Telescopic underwater unmanned aerial vehicle vector propulsion device

Abstract

The utility model relates to the technical field of unmanned aerial vehicles, and provides a telescopic underwater unmanned aerial vehicle vector propulsion device. The propelling device is arranged on a vehicle body of the underwater unmanned aerial vehicle and comprises a telescopic mechanism, two underwater propellers, two hatch covers and two tilting mechanisms. Each hatch cover is fixed to one underwater thruster, and each underwater thruster is coupled to the output end of one tilting mechanism, so that each underwater thruster can rotate along with the output end of the coupled tilting mechanism. The tilting mechanism can enable the underwater propeller to rotate around the output axis of the tilting mechanism, so that the thrust direction of the underwater propeller can be adjusted as required. The propelling device can automatically stretch out of or retract into the unmanned aerial vehicle body according to the working requirements of the underwater unmanned aerial vehicle. When the underwater unmanned aerial vehicle needs to carry out fine movement, the propelling device automatically stretches out of the vehicle body, and support is provided for underwater movement of the underwater unmanned aerial vehicle.

Description

Technical Field

[0001] The utility model relates to the field of underwater unmanned aerial vehicles, in particular to a telescopic underwater unmanned aerial vehicle vector propulsion device. Background Art

[0002] Underwater drones, also known as unmanned remotely operated vehicles (ROVs) or autonomous underwater robots (AUVs), are robotic systems capable of performing various underwater tasks, including underwater rescue, communications relay, marine resource exploration, biological observation, and hydrological and meteorological surveys. Due to the limited internal space of underwater drones, designing the underwater propulsion system externally affects the robot's fluid profile, shortening its range and flight time.

[0003] With the maturity of underwater drone-related technologies, when using them to perform underwater rescue, biological observation, and marine resource exploration missions, they need to quickly approach the detection point and carry out precise detection activities, which requires them to have flexible underwater steering characteristics. Utility Model Content

[0004] In order to solve the above technical problems, the utility model provides a retractable underwater drone vector propulsion device arranged on the underwater drone, which can automatically extend or retract into the fuselage according to the working status of the underwater drone.

[0005] The propulsion device disclosed herein includes a telescopic mechanism, two underwater thrusters, two hatches, and two tilting mechanisms. Each hatch is secured to an underwater thruster, and each underwater thruster is coupled to the output of a tilting mechanism, enabling the tilting mechanism to control the rotation of the coupled underwater thruster. The telescopic mechanism includes a gear and two sliding bars. The gear meshes with the two sliding bars, so that rotation of the gear drives the two sliding bars to move linearly in sync. The two tilting mechanisms are each coupled to a sliding bar, so that rotation of the gear drives the two underwater thrusters to move linearly in sync.

[0006] Specifically, the telescopic mechanism also includes two first slide rails arranged along the telescopic direction. Each sliding bar is slidably mounted on one of the first slide rails. Each sliding bar and its mating first slide rail have a protruding tooth on one side, and a groove on the other side that mates with the protruding tooth. The two sliding bars are positioned on opposite sides of the gear, and each sliding bar has a rack near the side wall of the gear. More specifically, the telescopic mechanism also includes a gear servo, the output end of which is connected to the gear.

[0007] Optionally, the telescopic mechanism includes a first mounting plate, two second slide rails, and a plurality of sliders. The two first slide rails, the two second slide rails, and the gear servo are fixed to the first mounting plate. The two second slide rails are configured to extend in the telescopic direction and are respectively disposed outside one of the first slide rails. Each second slide rail is provided with at least one slider slidably coupled thereto, and each underwater thruster can be coupled to at least one of the second slide rails via the slider.

[0008] Optionally, the telescopic mechanism also includes four second slide rail mounting frames and two second mounting plates, both ends of each second slide rail are fixed to the first mounting plate through a second slide rail mounting frame, each second mounting plate is connected to a sliding bar and at least one slider, and each tilting mechanism is connected to a second mounting plate.

[0009] In some embodiments, the plurality of sliders are configured as six, and each second mounting plate is coupled to two second sliding rails through three sliders, wherein two sliders are arranged on the second sliding rails close to the sliding bar connected to the second mounting plate, and one slider is arranged on the second sliding rail away from the sliding bar connected to the second mounting plate.

[0010] Specifically, each tilt mechanism includes a tilt servo, a steering wheel, and a rotating shaft. The tilt servo is fixed to a second mounting plate. The steering wheel is connected to the output end of the tilt servo. One end of the rotating shaft is connected to the steering wheel, and the other end of the rotating shaft is coupled to an underwater thruster. Optionally, each tilt mechanism also includes a bearing, a rotating shaft sleeve, and a rotating shaft bracket. The rotating shaft sleeve is mounted on the rotating shaft, the bearing is disposed between the rotating shaft and the rotating shaft sleeve, and the rotating shaft sleeve is fixed to the corresponding second mounting plate via the rotating shaft bracket.

[0011] Optionally, each tilt mechanism further includes at least one thruster mounting bracket. The end of the rotating shaft proximal to the underwater thruster is configured as a flat plate. The at least one thruster mounting bracket is secured to the flat plate. Each underwater thruster is coupled to the rotating shaft of the corresponding tilt servo via the at least one thruster mounting bracket. Optionally, each tilt mechanism includes two bearings and two rotating shaft brackets, each of which is disposed at either end of the rotating shaft sleeve. The bearings are configured as plastic bearings.

[0012] Features and advantages of the present disclosure include:

[0013] The propulsion device provided by the utility model can automatically extend or retract into the fuselage according to the working state of the underwater drone. When the underwater drone needs to perform fine movements, the propulsion device automatically extends from the fuselage to support the underwater movement of the underwater drone.

[0014] The tilt mechanism can drive the underwater propeller to achieve tilt movements of ±90°, ±45° and 0° to change the angle of the underwater propeller, thereby adjusting the posture of the underwater drone in the water, and providing support for the underwater drone's movements such as ascent, descent, yaw, roll, forward diving or forward ascent.

[0015] The underwater drone vector propulsion device provided by this utility model can also be used to make the underwater drone rise, dive, or levitate to a certain height. It can serve as an alternative or auxiliary system for the underwater drone's buoyancy control system, reducing the size and weight of the buoyancy control system installed within the underwater drone, saving internal space within the underwater drone body. Furthermore, the fluid power generated by the rotation of the underwater propeller can be used to propel the underwater drone up and down, and the ascent depth and ascent speed of the underwater drone can also be adjusted. Compared with the traditional use of ballast water tanks as a buoyancy control system, this control method is more flexible and can control the underwater drone to hover at any position in the water. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0017] Figure 1 A three-dimensional schematic diagram of an underwater drone of the present invention is shown;

[0018] Figure 2 Shown Figure 1 A three-dimensional schematic diagram of the propulsion device in;

[0019] Figure 3 Shown Figure 1 A partial exploded diagram of the propulsion device in FIG;

[0020] Figure 4 A schematic diagram showing the assembly of the underwater propeller and the tilting mechanism of the propulsion device disclosed herein is shown;

[0021] Figure 5 A schematic diagram of the underwater drone of the present disclosure is shown, wherein the propulsion device is in a retracted state;

[0022] Figure 6 A schematic diagram of the underwater drone of the present disclosure is shown in a straight-flying state, with the propulsion device in an extended state and the thrust direction of the underwater propeller being horizontally forward;

[0023] Figure 7 A schematic diagram of the underwater drone of the present disclosure is shown in a floating state, with the propulsion device in an extended state and the thrust direction of the underwater propeller being vertically upward;

[0024] Figure 8 A schematic diagram of the underwater drone of the present disclosure is shown in a submerged state, with the propulsion device in an extended state and the thrust direction of the underwater propeller being vertically downward;

[0025] Figure 9 A schematic diagram of the underwater drone of the present disclosure is shown in a forward-floating state, with the propulsion device in an extended state and the thrust direction of the underwater propeller being obliquely upward and forward;

[0026] Figure 10 A schematic diagram of the underwater drone of the present invention is shown in a forward diving state, with the propulsion device in an extended state and the thrust direction of the underwater propeller being obliquely downward and forward.

[0027] Description of reference numerals:

[0028] 200- underwater drone, 202- fuselage;

[0029] 100-propulsion device, 101-underwater thruster, 102-hatch cover, 103-L-shaped connector, 104-thrust direction;

[0030] 10- telescopic mechanism, 11- gear servo, 12- gear, 13- slide bar, 14- first slide rail, 15- first mounting plate, 16- second slide rail, 17- second slide rail mounting bracket, 18- slider, 19- second mounting plate;

[0031] 20-tilt mechanism, 21-tilt servo, 22-steering wheel, 23-rotating shaft, 23a-main body, 23b-flat plate, 24-bearing, 25-rotating shaft sleeve, 26-rotating shaft bracket, 27-thruster mounting bracket. DETAILED DESCRIPTION

[0032] The following will be combined with the accompanying drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the embodiments described are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present disclosure.

[0033] In this disclosure, when one or more components are described as being connected, coupled, fixed, coupled, attached, or otherwise interconnected, such interconnection may be a direct interconnection between the components, or may be an indirect interconnection, such as through the use of one or more intermediate components. In this disclosure, the head position of the underwater drone is defined as "front", and the tail position of the underwater drone is defined as "rear". "Longitudinal" refers to the front-to-back direction, and "transverse" refers to the direction parallel to the horizontal plane and perpendicular to the "longitudinal", that is, "transverse" refers to the left-right direction.

[0034] refer to Figure 1The present invention provides an underwater drone 200, comprising a body 202 and a propulsion device 100. The propulsion device 100 is retractably mounted within the body 202. The propulsion device 100 can automatically extend or retract within the body 202 according to the drone's operational needs. When the drone needs to perform fine movements, the propulsion device 100 automatically extends from the body 202 to support the drone's underwater motion. To protect the propulsion device 100 from damage or reduce drag, the propulsion device 100 automatically retracts into the body 202.

[0035] The underwater drone 200 can be provided with one, two, three or more propulsion devices 100 as required, which can be installed at the front, middle or rear of the body 202 respectively. Figure 1 In the illustrated embodiment, the underwater drone 200 includes two propulsion devices 100, one located at the front and one at the rear of the drone. The two propulsion devices 100 work together to provide power for underwater drone 200, enabling it to navigate directly, ascend, descend, ascend in a forward-moving manner, and descend in a forward-moving manner.

[0036] See also Figure 2 and Figure 3 The propulsion device 100 includes a telescopic mechanism 10, two underwater thrusters 101, two hatches 102, and two tilting mechanisms 20. Each hatch 102 is secured to one underwater thruster 101, and each underwater thruster 101 is coupled to the output end of one tilting mechanism 20 (e.g., the rotation axis 23 of the tilting mechanism 20), allowing each underwater thruster 101 to rotate along with the output end of the tilting mechanism to which it is coupled. For example, the tilting mechanism can rotate the underwater thruster 101 180° or 360° around the tilting mechanism's output axis, allowing the thrust direction of the underwater thruster 101 to be adjusted as needed.

[0037] In some embodiments, the telescoping mechanism 10 includes a gear 12 and two sliding bars 13. The gear 12 meshes with the two sliding bars 13, so that rotation of the gear 12 drives the two sliding bars 13 to move linearly in sync. Two tilting mechanisms 20 are each coupled to a sliding bar 13, so that rotation of the gear 12 drives the two underwater thrusters 101 to move linearly in sync. For example, initially, the ends of the two sliders 13 connected to the tilt mechanism are both located near the gear 12, and the two underwater thrusters are retracted into the body 202. When the drive gear 12 rotates in a first direction, the ends of the two sliders 13 connected to the tilt mechanism move synchronously and linearly away from the gear 12 until the two underwater thrusters are fully extended from the body 202. At this point, the thrust directions of the underwater thrusters can be adjusted separately by the two tilt mechanisms 20. After the two underwater thrusters are adjusted back to a thrust direction that allows them to retract into the body 202 (for example, to a horizontal forward thrust direction), when the drive gear 12 rotates in a second direction, the ends of the two sliders 13 connected to the tilt mechanism move synchronously and linearly toward the gear 12 until the two underwater thrusters are fully retracted into the body 202, i.e., returning to the initial state. When the propulsion device 100 is in the initial state, except for the two hatches 102, all other components are located within the body 202.

[0038] Specifically, the hatch 102 is fixed to the side of the underwater propeller 101. The underwater propeller 101 includes a large part and a small part arranged along its axis. For example, the hatch 102 is fixed to the side of the large part of the underwater propeller 101. The body 202 is provided with openings corresponding to the number of hatches 102, and the shape of the opening is adapted to the shape of the hatch 102. When the propulsion device 100 is in an initial state, each hatch 102 is located at its corresponding opening of the body 202, and the hatch 102 and the body 202 form a complete shell. The shape of the opening of the body 202 can be configured into any shape suitable for the passage of the underwater propeller 101. Preferably, the shape of the opening of the body 202 is configured to be suitable for the passage of the underwater propeller 101 when it is in a horizontal forward thrust direction.

[0039] Continue to see Figure 2 and Figure 3Specifically, the telescopic mechanism 10 also includes a first drive component, a first mounting plate 15 and two first slide rails 14. The first drive component is used to drive the gear 12 to rotate, and can be a power device such as an electric motor, preferably a servo motor. Specifically, the first drive component is a gear servo 11, and the output end of the gear servo 11 is connected to the gear 12. The two first slide rails 14 are arranged on both sides of the gear 12 along the telescopic direction, and each sliding bar 13 is slidably set on a first slide rail 14. More specifically, one of the first slide rails 14 that each sliding bar 13 cooperates with is provided with a convex tooth, and the other is provided with a groove that cooperates with the convex tooth. Specifically, the convex tooth can be configured as a T-shape, a dovetail, etc. The first drive component and the first slide rail 14 are fixed to the first mounting plate 15, and the first mounting plate 15 is fixed to the body 202, that is, the propulsion device 100 is fixed to the body 202 through the first mounting plate 15.

[0040] The telescopic mechanism 10 extends in the horizontal direction, and the two first slide rails 14 extend in the horizontal direction and are arranged in parallel on both sides of the gear 12. Each sliding bar 13 extends in the horizontal direction and is arranged on a first slide rail 14, and each sliding bar 13 is provided with a rack near the side wall of the gear 12.

[0041] Optionally, the telescopic mechanism 10 further includes two second slide rails 16 and a plurality of sliders 18. The second slide rails 16 extend in the telescopic direction (i.e., transverse direction). Each second slide rail 16 is provided with at least one slider 18 that can slide along it. Each underwater propeller 101 can be coupled to at least one second slide rail 16 via the slider 18. Specifically, the two second slide rails 16 are configured to extend in the telescopic direction and are respectively provided on the outside of one first slide rail. Figure 2 and Figure 3 , two second slide rails 16 are fixed to the first mounting plate 15. The second slide rails 16 can provide support and lateral sliding guidance for the tilting mechanism 20 and the underwater thruster 101. The provision of two second slide rails 16 can increase the reliability of the device. Preferably, the two second slide rails 16 are made of carbon fiber, and the plurality of sliders 18 are plastic sliders, which can avoid the corrosion problem of sliders and slide rails made of metal in seawater and the lubrication problem caused by the corrosion of the sliders and slide rails. Alternatively, the number of second slide rails 16 can be set to 3 or 4, and the plurality of sliders 18 can be distributed on the 3 or 4 second slide rails 16.

[0042] Specifically, the telescopic mechanism 10 also includes four second slide rail mounting brackets 17, with each second slide rail 16 having both ends secured to the first mounting plate 15 via a second slide rail mounting bracket 17. Specifically, the telescopic mechanism 10 also includes two second mounting plates 19, each second mounting plate 19 being coupled to a slide bar 13 and at least one slider 18, and the two tilting mechanisms 20 being coupled to each second mounting plate 19.

[0043] Specifically, the second slide rail 16 is constructed as a round tube or a cylinder, and the slider 18 has a through hole. The second slide rail 16 extends through the through hole of the slider 18 so that the slider 18 is sleeved on the second slide rail 16. The top of the slider 18 is constructed as a plane suitable for combining with the second mounting plate 19. Preferably, in order to increase stability, Figure 2 and Figure 3 In the embodiment shown, the number of sliders 18 is six, and each second mounting plate 19 is coupled to two second slide rails 16 via three sliders 18. Two of the three sliders 18 are disposed on the second slide rails 16 close to the slide bar 13 coupled to the second mounting plate 19, and one of the sliders 18 is disposed on the second slide rails 16 away from the slide bar 13 coupled to the second mounting plate 19. Figure 2 and Figure 3 That is to say, the second mounting plate 19 located on the left side of the view is connected to the first slide rail 14 on the rear side of the gear 12, two sliders 18 are provided on the left side of the second slide rail 16 located on the rear side of the gear 12, and a slider 18 is provided on the left side of the second slide rail 16 located on the front side of the gear 12. The three sliders are connected to the second mounting plate 19 on the left.

[0044] Optionally, the gear 12 and the rack-equipped sliding bar 13 in the telescopic mechanism 10 can be replaced by a gear and synchronous belt type, a rocker arm connecting rod type, or a wire pulley.

[0045] Continue to see Figures 2 to 4 Each tilt mechanism 20 includes a second drive component and a rotating shaft 23. The second drive component is fixed to a second mounting plate 19. The rotating shaft 23 extends laterally. The output end of the second drive component is connected to one end of the rotating shaft 23, and the other end of the rotating shaft 23 is coupled to an underwater propeller 101. Specifically, the second drive component is used to drive the underwater propeller 101 to rotate, thereby changing the thrust direction of the underwater propeller 101. Specifically, the second drive component can be a power device such as an electric motor, such as a servo motor. Preferably, the second drive component is a tilt servo 21. Specifically, the side wall of the tilt servo 21 is provided with a connecting block 21a. The propulsion device 100 includes a plurality of L-shaped connectors 103. The tilt servo 21 is connected to the second mounting plate 19 via the L-shaped connectors 103. Specifically, the L-shaped connectors 103 include a vertical portion and a horizontal portion. The vertical portion is connected to the connecting block 21a of the tilt servo 21 by bolts, and the horizontal portion is connected to the second mounting plate 19 by bolts.

[0046] Specifically, each tilt mechanism 20 includes a steering wheel 22, which is connected to the output end of the tilt servo 21. One end of a rotating shaft 23 is connected to the steering wheel 22. More specifically, the tilt mechanism 20 also includes a bearing 24, a rotating shaft sleeve 25, and a rotating shaft bracket 26. The rotating shaft sleeve 25 is mounted on the rotating shaft 23, and the bearing 24 is disposed between the rotating shaft 23 and the rotating shaft sleeve 25. The rotating shaft sleeve 25 is fixed to the corresponding second mounting plate 19 via the rotating shaft bracket 26.

[0047] Preferably, the bearing 24 is configured as two, and the rotating shaft bracket 26 is configured as two, and the two bearings 24 and the two rotating shaft brackets 26 are respectively provided at both ends of the rotating shaft sleeve 25. Preferably, the bearing 24 is configured as a plastic bearing.

[0048] See also Figure 4 The rotating shaft 23 includes a main body 23a and a flat plate portion 23b. The main body 23a is configured as a circular tube or a cylinder. The end of the main body 23a close to the steering wheel 22 is configured to be suitable for combining with the steering wheel 22. The flat plate portion 23b is arranged at the other end of the main body 23a, that is, the flat plate portion 23b is arranged at the end of the main body 23a close to the underwater propeller. Each tilting mechanism 20 also includes a propeller mounting bracket 27, which is fixed to the flat plate portion 23b. Each propeller is connected to a rotating shaft 23 through the propeller mounting bracket 27. The propeller mounting bracket 27 can be provided as one or more. Preferably, the propeller mounting bracket 27 is configured as two, and each underwater propeller 101 is connected to a rotating shaft 23 through two propeller mounting brackets 27.

[0049] The thrust direction of the underwater propeller 101 is always perpendicular to the axis of the rotating shaft 23. The rotating shaft 23 is coaxially arranged with the output axis of the tilt-steering gear 21. That is, the thrust direction of the underwater propeller 101 is perpendicular to the output axis of the tilt-steering gear 21. Optionally, the tilt-steering gear 21 can drive the connected underwater propeller 101 to rotate 180° or 360° around the output axis of the tilt-steering gear. By rotating the underwater propeller 101, the thrust direction of the underwater propeller 101 can be changed.

[0050] The two propulsion devices 100 of the underwater drone 200 can be controlled differently or identically as needed. The following description will take the example of identical control of the two propulsion devices 100 as an example.

[0051] The following combination Figures 5 to 10 , details the specific conditions of the propulsion device 100 of the underwater drone 200 under various working conditions, including Figure 5 To retract the propulsion device 100 into the body 202, Figures 6 to 10 The propulsion device 100 extends out of the body 202. Figure 5When the underwater drone 200 does not need the propulsion device 100 to provide power, or when the underwater drone 200 just enters the water, in order to reduce resistance or prevent the propulsion device 100 from being damaged, the propulsion device 100 is retracted into the body 202. When the underwater drone 200 needs the propulsion device 100 to provide power, the driving gear servo 11 rotates to push the underwater propeller 101 horizontally out of the body, and the underwater propeller 101 is at 0°, such as Figure 6 At this time, the thrust direction 104 of the underwater propeller 101 is horizontally forward, and the underwater drone 200 is in a straight-flying state.

[0052] See also Figure 7 , driving the tilting servo 21 to rotate the underwater propeller 101 to 90 degrees, the thrust direction of the underwater propeller 101 is vertically upward, and the underwater drone 200 is in a vertical floating state. Figure 8 , driving the tilting servo 21 to rotate the underwater propeller 101 to -90 degrees, the thrust direction of the underwater propeller 101 is vertically downward, and the underwater drone 200 is in a vertical diving state. Figure 9 , driving the tilting servo 21 to rotate the underwater propeller 101 to 45 degrees, the thrust direction of the underwater propeller 101 is obliquely upward and forward, and the underwater drone 200 is in a forward floating state. Figure 9 , driving the tilting servo 21 to rotate the underwater propeller 101 to -45°, the thrust direction of the underwater propeller 101 is obliquely downward and forward, and the underwater drone 200 is in a forward diving state.

[0053] When the propulsion device 100 needs to be retracted into the body 202, the tilting servo 21 needs to be driven to return the underwater propeller 101 to the horizontal position (i.e. the thrust direction 104 is horizontally forward). Figure 6 .

[0054] The underwater propeller of the propulsion device of the present invention can be extended and retracted relative to the body, and the underwater propeller can realize tilting movement of ±90°, ±45° and 0° around the axis of the tilt-steering servo. This process will change the angle of the propeller of the underwater propeller, so that the thrust direction of the propeller of the underwater propeller changes, thereby adjusting the posture of the underwater UAV in the water. It has flexible maneuverability and can provide support for the underwater UAV's movements such as ascent, descent, yaw, roll, forward diving or forward ascent.

[0055] The propulsion device of the present invention can also enable the underwater drone to achieve yaw motion (not shown in the figure). The yaw motion of the underwater drone is controlled by controlling the differential motion of the two underwater propellers of the propulsion device 100. Specifically, Figure 6In the described embodiment, taking the example of making the underwater drone yaw to the left, the control system of the underwater drone controls the rotation speed of the underwater propeller on the left to be lower than the rotation speed of the underwater propeller on the right, so that the thrust on the right side of the drone is greater than the thrust on the left side, thereby generating a yaw torque to the left, and the underwater drone yaws to the left.

[0056] Similar to submarines, underwater drones typically have a separate internal buoyancy control system primarily used to control their ascent and descent. When the drone is on the surface, the system reduces buoyancy, allowing it to descend to a specified depth and achieve wave-like hovering or underwater navigation. When it needs to ascend, the system increases the drone's buoyancy, allowing it to surface. The underwater drone vector propulsion device provided by the utility model can also be used to enable the drone to ascend, descend, or hover to a certain altitude. It can serve as an alternative or auxiliary system to the drone's buoyancy control system, reducing the size and weight of the buoyancy control system installed within the drone and conserving internal space within the drone. Furthermore, the underwater drone vector propulsion device utilizes the fluid power generated by the rotation of the propeller of the underwater propeller to propel the drone upward and downward, and can also adjust the drone's ascent depth and ascent speed. Compared to traditional ballast tanks as a buoyancy control system, this device offers more flexible control and can control the drone to hover at any position in the water while consuming only limited battery power.

[0057] The propulsion device of the utility model has a compact structure, light weight, and flexible control mode, and provides a solution for the integrated design of underwater drones that meets engineering applications.

[0058] The above are only several embodiments of the present disclosure. Those skilled in the art may make various changes or modifications to the embodiments of the present disclosure based on the contents disclosed in the application documents without departing from the spirit and scope of the present disclosure.

Claims

1. A telescopic underwater drone vector propulsion device, characterized in that: include: telescopic mechanism, two underwater thrusters, two hatches and two tilting mechanisms; Each hatch cover is fixed to an underwater thruster, and each underwater thruster is coupled to an output end of a tilting mechanism so that the tilting mechanism can control the rotation of the coupled underwater thruster; The telescopic mechanism includes a gear and two sliding bars, wherein the gear is engaged with the two sliding bars so that the rotation of the gear can drive the two sliding bars to move linearly synchronously; The two tilting mechanisms are respectively connected to a sliding bar, so that the rotation of the gear can drive the two underwater thrusters to move linearly synchronously.

2. The telescopic underwater drone vector propulsion device according to claim 1, characterized in that: The telescopic mechanism further comprises two first slide rails arranged along the telescopic direction, each slide bar being slidably disposed on one of the first slide rails, and one of each slide bar and the first slide rail cooperating therewith being provided with a convex tooth, and the other being provided with a groove cooperating with the convex tooth; The two sliding bars are arranged on different sides of the gear, and each sliding bar is provided with a rack near the side wall of the gear.

3. The telescopic underwater drone vector propulsion device according to claim 2, characterized in that: The telescopic mechanism further comprises a gear servo, an output end of which is connected to the gear.

4. The telescopic underwater UAV vector propulsion device according to claim 3 is characterized in that: The telescopic mechanism includes a first mounting plate, two second slide rails and a plurality of slide blocks; The two first slide rails, two second slide rails and the gear servo are fixed to the first mounting plate. The two second slide rails are configured to extend along the telescopic direction and are respectively arranged on the outside of a first slide rail. Each second slide rail is provided with at least one slider slidably coupled thereto, and each underwater thruster can be coupled to at least one second slide rail via a slider.

5. The telescopic underwater UAV vector propulsion device according to claim 4 is characterized in that: The telescopic mechanism also includes four second slide rail mounting frames and two second mounting plates. The two ends of each second slide rail are fixed to the first mounting plate through a second slide rail mounting frame, each second mounting plate is connected to a sliding bar and at least one slider, and each tilting mechanism is connected to a second mounting plate.

6. The telescopic underwater drone vector propulsion device according to claim 5, characterized in that: The plurality of sliders are constructed in six pieces, and each second mounting plate is coupled to two second slide rails through three sliders, wherein two sliders are arranged on the second slide rails close to the slide bar connected to the second mounting plate, and one slider is arranged on the second slide rail away from the slide bar connected to the second mounting plate.

7. The telescopic underwater UAV vector propulsion device according to any one of claims 5 or 6, characterized in that: Each tilting mechanism includes a tilting servo, a steering wheel and a rotating shaft. The tilting servo is fixed to a second mounting plate, the steering wheel is connected to the output end of the tilting servo, one end of the rotating shaft is connected to the steering wheel, and the other end of the rotating shaft is coupled to an underwater thruster.

8. The telescopic underwater UAV vector propulsion device according to claim 7, characterized in that: Each tilting mechanism further includes a bearing, a rotating shaft sleeve and a rotating shaft bracket, wherein the rotating shaft sleeve is sleeved on the rotating shaft, the bearing is arranged between the rotating shaft and the rotating shaft sleeve, and the rotating shaft sleeve is fixed to the corresponding second mounting plate through the rotating shaft bracket.

9. The telescopic underwater UAV vector propulsion device according to claim 8, characterized in that: Each tilting mechanism further includes at least one thruster mounting bracket, the end of the rotating shaft close to the underwater thruster is configured as a flat plate portion, the at least one thruster mounting bracket is fixed to the flat plate portion, and each underwater thruster is connected to the rotating shaft of the corresponding tilting servo via at least one thruster mounting bracket.

10. The telescopic underwater UAV vector propulsion device according to claim 9, characterized in that: Each tilting mechanism has two bearings and two rotating shaft supports, which are respectively arranged at two ends of the rotating shaft sleeve, and the bearings are constructed as plastic bearings.

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