Storage mechanism for aeromagnetic measurement device of unmanned aerial vehicle

Abstract

The utility model discloses a storage mechanism for an aeromagnetic measurement device of an unmanned aerial vehicle, and relates to the technical field of aeromagnetic field measurement and matching positioning, the storage mechanism comprises a magnetic measurement equipment box, the bottom of which is provided with a traction rod and a butt joint rod; the locking assembly is connected between the traction rod and the butt joint rod, the locking assembly comprises a plug pin arranged on one side of the traction rod, the plug pin sequentially penetrates through the traction rod and the butt joint rod, and the plug pin is connected with the driver. According to the storage mechanism for the aeromagnetic measuring device of the unmanned aerial vehicle, the draw bar and the butt-joint rod are connected end to end through the hinge and the bolt, and when the bolt is moved out of the joint of the draw bar and the butt-joint rod, locking between the draw bar and the butt-joint rod can be relieved, so that the storage mechanism is convenient to use. The technical problem that when an existing unmanned aerial vehicle aviation magnetic field measuring device is used, it cannot be guaranteed that the magnetic measuring rod can be effectively retracted and released is effectively solved, stable retracting and releasing of the magnetic measuring rod are achieved, and therefore the use safety of the magnetic measuring rod is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of aviation magnetic field measurement and matching positioning, in particular to a storage mechanism for an unmanned aerial vehicle (UAV) aeromagnetic measurement device. Background Art

[0002] Magnetic prospecting is a geophysical prospecting method that studies the distribution patterns of geological structures and mineral resources (or other prospecting objects) by observing and analyzing magnetic anomalies caused by magnetic differences in rocks, ores (or other prospecting objects). Magnetic surveying is divided into ground magnetic surveying, airborne magnetic surveying, marine magnetic surveying, and borehole magnetic surveying according to the different spatial regions where magnetic anomalies are observed. The present invention belongs to the category of airborne magnetic surveying. Airborne magnetic surveying refers to magnetic surveying using a magnetometer mounted on an aircraft. It has the characteristics of being fast and not restricted by mountains, waters, forests, or swamps. Since the aircraft flies at a certain height above the ground, the influence of surface magnetic unevenness is reduced, which is more conducive to the magnetometer recording the magnetic field of geological structures in deep areas. The airborne magnetic scale is determined according to the geological task, the scale of the prospecting object, the geophysical characteristics of the surveyed area, and the aerial positioning technology.

[0003] Currently, the magnetic probe rod used in drone aeromagnetic surveys utilizes a segmented design with a mother rod and daughter rods. The mother rod has a fixed length, while the daughter rods are flexible and variable in length. This design can mitigate the effects of magnetic materials on the drone's body on the accuracy of aeromagnetic data. However, this segmented design cannot guarantee safe retraction and extension of the magnetic probe rod in the event of an operational anomaly. Utility Model Content

[0004] (1) Technical problems solved

[0005] In response to the deficiencies in the prior art, the utility model provides a storage mechanism for an unmanned aerial vehicle aeromagnetic measurement device. The traction rod and the docking rod are connected end to end by a hinge, and a latch is provided on the other side of the connection between the traction rod and the docking rod. The traction rod and the docking rod are fixed together by the latch. When the telescopic rod fails and the magnetic probe rod cannot be retracted or extended, the latch can be moved out of the connection between the traction rod and the docking rod by the servo to release the lock between the traction rod and the docking rod. After that, the traction rod and the docking rod can be retracted or extended by adjusting the landing method of the unmanned aerial vehicle, thereby solving the technical problem that the existing unmanned aerial vehicle aeromagnetic measurement device cannot ensure that the magnetic probe rod can be effectively retracted and extended when in use.

[0006] (2) Technical solution

[0007] In order to achieve the above objectives, the present invention is implemented through the following technical solutions:

[0008] A storage mechanism for an unmanned aerial vehicle (UAV) aeromagnetic measurement device. The aeromagnetic measurement device mainly consists of a magnetic measurement probe rod, a mounting frame, and a magnetic measurement equipment box. The magnetic measurement probe rod is composed of two traction rods and a docking rod that are hinged to each other, and a magnetic measurement probe is installed at the end of the docking rod.

[0009] The mounting frame is installed at the bottom of the UAV. The bottom of the mounting frame has four support rods for contacting the ground when the UAV lands and providing sufficient storage space for the magnetic measurement probe rod after retraction to prevent the magnetic measurement probe rod from contacting the ground.

[0010] The magnetic measurement equipment box is located at the bottom of the mounting frame and is used to detect the magnetic field intensity. It is internally equipped with a magnetic measurement counter, a magnetic measurement data recording device, a lithium battery, a GNSS positioning and timing module, and a wireless data transmission device. The magnetic measurement probe installed at the end of the magnetic measurement probe rod is connected to the magnetic measurement counter through a cable. Among them, the magnetic measurement counter is used to generate a magnetic measurement excitation signal; the magnetic measurement data recording device is used to record and store magnetic measurement data in real time; the lithium battery is used to supply power to the entire aviation magnetic field measurement device; the GNSS positioning and timing module is used to provide time tags and spatial position information for the magnetic measurement data; the wireless data transmission device is used to wirelessly transmit the magnetic measurement data to the magnetic measurement data display software in real time.

[0011] A locking assembly, connected between the traction rod and the docking rod and symmetric with the hinge between the traction rod and the docking rod, is used to maintain the docking state between the traction rod and the docking rod.

[0012] Among them, the locking assembly includes a bolt arranged on one side of the traction rod. The bolt is located on the side of the traction rod away from the hinge and sequentially penetrates through the traction rod and the docking rod. One end of the bolt is connected to a driver and can drive the bolt to move. When the bolt is removed from between the traction rod and the docking rod, the traction rod and the docking rod can rotate relative to each other under the action of the hinge.

[0013] Preferably, positioning members and telescopic rods corresponding to the front and rear are installed at the bottom of the magnetic measurement equipment box. Among them, the positioning member is hinged to one end of the traction rod, and the two ends of the telescopic rod are respectively hinged to the middle of the traction rod and the bottom of the magnetic measurement equipment box. Therefore, when the telescopic rod contracts, it can drive the traction rod and the docking rod connected thereto to flip together in the direction of the magnetic measurement equipment box, and in this way, the magnetic measurement probe rod can be retracted and deployed to prevent the magnetic measurement probe rod from affecting the landing of the UAV.

[0014] Preferably, the locking assembly includes a sleeve one and a sleeve two respectively sleeved on the opposite ends of the traction rod and the docking rod. Among them, two U-shaped blocks are symmetrically arranged on the surface of the sleeve one, and a collar one and a collar two on the sleeve two are respectively located in the openings of the two U-shaped blocks. In addition, one of the U-shaped blocks is connected to the collar one through a rotating shaft, and after unlocking, the traction rod and the docking rod can rotate around the rotating shaft between the U-shaped block and the collar one.

[0015] The other U-shaped block and the second shaft ring are both provided with through holes. When the traction rod and the docking rod are connected end to end, the through holes on the U-shaped block and the through holes on the second shaft ring correspond to each other and are connected to each other. At this time, the pin can pass through the through holes on the U-shaped block and the second shaft ring in turn, and be stuck between the U-shaped block and the second shaft ring, making it impossible to separate the two.

[0016] Preferably, the locking assembly further comprises a mounting seat mounted on the outer wall of the first sleeve, wherein a steering gear is embedded in the mounting seat, and the steering gear provides traction to the latch pin, enabling it to be moved out from between the U-shaped block and the second shaft collar. Since the steering gear and the latch pin have different motion modes, in order to convert the rotational motion of the steering gear into telescopic motion, a rotating rod on the output shaft of the steering gear is connected to the latch pin via a connecting rod. In this way, when the steering gear drives the rotating rod to rotate, the connecting rod can pull the latch pin inserted between the U-shaped block and the second shaft collar.

[0017] Preferably, in order to avoid collision between the connecting rod and other objects when the connecting rod moves, a gap is opened at one end where the latch is connected to the connecting rod, and the connecting rod can move in the gap of the latch, and the latch and the connecting rod are connected by a rotating shaft, one end of the connecting rod is hinged to the rotating rod, and the other end is plugged in.

[0018] Preferably, in order to prevent the pin from being completely pulled out when the servo moves, we install a baffle at the position of the mounting seat near the connecting rod to limit the rotation angle of the rotating rod. When the connecting rod and the pin are on the same straight line, the connecting rod fits with the baffle, so that the connecting rod cannot continue to rotate outward, thereby achieving a limiting effect.

[0019] (3) Beneficial effects

[0020] Since the traction rod and the docking rod are connected end to end by a hinge, and a pin is set on the other side of the connection between the traction rod and the docking rod, the traction rod and the docking rod are fixed together by the pin. When the telescopic rod fails and the magnetic probe rod cannot be retracted or extended, the pin can be moved out from the connection between the traction rod and the docking rod by the servo to release the lock between the traction rod and the docking rod. After that, the traction rod and the docking rod can be retracted and extended by adjusting the landing method of the drone. Therefore, the technical problem of the existing drone aviation magnetic field measurement device that cannot ensure that the magnetic probe rod can be effectively retracted and extended when in use is effectively solved, and the stable retraction and extension of the magnetic probe rod is achieved, thereby improving the safety of the use of the magnetic probe rod, so as to provide all-round protection for the retraction and extension of the magnetic probe rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above description is only an overview of the technical solution of the present utility model. In order to understand the technical means of the present utility model more clearly and be implemented in accordance with the content of the description, the following is a detailed description of the preferred embodiments of the present utility model in conjunction with the accompanying drawings as follows.

[0022] Figure 1 It is one of the schematic structural diagrams of the telescopic rod in the present utility model for retracting and extending the magnetic detection rod.

[0023] Figure 2 It is the second schematic structural diagram of the telescopic rod in the present utility model for retracting and extending the magnetic detection rod.

[0024] Figure 3 It is the schematic diagram of the motion state of unlocking through the locking component in the present utility model.

[0025] Figure 4 It is the schematic diagram of the back structure when the towing rod and the docking rod are locked in the present utility model.

[0026] Figure 5 It is the schematic diagram of the back structure when the towing rod and the docking rod are unlocked in the present utility model.

[0027] Figure 6 It is the schematic diagram of the structure when the locking component is locked in the present utility model.

[0028] Figure 7 It is the schematic diagram of the structure when the locking component is unlocked in the present utility model.

[0029] Figure 8 It is the schematic diagram of the structure of the locking component in the present utility model.

[0030] Figure 9 It is one of the schematic diagrams of the state when the magnetic detection rod is stored in the present utility model.

[0031] Figure 10 It is the second schematic diagram of the state when the magnetic detection rod is stored in the present utility model.

[0032] Legend description:

[0033] 1. Mounting frame;

[0034] 2. Support rod;

[0035] 3. Magnetic detection equipment box;

[0036] 41. Towing rod; 42. Docking rod; 43. Telescopic rod; 44. Positioning piece; 45. Sleeve one; 46. Sleeve two; 47. U-shaped block; 48. Collar one; 49. Collar two;

[0037] 5. Locking component; 51. Mounting seat; 52. Servo; 53. Rotating rod; 54. Link; 55. Plug; 56. Flap. DETAILED DESCRIPTION

[0038] The embodiment of the utility model solves the technical problem in the prior art that the aerial magnetic field measuring device of the drone cannot ensure that the magnetic probe rod can be effectively retracted and extended when in use by providing a storage mechanism for the aerial magnetic field measuring device of the drone. When the existing aerial magnetic field measuring device of the drone is in use, the traction rod and the docking rod are connected end to end by a hinge, and a pin is provided on the other side of the connection between the traction rod and the docking rod, and the traction rod and the docking rod are fixed together by the pin. When the telescopic rod fails and the magnetic probe rod cannot be retracted and extended, the pin can be moved out from the connection between the traction rod and the docking rod by the servo to release the lock between the traction rod and the docking rod. Thereafter, the traction rod and the docking rod can be retracted and extended by adjusting the landing mode of the drone, thereby realizing stable retraction and extension of the magnetic probe rod, thereby improving the safety of the use of the magnetic probe rod, and providing all-round protection for the retraction and extension of the magnetic probe rod.

[0039] Embodiment: The technical solution in the embodiment of the present application is to solve the technical problem in the prior art that the magnetic field measurement device of a drone cannot ensure that the magnetic probe rod can be effectively retracted when in use. A storage mechanism for a drone aeromagnetic measurement device is provided. The overall concept is as follows:

[0040] To address the problems existing in the prior art, the present invention provides a storage mechanism for an aeromagnetic measurement device for a drone. The aeromagnetic measurement device mainly comprises a magnetic probe rod, a mounting frame 1, and a magnetic measurement equipment box 3. The magnetic probe rod comprises two mutually hinged traction rods 41 and a docking rod 42, with a magnetic probe mounted at the end of the docking rod 42.

[0041] The mounting frame 1 is installed at the bottom of the drone. The bottom of the mounting frame 1 has four support rods 2, which are used to contact the ground when the drone lands. At the same time, it provides enough storage space for the magnetic probe rod after it is retracted to prevent the magnetic probe rod from contacting the ground. Figure 2 shown.

[0042] The magnetic measuring device box 3 is located at the bottom of the mounting frame 1 and is used to detect the magnetic field strength. The bottom of the magnetic measuring device box 3 is equipped with corresponding front and rear positioning members 44 and telescopic rods 43. The positioning member 44 is hinged to one end of the traction rod 41, and the two ends of the telescopic rod 43 are respectively connected to the middle of the traction rod 41 and the bottom of the magnetic measuring device box 3. Therefore, when the telescopic rod 43 is retracted, it can drive the traction rod 41 and the docking rod 42 connected thereto to flip toward the direction of the magnetic measuring device box 3. Figure 1 and Figure 2 As shown, the magnetic probe rod can be folded up in this way to prevent the magnetic probe rod from affecting the landing of the drone.

[0043] However, after using it, it was found that Figure 2As shown, since the length of the magnetic measurement probe is relatively large, and the connection between the telescopic rod 43 and the magnetic measurement probe is close to the end of the magnetic measurement probe, according to the principle of the lever, that is, the power arm × power = the resistance arm × resistance. Therefore, if the telescopic rod 43 wants to retract the magnetic measurement probe, it needs to provide a very large traction force for the magnetic measurement probe. Moreover, due to the limited load-bearing capacity of the drone and its inability to carry equipment with a large weight, the assembled telescopic rod 43 needs to be lightweight. For this reason, the telescopic rod 43 cannot effectively meet the requirements for the retraction and extension of the magnetic measurement probe, and occasionally there will be a situation where the magnetic measurement probe cannot be retracted in time. At this time, the magnetic measurement probe is vertically arranged at the bottom of the drone (as Figure 1 shown), resulting in the magnetic measurement probe hitting the ground during retraction, thereby causing wear or damage to the drone or the magnetic measurement probe. To solve this problem, we have designed an auxiliary locking component 5, which is mainly used to start when the magnetic measurement probe cannot be normally retracted.

[0044] The locking component 5 includes a sleeve one 45 and a sleeve two 46 respectively sleeved on the opposite ends of the traction rod 41 and the docking rod 42. Among them, two U-shaped blocks 47 are symmetrically arranged on the surface of the sleeve one 45, and the collar one 48 and the collar two 49 on the sleeve two 46 are respectively located in the openings of the two U-shaped blocks 47, as Figure 6 and Figure 7 shown; in addition, it can also be seen from the figure that one of the U-shaped blocks 47 is connected to the collar one 48 through a rotating shaft, and after unlocking, the traction rod 41 and the docking rod 42 can rotate around the rotating shaft between the U-shaped block 47 and the collar one 48.

[0045] Both the other U-shaped block 47 and the collar two 49 are provided with through holes, as Figure 6 shown. When the traction rod 41 and the docking rod 42 are connected end to end, the through holes on the U-shaped block 47 and the through holes on the collar two 49 correspond to each other and are interconnected. At this time, the bolt 55 can pass through the through holes on the U-shaped block 47 and the collar two 49 in sequence and be stuck between the U-shaped block 47 and the collar two 49, making it impossible to separate the two; since the other U-shaped block 47 and the collar one 48 are connected by a rotating shaft, when the bolt 55 is inserted between the U-shaped block 47 and the collar two 49, the traction rod 41 and the docking rod 42 can be locked, making it impossible for them to separate from each other.

[0046] In addition, the locking component 5 further includes a mounting seat 51 installed on the outer wall of the sleeve one 45, and a servo motor 52 is embedded in the mounting seat 51 to provide a traction force for the bolt 55 so that it can move out from between the U-shaped block 47 and the collar two 49. Since the movement modes of the servo motor 52 and the bolt 55 are different, therefore, in order to convert the rotational movement of the servo motor 52 into a telescopic movement, the rotating rod 53 on the output shaft of the servo motor 52 is connected to the bolt 55 through a connecting rod 54, as Figure 8As shown, when the steering gear 52 drives the rotating rod 53 to rotate, the connecting rod 54 can pull the pin 55 inserted between the U-shaped block 47 and the second collar 49. In addition, in order to prevent the connecting rod 54 from colliding with other objects during movement, a notch is opened at one end of the pin 55 connected to the connecting rod 54, as Figure 8 shown. The connecting rod 54 can move in the notch of the pin 55, and the pin 55 and the connecting rod 54 are connected by a rotating shaft. Through Figure 6 - Figure 8 shown, it can be seen that one end of the connecting rod 54 is hinged to the rotating rod 53 and the other end is inserted.

[0047] When the pin 55 moves away from between the towing rod 41 and the docking rod 42, only the rotating shaft affects the towing rod 41 and the docking rod 42. Therefore, the two can rotate relative to each other through the rotating shaft. As Figure 6 and Figure 7 shown. In order to ensure that the pin 55 can accurately enter the through hole on the U-shaped block 47, a positioning hole is opened at the position of the mounting seat 51 close to the U-shaped block 47, and this positioning hole corresponds to the through hole on the U-shaped block 47. In this way, when the rotating rod 53 rotates, it can drive the pin 55 to move away from the U-shaped block 47, thereby realizing the switching between locking and unlocking.

[0048] In order to prevent the steering gear 52 from completely pulling out the pin 55 during movement, a retaining piece 56 for restricting the rotation angle of the rotating rod 53 is installed at the position of the mounting seat 51 close to the connecting rod 54. When the connecting rod 54 and the pin 55 are on the same straight line (as in the states shown in Figure 7 and Figure 8 ), the connecting rod 54 fits with the retaining piece 56, so that the connecting rod 54 cannot continue to rotate outwards, thus achieving the limiting effect.

[0049] In the specific implementation process, when the telescopic rod 43 fails to retract the magnetic detection rod in time, the steering gear 52 is powered on. Since the rotating rod 53 on the output shaft of the steering gear 52 is connected to the pin 55 through the connecting rod 54, and the connecting rod 54 is connected to the rotating rod 53 or the pin 55 through a rotating shaft, when the steering gear 52 drives the rotating rod 53 to rotate, the rotational movement of the rotating rod 53 can be converted into the telescopic movement of the pin 55. A common example is the engine piston movement.

[0050] Since the U-shaped block 47 and the first collar 48 are connected by a rotating shaft, when the pin 55 is inserted between the U-shaped block 47 and the second collar 49, the towing rod 41 and the docking rod 42 can be locked so that they cannot be separated from each other. Then, driven by the rotating rod 53, the pin 55 is removed from between the U-shaped block 47 and the second collar 49. At this time, the towing rod 41 and the docking rod 42 are only connected by the rotating shaft between the U-shaped block 47 and the first collar 48, and then the drone can be controlled to land.

[0051] When the drone lands, as Figure 9 and Figure 10 shown, first make the magnetic detection rod at the bottom of the drone contact the ground, and then control the drone to move obliquely downward away from the telescopic rod 43 (as Figure 9 shown). At this time, the towing rod 41 and the docking rod 42 rotate around the rotating shaft, and the support rod 2 at the bottom of the direct mounting bracket 1 contacts the ground (as Figure 10 shown). Thus, the retraction and extension of the magnetic detection rod are completed, avoiding the influence caused by the inability to normally retract the magnetic detection rod.

[0052] Finally, it should be noted that: Obviously, the above embodiments are only examples for clearly explaining the present invention, rather than limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. And the obvious changes or modifications derived therefrom are still within the protection scope of the present invention.

Claims

1. A storage mechanism for an unmanned aerial vehicle aeromagnetic measurement device, characterized in that, The storage mechanism includes: A magnetic measurement equipment box (3) with two traction rods (41) and a docking rod (42) that are hinged to each other at the bottom; A locking assembly (5) connected between the traction rod (41) and the docking rod (42), and symmetric with the hinge between the traction rod (41) and the docking rod (42), for restricting the relative rotation between the traction rod (41) and the docking rod (42); Among them, the locking assembly (5) includes a bolt (55) arranged on one side of the traction rod (41). The bolt (55) is located on the side of the traction rod (41) away from the hinge, and sequentially penetrates through the traction rod (41) and the docking rod (42). One end of the bolt (55) is connected to a driver and can drive the bolt (55) to move; When the bolt (55) is removed from between the traction rod (41) and the docking rod (42), the traction rod (41) and the docking rod (42) can relatively rotate under the action of the hinge.

2. The storage mechanism for the unmanned aerial vehicle airborne magnetic survey device according to claim 1, characterized in that: One end of the traction rod (41) is hinged to a positioning member (44) at the bottom of the magnetic measurement equipment box (3), and the middle of the traction rod (41) is connected to the bottom of the magnetic measurement equipment box (3) through a telescopic rod (43); Among them, the docking rod (42) is connected to the other end of the traction rod (41), and when the telescopic rod (43) contracts, it drives the docking rod (42) to flip towards the direction where the magnetic measurement equipment box (3) is located.

3. The storage mechanism for the unmanned aerial vehicle aeromagnetic measurement device according to claim 1, characterized in that: Sleeve one (45) and sleeve two (46) are respectively sleeved on the opposite ends of the traction rod (41) and the docking rod (42). Among them, two U-shaped blocks (47) are symmetrically arranged on the surface of the sleeve one (45), and collar one (48) and collar two (49) on the sleeve two (46) respectively correspond to the two U-shaped blocks (47); One of the U-shaped blocks (47) is connected to the collar one (48) through a rotating shaft; Through holes are respectively opened on the other U-shaped block (47) and the collar two (49). When the traction rod (41) and the docking rod (42) are connected end to end, the through holes on the U-shaped block (47) and the through holes on the collar two (49) communicate with each other, and the bolt (55) sequentially passes through the through holes on the U-shaped block (47) and the collar two (49).

4. The storage mechanism for the unmanned aerial vehicle magnetic measurement device according to claim 3, characterized in that: The locking assembly (5) further includes a mounting seat (51) arranged on the outer wall of the sleeve one (45), and a steering gear (52) is embedded in the mounting seat (51). A rotating rod (53) on the output shaft of the steering gear (52) is connected to the bolt (55) through a connecting rod (54); Among them, a positioning hole is opened at a position of the mounting seat (51) close to the U-shaped block (47), and the positioning hole corresponds to the through hole on the U-shaped block (47). The bolt (55) is inserted into the positioning hole; When the rotating rod (53) rotates, it can drive the bolt (55) to slide in the through hole.

5. The storage mechanism for the drone airborne magnetic measurement device according to claim 4, characterized in that: One end of the connecting rod (54) is hinged to the rotating rod (53), and the other end is inserted into the notch at the end of the pin (55), and the pin (55) and the connecting rod (54) are connected by a rotating shaft; Wherein, the connecting rod (54) can move in the notch of the pin (55).

6. The storage mechanism for the drone airborne magnetic survey device according to claim 5, characterized in that: A stop piece (56) is installed at a position of the mounting seat (51) close to the connecting rod (54), and when the connecting rod (54) and the pin (55) are on the same straight line, the connecting rod (54) is in mutual contact with the stop piece (56).

7. The storage mechanism for the drone airborne magnetic measurement device according to claim 2, characterized in that: The magnetic measurement equipment box (3) is located at the bottom of the mounting frame (1), and the support rods (2) at the bottom of the mounting frame (1) are symmetrically arranged at the edge of the magnetic measurement equipment box (3); Wherein, the length of the support rod (2) is greater than the sum of the lengths of the traction rod (41) and the positioning member (44).

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