Water area unmanned aerial vehicle with pod lifting quick change mechanism

Abstract

The present application relates to a kind of water unmanned aerial vehicle with pod lifting quick-change mechanism;Upper machine cover is provided with organism cover, the center position of organism cover is provided with upper lifting through-hole, the middle part of lower machine cover is provided with lower lifting through-hole communicated with upper lifting through-hole, flat motor is arranged on organism cover, flat motor output end is fixedly connected with screw rod arranged in upper lifting through-hole, screw rod is connected with sliding assembly, sliding assembly bottom is provided with docking disc, docking disc is provided with docking cavity, the bottom surface of docking disc is provided with first insertion hole and second insertion hole communicated with docking cavity, first insertion hole and second insertion hole side are respectively provided with first circumferential locking groove and second circumferential locking groove communicated with docking cavity;Adapt to unmanned aerial vehicle automatic honeycomb parking and reloading scene, without additional setting steering mechanism, simplify the overall structure of system, reduce the equipment design manufacturing and operation cost.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and specifically to a waterborne UAV with a pod lifting and quick-change mechanism. Background Technology

[0002] With the widespread application of drones in aquatic environment monitoring, cyanobacteria harvesting, water quality sampling, and water surface disinfection, aquatic drones face two core challenges: First, the complex aquatic operating environment poses a high risk of drones falling into the water, requiring the entire aircraft to have the ability to float and save itself. Second, different aquatic operations, such as spraying, sampling, and reconnaissance, require different functional pods, necessitating drones to have the ability to quickly change pods to reduce overall operating costs and improve emergency response efficiency. Currently, the mainstream approach in the industry is to equip a general-purpose airframe with interchangeable mission pods, while simultaneously addressing two core technical issues: quick-change pod interfaces and aquatic protection.

[0003] Current technology utilizes a quick-release connection structure for drone gimbals, employing a sliding rail guide and locking pin mechanism. The main technical features of this solution are: the upper mounting plate is fixed to the drone body, and the lower insertion plate is installed in the gimbal pod. After the upper mounting plate slides horizontally into the sliding channel of the lower insertion plate, the elastic locking pin pops out and engages with the insertion hole to complete mechanical locking; the electrical interface is located on the mating surface of the upper mounting plate and the lower insertion plate, and electrical connection is completed simultaneously during mechanical insertion; to unlock, the unlock button is toggled to retract the locking pin, allowing for horizontal separation. The operation involves manual single-handed horizontal pushing, primarily targeting manual loading / unloading scenarios. Furthermore, CN112977812A uses a tenon-and-mortise connection between a fixed plate and a mounting plate, achieving quick-release mounting via a rotating adjustment plate. This is also a manual operation solution and lacks the ability to float in water.

[0004] The main shortcomings of existing technologies are as follows: First, the high precision required for alignment makes them unsuitable for automated loading and unloading by robotic arms. Existing horizontal sliding rail solutions require a lateral alignment accuracy of ±2–3 mm for insertion, but the actual positioning error of the robotic arm usually exceeds this range, resulting in a low success rate for automated loading and unloading. Second, the operation direction is horizontal sliding in, which does not match the landing and docking direction of the drone. When the drone docks in the Hive hangar, it lands vertically from above, and the loading and unloading operation direction is naturally vertical. Existing horizontal sliding rail solutions require an additional steering mechanism, increasing system complexity. Third, the fixed interface height cannot accommodate different pod sizes. Existing quick-release interfaces are fixed and cannot adjust the connection height. When changing functional pods with different shapes and heights, installation gaps or interference with the bottom of the aircraft may occur, resulting in poor adaptability. In addition, the entire aircraft lacks the ability to float on water, and is damaged upon landing in water. Existing drones mostly use conventional density materials and lack a dedicated buoyancy design. When landing in water during operations, they sink rapidly, causing equipment damage and restricting the expansion of water-related applications. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a waterborne unmanned aerial vehicle (UAV) with a simple structure, convenient operation, high docking accuracy, suitability for unmanned operations in water areas, diverse functions, and the ability to float on the water surface. The docking method utilizes a plug-in, rotating locking mechanism, and it boasts strong adaptability. This invention aims to overcome the deficiencies in existing technologies.

[0006] The technical solution of the present invention is implemented as follows: A waterborne unmanned aerial vehicle with a pod lifting and quick-change mechanism includes an upper cover and a lower cover with wing holes. A frame is installed between the upper cover and the lower cover, and a rotor is installed on the frame. An organic cover is provided on the upper cover, and an upper lifting through hole is provided at the center of the organic cover. A lower lifting through hole is provided in the middle of the lower cover and communicates with the upper lifting through hole. A flat motor is provided on the organic cover. The output end of the flat motor is fixedly connected to a screw provided in the upper lifting through hole. The screw is connected to a sliding component. A docking plate is provided at the bottom of the sliding component. A docking cavity is provided in the docking plate. A first insertion hole and a second insertion hole communicating with the docking cavity are opened on the bottom surface of the docking plate. A first circumferential locking groove and a second circumferential locking groove communicating with the docking cavity are respectively opened on one side of the first insertion hole and the second insertion hole.

[0007] Furthermore, the sliding assembly is fitted inside the upper lifting through hole and the lower lifting through hole. The sliding assembly includes a top plate, and a fitting hole platform with an internal thread layer is provided in the middle of the top plate. The screw is set in the fitting hole platform. Two connecting rods are provided at the bottom of the top plate. Each connecting rod has a longitudinal sliding groove on its outer side. A limiting longitudinal slider that cooperates with the longitudinal sliding groove is provided on the inner wall of the upper lifting through hole. The bottom of the two connecting rods is fixedly connected to the top of the docking plate.

[0008] Furthermore, a camera is provided on the front side of the upper cover and the lower cover, a longitudinal connecting shaft is provided on the inner side of the lower cover, the upper cover is connected to the lower cover through the longitudinal connecting shaft, and a buoyancy ring or buoyancy cavity is provided at the bottom of the lower cover.

[0009] Furthermore, the fuselage cover is a conical truncated structure, with grooves along the outer edge of the fuselage cover that mate with the wing holes, and the top of the fuselage cover is a flat surface.

[0010] Furthermore, the flat motor is fixedly installed on the top of the machine body cover via a connecting piece, and the length of the screw is not less than the depth of the upper lifting through hole, and the length of the screw is not greater than the sum of the depths of the upper lifting through hole and the lower lifting through hole.

[0011] Furthermore, both the upper and lower lifting through holes are cylindrical through hole structures, with the inner diameters of the upper and lower lifting through holes being equal. The mating plate is a circular disc structure, with the outer diameter of the mating plate matching the inner diameter of the lower lifting through hole.

[0012] Furthermore, the first and second insertion holes are symmetrically arranged on the bottom surface of the mating plate, and the first and second circumferential locking grooves are arc-shaped groove structures of equal length.

[0013] Furthermore, a central hole is provided at the center of the docking plate, the thickness of the docking plate is not greater than the overall thickness of the lower cover, and the bottom surface of the screw is located above the top surface of the central hole.

[0014] Furthermore, the sum of the longitudinal lengths of the top plate, the connecting rod, and the docking plate is equal to the sum of the depths of the upper lifting through hole and the lower lifting through hole.

[0015] Furthermore, there are two limiting longitudinal sliders, which are symmetrically arranged on the inner wall of the upper lifting through hole. The limiting longitudinal slider is a long strip structure with a semi-circular cross-section, and the longitudinal groove is a long groove structure with a semi-circular cross-section.

[0016] The present invention has the following positive effects: 1. This invention enables rapid pod replacement using a vertical plug-in and circumferential rotation locking docking method. Different types of pods have plug-in connecting rods on their upper parts that mate with the plug-in holes, allowing for successful docking. Compared to traditional horizontal sliding rail quick-release structures, this method requires lower centering precision, has stronger tolerance for positioning errors during automatic replacement, significantly improves the success rate of automatic replacement, and is suitable for UAV automatic cellular docking and replacement scenarios. It eliminates the need for additional steering mechanisms, simplifying the overall system structure and reducing equipment design, manufacturing, and maintenance costs.

[0017] 2. This invention uses a flat motor to drive a screw to rotate, which in turn drives a sliding component to adjust its position vertically. This allows for flexible adjustment of the relative distance between the docking plate and the bottom of the machine body, making it adaptable to functional pods of different shapes and heights. There are no installation gaps or interference issues with the bottom of the machine body during installation, which greatly improves the adaptability to multi-task scenarios. Only one universal machine body is needed to switch between different functional pods such as water quality monitoring, blue-green algae removal, water surface disinfection, and emergency rescue, effectively reducing the overall equipment configuration cost for multi-task operations and improving the response speed of emergency operations.

[0018] 3. The present invention adds a buoyancy ring or buoyancy cavity to the bottom of the lower cover to provide sufficient redundant buoyancy for the whole machine. Even if the machine falls into the water unexpectedly during operation in complex waters, it can still float on the water surface, which is convenient for subsequent recovery operations, avoids equipment sinking and loss, greatly improves the safety of water operations, and expands the application scope of drones in various complex water scenarios.

[0019] 4. The overall structure of this invention is compact and reasonable, and the mechanical and electrical connections are completed simultaneously. The operation steps are simple and convenient, the docking stability is high during automatic operation, and the automatic replacement and adaptation capabilities are strong. The lifting and adjustment process is smooth, and the cooperation between the limit longitudinal slider and the longitudinal slide groove ensures that the sliding components will not deflect. The stability is strong after docking and locking. The pod will not shake or shift during the operation, which improves the accuracy of data collection and task execution in water operations.

[0020] 5. This invention combines a universal airframe with interchangeable mission pods through modular design, which not only retains the flexibility of multi-mission adaptation, but also solves the pain points of traditional quick-release structures in the application of waterborne UAVs through targeted improvements. The lifting and quick-change mechanism is integrated in the center of the airframe, without occupying additional external space of the airframe, and will not have any additional impact on the aerodynamic layout of the UAV, thus ensuring the flight stability and endurance of the UAV. Attached Figure Description

[0021] Figure 1 This is a top view of the structure of the present invention.

[0022] Figure 2 This is a schematic diagram of the main structure of the present invention.

[0023] Figure 3 This is a top view of the lower cover structure of the present invention.

[0024] Figure 4 This is a three-dimensional structural diagram of the lower cover of the present invention.

[0025] Figure 5 This is a top view of the upper cover structure of the present invention.

[0026] Figure 6 This is a three-dimensional structural diagram of the upper cover of the present invention.

[0027] Figure 7 This is one of the internal structural diagrams of the present invention.

[0028] Figure 8 This is the second schematic diagram of the internal structure of the present invention.

[0029] Figure 9 This is a schematic diagram of the main structure of the sliding component of the present invention.

[0030] Figure 10 This is a bottom view of the docking plate structure of the present invention. Detailed Implementation

[0031] like Figure 1 , 2As shown in Figures 3, 4, 5, 6, 7, 8, 9, and 10, a waterborne unmanned aerial vehicle (UAV) with a pod lifting and quick-change mechanism includes an upper cover 1 and a lower cover 8 with wing holes 4. A frame 5 is installed between the upper cover 1 and the lower cover 8, and a rotor 6 is installed on the frame 5. A body cover 2 is provided on the upper cover 1, and an upper lifting through hole 10 is provided at the center of the body cover 2. A lower lifting through hole 12 connected to the upper lifting through hole 10 is provided in the middle of the lower cover 8. A flat motor 3 is provided on the body cover 2. The output end of the flat motor 3 is fixedly connected to the screw 14 set in the upper lifting through hole 10. The screw 14 is connected to the sliding assembly. The bottom of the sliding assembly is provided with a docking plate 19. The docking plate 19 is provided with a docking cavity 20. The bottom surface of the docking plate 19 is provided with a first insertion hole 21 and a second insertion hole 22 that communicate with the docking cavity 20. The first insertion hole 21 and the second insertion hole 22 are respectively provided with a first circumferential locking groove 23 and a second circumferential locking groove 24 that communicate with the docking cavity 20. The sliding assembly is fitted inside the upper lifting through hole 10 and the lower lifting through hole 12. The sliding assembly includes a top plate 18. A fitting hole platform 17 with an internal thread layer is provided in the middle of the top plate 18. The screw 14 is set in the fitting hole platform 17. Two connecting rods 15 are provided at the bottom of the top plate 18. Each connecting rod 15 has a longitudinal sliding groove on its outer side. A limiting longitudinal slider 9 that cooperates with the longitudinal sliding groove is provided on the inner wall of the upper lifting through hole 10. The bottom of the two connecting rods 15 is fixedly connected to the top of the docking plate 19.

[0032] Cameras 7 are installed on the front sides of the upper cover 1 and the lower cover 8. A longitudinal connecting shaft 13 is installed on the inner side of the lower cover 8. The upper cover 1 is connected to the lower cover 8 through the longitudinal connecting shaft 13. A buoyancy ring or buoyancy cavity is provided at the bottom of the lower cover 8. The fuselage cover 2 is a conical truncated structure. The outer edge of the fuselage cover 2 is provided with a groove that matches the wing hole 4. The top of the fuselage cover 2 is flat. The flat motor 3 is fixedly installed on the top of the fuselage cover 2 through a connecting piece. The length of the screw 14 is not less than the depth of the upper lifting through hole 10, and the length of the screw 14 is not greater than the sum of the depths of the upper lifting through hole 10 and the lower lifting through hole 12. Both the upper lifting through hole 10 and the lower lifting through hole 12 are cylindrical through hole structures with equal inner diameters. The docking plate 19 is a circular disc structure, and the outer diameter of the docking plate 19 matches the inner diameter of the lower lifting through hole 12. The first insertion hole 21 and the second insertion hole 22 are symmetrically arranged on the bottom surface of the mating plate 19. The first circumferential locking groove 23 and the second circumferential locking groove 24 are arc-shaped groove structures of equal length.

[0033] A central hole is provided at the center of the docking plate 19. The thickness of the docking plate 19 is no greater than the overall thickness of the lower cover 8. The bottom surface of the screw 14 is located above the top surface of the central hole. The sum of the longitudinal lengths of the top plate 18, the connecting rod 15, and the docking plate 19 is equal to the sum of the depths of the upper lifting through hole 10 and the lower lifting through hole 12. There are two limiting longitudinal sliders 9, which are symmetrically arranged on the inner wall of the upper lifting through hole 10. The limiting longitudinal sliders 9 are long strip structures with a semi-circular cross-section, and the longitudinal groove is a long groove structure with a semi-circular cross-section.

[0034] In actual operation, such as Figure 1 , 2 As shown in Figures 3, 4, 5, and 6, this invention adopts a combined shell structure of an upper cover 1 and a lower cover 8, which are fastened together by a longitudinal connecting shaft 13. The frame 5 is fixed between the upper and lower covers, and a rotor 6 mounting position is reserved on the outer side of the frame 5. The upper cover 1 has four evenly distributed wing holes 4. The fuselage cover 2 is integrally fixed at the center of the upper cover 1. The outer edge of the conical frustum-shaped fuselage cover 2 is provided with grooves that match the wing holes 4, which not only ensures the structural strength of the fuselage shell but also reduces the wind resistance of the entire aircraft. At the same time, the sliding components are integrated at the center of the fuselage to avoid outward protrusion that would disrupt the aerodynamic layout. The bottom of the lower cover 8 is pre-set with an annular buoyancy ring or an integrally formed closed buoyancy cavity. The buoyancy ring is made of closed-cell foamed buoyancy material, and the buoyancy cavity adopts a sealed hollow structure design, which can provide stable buoyancy for the entire aircraft. Even if it accidentally falls into the water, the entire aircraft can remain floating and will not sink quickly and cause total equipment loss, thus solving the pain point of traditional waterborne drones lacking water-fall protection.

[0035] like Figure 3 , 4 As shown in Figures 5 and 6, a cylindrical upper lifting through hole 10 is opened at the center of the body cover 2 of the upper cover 1, and a cylindrical lower lifting through hole 12 with the same inner diameter is opened at the corresponding position of the lower cover 8. The two through holes are coaxially connected, providing a stable vertical sliding channel for the sliding component. Two semi-circular longitudinal sliders 9 are symmetrically arranged on the inner wall of the upper lifting through hole 10, which cooperate with the semi-circular longitudinal groove 16 on the outer side of the sliding component connecting rod. This can not only limit the circumferential deflection of the sliding component and ensure that the sliding process always moves in a vertical straight line, but also reduce the sliding friction resistance. The fit structure is simple, the processing difficulty is low, and no additional guide components are required.

[0036] like Figure 7 , 8As shown, the lifting adjustment drive assembly of the present invention adopts a flat motor 3 with a screw 14 transmission structure. The flat motor 3 is fixed to the top of the body cover 2 through a connecting piece, and the output axis is fixed downward and coaxially with the screw 14. The screw 14 is always kept on the coaxial line of the upper lifting through hole 10 and the lower lifting through hole 12. The length of the screw 14 is not less than the depth of the upper lifting through hole 10 and does not exceed the total depth of the two through holes. This ensures that the screw 14 has enough stroke to drive the sliding assembly to move, while avoiding the screw extending too far and damaging the aerodynamic shape of the bottom of the body or interfering with the installation of the pod.

[0037] like Figure 7 , 8 As shown in Figures 9 and 10, the sliding assembly is composed of a top plate 18, two connecting rods 15, and a bottom docking plate 19 connected in one piece. The top plate 18 has a fitting hole platform 17 with an internal thread layer at its center. The screw 14 is engaged and assembled in the fitting hole platform 17. When the screw 14 rotates, it drives the top plate 18 to move vertically through the thread engagement. The ends of the two connecting rods 15 are fixedly connected to the docking plate 19. This transmission structure has strong stability. The screw transmission has a self-locking characteristic. After adjustment, it will not move on its own. It can stably maintain the height position of the docking plate 19 and adapt to the installation requirements of pods of different heights. The longitudinal groove 16 on the connecting rod 15 is designed with a limiting longitudinal slider 9 to ensure that the force is uniform during the sliding process and there will be no tilting or jamming problems.

[0038] like Figure 7 , 8 As shown in Figures 9 and 10, this invention employs a docking structure with vertical insertion and circumferential rotation locking. The docking plate 19 is circular, with its outer diameter matching the inner diameter of the lower lifting through-hole 12. When not in use, the docking plate 19 can be retracted entirely into the lower lifting through-hole 12 to avoid protrusion and interference with flight. A docking cavity 20 is provided at the bottom of the docking plate 19, and a first insertion hole 21 and a second insertion hole 22 are symmetrically provided on the bottom surface. On one side of each insertion hole, an arc-shaped first circumferential locking groove 23 and a second circumferential locking groove 24 are respectively provided. In use, two insertion connecting rods with limit heads are correspondingly provided on the top of the functional pod. When the insertion connecting rods are vertically inserted into the insertion holes, the rotation of the docking plate 19 can drive the connecting rods to slide into the circumferential locking grooves, completing the mechanical locking. Compared with the traditional horizontal slide rail structure, this docking method has lower centering accuracy requirements, allows for a wider range of positioning errors, is more suitable for automatic changing operations, and significantly improves the success rate of automatic changing.

[0039] like Figure 1 , 2 As shown, cameras 7 are also installed on the front of the upper cover 1 and the lower cover 8 to assist in visual navigation and environmental monitoring during operation.

[0040] In actual operation, when it is necessary to change the functional pod with a different external height, the flat motor 3 is started first. The flat motor 3 drives the screw 14 to rotate in the forward or reverse direction. The screw 14 drives the top plate 18 to move vertically through the threaded engagement. Since the longitudinal sliding groove 16 on the outside of the connecting rod 15 cooperates with the limiting longitudinal slider 9 on the inner wall of the upper lifting through hole 10, the top plate 18 can only move vertically and will not rotate circumferentially with the screw 14. The top plate 18 drives the connecting rod 15 and the bottom docking plate 19 to move vertically synchronously. When the docking plate 19 moves to the preset position that is adapted to the current pod height, the flat motor 3 stops running. Due to the self-locking characteristic of the screw drive, the docking plate 19 remains at the current height position, completing the height adaptation adjustment before replacement and avoiding installation gaps or fuselage interference problems due to the incompatibility of the pod height.

[0041] During the docking and locking operation of the pod, firstly, using the adaptable lifting and operation of the UAV, the two connecting rods on the top of the pod to be installed are vertically aligned with the first connecting hole 21 and the second connecting hole 22 at the bottom of the docking plate 19. As the UAV moves downward, the two connecting rods move vertically upward relative to each other, so that the two connecting rods pass through the connecting holes and enter the docking cavity 20 of the docking plate 19. The limiting head at the top of the connecting rod is locked inside the docking cavity 20. Then, the UAV rotates, causing the docking plate 19 to rotate. At this time, the two connecting rods slide around the circumference of the docking plate 19 and slide into the first circumferential locking groove 23 and the second circumferential locking groove 24 respectively. The limiting head is restricted at the top of the circumferential locking groove, completing the mechanical locking. To further improve the stability of the locking operation and expand the applicability of the invention, when the pod does not have an independent power supply, the invention can be equipped with an electrical docking structure. After being rotated into position, the connecting rod rotates and is positioned, and then docks with the electrical contacts in the docking cavity 20, thus completing the mechanical and electrical connection simultaneously, and the entire docking process is completed.

[0042] When it is necessary to disassemble the pod and replace it with another functional pod, follow the reverse steps above. The connecting rods disengage from the docking plate 19, and the two connecting rods retract from the circumferential locking groove to the initial docking hole position. Then, the UAV flies upward, keeping the docking plate position fixed, and the pod moves relative to each other in the vertical direction. The connecting rods are then pulled out, and the pod separation is completed. The operation process is simple.

[0043] When a drone malfunctions and accidentally falls into the water during operations, the redundant buoyancy provided by the buoyancy ring or buoyancy cavity at the bottom of the lower cover 8 will lift the entire drone to the water surface, keeping the drone floating and preventing it from sinking directly, thus avoiding equipment damage and reducing operational losses.

[0044] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An aquatic unmanned aerial vehicle with a pod lifting and quick-change mechanism, comprising an upper canopy (1) and a lower canopy (8) with wing face holes (4), a frame (5) is installed between the upper canopy (1) and the lower canopy (8), and a rotor (6) is installed on the frame (5), characterized in that: The upper cover (1) is provided with a body cover (2), and the center of the body cover (2) is provided with an upper lifting through hole (10). The middle of the lower cover (8) is provided with a lower lifting through hole (12) that is connected to the upper lifting through hole (10). The body cover (2) is provided with a flat motor (3). The output end of the flat motor (3) is fixedly connected to a screw (14) provided in the upper lifting through hole (10). The screw (14) is connected to a sliding component. The bottom of the sliding component is provided with a docking plate (19). The docking plate (19) is provided with a docking cavity (20). The bottom surface of the docking plate (19) is provided with a first insertion hole (21) and a second insertion hole (22) that are connected to the docking cavity (20). The first insertion hole (21) and the second insertion hole (22) are respectively provided with a first circumferential locking groove (23) and a second circumferential locking groove (24) that are connected to the docking cavity (20).

2. The waterborne unmanned aerial vehicle with a pod lifting and quick-change mechanism according to claim 1, characterized in that: The sliding assembly is fitted inside the upper lifting through hole (10) and the lower lifting through hole (12). The sliding assembly includes a top plate (18). A fitting hole platform (17) with an internal thread layer is provided in the middle of the top plate (18). A screw (14) is set inside the fitting hole platform (17). Two connecting rods (15) are provided at the bottom of the top plate (18). A longitudinal sliding groove (16) is provided on the outer side of each connecting rod (15). A limiting longitudinal slider (9) that cooperates with the longitudinal sliding groove (16) is provided on the inner wall of the upper lifting through hole (10). The bottom of the two connecting rods (15) is fixedly connected to the top of the docking plate (19).

3. The waterborne unmanned aerial vehicle with a pod lifting and quick-change mechanism according to claim 1, characterized in that: A camera (7) is provided on the front side of the upper cover (1) and the lower cover (8). A longitudinal connecting shaft (13) is provided on the inner side of the lower cover (8). The upper cover (1) is connected to the lower cover (8) through the longitudinal connecting shaft (13). A buoyancy ring or buoyancy cavity is provided at the bottom of the lower cover (8).

4. The waterborne unmanned aerial vehicle with a pod lifting and quick-change mechanism according to claim 1, characterized in that: The fuselage cover (2) is a conical truncated structure. The outer edge of the fuselage cover (2) is provided with a groove that matches the wing hole (4). The top of the fuselage cover (2) is a flat surface.

5. The waterborne unmanned aerial vehicle with a pod lifting and quick-change mechanism according to claim 1, characterized in that: The flat motor (3) is fixedly installed on the top of the machine body cover (2) by a connecting piece. The length of the screw (14) is not less than the depth of the upper lifting through hole (10), and the length of the screw (14) is not greater than the sum of the depths of the upper lifting through hole (10) and the lower lifting through hole (12).

6. The waterborne unmanned aerial vehicle with a pod lifting and quick-change mechanism according to claim 1, characterized in that: The upper lifting through hole (10) and the lower lifting through hole (12) are both cylindrical through hole structures. The inner diameters of the upper lifting through hole (10) and the lower lifting through hole (12) are equal. The docking plate (19) is a circular disc structure. The outer diameter of the docking plate (19) matches the inner diameter of the lower lifting through hole (12).

7. The waterborne unmanned aerial vehicle with a pod lifting and quick-change mechanism according to claim 1, characterized in that: The first insertion hole (21) and the second insertion hole (22) are symmetrically arranged on the bottom surface of the docking plate (19), and the first circumferential locking groove (23) and the second circumferential locking groove (24) are arc-shaped groove structures with equal lengths.

8. The waterborne unmanned aerial vehicle with a pod lifting and quick-change mechanism according to claim 2, characterized in that: The center of the docking plate (19) has a central hole. The thickness of the docking plate (19) is not greater than the overall thickness of the lower cover (8). The bottom surface of the screw (14) is located above the top surface of the central hole.

9. The waterborne unmanned aerial vehicle with a pod lifting and quick-change mechanism according to claim 2, characterized in that: The sum of the longitudinal lengths of the top plate (18), the connecting rod (15), and the docking plate (19) is equal to the sum of the depths of the upper lifting through hole (10) and the lower lifting through hole (12).

10. The waterborne unmanned aerial vehicle with a pod lifting and quick-change mechanism according to claim 2, characterized in that: There are two limiting longitudinal sliders (9), which are symmetrically arranged on the inner wall of the upper lifting through hole (10). The limiting longitudinal sliders (9) are long strip structures with a semi-circular cross section, and the longitudinal groove (16) is a long groove structure with a semi-circular cross section.

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