CN112429251A - Small aerial array docking and separating mechanism and method meeting electrical connection - Google Patents
Small aerial array docking and separating mechanism and method meeting electrical connection Download PDFInfo
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- CN112429251A CN112429251A CN202011452736.4A CN202011452736A CN112429251A CN 112429251 A CN112429251 A CN 112429251A CN 202011452736 A CN202011452736 A CN 202011452736A CN 112429251 A CN112429251 A CN 112429251A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D39/00—Refuelling during flight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
Abstract
The invention belongs to the technical field of space butt joint, and particularly relates to a small aerial array butt joint and separation mechanism and a method meeting electrical connection. The mechanism and the method for butting and separating the small aerial array meet the requirement of electrical connection, are focused on electrical connection, occupy small space, have reliable guide surfaces and have small moving gaps.
Description
Technical Field
The invention belongs to the technical field of space butt joint, and particularly relates to a small aerial array butt joint and separation mechanism and method meeting electrical connection.
Background
The development and the application of the air butt joint of the unmanned aerial vehicle arouse high importance of all countries, and people put forward higher requirements to the aerial navigation of the unmanned aerial vehicle, information transmission between the unmanned aerial vehicles and the load of the unmanned aerial vehicle, and the modular design of the operation unit. A docking/separating mechanism which can simultaneously ensure the electrical connection and the structural connection when two unmanned aerial vehicles are docked can ensure the reliability of information transmission between the unmanned aerial vehicles and the structural stability of aerial array assembly flight; can be with the functional object design modularization of unmanned aerial vehicle system for the cost of unmanned aerial vehicle system reduces, and storage space reduces. The suitability and the application possibility of unmanned aerial vehicle system have greatly been enriched.
Most of the traditional air docking mechanisms are applied to air refueling systems, an active docking system (a fuel carrying machine) docks a passive docking system (a fuel receiving machine), and a guide profile guides an active docking head to go deep into a docking port, so that a docking locking action is completed. The mechanism requires that the butt joint mechanism has a longer axial distance, the butt joint action is discontinuous, the butt joint position is not accurate enough, the adjustment of the butt joint position through the guidance of the guide surface has collision interference, and the electrical connection cannot be realized.
The electromagnetic docking mechanism is used for accurately aligning the positions of the driving docking system and the driven docking system through electromagnetic force and then performing grabbing and locking of the mechanism through rotary driving or docking claws. The mechanism requires that the docking mechanism has enough axial distance for the rotary driving mechanism to screw in and lock, and the docking performance of the system is poor due to uncertainty of the thread starting point of the threaded screw.
Based on docking mechanism of butt joint hook, through two butt joint face laminating collisions, then butt joint hook locking butt joint face. Similarly, after the connection of the mating surface structure is secured, the electrical connection operation is performed. The mechanism has no guiding action, so that the requirement of air butt joint is difficult to meet, and the mutual interference of the connection action is easily caused because the electrical connection action and the structural connection action are discontinuous.
In addition, based on the most occupation space of aerial unmanned aerial vehicle butt joint system that foretell mechanism scheme designed is great, and mechanism connection rigidity is relatively poor, and the clearance is great between the mechanism, leads to can be because relative velocity produces not hard up collision between the unmanned aerial vehicle. The working capability of small space, high rigidity and reliable electrical connection is not provided.
Disclosure of Invention
The present invention is directed to overcoming the above-mentioned deficiencies in the prior art and providing a small aerial array docking and undocking mechanism and method that satisfies electrical connection with less space occupation, reliable guiding surface, and small play.
In order to achieve the above objects, the present invention provides a small aerial array docking and detaching mechanism satisfying electrical connection, which comprises a passive docking mechanism 1 and an active docking mechanism 2, wherein the passive docking mechanism 1 and the active docking mechanism 2 are movably connected, and is characterized in that: the passive docking mechanism includes at least: the device comprises an electric female head 101, a female lead screw 102, a passive butt joint lead screw slider 103, a passive butt joint cushion 104, a passive butt joint slider 105, a passive butt joint limit ring 106, a limit strip 107, a guide surface 108, a passive steering engine 109, a passive butt joint driving gear 110, a passive butt joint driven gear 111 and a passive mechanism shell 112; the electric female head 101 is embedded in the female screw rod 102, the female screw rod 102 is fixedly connected with the driven butt joint gear 111, the driven butt joint screw rod sliding block 103 is driven to move axially by the rotation of the driven butt joint steering engine 109 transmitted by the driven butt joint driving gear 110, and the driven butt joint limiting ring 106 restrains the axial movement length of the driven butt joint sliding block 105; the axial movement of the passive butt joint lead screw slide block 103 drives the passive butt joint slide block 105 to move and the limit strip 107 and the guide surface 108 to move inwards; a passive mechanism shell 112 is used as a mechanism structure foundation, and an active butt joint passive steering engine 109 is arranged at a steering engine mounting port special for the bottom of the shell; the driven docking driving gear 110 and the driven docking driven gear 111 are respectively connected with the master part and the slave part thereof, and are locked by the special convex characteristic on the shell; the female screw 102 is fixedly connected with the driven gear 110; the limiting strip 107 is connected to the butt joint sliding block 10 through threads; the guide surface 108 is arranged on the butt joint surface and guides the hook 207 of the active butt joint mechanism; the electric female head 101, the female lead screw 102, the passive butt lead screw slide block 103, the passive butt cushion 104 and the passive butt slide block 105 are connected in an embedded mode according to the size.
The passive docking mechanism 1 is composed of an electric female head 101, a female screw 102, a passive docking screw slider 103, a passive docking buffer pad 104, a passive docking slider 105, a passive docking limit ring 106, a limit strip 107, a guide surface 108, an active docking passive steering engine 109, a passive docking driving gear 110, a passive docking driven gear 111 and a passive mechanism shell 112. The electric female head 101 is embedded in the female screw rod 102 and is in clearance fit with the hole to ensure the connection stability, the female screw rod 102 is fixedly connected with the driven butt joint gear 111, and the driven butt joint screw rod slider 103 is driven to axially move by the rotation of the driven steering engine 109 transmitted by the driven butt joint driving gear 110, and meanwhile, the driven butt joint limiting ring 106 restrains the axial movement length of the driven butt joint slider 105; the axial movement of the passive docking lead screw slider 103 drives the contraction/expansion movement of the passive docking slider 105 to generate the forward/backward movement of the electric bus head 101 relative to the passive docking slider 105 on the one hand, and drives the limit strip 107 and the guide surface 108 to generate the inward contraction/expansion on the other hand; the gap between the stop bar 107 and the guide surface 108 is reduced/increased to produce a locking/unlocking action for the hook 207 of the active docking mechanism.
All parts of the passive docking mechanism are connected with a passive mechanism shell 112 in an active or passive mode, wherein a passive steering engine 109 is arranged at a special steering engine mounting port at the bottom of the shell and is driven by a standard SG90 type steering engine; the driven docking driving gear 110 and the driven docking driven gear 111 are further locked in position through a special convex feature on the shell except for being respectively connected with a master part and a slave part of the driven docking driving gear; the female lead screw 102 is fixedly connected with the driven gear 110 structurally; the limiting strips 107 are connected to four corresponding positions of the passive butt joint sliding block 105 through threads; the guide surface 108 is arranged on the butt joint surface and plays a role of guiding the hook 207 of the active butt joint mechanism; the electric female head 101, the female lead screw 102, the passive butt lead screw slide block 103, the passive butt cushion 104 and the passive butt slide block 105 are connected in an embedded mode according to the size.
The driving butt joint mechanism 2 is composed of an electric male head 201, a male screw rod 202, a driving butt joint screw rod slider 203, a driving butt joint buffer pad 204, a driving butt joint slider 205, a driving butt joint limiting ring 206, a hook 207, a hook connecting rod 208, a driven butt joint driving steering gear 209, a driving butt joint driving gear 210, a driving butt joint driven gear 211 and a driving mechanism shell 212. The electric male head 201 is embedded in the male lead screw 202 and is in clearance fit with the hole to ensure the connection stability, the male lead screw 202 is fixedly connected with the driving butt joint driven gear 211, the driving butt joint driving gear 210 transmits the rotation of the driven butt joint driving steering engine 209 to drive the driving butt joint lead screw slider 203 to axially move, and meanwhile, the driving butt joint limiting ring 206 restricts the axial movement length of the driving butt joint slider 205; the axial movement of the active docking lead screw slider 203 drives the contraction/expansion movement of the active docking slider 205 to generate the forward/backward movement of the electric male head 201 relative to the active docking slider 205 on the one hand, and drives the hook 207 and the hook link 208 to generate the inward contraction/expansion release action on the other hand; the locking/unlocking function of the active docking mechanism on the passive docking mechanism is realized.
All parts of the active docking mechanism are connected with an active mechanism shell 212 in an active or passive mode, wherein a passive docking active steering engine 209 is installed at a special steering engine installation port at the bottom of the shell and is driven by a standard SG90 type steering engine; the driving docking driving gear 210 and the driving docking driven gear 211 are further locked in position by a special convex feature on the housing, in addition to being respectively connected with the master and slave parts thereof; the male lead screw 202 is structurally and fixedly connected with the driven gear 210; the hook claws 207 are connected with four corresponding positions of the active butt joint sliding block 205 through threads; the hook claw connecting rod 208 is arranged on a corresponding threaded opening of the active mechanism shell 212 to play a role in guiding the hook claw 207 of the active docking mechanism; the electric male head 201, the male screw rod 202, the active butt lead screw slider 203, the active butt cushion 204 and the active butt slider 205 are connected in an embedded mode according to the size.
A small aerial array docking and undocking mechanism and method for satisfying electrical connections includes: a guiding stage: the active docking unmanned aerial vehicle sends a docking signal, at the moment, a passive docking active steering engine 209 of the active docking mechanism 2 rotates to generate forward axial movement of the active docking sliding block 205, and further drives the hook claw 207 to generate an expansion action to wait for a docking grabbing process; the passive butt joint unmanned aerial vehicle receives the butt joint signal, and the passive steering engine 109 of passive butt joint mechanism 1 rotates this moment, produces the forward axial motion of passive butt joint slider 105, and then drives spacing strip 107 and moves forward equally, waits for the snatching of active mechanism.
Grabbing and locking of the driving mechanism: the butt joint surfaces of the active and passive butt joint mechanisms are continuously close to each other, at the moment, when the butt joint surfaces are close to a critical distance, the four hooks 207 can enter the range of the guide surface 108, at the moment, the two butt joint surfaces are continuously close to each other, then the hooks 207 slide into the gaps between the limiting strips 107 and the guide surface 108 through the guide lines of the guide surface 108, at the moment, the collision is buffered through the passive butt joint buffer pads 104/204 of the two butt joint mechanisms, then the passive butt joint active steering engine 209 starts to rotate to drive the active butt joint sliding block 205 to perform contraction movement, at the moment, the generated relative movement enables the electric female head 101 to be in butt joint with the electric male head 201, then the hooks 207 contract and are embedded into the gaps between the limiting strips 107, the grabbing and locking of the butt joint mechanisms are completed.
Unlocking and releasing of the passive mechanism: the passive steering engine 109 of the passive mechanism 1 starts to rotate, so that the passive butt joint sliding block 105 is driven to produce stretching action, at the moment, the connection between the electric male head 201 and the electric female head 101 is disconnected, then the active butt joint mechanism is passively butted with the active steering engine 209 to rotate, so that the active butt joint sliding block 205 is driven to produce stretching action, at the moment, the hook claw 207 produces releasing action, slides out from the gap between the limiting strip 107 and the guide surface 108, and the structural connection of the two butt joint surfaces is disconnected.
A separation stage: through passive mechanism's unblock and release stage, the electric between two unmanned aerial vehicles this moment and the whole disconnection of structural connection, next through the restriction of guide surface 108, active passive unmanned aerial vehicle alright break away from each other.
Compared with the prior art, the invention has the following advantages:
firstly, the invention adopts the claw grabbing combined with the guide surface to carry out butt joint guide on the active and passive butt joint mechanism, realizes accurate positioning and stable grabbing of the butt joint mechanism, has reliable structure and stable connection, and can meet the butt joint process in the posture small disturbance process in the air butt joint process of the unmanned aerial vehicle.
Secondly, the screw rod drives the butt joint sliding block to move back and forth in the axial direction, so that the electric connector moves back and forth relative to the butt joint sliding block, and the male and female electric butt joints can be connected and released through the movement.
Thirdly, the SG90 steering engine drives the whole butt joint process, and the grabbing action and the locking action of electrical and structural connection in the butt joint process are cooperatively controlled, so that the control of the structure is extremely simple, the reliability is maintained, and the simplicity is realized.
Fourthly, the invention occupies a smaller space, and the aperture for electrical connection inside is larger, compared with the traditional butt joint mechanism, the size of the occupied space is 37mm multiplied by 80mm, and the aperture for electrical connection inside is 30mm, thereby greatly improving the utilization rate of the space.
Fifth, the invention has simple and reliable structure and simple process, realizes electrical connection on the basis of ensuring the reliability of structural connection by realizing structural connection firstly, adopts standard components as the electrical connector, is adaptive to various common electrical connectors, and has high working reliability and high part replaceability.
Drawings
Fig. 1A is a schematic diagram of a passive docking structure according to an embodiment of the present invention in a first state, and fig. 1B is a perspective working view of fig. 1A;
fig. 2A is a schematic diagram of a passive docking structure according to a second state of the embodiment of the present invention, and fig. 2B is a perspective working view of fig. 2A;
FIG. 3 is a schematic diagram of an active docking structure according to an embodiment of the present invention;
FIG. 4 is an exploded view of an active docking structure;
FIG. 5A is an electrical and structural diagram of an embodiment of the present invention; FIG. 5B is a schematic diagram of electrical and structural connections according to an embodiment of the present invention;
FIG. 6 is a partial view of a finger locking arrangement;
FIG. 7 is a diagram showing the docking/undocking process (A-B-C is the docking process and C-B-A is the undocking process).
In the figure: 1. passive docking mechanism: 101. an electrical female connector; 102. a female lead screw; 103. passively butting a lead screw slide block; 104. a passive docking cushion; 105. a passive docking slide block; 106. a passive butt joint limiting ring; 107. a limiting strip; 108. a guide surface; 109. actively connecting a passive steering engine in a butt joint mode; 110. a driving gear is in passive butt joint; 111. passively butting driven gears; 112. a passive mechanism housing; 2. the active butt joint mechanism comprises: 201. an electrical male; 202. a male lead screw; 203. actively butting a lead screw slide block; 204. actively docking the cushion; 205. actively butting the sliding block; 206. actively butting the limiting ring; 207. a hook claw; 208. a knuckle connecting rod; 209. a passive butt joint active steering engine; 210. actively butting a driving gear; 211. the driven gear is in active butt joint; 212. an active mechanism housing.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following description is presented to enable one of ordinary skill in the art to make and use the present invention as provided within the context of a fully functioning computer system. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1A, fig. 1B, fig. 2A, and fig. 2B, a small aerial array docking and detaching mechanism satisfying electrical connection includes a passive docking mechanism 1 and an active docking mechanism 2, the passive docking mechanism 1 and the active docking mechanism 2 are movably connected, and the passive docking mechanism at least includes: the device comprises an electric female head 101, a female lead screw 102, a passive butt joint lead screw slider 103, a passive butt joint cushion 104, a passive butt joint slider 105, a passive butt joint limit ring 106, a limit strip 107, a guide surface 108, a driving butt joint passive steering engine 109, a passive butt joint driving gear 110, a passive butt joint driven gear 111 and a passive mechanism shell 112; the electric female head 101 is embedded in the female screw rod 102, the female screw rod 102 is fixedly connected with the driven butt joint gear 111, the driven butt joint screw rod sliding block 103 is driven to move axially by the rotation of the driven butt joint steering engine 109 transmitted by the driven butt joint driving gear 110, and the driven butt joint limiting ring 106 restrains the axial movement length of the driven butt joint sliding block 105; the axial movement of the passive butt joint lead screw slide block 103 drives the passive butt joint slide block 105 to move and the limit strip 107 and the guide surface 108 to move inwards; a passive mechanism shell 112 is used as a mechanism structure foundation, and an active butt joint passive steering engine 109 is arranged at a steering engine mounting port special for the bottom of the shell; the driven docking driving gear 110 and the driven docking driven gear 111 are respectively connected with the master part and the slave part thereof, and are locked by the special convex characteristic on the shell; the female screw 102 is fixedly connected with the driven gear 110; the limiting strip 107 is connected to the butt joint sliding block 10 through threads; the guide surface 108 is arranged on the butt joint surface and guides the hook 207 of the active butt joint mechanism; the electric female head 101, the female lead screw 102, the passive butt lead screw slide block 103, the passive butt cushion 104 and the passive butt slide block 105 are connected in an embedded mode according to the size.
As shown in fig. 3 and 4, the active docking mechanism 2 at least includes: the electric male head 201, a male screw 202, a driving butt joint lead screw slider 203, a driving butt joint buffer pad 204, a driving butt joint slider 205, a driving butt joint limit ring 206, a hook claw 207, a hook claw connecting rod 208, a driven butt joint driving steering engine 209, a driving butt joint driving gear 210, a driving butt joint driven gear 211 and a driving mechanism shell 212; the electric male head 201 is embedded in the male lead screw 202, the male lead screw 202 is fixedly connected with the driving butt joint driven gear 211, the driving butt joint driving gear 210 transmits the rotation of the driven butt joint driving steering gear 209 to drive the axial movement of the driving butt joint lead screw slider 203, and the driving butt joint limiting ring 206 restrains the axial movement length of the driving butt joint slider 205; the active docking lead screw slider 203 drives the active docking slider 205 to move, so that the electric male head 201 moves relative to the active docking slider 205, and the hook 207 and the hook connecting rod 208 are driven to move inwards; the driving mechanism shell 212 is used as a mechanism structure foundation, and a driven butt joint driving steering engine 209 is arranged at a steering engine mounting port; the driving docking driving gear 210 and the driving docking driven gear 211 are connected with the master and slave parts thereof and locked by the special convex features on the shell; the male lead screw 202 is fixedly connected with the driven gear 210; the hook claw 207 is connected to the corresponding position of the active butt joint sliding block 205; the finger link 208 is mounted on the active mechanism housing 212; the electric male head 201, the male screw rod 202, the active butt lead screw slider 203, the active butt cushion 204 and the active butt slider 205 are connected in an embedded mode according to the size.
As shown in fig. 5A and 5B, the hook 207 and the hook link 208 of the active docking mechanism are structurally connected with the limit strip 107 and the guide surface 108 of the passive docking mechanism, and are electrically connected with the electrical male connector 201 through the electrical female connector 101; the total number of the four hooks 207 of the active butt joint mechanism is four, and the four hooks are respectively arranged at four corners of the cross section of the mechanism and are distributed in a right angle; the hook claw connecting rod 208 is connected to the hook claw 207 and the shell of the active mechanism, so that the connection between the hook claw and the shell is realized, and the grabbing action of the hook claw is completed. The limit strip 107 of the passive docking mechanism is arranged at the position, corresponding to the claw, on the cross section of the passive mechanism and is connected to the shell of the passive mechanism through threads, the guide surface 108 is fixedly connected to the passive docking surface through threads, and the size of a locking gap is controlled by the limit strip 107 and the motion; the electric male head 201 and the electric female head 101 are electrically connected and disconnected through movement relative to respective butt joint sliding blocks, a standard 7-wire telephone line is adopted as a connector for the electric connector, the diameter of a circular section used for electric connection in the electric connector is 20mm, and the electric connector can be replaced according to requirements.
As shown in fig. 6, the hook 207 of the active docking mechanism is fastened in the locking gap between the limiting strip 107 and the guiding surface 108, and the guiding surface mainly functions to guide the movement track of the hook 207 during docking and separation, so that the hook can accurately slide into the locking gap; the design of the tail end of the hook claw 207 by adopting a flexible material can ensure that the axial clearance of the butt joint mechanism has certain connection reliability, and meanwhile, the transverse position limitation is limited by the locking clearance. The overall axial position of the docking mechanism is defined by four hooks 207 and four limit bars 107, and the radial direction is defined by eight contact surfaces of the locking gaps and the hooks 207.
As shown in fig. 7, the docking/separating process of the passive docking mechanism 1 and the active docking mechanism 2 has interchange reversibility, a is the starting stage of the docking process and the ending stage of the separating process of the two docking mechanisms, and B is the unlocking and releasing stage of the guiding stage and the separating process in the docking process; and C is the finishing stage of the docking process and the initial state of the separation process.
In the docking process, as shown in fig. 7A, the two drones enable the drones to be approximately positioned on the docking axis through stable control, and then receive a docking start signal, at this time, the two drones enter the docking state, the docking surface of the active docking drone is continuously close to the passive surface of the passive docking drone, at this time, the four protruding claws 207 firstly enter the inlets of the guide surface 108, under the limitation of the guide surface 108, the active docking surface is continuously close to the passive docking surface, the claws 107 slide into the locking gaps formed by the limiting strips 108 and the guide surface 108 along the guide line, and at this time, the two drones enter the state shown in fig. 7B; then measuring the distance at the moment through a distance sensor, and entering a grabbing stage: the claw 207 of the active docking mechanism is driven by the passive docking active steering engine 209 to generate a gripping action to realize structural connection, and meanwhile, relative to the active docking sliding block 205/105, the electrical male connector 201 and the electrical female connector 101 generate a stretching action relative to the docking sliding blocks respectively, and the two electrical connectors are connected to realize electrical connection, so that the state shown in fig. 7C is entered.
During the separation process, as shown in fig. 7B: the first stage is an unlocking and releasing stage, at the moment, the passive docking mechanism passive steering engine 109 actuates firstly to drive the passive docking sliding block 105 to extend out, at the moment, the electrical female head 101 contracts relative to the passive docking sliding block 105 to realize the disconnection of electrical connection, then the active docking mechanism passive docking active steering engine 209 actuates to drive the active docking sliding block 205 to extend out, at the moment, the hook claw 207 releases to separate from a locking gap between the limiting strip 107 and the guide surface 108 to realize the disconnection of structural connection; as shown in fig. 7C, the second phase is a separation phase, in which the electrical connection and the structural connection between the two drones are disconnected, and the two drones can maintain the relative position error to achieve the position separation within a certain tolerance under the action of the guide surface 108 and the hook 207.
It is to be understood that the terms "clockwise," "counterclockwise," "pitch," "yaw," "vertical," "horizontal," "null," and the like, as used herein, are used in a generic and descriptive sense only and not for purposes of limitation, the terms "clockwise," "counterclockwise," "pitch," "yaw," "vertical," "horizontal," "null," and the like, being used in a generic and descriptive sense only and not for purposes of limitation, the specific orientation at which a device or element is referred to must be constructed and operated in a specific manner.
While specific embodiments of the invention have been described above, it will be appreciated that those skilled in the art will be able to practice the invention without more details than those set forth herein. The present invention is not limited to the specific embodiments described above, and the above examples do not limit the scope of the present invention, and all modifications or variations that fall within the scope of the claims of the present invention fall within the scope of the present invention.
Claims (9)
1. The utility model provides a satisfy aerial array butt joint of small-size and separating mechanism of electrical connection, includes passive docking mechanism (1) and initiative docking mechanism (2), passive docking mechanism (1) and initiative docking mechanism (2) swing joint, characterized by: the passive docking mechanism (1) comprises at least: the device comprises an electric female head (101), a female lead screw (102), a passive butt joint lead screw slider (103), a passive butt joint buffer pad (104), a passive butt joint slider (105), a passive butt joint limiting ring (106), a limiting strip (107), a guide surface (108), a driving butt joint passive steering engine (109), a passive butt joint driving gear (110), a passive butt joint driven gear (111) and a passive mechanism shell (112); the active docking mechanism (2) comprises at least: the device comprises an electric male head (201), a male lead screw (202), a driving butt joint lead screw slider (203), a driving butt joint buffer pad (204), a driving butt joint slider (205), a driving butt joint limiting ring (206), a hook (207), a hook connecting rod (208), a driven butt joint driving steering engine (209), a driving butt joint driving gear (210), a driving butt joint driven gear (211) and a driving mechanism shell (212);
the active butt joint mechanism realizes butt joint guide and electric and structural locking connection between two modules, realizes structural reliable connection through a hook claw (207) and a hook claw connecting rod (208), and realizes alignment guide of an active butt joint surface and a passive butt joint surface through a limiting strip (107) and a guide surface (108); the passive docking mechanism realizes the electrical and structural release unloading between the two modules, the male lead screw (202) drives the active docking lead screw slide block (203) to axially extend to realize the disconnection of electrical connection, and then the release claw (207) of the active docking mechanism acts to realize the structural release; the active butt joint passive steering engine (109) and the passive butt joint active steering engine (209) respectively provide actuating power for the passive butt joint mechanism and the active butt joint mechanism; the electric female head (101) is electrically connected with the electric male head (201); the mechanism realizes axial actuation through a lead screw mechanism.
2. A compact aerial array docking and undocking mechanism for satisfactory electrical connection as claimed in claim 1 wherein: an electric female head (101) of the passive docking mechanism (1) is embedded in a female screw rod (102), the female screw rod (102) is fixedly connected with a passive docking driven gear (111), a passive docking driving gear (110) transmits rotation of an active docking driven steering engine (109), a passive docking screw rod sliding block (103) moves axially, a passive docking limiting ring (106) restricts axial movement of the passive docking sliding block (105), and the passive docking screw rod sliding block (103) drives the passive docking sliding block (105), a limiting strip (107) and a guide surface (108) to move; the passive docking cushion (104) is used for absorbing collision stress generated by collision of the active docking mechanism and the passive docking mechanism; a passive mechanism shell (112) is used as a structural foundation of a passive docking mechanism, and an active docking passive steering engine (109) is arranged on the shell; the driven butt joint driving gear (110) is meshed with the driven butt joint gear (111); the female screw rod (102) is fixedly connected with a driven butt joint driving gear (110); the limiting strip (107) is connected to the passive butt joint sliding block (105); the guide surface (108) is arranged on the butt joint surface; the passive mechanism housing (112) is used for connecting the mechanism with the module butt joint surface.
3. A compact aerial array docking and undocking mechanism for satisfactory electrical connection as claimed in claim 1 wherein: an electric male head (201) of the active butt joint mechanism (2) is embedded in a male lead screw (202), the male lead screw (202) is fixedly connected with an active butt joint driven gear (211), the active butt joint driving gear (210) transmits rotation of a passive butt joint active steering engine (209), the active butt joint lead screw sliding block (203) moves axially, and an active butt joint limiting ring (206) restrains axial movement of the active butt joint sliding block (205); the active butt joint lead screw sliding block (203) drives the active butt joint sliding block (205) to move, and the hook claw (207) and the hook claw connecting rod (208) move inwards; the active butt joint buffer cushion (204) is used for absorbing collision stress generated by collision of the active butt joint mechanism and the passive butt joint mechanism; an active mechanism shell (212) is used as a mechanism structure foundation, and a passive butt joint active steering engine (209) is arranged on the active mechanism shell; the driving butt joint driving gear (210) is meshed with the driving butt joint driven gear (211), and the male screw rod (202) is fixedly connected with the driving butt joint driving gear (210); the hook claw (207) is connected to the corresponding position of the active butt joint sliding block (205); the hook claw connecting rod (208) is arranged on the driving mechanism shell (212); the active mechanism housing (212) is configured to couple to the mating surface of the module.
4. A compact aerial array docking and undocking mechanism for satisfactory electrical connection as claimed in claim 1 wherein: the butt joint action of the active and passive butt joint mechanisms is realized by driving a screw rod through respective passive steering engines of the active and passive butt joint mechanisms and further driving a passive butt joint sliding block, and the specific difference between the two is as follows: the active butt joint mechanism (2) drives the hook claw (207) through the active butt joint sliding block (205) in the butt joint process, under the effect of the guide surface (108) of the passive butt joint mechanism, the active butt joint passive steering engine (109) drives the hook claw (207) to generate a grabbing action, the structural connection is realized, meanwhile, the electric female head (101) and the electric male head (201) generate a stretching action relative to the butt joint sliding block, the butt joint is realized, and the electric connection is realized.
5. A compact aerial array docking and undocking mechanism for satisfactory electrical connection as claimed in claim 1 wherein: the butt joint action of the active and passive butt joint mechanisms is realized by driving a screw rod through respective passive steering engines of the active and passive butt joint mechanisms and further driving a passive butt joint sliding block, and the specific difference between the two is as follows: the active butt joint passive steering engine (109) of the passive butt joint mechanism actuates firstly, the passive butt joint sliding block (105) stretches out, the electric female head (101) is separated from the electric male head (201) at the moment, the electric connection is disconnected, then the active butt joint driving steering engine (209) of the active butt joint mechanism moves, the active butt joint sliding block (205) stretches out, the claw (207) is driven to release, and the structure connection is disconnected.
6. A compact aerial array docking and undocking mechanism for satisfactory electrical connection as claimed in claim 1 wherein: the active and passive butt joint mechanisms are respectively driven by passive butt joint active steering engines; the steering engine drives the driving active butt joint gear to rotate, and the driving butt joint driven gear meshed with the driving active butt joint gear drives the fixedly connected screw rod to rotate, so that the axial telescopic motion of the driving butt joint sliding block is realized; the claw (207) of the active butt joint mechanism generates a gripping and releasing action through the axial movement of the active butt joint sliding block (205); the limit strip (107) and the guide surface (108) of the passive butt joint mechanism generate the increase and the reduction of the locking clearance through the axial movement of the passive butt joint sliding block (105).
7. A compact aerial array docking and undocking mechanism for satisfactory electrical connection as claimed in claim 1 wherein: the electric connection of the active and passive butt joint mechanisms is realized through an electric male head (201) and an electric female head (101) which are embedded in the lead screw, and an electric joint adopts a standard 7-wire telephone line; the electrical connector can be replaced, and the space reserved inside the screw rod for the butting mechanism to serve as the electrical connector is a circular section with the diameter of 20mm, so that the cross-sectional space of most electrical connection connectors can be met.
8. A small-sized aerial array butt joint and separation method meeting electrical connection is characterized in that: passive docking mechanism (1) and initiative docking mechanism (2) butt joint and disengaging process, butt joint and disengaging process possess the interchange reversibility, wherein the butt joint in-process, two unmanned aerial vehicles make unmanned aerial vehicle roughly be in on the butt joint axis through stable control, then receive the butt joint start signal, two unmanned aerial vehicles get into the butt joint state this moment, initiative butt joint unmanned aerial vehicle butt joint face constantly is close to passive butt joint unmanned aerial vehicle passive face, convex four knuckle (207) can at first get into the entrance of guide surface (108) this moment, under the restriction of guide surface (108), the initiative butt joint face constantly is close to passive butt joint face, knuckle (107) along the guide wire landing to in the locking clearance of spacing (107) and guide surface (108) formation, then measure the distance this moment through distance sensor, and enter into and snatch the stage: the claw (207) of the active butt joint mechanism generates a gripping action under the driving of the passive butt joint active steering engine (209) to realize structural connection, meanwhile, relative to the active butt joint sliding block (205) and the passive butt joint sliding block (105), the electric male head (201) and the electric female head (101) generate a stretching action relative to the butt joint sliding blocks respectively, and the two electric connectors are connected to realize electric connection.
9. A method of docking and undocking small aerial arrays to meet electrical connectivity as recited in claim 8: the method is characterized in that: in the separation process, the first stage is an unlocking and releasing stage, the active butt joint passive steering engine (109) actuates at first to drive the passive butt joint sliding block (105) to extend, the electric female head (101) contracts relative to the passive butt joint sliding block (105) at the moment to realize the disconnection of electric connection, then the passive butt joint active steering engine (209) actuates to drive the active butt joint sliding block (205) to extend, the hook claw (207) releases at the moment to separate from a locking gap between the limiting strip (107) and the guide surface (108) to realize the disconnection of structural connection; the second stage is a separation stage, at the moment, the electrical connection and the structural connection between the two unmanned aerial vehicles are disconnected, and under the action of the guide surface (108) and the hook claw (207), the two unmanned aerial vehicles can keep the relative position error to realize the position separation within a certain tolerance.
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