A multifunctional marine transport unmanned aerial vehicle

Abstract

The application discloses a kind of offshore multifunctional transport unmanned plane, belong to unmanned plane transport technical field, including unmanned plane body, rotating lever structure and suspension structure.The bottom support bottom plate of body is provided with annular groove;Four support rods are coaxially rotatably installed on the bottom plate, and a rotating drive motor is arranged in the middle portion, and the output gear of the rotating drive motor is engaged with the annular groove;The moving car of suspension structure moves along the support rod, and is connected to the hook by the suspension rope, and the unmanned plane realizes point-to-point movement by remote control of the ship end or target end.This unmanned plane controls the rotation angle of the support rod by the driving motor, cooperates with the linear displacement of the moving car, realizes the multi-degree-of-freedom collaborative adjustment of the spatial position of the four suspension points.This structure can quickly adapt to objects of different sizes and shapes, provide the optimal suspension point layout, significantly improve the suspension stability and positioning efficiency, solve the technical problems of battery transport stability and quick adaptation in offshore special environment.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of unmanned aerial vehicle transportation, and particularly relates to a multifunctional unmanned aerial vehicle for sea transportation. BACKGROUND

[0002] With the intelligent development of sea transportation operations, unmanned aerial vehicles are increasingly widely used in scenarios such as ship material transfer, emergency rescue, and equipment hoisting. Especially in scenarios where ships cannot dock at the target end in the marine environment, the safe and efficient transfer of heavy / important equipment (such as energy storage batteries, solar panels, and beacon lights used for sea navigation beacons) poses a serious challenge. Traditional hoisting equipment is bulky and has slow operation, so the development of unmanned aerial vehicles with hoisting capabilities is of great significance to improving the stability and flexibility of sea special material transfer.

[0003] Existing unmanned aerial vehicles mostly use rigid fixed frame structures or simple rope length adjustment mechanisms, and the lifting point position cannot be independently adjusted on the horizontal plane, making it difficult to adapt to objects of different sizes and center of gravity distribution. Forced hoisting can easily cause the cargo to tilt and the rope to be unevenly stressed, and there is a risk of unhooking during transportation. SUMMARY

[0004] In view of the above-mentioned shortcomings of the prior art, the purpose of the present application is to provide a multifunctional unmanned aerial vehicle for sea transportation, which has high degree of freedom in lifting point adjustment and is suitable for suspending equipment of different sizes.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0006] The present application comprises an unmanned aerial vehicle body, a rotating rod structure, and a suspension structure.

[0007] The unmanned aerial vehicle body comprises a support bottom plate, which is fixed at the bottom of the unmanned aerial vehicle body, and a circular annular groove is formed in the support bottom plate.

[0008] The rotating rod structure has four rotating rods, which comprise a support rod and a rotating drive motor. The four support rods are coaxially arranged at the ends of the support bottom plate, and the rotating shafts of the support rods are coaxially arranged with the annular groove. The rotating drive motor is fixed to the top side of the middle part of the support rod, and the output end of the rotating drive motor is provided with a gear meshing with the side wall of the annular groove.

[0009] The suspension structure comprises a suspension rope, a hook, and a moving vehicle. The moving vehicle is movably arranged along the bottom of the support rod, the suspension rope extends from the bottom of the moving vehicle, and the hook is fixed to the end of the suspension rope.

[0010] Optionally, the rotating rod structure further comprises a rotating column and three rotating rings, the rotating column is rotatably arranged at the top end of the support bottom plate, the three rotating rings are vertically arranged and coaxially arranged on the rotating column in sequence, one of the support rods is fixedly connected with the rotating column, and the other three support rods are fixedly connected with the three rotating rings respectively; the mobile vehicle can be moved to the center of the rotating column on the support rod fixedly connected with the rotating column.

[0011] Optionally, the rotating rod structure further comprises a telescopic cylinder, the telescopic cylinder is installed on the rotating column, the end of the telescopic cylinder is fixedly provided with a latch, the top of the mobile vehicle on the support rod fixedly connected with the rotating column is provided with a pin hole, and the latch can be inserted into the pin hole of the mobile vehicle when the mobile vehicle is moved to the center of the rotating column.

[0012] Optionally, the mobile vehicle comprises a vehicle body, a mobile drive motor and a worm gear structure, the bottom of the support rod is provided with a T-shaped sliding groove, the vehicle body is movably arranged on the sliding groove, the top surface of the sliding groove is provided with a rack, the mobile drive motor is installed in the vehicle body, and the mobile drive motor is meshed with the rack on the top surface of the sliding groove through the worm gear structure.

[0013] Optionally, the rotating rod structure further comprises a winding structure, the winding structure is arranged in the support rod, the suspension rope is wound by the winding structure, the suspension rope is stretched out from the free end of the support rod and passes through the mobile vehicle, and finally is connected with the hook.

[0014] Optionally, the suspension structure further comprises a magnetic attraction structure, the magnetic attraction structure comprises an upper seat and a lower seat, the upper seat is rotatably arranged at the bottom of the mobile vehicle, the lower seat is fixedly connected with the hook, the bottom surface of the upper seat and the top surface of the lower seat are respectively provided with semicircular magnets, the mobile vehicle further comprises a magnetic attraction drive motor, the end of the magnetic attraction drive motor is provided with a gear meshing with the lower seat, the upper seat and the lower seat are magnetically connected with each other along with the recovery of the winding structure, the position of the hook can be adjusted by rotating the magnetic attraction drive motor.

[0015] Optionally, the top of the sliding groove is further provided with a rope groove, and the suspension rope is embedded in the rope groove.

[0016] Optionally, the top of the support rod is further provided with a T-shaped bearing pin, the support bottom plate is provided with a bearing ring with a T-shaped cross section, and the bearing pin is slidably arranged in the bearing ring.

[0017] Optionally, the rotating rod structure further comprises a support foot, the support foot is fixed to the rotating free end of the support rod and extends obliquely downward.

[0018] Optionally, the take-up structure comprises two or more traction devices, the traction device comprises a traction drive motor, a lead screw and a moving seat, the support rod is internally spaced and arranged with a rope bin and a traction bin, the lead screw is arranged in the traction bin in an up-down arrangement and is rotationally arranged, the traction drive motor drives the rotation of the lead screw, the moving seat is threadedly connected with the lead screw and is transversely movably arranged in the traction bin, the moving seat is fixedly arranged with a traction pin on the side surface, the traction pin penetrates from the traction bin into the rope bin, the rope bin is fixedly arranged with a fixed pin, the fixed pin is located between the up-down arranged traction pins, and the suspension rope penetrates from the outside of the support rod and is fixed to the top of the rope bin.

[0019] The beneficial effects of the present application are that: by arranging four coaxially rotating support rods, under the driving of the rotation drive motor, the gear of the rotation drive motor is meshed and transmitted with the rotating ring, and each support rod is driven to rotate at a certain angle under the support bottom plate, the moving vehicle moves along the support rod, the position of the suspension rope extending from the support rod is adjusted, and four hooks are combined to form four suspension points at different positions under the rotation of the support rod and the movement of the moving vehicle, so as to adapt to the suspension of square boxes of different shapes and sizes, and to provide stable suspension for the boxes; in the process of transporting and transferring the beacon equipment on the ship, the four suspension points are adjusted in time, the unmanned aerial vehicle is convenient for multi-point suspension of the beacon equipment of different sizes and shapes, the positioning and stable lifting of the beacon equipment are ensured, compared with the ordinary suspension unmanned aerial vehicle, the suspension structure of the unmanned aerial vehicle is convenient and fast to adjust, has strong adaptability, high stability, and makes the marine beacon equipment more stable in the process of transportation and transfer.

[0020] Other advantages, objects, and features of the present application will be apparent from the following specification and are pointed out in connection with the description of the application presented in the following specification, and insofar as they will be evident from the present application, or the skilled person can be taught from the practice of the present application. The objects and other advantages of the present application can be achieved and obtained by the following specification. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to make the purpose, technical scheme and beneficial effects of the present application more clear, the present application provides the following drawings for illustration:

[0022] Figure 1 The overall structure schematic diagram of the transport unmanned aerial vehicle of the present application;

[0023] Figure 2 The bottom schematic diagram of the transport unmanned aerial vehicle of the present application;

[0024] Figure 3 The enlarged schematic diagram of D of the present application; Figure 2

[0025] Figure 4 ​Supporting rod sectional view of the invention

[0026] Figure 5 Supporting rod sectional view of the invention Figure 4 Enlarged view of A of the invention

[0027] Figure 6 Supporting rod sectional view of the invention Figure 4 Enlarged view of B of the invention

[0028] Figure 7 Supporting rod sectional view of the invention Figure 4 Enlarged view of C of the invention

[0029] Figure 8 Enlarged view of C of the invention Figure 4 Enlarged view of C of the invention

[0030] Figure 9 Detail view of the moving vehicle of the invention

[0031] In the drawings, the following are marked: 1, UAV body; 11, supporting bottom plate; 12, ring groove; 13, bearing ring; 21, supporting rod; 211, sliding groove; 212, T-head bearing pin; 213, rope storage; 214, traction storage; 215, fixed pin; 22, rotating drive motor; 23, rotating column; 24, rotating ring; 25, telescopic cylinder; 26, latch; 27, supporting leg; 31, suspension rope; 32, hook; 33, moving vehicle; 331, vehicle body; 332, moving drive motor; 333, worm gear structure; 334, magnetic attraction drive motor; 34, traction device; 341, traction drive motor; 342, lead screw; 343, moving seat; 344, traction pin; 351, upper seat; 352, lower seat. DETAILED DESCRIPTION

[0032] The following describes the embodiments of the invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the invention from the content disclosed in the specification.

[0033] Please refer to Figures 1-9 It should be understood that the structures, proportions, sizes, etc. shown in the drawings of the specification are only used to cooperate with the content disclosed in the specification, to enable those skilled in the art to understand and read, and are not used to limit the defined conditions under which the invention can be implemented, and therefore do not have technical significance. Any modification of the structure, change of the proportional relationship, or adjustment of the size, without affecting the effects that can be produced by the invention and the purposes that can be achieved, should still fall within the scope of the technical content disclosed by the invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle", and "one" used in the specification are only for the convenience of clear description, and are not used to limit the scope in which the invention can be implemented, and the change or adjustment of the relative relationship, without substantially changing the technical content, is also considered as the scope in which the invention can be implemented.

[0034] The following embodiments are only for illustration. Various embodiments can be combined, which are not limited to the following single embodiment.

[0035] The application provides a multifunctional marine transport unmanned aerial vehicle, which comprises an unmanned aerial vehicle body 1, a rotating rod structure and a suspension structure. Figure 1 and Figure 2 The unmanned aerial vehicle body 1 comprises a supporting bottom plate 11 fixed at the bottom of the unmanned aerial vehicle body 1, and a circular annular ring groove 12 is formed in the supporting bottom plate 11. Figure 4 and Figure 6 The rotating rod structure comprises four supporting rods 21 and rotating drive motors 22, the end portions of the four supporting rods 21 are coaxially arranged on the supporting bottom plate 11, the rotating shafts of the supporting rods 21 are coaxially arranged with the ring groove 12, the rotating drive motors 22 are fixed to the top side of the middle portions of the supporting rods 21, and the output ends of the rotating drive motors 22 are provided with gears meshing with the side walls of the ring groove 12. Figure 4 In order to improve the bearing capacity of the supporting rods 21, T-shaped bearing pins 212 are further arranged at the top portions of the supporting rods 21, T-shaped bearing rings 13 are formed in the supporting bottom plate 11, and the bearing pins are slidingly arranged in the bearing rings 13. Figure 3 and Figure 9 The suspension structure comprises a suspension rope 31, a hook 32 and a moving trolley 33, the moving trolley 33 is movably arranged along the bottom portion of the supporting rod 21, the suspension rope 31 extends from the bottom portion of the moving trolley 33, and the hook 32 is fixed to the end of the suspension rope 31.

[0036] In this scheme, by setting four coaxial rotating support rods 21, under the drive of the rotating drive motor 22, the gear of the rotating drive motor 22 is engaged with the rotating ring 24 to drive each support rod 21 to rotate at a certain angle under the support bottom plate 11, the moving car 33 moves along the support rod 21, and the suspension rope 31 is adjusted to extend from the support rod 21. The four hooks 32 can be combined to form four suspension points at different positions under the rotation of the support rod 21 and the movement of the moving car 33, so as to adapt to the suspension of square boxes of different shapes and sizes, and provide stable suspension for the boxes. During the transportation and transfer of the beacons on the ship, the four suspension points are adjusted in time, which is convenient for the unmanned aerial vehicle to suspend the beacons of different sizes and shapes at multiple points, ensures the quick positioning and stable lifting of the beacons, and compared with the ordinary suspension unmanned aerial vehicle, the unmanned aerial vehicle has the advantages of convenient and fast adjustment, strong adaptability, stability, and makes the marine beacon equipment more stable during transportation and transfer.

[0037] In a further scheme, as shown in Figure 4 and Figure 5 , the rotating rod structure further comprises a rotating column 23 and three rotating rings 24, the rotating column 23 is rotatably arranged at the top of the support bottom plate 11, and the three rotating rings 24 are vertically arranged and coaxially rotatably arranged on the rotating column 23, one end of one of the support rods 21 is fixedly connected with the rotating column 23, and the other three support rods 21 are fixedly connected with the three rotating rings 24 respectively; the moving car 33 can move to the center of the rotating column 23 on the support rod 21 fixedly connected with the rotating column 23.

[0038] In this structure, one of the four support rods 21 is connected with the rotating column 23, so that the moving car 33 can move to the center of the rotating column 23 along the support rod 21, and the other three support rods 21 are balanced by rotating to balance the center of gravity of the unmanned aerial vehicle, so that the unmanned aerial vehicle is adjusted to a single-rope suspension mode, which is suitable for the transportation and transfer of relatively light objects on the sea, such as beacons. In this structure, the single-rope suspension position is located in the middle of the bottom of the unmanned aerial vehicle, so that the unmanned aerial vehicle has a stable center of gravity when suspending light objects, and can transport objects over a longer distance.

[0039] In a further scheme, as shown in Figure 5 , the rotating rod structure further comprises a telescopic cylinder 25, the telescopic cylinder 25 is installed on the rotating column 23, the end of the telescopic cylinder 25 is fixedly connected with a latch 26, and the top of the moving car 33 on the support rod 21 fixedly connected with the rotating column 23 is provided with a pin hole, when the moving car 33 moves to the center of the rotating column 23, the latch 26 can be inserted into the pin hole of the moving car 33.

[0040] By setting the plug-in 26 and pin hole structure in the center of the rotating column 23, when the mobile car 33 moves to the center of the rotating column 23, the plug-in 26 is fixed, which limits the shaking of the mobile car 33 on the support rod 21, avoids the internal transmission component wear of the mobile car 33 caused by the shaking of the suspended object during single-point suspension, and provides a more stable suspension structure for the unmanned aerial vehicle in single-point suspension mode.

[0041] Further, as shown in Figure 4 , Figure 7 and Figure 8 , the rotating rod structure further includes a take-up structure, the take-up structure is arranged inside the support rod 21, the suspension rope 31 is wound by the take-up structure, the suspension rope 31 extends from the free end of the support rod 21 and passes through the mobile car 33, and finally is connected with the hook 32, the take-up structure includes two traction devices 34, the traction device 34 includes a traction drive motor 341, a lead screw 342 and a moving seat 343, the support rod 21 is provided with a rope bin 213 and a traction bin 214 in parallel at intervals, the lead screw 342 is arranged in the traction bin 214 in up-down arrangement, the traction drive motor 341 drives the lead screw 342 to rotate, the moving seat 343 is threadedly connected with the lead screw 342 and is arranged in the traction bin 214 in transverse movement, the traction pin 344 is fixedly arranged on the side of the moving seat 343, the traction pin 344 penetrates from the traction bin 214 into the rope bin 213, the fixed pin 215 is fixedly arranged in the rope bin 213, the fixed pin 215 is located between the up-down arranged traction pins 344, the suspension rope 31 penetrates from the outside of the support rod 21 and is fixed to the top of the rope bin 213, and the traction pin 344 and the fixed pin 215 are located on both sides of the suspension rope 31 respectively.

[0042] In this scheme, by setting the take-up structure, the length of the extended suspension rope 31 can be adjusted, the two traction devices 34 are arranged in the traction bin 214 in the support rod 21, the two moving seats 343 are driven to move transversely by the traction drive motor 341, the two traction pins 344 are driven to move transversely in the rope bin 213 by the two moving seats 343, and the two traction pins 344 can wind the length of the suspension rope 31 by the blocking of the fixed pin 215. This winding structure can adjust the extension length of the suspension rope 31, adjust the suspension height of the four points in the four-point suspension mode, adapt the suspension points of the suspended object, make the suspended object maintain the required angle during suspension, adjust the suspension height of the suspended object in single-point suspension mode, and avoid the transportation swing caused by too long suspension length. The multi-pin winding structure avoids the slippage of the suspension rope 31 during suspension compared with the winding type winding structure, the length of the suspension rope 31 is accurately adjusted, and the suspension point is accurately adjusted.

[0043] Further, as shown inFigure 9 As shown, the suspension structure further comprises a magnetic attraction structure, the magnetic attraction structure comprises an upper seat 351 and a lower seat 352, the upper seat 351 is rotationally arranged at the bottom of the moving vehicle 33, the lower seat 352 is fixedly connected with the hook 32, the bottom surface of the upper seat 351 and the top surface of the lower seat 352 are respectively provided with semicircular magnets, the moving vehicle 33 further comprises a magnetic attraction driving motor 334, the end of the magnetic attraction driving motor 334 is provided with a gear engaged with the lower seat 352, with the recovery of the winding structure, the upper seat 351 and the lower seat 352 are magnetically attracted and connected, and the position of the hook 32 can be adjusted by rotating the magnetic attraction driving motor 334.

[0044] In this structure, when the unmanned aerial vehicle suspends the article, the lower seat 352 is close to the upper seat 351 through the recovery of the winding structure, under the magnetic attraction of the semicircular magnets, the upper seat 351 and the lower seat 352 are attracted at a fixed angle, and under the rotation of the magnetic attraction driving motor 334, the hanging point of the hook 32 can be adjusted, and during the suspension process, the remote control of the unmanned aerial vehicle to move the article is ensured.

[0045] In a further scheme, as shown in the figure, Figure 4 As shown, the rotating rod structure further comprises a supporting leg 27, the supporting leg 27 is fixed at the rotating free end of the supporting rod 21 and extends obliquely downward.

[0046] In this scheme, the supporting leg 27 is arranged to provide the unmanned aerial vehicle with the platform parking capability without suspension.

[0047] Finally, it should be explained that the above preferred embodiments are only used to illustrate the technical solutions of the present application and are not limited, although the present application has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made in form and details without departing from the scope defined by the claims of the present application.

Claims

1. A multi-functional unmanned aerial vehicle for sea transportation, characterized in that: it comprises an unmanned aerial vehicle body (1), a rotating rod structure and a suspension structure; the unmanned aerial vehicle body (1) comprises a supporting bottom plate (11) fixed at the bottom of the unmanned aerial vehicle body (1), and a circular annular groove (12) is formed in the supporting bottom plate (11); the rotating rod structure comprises four supporting rods (21) and rotating drive motors (22), the four supporting rods (21) are coaxially arranged at the ends of the supporting bottom plate (11), the rotating shafts of the supporting rods (21) are coaxially arranged with the annular groove (12), the rotating drive motors (22) are fixed at the top of the middle part of the supporting rods (21), and the output ends of the rotating drive motors (22) are provided with gear wheels engaged with the sidewalls of the annular groove (12); the suspension structure comprises a suspension rope (31), a hook (32) and a moving vehicle (33), the moving vehicle (33) is movably arranged along the bottom of the supporting rod (21), the suspension rope (31) extends from the bottom of the moving vehicle (33), and the hook (32) is fixed at the end of the suspension rope (31); the rotating rod structure further comprises a rotating column (23) and three rotating rings (24), the rotating column (23) is coaxially arranged at the top of the supporting bottom plate (11), the three rotating rings (24) are vertically arranged and coaxially arranged on the rotating column (23) in sequence, one of the supporting rods (21) is fixedly connected with the rotating column (23), and the other three supporting rods (21) are fixedly connected with the three rotating rings (24) respectively; the moving vehicle (33) can move to the center of the rotating column (23) on the supporting rod (21) fixedly connected with the rotating column (23); the moving vehicle (33) comprises a vehicle body (331), a moving drive motor (332) and a worm gear structure (333), a sliding groove (211) with a T-shaped cross section is formed in the bottom of the supporting rod (21), the vehicle body (331) is movably arranged on the sliding groove (211), the top surface of the sliding groove (211) is provided with a rack, the moving drive motor (332) is arranged in the vehicle body (331), and the moving drive motor (332) is engaged with the rack on the top surface of the sliding groove (211) through the worm gear structure (333); the rotating rod structure further comprises a telescopic cylinder (25), the telescopic cylinder (25) is arranged on the rotating column (23), the end of the telescopic cylinder (25) is fixedly provided with a bolt (26), a pin hole is formed in the top of the moving vehicle (33) on the supporting rod (21) fixedly connected with the rotating column (23), and when the moving vehicle (33) moves to the center of the rotating column (23), the bolt (26) can be inserted into the pin hole of the moving vehicle (33). ​ ​ ​ ​ ​ ​ 2. The offshore multipurpose transport drone according to claim 1, characterized in that: ​ 3. The offshore multipurpose transport drone according to claim 1, characterized in that: The rotating rod structure further comprises a winding structure arranged inside the support rod (21), the suspension rope (31) is wound by the winding structure, the suspension rope (31) extends from the free end of the support rod (21) and passes through the moving trolley (33), and finally is connected with the hook (32).

4. The offshore multipurpose transport drone according to claim 3, characterized in that: The suspension structure further comprises a magnetic attraction structure, the magnetic attraction structure comprises an upper seat (351) and a lower seat (352), the upper seat (351) is rotatably arranged at the bottom of the moving trolley (33), the lower seat (352) is fixedly connected with the hook (32), the bottom surface of the upper seat (351) and the top surface of the lower seat (352) are respectively provided with semicircular magnets, and the moving trolley (33) further comprises a magnetic attraction driving motor (334), the end of the magnetic attraction driving motor (334) is provided with a gear meshing with the lower seat (352), the upper seat (351) and the lower seat (352) are magnetically connected with each other along with the recovery of the winding structure, the position of the hook (32) can be adjusted by rotating the magnetic attraction driving motor (334).

5. The offshore multipurpose transport drone according to claim 4, characterized in that: The top of the chute (211) is further provided with a rope groove, and the suspension rope (31) is embedded in the rope groove.

6. The offshore multipurpose transport drone according to claim 5, characterized in that: The top of the support rod (21) is further provided with a T-shaped bearing pin (212), and the support base plate (11) is provided with a bearing ring (13) with a T-shaped cross section.

7. The offshore multipurpose transport drone according to claim 6, characterized in that: The rotating rod structure further comprises a support foot (27), the support foot (27) is fixed to the rotating free end of the support rod (21) and extends obliquely downward.

8. The offshore multipurpose transport drone according to claim 7, characterized in that: The winding structure comprises two or more than two traction devices (34), the traction device (34) comprises a traction driving motor (341), a lead screw (342) and a moving seat (343), the support rod (21) is provided with a rope bin (213) and a traction bin (214) in parallel at intervals inside, the lead screws (342) are arranged in an up-down manner and rotatably arranged in the traction bin (214), the traction driving motor (341) drives the lead screw (342) to rotate, the moving seat (343) is threadedly connected with the lead screw (342) and transversely movably arranged in the traction bin (214), the traction pin (344) is fixedly arranged on the side surface of the moving seat (343), the traction pin (344) penetrates the rope bin (213) from the traction bin (214), the fixed pin (215) is fixedly arranged in the rope bin (213), the fixed pin (215) is located between the up-down arranged traction pins (344), the suspension rope (31) penetrates from the outside of the support rod (21) and is fixed to the top of the rope bin (213), and the traction pin (344) and the fixed pin (215) are respectively located on both sides of the suspension rope (31).

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