 is opened at one end of the first baffle 92 close to the bottom plate 91, and a mounting hole 921 is opened at the end of the movable groove 9110 away from the first baffle 92. The limiting member 93 includes a rotating block 931 installed in the movable groove 9110, and a mounting shaft 932 is fixed on one side of the rotating block 931, and a screw rod 935 adapted to the threaded groove 919 is fixed on the other side. The mounting shaft 932 passes through the mounting hole 921 and is vertically fixed with a connecting rod 933, and an insert rod 934 adapted to the slot 98 is fixed on the connecting rod 933.

[0054] When in use, the underwater drone is placed on the drive box 94, as shown in FIG. Figure 9 As shown, the wheel 913 can be adjusted to be vertical by folding the first baffle 92 upward, and then the control rod 934 is inserted into the corresponding slot 98. At this time, the power supply device can be used as a cart to facilitate carrying the underwater drone.

[0055] By flattening the first baffle 92, as shown in FIG. Figure 6 As shown, the wheel 913 is then rotated so that it becomes horizontal and is located below the first baffle 92. The limiting member 93 is then rotated so that the screw rod 935 is installed in the threaded groove 919 to limit the first baffle 92 and place the power supply device on the water surface. At this time, the wheel 913 can increase the buoyancy of the power supply device.

[0056] The first motor and the first electric telescopic rod 74 cooperate to control the two clamping plates 712 to be located on both sides of the power supply device, and the sixth motor 78 and the third motor 79 cooperate to adjust the clamping plates 712 to be parallel to the first electric telescopic rod 74, and then the paddling operation is performed, specifically as follows:

[0057] By extending the second electric telescopic rod 75, the splint 712 can be inserted into the water surface, and by starting the second motor 73 to control the arc movement of the second electric telescopic rod 75, the splint 712 moves the water surface, thereby controlling the movement of the power supply device on the water surface. When the splint 712 is out of the water, the second electric telescopic rod 75 is retracted and the second motor 73 is controlled to reverse to reset the splint 712, and then the next paddling is carried out, and the moving direction of the power supply device is adjusted by starting the first motor.

[0058] The control splint 712 moves to the top of the drive box 94, the first motor is started to make one of the first electric telescopic rods 74 face the slope, and then the second electric telescopic rod 75 is controlled to rotate downward, and the splint 712 is controlled to rotate downward to the horizontal, and then the housing 1 is controlled to move. The specific operation is as follows: by starting the second electric telescopic rod 75 to control the splint 712 to be supported on the drive box 94, the second electric telescopic rod 75 is continued to be started to lift the housing 1 so that the caster 61 moves out of the limit slot, and the fourth electric telescopic rod 916 is started to control the plug 914 to move out of the slide slot 915. The retraction rod 74 extends the other first electric telescopic rod 74 to shorten the caster 61 on one of the support frames 6 to move to the slope, and the second electric telescopic rod 75 is retracted so that the caster 61 is supported on the drive box 94 again, and then the first electric telescopic rod 74 is reset, and the housing 1 is controlled to move again so that the casters 61 on the two support frames 6 are finally moved to the slope, and the second baffle 95 is controlled to rotate to tilt downward by starting the fifth motor, and the splint 712 is controlled to disengage from the drive box 94 by retracting the second electric telescopic rod 75. Under the action of gravity, the unmanned house on the water slides into the water along the slope and the second baffle 95.

[0059] The six motor 78 and the third motor 79 cooperate to adjust the two splints 712 to be relative to each other, and the second motor 73, the first electric telescopic rod 74 and the second electric telescopic rod 75 cooperate to control the two splints 712 to clamp the counterweight 8. The movement of the underwater drone is controlled by starting the thruster 2, and the center of gravity position of the counterweight 8 is adjusted by the second motor 73 and the second electric telescopic rod 75, thereby adjusting the tilt direction of the underwater drone head and controlling the movement direction of the underwater drone.

[0060] When the underwater drone reaches the bottom of the water, the control splint 712 is used to release the counterweight 8, and then the first motor, the second motor 73, the first electric telescopic rod 74 and the second electric telescopic rod 75 cooperate with the control splint 712 to clamp the object to be collected. By starting the first motor, the control splint 712 is moved to the front of the entrance and exit of the storage cage 5. The second motor 73, the second electric telescopic rod 75 and the sixth motor 78 cooperate with the control splint 712 to press down the push plate 53, so that the cage door 52 opens. Then, by starting the second electric telescopic rod 75, the collected object clamped by the splint 712 is sent into the storage cage 5. Then, the control splint 712 is used to release the collected object and pull the splint 712 out of the storage cage 5. Under the action of the first spring 55, the cage door 52 is closed to realize the collection of the collected object.

[0061] When the underwater drone rises from the bottom of the water, the second electric telescopic rod 75 is controlled to rotate downward to vertical, the sliding shaft 711 is controlled to rotate to tilt downward, and then the propeller 2 is turned off. Under the action of gravity, the splint 712 contacts the ground, and then under the action of the second spring 713, the underwater drone tilts and bounces upward, which can make the underwater drone automatically jump on the bottom of the water without power, saving electricity and increasing the working time of the underwater drone.

[0062] When the underwater drone is out of power, the fourth motor 910 and the fourth electric telescopic rod 916 cooperate to control the plug block 914 to be inserted into the slide groove 915, and the control plug 918 is plugged into the socket 917 to charge the underwater drone, which can increase the flight time of the underwater drone.

[0063] When the underwater drone is finished working, the plug 918 is pulled out from the socket 917, and the fourth motor 910 is started to reel in the wire 911 and the pull rope 912, so as to pull the surface drone into the limit slot.

[0064] The various embodiments in this specification are described in a progressive manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the system embodiments are generally similar to the method embodiments, so the description is relatively simple. For relevant parts, refer to the description of the method embodiments.

[0065] The foregoing is merely an embodiment of the present invention and is not intended to limit the present invention. It will be apparent to those skilled in the art that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are intended to be included within the scope of the claims of the present invention.

Claims

1. A portable underwater drone, comprising a housing (1), characterized in that: A clamp (7) is provided at the bottom of the housing (1); The clamp (7) comprises a U-shaped bracket (71) rotatably located at the bottom of the housing (1); a first motor for driving the U-shaped bracket (71) to rotate is fixed in the housing (1); a second connecting block (72) is rotatably provided on the first U-shaped bracket (71); a second motor (73) for driving the second connecting block (72) to rotate is fixed on one side of the first U-shaped bracket (71); first electric telescopic rods (74) are vertically fixed on both sides of the second connecting block (72); a second electric telescopic rod (75) is vertically fixed on the output shaft of the first electric telescopic rod (74); and a motor bracket (76) is fixed on the output shaft of the second electric telescopic rod (75); A sixth motor (78) is fixed to one side of the motor bracket (76), and an output shaft of the sixth motor (78) passes through the motor bracket (76) and is fixed to a first drive box (77). The output shaft of the sixth motor (78) is parallel to the output shaft of the second motor (73). A third motor (79) is fixed in the first drive box (77), and the output shaft of the third motor (79) is perpendicular to the output shaft of the second motor (73). The output shaft of the third motor (79) passes through a side plate of the first drive box (77) and is vertically fixed to a shaft sleeve (710). A sliding shaft (711) is sleeved in the shaft sleeve (710), and a clamping plate (712) is fixed on the sliding shaft (711). A second spring (713) is fixedly connected between the clamping plate (712) and the shaft sleeve (710).

2. A portable underwater drone according to claim 1, characterized in that: Propellers (2) are installed on both sides of the housing (1), a diving cover (3) is installed on the head of the housing (1), a camera is installed in the diving cover (3), and symmetrically distributed searchlights (4) are installed on the housing (1), and the two searchlights (4) are respectively located on both sides of the diving cover (3).

3. A portable underwater drone according to claim 2, characterized in that: Support frames (6) are fixed below both sides of the casing (1), a plurality of casters (61) are fixed below the support frames (6), and a storage cage (5) for storing collected objects is fixed at the bottom of the casing (1).

4. A portable underwater drone according to claim 3, characterized in that: An inlet and outlet are provided on one side of the storage cage (5); a cage door (52) for closing the inlet and outlet is slidably provided on the storage cage (5); a push plate (53) is vertically fixed on the cage door (52); symmetrically distributed first connecting blocks (54) are fixed on the top plate of the storage cage (5); a first spring (55) is fixedly connected between the first connecting block (54) and the push plate (53).

5. The portable underwater drone according to claim 4, characterized in that: The underwater drone further comprises a counterweight (8), and a rope (81) is fixedly connected between the counterweight (8) and the housing (1).

6. A power supply device, applied to the water drone according to claim 5, characterized in that: The power supply device comprises a bottom plate (91), a first slot is provided above both ends of the bottom plate (91), a first baffle (92) is rotatably provided in the first slot, symmetrical wheels (913) are rotatably provided on the first baffle (92), a second baffle (95) is rotatably provided on one side of the bottom plate (91), a third baffle (96) is vertically fixed on the other side, and a fifth motor for driving the second baffle (95) to rotate is fixed on the bottom plate (91); A driving box (94) is fixed in the bottom plate (91), a slope is provided on one side of the driving box (94) close to the second baffle (95), and a mobile power supply is fixed in the driving box (94).

7. A power supply device according to claim 6, characterized in that: A limiting member (93) is installed on the first baffle (92), and a limiting groove for limiting the position of the water drone is provided above the drive box (94).

8. A power supply device according to claim 7, characterized in that: A second slot is provided above the third baffle (96). Vertical brackets (97) are symmetrically distributed and fixed above the third baffle (96). A fourth motor (910) and a socket (917) are fixed on both sides of one of the vertical brackets (97). A fourth electric telescopic rod (916) is fixed on the other vertical bracket (97). The output shaft of the fourth motor (91) passes through the corresponding vertical bracket (97) and is fixed with an insert (914).

9. The power supply device according to claim 8, characterized in that: The power supply device further comprises a reel (99), the reel (99) being located between the two vertical supports (97), a plug (918) adapted to the socket (917) being fixed to one end of the reel (99) close to the socket (917), an output shaft of the fourth electric telescopic rod (916) passing through the corresponding vertical support (97) and being rotatably connected to one end of the reel (99), a slide groove (915) adapted to the plug block (914) being provided at the other end of the reel (99), the socket (917) being electrically connected to the mobile power supply, a wire (911) being connected to the plug (918), a pull rope (912) being fixed to one side of the wire (911), the wire (911) and the pull rope (912) being wound around the reel (99), and the free ends of the wire (911) and the pull rope (912) being fixed to one side of the housing (1).

10. The power supply device according to claim 9, characterized in that: The second baffle (95) and the third baffle (96) are both provided with symmetrically distributed slots (98), both sides of the bottom plate (91) are provided with symmetrically distributed thread grooves (919), the end of the first baffle (92) close to the bottom plate (91) is provided with a movable slot (9110), and the end of the movable slot (9110) away from the first baffle (92) is provided with a mounting hole (921); The limiting member (93) includes a rotating block (931) installed in the movable groove (9110), a mounting shaft (932) is fixed on one side of the rotating block (931), and a screw rod (935) adapted to the threaded groove (919) is fixed on the other side. The mounting shaft (932) passes through the mounting hole (921) and is vertically fixed with a connecting rod (933), and an insertion rod (934) adapted to the slot (98) is fixed on the connecting rod (933).

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