Underwater exploration sensor extension mechanism for unmanned aerial vehicle mounting

Abstract

The utility model discloses an underwater exploration sensor extension mechanism for mounting an unmanned aerial vehicle, which comprises a bracket for connecting the unmanned aerial vehicle, a first connecting rod and a motor module which are fixedly arranged on the bracket, a second connecting rod which is arranged on the side edge of the first connecting rod in a sliding manner, and a third connecting rod which is arranged on the side edge of the second connecting rod in a sliding manner, a mounting plate for mounting a sensor is arranged at the lower end of the third connecting rod. According to the utility model, the rotation driving force of the motor is converted into the relative movement among the three-stage connecting rods, so that the laying and the recovery of the sensor carried by the extension mechanism are realized in a stable and reliable manner; the extension and contraction of the extension mechanism are realized by adopting a three-stage connecting rod transmission mode, the light weight of the extension mechanism is realized by adopting the simple and stable structural design, and the stability, reliability and convenience of sensor laying and recovery are effectively improved. In addition, the sensor extends underwater through the extension mechanism to carry out ocean in-situ observation, so that the accuracy of measured data is ensured.

Description

Technical Field

[0001] The utility model belongs to the technical field of ocean observation, and particularly relates to an underwater exploration sensor extension mechanism for being mounted on a drone. Background Art

[0002] With the increasing demands for global ocean resource development and environmental protection, underwater exploration and environmental monitoring technologies have received extensive attention. In the measurement of marine water environment parameters, in-situ observation is an important way to obtain high-quality measurement data. In-situ observation measures by directly placing sensors at the observation object, which has the advantages of high data accuracy, strong real-time performance, and adaptability to special environments. Traditional underwater exploration usually relies on large underwater equipment or ships. These equipment are often bulky, complex to operate, and can only operate under relatively specific environmental conditions. Especially in some narrow, dangerous, or deep-water areas, traditional exploration equipment cannot effectively complete tasks. In addition, underwater equipment is usually difficult to deploy and recover quickly, and the equipment cost is high, and the maintenance is complex. Therefore, there are many limitations in practical applications.

[0003] As a new type of aerial operation tool, the mobility and flexibility of drones have shown broad application prospects in many fields. In the field of ocean exploration, drones can break through the limitations of traditional equipment and enter the exploration area through rapid deployment, greatly improving the operation efficiency and safety. The high mobility and autonomous flight ability of drones enable them to quickly reach the target position and conduct detailed exploration and data collection on specific waters. Especially under complex geographical conditions, they can avoid the problem that traditional equipment cannot complete tasks due to environmental restrictions.

[0004] However, the existing drone technologies still face multiple technical problems in ocean exploration, especially in the mounting and deployment of underwater sensors. The current drone mounting devices are mostly of general-purpose design. Although they can support simple mounting tasks, their load-bearing capacity and adaptability often cannot meet the requirements of underwater exploration. Underwater sensors need to conduct long-term accurate measurements at different water depths and environmental conditions. Most of the existing mounting devices lack stability and flexibility, making it difficult to accurately place and recover the sensors, resulting in limited data collection during the exploration process.

[0005] In addition, many existing sensor mounting solutions lack the design of an extension mechanism, which makes the sensors unable to reach the required depth or position underwater, restricting the scope of observation and the comprehensiveness of data. In underwater exploration, accurate placement and recovery of sensors are crucial. Traditional fixed mounting devices cannot solve the problems of free expansion and contraction and stable deployment of sensors underwater. Especially in complex underwater environments, the insufficient stability of the mounting device will lead to inaccurate deployment of the sensors, thus affecting the accuracy of measurement data. Summary of the Utility Model

[0006] To solve the above technical problems, the present utility model provides an underwater exploration sensor extension mechanism for being mounted on a drone. The technical solution provided by the present utility model is as follows:

[0007] An underwater exploration sensor extension mechanism for being mounted on a drone, comprising a bracket for connecting to the drone, a first connecting rod and a motor module fixedly arranged on the bracket, further comprising a second connecting rod slidably arranged on the side of the first connecting rod and a third connecting rod slidably arranged on the side of the second connecting rod, and an installation plate for installing a sensor is arranged at the lower end of the third connecting rod; the motor module is provided with a first belt and a second belt with opposite winding directions; one end of the first belt is fixedly connected to a fourth positioning pin arranged at the lower part of the third connecting rod after being guided by a first single-groove pulley fixedly arranged on the bracket, and one end of the second belt is fixedly connected to a second positioning pin arranged at the upper part of the second connecting rod after being guided by a second single-groove pulley fixedly arranged at the lower part of the first connecting rod;

[0008] It further comprises a third belt, one end of the third belt is fixedly connected to a first positioning pin arranged at the upper part of the first connecting rod, and the other end of the third belt is fixedly connected to a third positioning pin arranged at the upper part of the third connecting rod after being guided by a third single-groove pulley, and the third single-groove pulley is arranged at the lower part of the second connecting rod.

[0009] Preferably, the motor module is provided with a double-groove pulley driven by a motor, and the first belt and the second belt are respectively wound in different belt grooves of the double-groove pulley.

[0010] Furthermore, a chute is opened on the side of the first connecting rod, and a convex block matched with the chute is arranged on the side of the second connecting rod close to the first connecting rod; alternatively, a chute is opened on the side of the second connecting rod, and a convex block matched with the chute is arranged on the side of the first connecting rod close to the second connecting rod; the convex block is clamped in the chute and can slide up and down along the chute.

[0011] Furthermore, a chute is opened on the side of the second connecting rod, and a convex block matched with the chute is fixedly arranged on the side of the third connecting rod close to the second connecting rod; alternatively, a chute is opened on the side of the third connecting rod, and a convex block matched with the chute is fixedly arranged on the side of the second connecting rod close to the third connecting rod; the convex block is clamped in the chute and can slide up and down along the chute.

[0012] Furthermore, a slide rail is arranged on the side of the first connecting rod, and a slider matched with the slide rail is fixedly arranged on the side of the second connecting rod close to the first connecting rod; alternatively, a slide rail is opened on the side of the second connecting rod, and a slider matched with the slide rail is arranged on the side of the first connecting rod close to the second connecting rod; the slider is clamped on the slide rail and can slide up and down along the slide rail.

[0013] Furthermore, a slide rail is provided on the side of the third link, and a slider matching the slide rail is fixedly provided on the side of the third link close to the second link; alternatively, a slide rail is provided on the side of the third link, and a slider matching the slide rail is fixedly provided on the side of the second link close to the third link; the slider is clamped on the slide rail and can slide up and down along the slide rail.

[0014] Compared with the prior art, the utility model has significant advantages and beneficial effects:

[0015] First of all, by introducing an extension mechanism, the utility model enables the sensor to be accurately deployed and recovered underwater, breaking through the limitations of traditional sensor mounting devices in terms of underwater depth and deployment range. This design not only enables the sensor to reach deeper water layers for measurement, but also improves the coverage of the exploration area, enabling the unmanned aerial vehicle to collect more comprehensive and accurate data when performing ocean observation tasks.

[0016] Secondly, the utility model adopts a design that combines motor drive and belt drive to ensure the stable operation of the extension mechanism and the stable deployment of the sensor. The motor, as the power source, provides continuous and stable driving force, and the precise cooperation of the belt and pulley further improves the reliability and stability of the system. Compared with the sensor mounting devices with complex mechanical structures and unstable driving in the prior art, the utility model improves the stability and safety during the sensor deployment process, avoiding operation errors or failures caused by uneven power transmission during the deployment and recovery processes.

[0017] In addition, the utility model adopts a lightweight design with a simple structure, which is convenient for installation and operation. Compared with traditional heavy and difficult-to-adapt sensor mounting equipment, the utility model achieves the purpose of reducing the self-weight of the system and optimizing the volume of the device through reasonable structural layout and precise power transmission method, enabling the unmanned aerial vehicle to carry more equipment and sensors, thereby broadening the application scope of the unmanned aerial vehicle in underwater exploration. Description of the Drawings

[0018] The drawings are used to provide a further understanding of the utility model, and constitute a part of the specification. They are used together with the embodiments of the utility model to explain the utility model, and do not constitute a limitation to the utility model.

[0019] Figure 1 It is a schematic diagram of the contracted state of the extension mechanism for the unmanned aerial vehicle mounting provided by an embodiment of the utility model;

[0020] Figure 2 It is a schematic diagram of the extended state of the extension mechanism for the unmanned aerial vehicle mounting provided by an embodiment of the utility model;

[0021] Figure 3 This is a schematic structural diagram of the contraction state of the extension mechanism provided by an embodiment of the present utility model;

[0022] Figure 4 This is a schematic structural diagram of the extended state of the extension mechanism provided by an embodiment of the present utility model;

[0023] Figure 5 This is a partial structural diagram A of the extension mechanism provided by an embodiment of the present utility model;

[0024] Figure 6 This is a partial structural diagram B of the extension mechanism provided by an embodiment of the present utility model.

[0025] Among them, each reference numeral represents:

[0026] 1 - unmanned aerial vehicle, 2 - extension mechanism, 201 - bracket, 202 - first single-groove pulley, 203 - first belt, 204 - first positioning pin, 205 - motor module, 205a - motor bracket, 205b - first bolt, 205c - second bolt, 205d - double-groove pulley, 206 - second belt, 207 - first connecting rod, 208 - third belt, 209 - second positioning pin, 210 - second single-groove pulley, 211 - second connecting rod, 212 - third positioning pin, 213 - third single-groove pulley, 214 - third connecting rod, 215 - fourth positioning pin, 216 - sensor, 217 - mounting plate. Detailed implementation manners

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Apparently, the described embodiments are some, but not all, of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0028] This embodiment provides an underwater exploration sensor extension mechanism for mounting on an unmanned aerial vehicle. As shown in Figure 1 and Figure 2 , the extension mechanism 2 is fixed to the unmanned aerial vehicle 1 through a plug-in bracket, and has contraction and extension functions, which can efficiently improve the convenience, reliability, and stability of the deployment and recovery of underwater exploration sensors.

[0029] The extension mechanism mainly consists of components such as a bracket, a motor, a belt, a pulley, a connecting rod, bolts, and pins. Among them, the motor serves as the power source and can output stable and sufficient rotational driving force. The connecting rod mainly undertakes the functions of connection and support. With its rigid structure, it provides stable support for the sensor. There are guide rails between the connecting rods, and the extension and contraction of the extension mechanism are achieved through the mutual movement between the connecting rods. During the deployment and recovery of the sensor, the belt is responsible for transmitting the power output by the motor to the connecting rod through the guiding and transmission effects of the pulley, pushing each connecting rod to extend and contract along the guide rail, and then driving the mounted sensor to perform deployment and recovery movements.

[0030] Specifically, referring to Figures 3 to 6 , the extension mechanism 2 mainly includes a bracket 201, a first single-groove pulley 202, a first belt 203, a first positioning pin 204, a motor module 205, a second belt 206, a first connecting rod 207, a third belt 208, a second positioning pin 209, a second single-groove pulley 210, a second connecting rod 211, a third positioning pin 212, a third single-groove pulley 213, a third connecting rod 214, a fourth positioning pin 215, a sensor 216, and a mounting plate 217.

[0031] The bracket 201 plays a role in supporting the whole. The bracket 201 is a plug-in board and can be quickly connected to the drone 1. The main function of the motor module 205 is to output rotational driving force as the power source. It mainly consists of a motor bracket 205a, a first bolt 205b, a second bolt 205c, and a double-groove pulley 205d. It drives the double-groove pulley 205d to rotate through the rotational driving force. The winding directions of the first belt 203 and the second belt 206 on the double-groove pulley 205d are opposite. In Figure 5 the perspective, when the motor rotates clockwise, the first belt 203 is released and the second belt 206 is retracted. When the motor rotates counterclockwise, the second belt 206 is released and the first belt 203 is retracted. The release and retraction of the belt drive the subsequent movement of the connecting rods of the extension mechanism, ultimately realizing the extension and contraction of the extension mechanism.

[0032] Sliding structures such as guide rails or chutes are provided on the sides of the first connecting rod 207, the second connecting rod 211, and the third connecting rod 214. Relative movement can occur between the connecting rods along the sliding structure. The first single-groove pulley 202, the second single-groove pulley 210, and the double-groove pulley 205d play a role in transmitting the load. The first positioning pin 204, the second positioning pin 209, the third positioning pin 212, and the fourth positioning pin 215 play a role in positioning and support. The mounting plate 217 at the lower end of the third connecting rod 214 is used for the installation and fixation of the in-situ observation sensor 216. The first bolt 205b and the second bolt 205c are used for the fixation of the motor bracket and the double-groove pulley 205d.

[0033] Taking the deployment and recovery of a dissolved oxygen detection sensor as an example, the usage process of this extension mechanism is described as follows:

[0034] First, install the dissolved oxygen sensor on the mounting plate 217 of the extension mechanism. The extension mechanism 2 can be directly plugged onto the drone 1 through the bracket 201. The drone carries the dissolved oxygen sensor to fly over the target water area. Driven by the motor, the carried sensor is put into the water by extending the extension mechanism. After data collection, the sensor is recovered by retracting the extension mechanism under the drive of the motor, and then it flies to the next observation point for subsequent measurement. Both the drone and the motor are operated and controlled through a remote wireless control module.

[0035] Specifically, assuming Figure 3 the retracted state is the initial state. When deploying the dissolved oxygen sensor, the motor module 205 drives the double-groove pulley 205d thereon to rotate forward (clockwise). At this time, the first belt 203 is released, and the second belt 206 is retracted. The second link 211 moves downward along the first link 207 under the pulling of the second belt 206. The third single-groove pulley 213 moves synchronously with the second link 211. Under the pulling of the third single-groove pulley 213 and the third belt 208, the third link 214 moves downward along the second link 211. Finally, the deployment of the dissolved oxygen sensor is realized through the extension of the extension mechanism 2.

[0036] As Figure 4 shown, when recovering the dissolved oxygen sensor, the motor module 205 drives the double-groove pulley 205d thereon to rotate backward (counterclockwise). At this time, the first belt 203 is retracted, and the second belt 206 is released. Under the pulling of the first belt 203, the third link 214 moves upward along the second link 211. At the same time, under the pulling of the third single-groove pulley 213 and the third belt 208, the second link 211 moves upward along the first link 207. Finally, the recovery of the sensor is realized through the retraction of the extension mechanism 2.

[0037] With a simple and reliable structural design and a stable transmission method, this embodiment realizes the deployment and recovery of the sensor carried, greatly improving the efficiency of measuring water environment parameters using the sensor and the authenticity and reliability of the measured data. Specifically, this embodiment uses a motor to provide continuous and stable driving force for the extension mechanism, and realizes the relative movement between the three-stage connecting rods by converting the rotational driving force of the motor, thereby realizing the deployment and recovery of the sensor carried by the extension mechanism in a stable and reliable manner. Moreover, this embodiment uses a three-stage connecting rod transmission method to realize the extension and contraction of the extension mechanism. This simple and stable structural design realizes the lightweight of the extension mechanism, effectively improving the stability, reliability and convenience of the sensor deployment and recovery. In addition, the sensor is extended underwater through the extension mechanism to realize in-situ ocean observation, ensuring the accuracy of the measured data.

[0038] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; under the idea of the present invention, the technical features in the above embodiments or different embodiments can also be combined, and there are many other changes in different aspects of the present invention as described above. For the sake of brevity, they are not provided in detail; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the various embodiments of the present application.

Claims

1. An underwater exploration sensor extension mechanism for UAV mounting, characterized in that It includes a bracket for connecting a drone, a first connecting rod and a motor module fixedly arranged on the bracket. It also includes a second connecting rod slidably arranged on the side of the first connecting rod and a third connecting rod slidably arranged on the side of the second connecting rod. An installation plate for installing a sensor is arranged at the lower end of the third connecting rod; a first belt and a second belt with opposite winding directions are arranged on the motor module; one end of the first belt is fixedly connected to a fourth positioning pin arranged at the lower part of the third connecting rod after being guided by a first single-groove pulley fixedly arranged on the bracket, and one end of the second belt is fixedly connected to a second positioning pin arranged at the upper part of the second connecting rod after being guided by a second single-groove pulley fixedly arranged at the lower part of the first connecting rod; It also includes a third belt. One end of the third belt is fixedly connected to a first positioning pin arranged at the upper part of the first connecting rod, and the other end of the third belt is fixedly connected to a third positioning pin arranged at the upper part of the third connecting rod after being guided by a third single-groove pulley, and the third single-groove pulley is arranged at the lower part of the second connecting rod.

2. The underwater exploration sensor extension mechanism according to claim 1, wherein, The motor module is provided with a double-groove pulley driven by a motor, and the first belt and the second belt are respectively wound in different belt grooves of the double-groove pulley.

3. The underwater exploration sensor extension mechanism according to claim 1, characterized in that A chute is arranged on the side of the first connecting rod, and a convex block matched with the chute is arranged on the side of the second connecting rod close to the first connecting rod; alternatively, a chute is arranged on the side of the second connecting rod, and a convex block matched with the chute is arranged on the side of the first connecting rod close to the second connecting rod; the convex block is clamped in the chute and can slide up and down along the chute.

4. The underwater exploration sensor extension mechanism according to claim 1, characterized in that, A chute is arranged on the side of the second connecting rod, and a convex block matched with the chute is fixedly arranged on the side of the third connecting rod close to the second connecting rod; alternatively, a chute is arranged on the side of the third connecting rod, and a convex block matched with the chute is fixedly arranged on the side of the second connecting rod close to the third connecting rod; the convex block is clamped in the chute and can slide up and down along the chute.

5. The underwater exploration sensor extension mechanism according to claim 1, characterized in that, A slide rail is arranged on the side of the first connecting rod, and a slider matched with the slide rail is fixedly arranged on the side of the second connecting rod close to the first connecting rod; alternatively, a slide rail is arranged on the side of the second connecting rod, and a slider matched with the slide rail is arranged on the side of the first connecting rod close to the second connecting rod; the slider is clamped on the slide rail and can slide up and down along the slide rail.

6. The underwater exploration sensor extension mechanism according to claim 1, characterized in that, A slide rail is arranged on the side of the third connecting rod, and a slider matched with the slide rail is fixedly arranged on the side of the third connecting rod close to the second connecting rod; alternatively, a slide rail is arranged on the side of the third connecting rod, and a slider matched with the slide rail is fixedly arranged on the side of the second connecting rod close to the third connecting rod; the slider is clamped on the slide rail and can slide up and down along the slide rail.

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