CN113291481B - Aerial butt joint locking device of unmanned aerial vehicle cluster - Google Patents
Aerial butt joint locking device of unmanned aerial vehicle cluster Download PDFInfo
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- 230000009471 action Effects 0.000 claims description 5
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Abstract
本发明公开了一种无人机集群空中对接锁紧装置，包含两个结构相同的对接单元，该对接单元结构包含基座、导向机构和锁紧机构；导向机构设置在基座正面，包含导向锥、导向杆和锁止锥，导向杆一端和导向锥的锥顶同轴固连，另一端和锁止锥底面中心同轴固连；基座正面设有和导向锥相匹配的导向凹槽，导向凹槽中心设有供锁止锥和导向杆从基座背面穿出的通孔；所述锁紧机构设置在基座背面，用于锁住穿过的锁止锥。本发明能够自动完成对接的对正过程，实现了被动对接锁紧，有效解决了单个“锥‑杆”系统无法消除对接轴周向偏差的难题，降低了对对接过程飞行控制精度的要求，提高了对接的效率和准确性。
The invention discloses an aerial docking and locking device for an unmanned aerial vehicle cluster, which comprises two docking units with the same structure. The docking unit structure includes a base, a guiding mechanism and a locking mechanism; Cone, guide rod and locking cone, one end of the guide rod is fixed coaxially with the cone top of the guide cone, and the other end is fixed coaxially with the center of the bottom surface of the locking cone; the front of the base is provided with a guide groove matching the guide cone The center of the guide groove is provided with a through hole for the locking cone and the guide rod to pass through from the back of the base; the locking mechanism is arranged on the back of the base to lock the passing locking cone. The invention can automatically complete the alignment process of docking, realize passive docking locking, effectively solve the problem that a single "cone-rod" system cannot eliminate the circumferential deviation of the docking axis, reduce the requirements for the flight control accuracy of the docking process, and improve the efficiency of the docking process. efficiency and accuracy of docking.
Description
技术领域technical field
本发明涉及对接锁紧装置领域，尤其涉及一种无人机集群空中对接锁紧装置。The invention relates to the field of docking locking devices, in particular to an aerial docking locking device for drone clusters.
背景技术Background technique
随着无人机技术的逐步发展，无人机在日常生产生活中得到了广泛的应用，其使用功能的拓展性也在不断拓宽。对无人机的单独应用已经无法满足复杂多变的未来应用场景，在此基础上，又发展出了无人机集群控制和应用的技术领域。由于单个无人机的动力、续航、功能等有限，对于集群控制的无人机群，如果能够依靠特定的对接机构，使其具有在飞行中结合、分离的功能，将可以使无人机群拥有类似于“蚁群”的协同工作能力，将无人机的动力、能源、信息进行直接有效的链接交互，增强其在特定环境下的整体工作能力，将使无人机拥有更广泛的应用前景。With the gradual development of UAV technology, UAVs have been widely used in daily production and life, and the expansibility of their use functions is also expanding. The single application of UAVs can no longer meet the complex and changeable future application scenarios. On this basis, the technical field of UAV swarm control and application has been developed. Due to the limited power, endurance, and functions of a single UAV, for a swarm-controlled UAV group, if it can rely on a specific docking mechanism to enable it to combine and separate in flight, it will enable the UAV group to have similar functions. Due to the cooperative working ability of the "ant colony", the power, energy and information of the UAV can be directly and effectively linked and interacted to enhance its overall working ability in a specific environment, which will enable the UAV to have a wider application prospect.
现有的空间对接技术主要应用于体积较大的飞行器和航天器，依赖于较高的测控和定位精度，无法有效应用于定位精度较低、环境扰动大、机体体积有限的小型无人机设备。故需要针对小型无人机集群对接中出现的问题，设计专门的新型对接系统。The existing space docking technology is mainly used in large-scale aircraft and spacecraft, relying on high measurement and control and positioning accuracy, and cannot be effectively applied to small UAV equipment with low positioning accuracy, large environmental disturbance and limited body volume. . Therefore, it is necessary to design a special new docking system for the problems in the docking of small UAV clusters.
发明内容SUMMARY OF THE INVENTION
本发明所要解决的技术问题是针对背景技术中所涉及到的缺陷，提供一种无人机集群空中对接锁紧装置，能够实现在较低的定位精度和控制精度要求下，辅助小型无人机完成空间交会和对接，并在相对锁定后，传递一定的载荷。The technical problem to be solved by the present invention is aimed at the defects involved in the background technology, and provides an aerial docking and locking device for a cluster of unmanned aerial vehicles, which can assist small unmanned aerial vehicles under the requirements of lower positioning accuracy and control accuracy. Complete space rendezvous and docking, and after relative locking, transfer a certain load.
本发明为解决上述技术问题采用以下技术方案：The present invention adopts the following technical solutions for solving the above-mentioned technical problems:
一种无人机集群空中对接锁紧装置，包含第一对接单元和第二对接单元；An unmanned aerial vehicle cluster aerial docking locking device, comprising a first docking unit and a second docking unit;
所述第一对接单元、第二对接单元结构相同，均包含基座、导向机构和锁紧机构；The first docking unit and the second docking unit have the same structure, and both include a base, a guide mechanism and a locking mechanism;
所述导向机构设置在基座正面，包含导向锥、导向杆和锁止锥，其中，所述导向锥、锁止锥均为椎体；所述导向杆一端和所述导向锥的锥顶同轴固连，另一端和所述锁止锥底面中心同轴固连；所述导向锥的底面和基座的正面固连；The guiding mechanism is arranged on the front of the base and includes a guiding cone, a guiding rod and a locking cone, wherein the guiding cone and the locking cone are both vertebral bodies; one end of the guiding rod is the same as the cone top of the guiding cone. The shaft is fixedly connected, and the other end is fixedly connected to the center of the bottom surface of the locking cone coaxially; the bottom surface of the guide cone is fixedly connected to the front surface of the base;
所述基座正面还设有和所述导向锥相匹配的导向凹槽，且导向凹槽中心设有供锁止锥和导向杆从基座背面穿出的通孔；The front side of the base is also provided with a guide groove matching the guide cone, and the center of the guide groove is provided with a through hole for the locking cone and the guide rod to pass through from the back of the base;
所述锁紧机构设置在基座背面，包含安装板、第一至第二锁止舌、复位弹簧、拉杆、卡头、直线舵机；The locking mechanism is arranged on the back of the base, and includes a mounting plate, the first to second locking tongues, a return spring, a pull rod, a clamp, and a linear steering gear;
所述安装板固定在基座背面，其上设有和导向凹槽中心通孔相配合供锁止锥和导向杆穿刺的通孔；The mounting plate is fixed on the back of the base, and is provided with a through hole matching with the central through hole of the guide groove for the locking cone and the guide rod to puncture;
所述第一至第二锁止舌结构相同，均包含控制板、转动轴、锁环和复位板，其中，所述锁环呈半圆环状，一端和转动轴的侧壁固连；所述控制板和转动轴的侧壁固连；所述复位板和锁环远离转动轴一侧的外壁固连；The first to second locking tongues have the same structure, including a control plate, a rotating shaft, a locking ring and a reset plate, wherein the locking ring is in the shape of a semi-circular ring, and one end is fixedly connected to the side wall of the rotating shaft; the The control board is fixedly connected with the side wall of the rotating shaft; the reset plate is fixedly connected with the outer wall on the side away from the rotating shaft;
所述第一、第二锁止舌转动轴的一端均和所述安装板垂直转动相连，能够绕其轴线自由转动；所述复位弹簧一端和第一锁止舌复位板固连、另一端和第二锁止舌复位板固连，使得第一、第二锁止舌的锁环在复位弹簧的作用下抱住穿过安装板上通孔的导向杆且和锁止锥的底面相抵，此时第一锁止舌控制板、第二锁止舌控制板之间的夹角等于预设的角度阈值；One end of the first and second locking tongue rotating shafts is connected to the mounting plate for vertical rotation and can freely rotate around its axis; one end of the reset spring is fixedly connected to the first locking tongue reset plate, and the other end is The second locking tongue reset plate is fixedly connected, so that the locking rings of the first and second locking tongues hug the guide rod passing through the through hole on the mounting plate under the action of the reset spring and abut against the bottom surface of the locking cone. When the angle between the first locking tongue control plate and the second locking tongue control plate is equal to the preset angle threshold;
所述安装板在第一锁止舌控制板、第二锁止舌控制板之间夹角的角平分线所在直线上设有导轨；所述卡头设置在导轨上、能够沿导轨自由滑动；The mounting plate is provided with a guide rail on the straight line where the angle bisector of the angle between the first locking tongue control plate and the second locking tongue control plate is located; the clamping head is arranged on the guide rail and can freely slide along the guide rail;
所述卡头为半包围结构，包含基板、第一连接板、第二连接板、第一加力板和第二加力板，其中，所述第一连接板、第二连接板的一端分别和基板的两端垂直固连，第一加力板、第二加力板在同一平面，第一加力板的一端和第一连接板的另一端垂直固连，第二加力板的一端和和第二连接板的另一端垂直固连；The clip head is a semi-enclosed structure, including a base plate, a first connecting plate, a second connecting plate, a first forcing plate and a second forcing plate, wherein one end of the first connecting plate and the second connecting plate are respectively It is vertically fixed with both ends of the base plate, the first forcing plate and the second forcing plate are in the same plane, one end of the first forcing plate is vertically fixed with the other end of the first connecting plate, and one end of the second forcing plate is and the other end of the second connecting plate is vertically fixed;
所述卡头将第一锁止舌控制板、第二锁止舌控制板包围在内，其中，第一加力板和第一锁止舌控制板相抵，第二加力板和第二锁止舌控制板相抵，用于沿所述导轨滑动时对第一锁止舌控制板、第二锁止舌控制板施力，使得第一锁止舌、第二锁止舌的锁环绕其转动轴转动进而开合；当第一锁止舌、第二锁止舌打开时，所述锁止锥能够从第一锁止舌、第二锁止舌之间穿过；The clamping head encloses the first locking tongue control plate and the second locking tongue control plate, wherein the first forcing plate and the first locking tongue control plate abut against each other, and the second forcing plate and the second locking tongue are in contact with each other. The tongue control plates are abutted against each other, and are used to exert force on the first locking tongue control plate and the second locking tongue control plate when sliding along the guide rail, so that the locks of the first locking tongue and the second locking tongue rotate around them. The shaft rotates to open and close; when the first locking tongue and the second locking tongue are opened, the locking cone can pass through between the first locking tongue and the second locking tongue;
所述直线舵机固定在基座背面，其输出端通过拉杆和所述卡头相连，用于控制卡头在导轨上运动。The linear steering gear is fixed on the back of the base, and the output end thereof is connected with the clip head through a pull rod, and is used to control the movement of the clip head on the guide rail.
作为本发明一种无人机集群空中对接锁紧装置进一步的优化方案，所述预设的角度阈值为180°。As a further optimization solution of the aerial docking locking device of the UAV cluster of the present invention, the preset angle threshold is 180°.
作为本发明一种无人机集群空中对接锁紧装置进一步的优化方案，所述第一锁止舌、第二锁止舌的锁环在其靠近安装板的一端均设有和锁止锥相配合圆形倒角。As a further optimized solution of the aerial docking locking device for drone swarms of the present invention, the locking rings of the first locking tongue and the second locking tongue are provided with locking cones at their ends close to the mounting plate. Compatible with rounded chamfers.
本发明采用以上技术方案与现有技术相比，具有以下技术效果：Compared with the prior art, the present invention adopts the above technical scheme, and has the following technical effects:
1. 对接机构能够依靠第一对接单元、第二对接单元导向凹槽的约束，自动完成对接的对正过程；同时，采用第一对接单元、第二对接单元同时安装有导向机构和导向凹槽的设计，有效解决了单个“锥-杆”系统无法消除对接轴周向偏差的难题，降低了对对接过程飞行控制精度的要求，提高了对接的效率和准确性；1. The docking mechanism can automatically complete the alignment process of docking by relying on the constraints of the guiding grooves of the first docking unit and the second docking unit; at the same time, the first docking unit and the second docking unit are installed with a guiding mechanism and a guiding groove at the same time. The design effectively solves the problem that a single "cone-rod" system cannot eliminate the circumferential deviation of the docking axis, reduces the requirements for the flight control accuracy of the docking process, and improves the efficiency and accuracy of docking;
2. 对接锁紧装置在复位弹簧装置的自动恢复力作用下，能够实现自动锁死，实现被动对接锁紧，不需要消耗飞行器电能，能降低飞行器能耗，增加续航；2. Under the action of the automatic restoring force of the return spring device, the docking locking device can realize automatic locking and passive docking locking without consuming the aircraft power, which can reduce the aircraft energy consumption and increase the endurance;
3. 对接机构依靠机械装置实现锁止，并依靠机械配合锁定，无较大磁性元件，也不会产生电磁干扰，对飞行器传感器的正常工作无不利影响；3. The docking mechanism relies on mechanical devices to achieve locking, and relies on mechanical cooperation to lock, no large magnetic components, and no electromagnetic interference, which has no adverse effect on the normal operation of the aircraft sensor;
4. 第一对接单元、第二对接单元均同时包含对接导向和锁止机构，不区分对接中的主动和被动关系，降低了对接的控制难度，可以有效实现多机对接等复杂场景。4. Both the first docking unit and the second docking unit include a docking guide and a locking mechanism, which do not distinguish between active and passive relationships in docking, which reduces the difficulty of docking control and can effectively realize complex scenarios such as multi-machine docking.
附图说明Description of drawings
图1是对接机构的正面结构示意图；Fig. 1 is the front structure schematic diagram of the docking mechanism;
图2是对接机构的反面结构示意图；Fig. 2 is the reverse side structure schematic diagram of the docking mechanism;
图3是机械锁紧机构的机械结构示意图；3 is a schematic view of the mechanical structure of the mechanical locking mechanism;
图4是导向杆插入时，锁紧机构对其进行锁止时的工作示意图。Fig. 4 is a working schematic diagram when the guide rod is inserted and the locking mechanism locks it.
其中，1-基座，2-导向锥，3-导向杆，4-锁止锥，5-导向凹槽，6-锁止机构，7-直线舵机，8-拉杆，9-安装板，10-第一锁止舌的锁环，11-第一锁止舌的控制板，12-第一锁止舌的转动轴，13-第一锁止舌的复位板，14-第二锁止舌的锁环，15-复位弹簧，16-卡头。Among them, 1-base, 2-guide cone, 3-guide rod, 4-lock cone, 5-guide groove, 6-locking mechanism, 7-linear steering gear, 8-tie rod, 9-installation plate, 10- The locking ring of the first locking tongue, 11- The control plate of the first locking tongue, 12- The rotating shaft of the first locking tongue, 13- The reset plate of the first locking tongue, 14- The second locking The locking ring of the tongue, 15-return spring, 16-card head.
具体实施方式Detailed ways
下面结合附图对本发明的技术方案做进一步的详细说明：Below in conjunction with accompanying drawing, the technical scheme of the present invention is described in further detail:
本发明可以以许多不同的形式实现，而不应当认为限于这里所述的实施例。相反，提供这些实施例以便使本公开透彻且完整，并且将向本领域技术人员充分表达本发明的范围。在附图中，为了清楚起见放大了组件。The present invention may be embodied in many different forms and should not be considered limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, components are exaggerated for clarity.
本发明公开了一种无人机集群空中对接锁紧装置，包含第一对接单元和第二对接单元；The invention discloses an aerial docking locking device for an unmanned aerial vehicle cluster, comprising a first docking unit and a second docking unit;
如图1所示，所述第一对接单元、第二对接单元结构相同，均包含基座、导向机构和锁紧机构；As shown in FIG. 1 , the first docking unit and the second docking unit have the same structure, including a base, a guiding mechanism and a locking mechanism;
所述导向机构设置在基座正面，包含导向锥、导向杆和锁止锥，其中，所述导向锥、锁止锥均为椎体；所述导向杆一端和所述导向锥的锥顶同轴固连，另一端和所述锁止锥底面中心同轴固连；所述导向锥的底面和基座的正面固连；The guiding mechanism is arranged on the front of the base and includes a guiding cone, a guiding rod and a locking cone, wherein the guiding cone and the locking cone are both vertebral bodies; one end of the guiding rod is the same as the cone top of the guiding cone. The shaft is fixedly connected, and the other end is fixedly connected to the center of the bottom surface of the locking cone coaxially; the bottom surface of the guide cone is fixedly connected to the front surface of the base;
所述基座正面还设有和所述导向锥相匹配的导向凹槽，且导向凹槽中心设有供锁止锥和导向杆从基座背面穿出的通孔；The front side of the base is also provided with a guide groove matching the guide cone, and the center of the guide groove is provided with a through hole for the locking cone and the guide rod to pass through from the back of the base;
如图2、图3所示，所述锁紧机构设置在基座背面，包含安装板、第一至第二锁止舌、复位弹簧、拉杆、卡头、直线舵机；As shown in Figure 2 and Figure 3, the locking mechanism is arranged on the back of the base, including a mounting plate, the first to second locking tongues, a return spring, a pull rod, a clamp, and a linear steering gear;
所述安装板固定在基座背面，其上设有和导向凹槽中心通孔相配合供锁止锥和导向杆穿刺的通孔；The mounting plate is fixed on the back of the base, and is provided with a through hole matching with the central through hole of the guide groove for the locking cone and the guide rod to puncture;
所述第一至第二锁止舌结构相同，均包含控制板、转动轴、锁环和复位板，其中，所述锁环呈半圆环状，一端和转动轴的侧壁固连；所述控制板和转动轴的侧壁固连；所述复位板和锁环远离转动轴一侧的外壁固连；The first to second locking tongues have the same structure and include a control plate, a rotating shaft, a locking ring and a reset plate, wherein the locking ring is in the shape of a semi-circular ring, and one end is fixedly connected to the side wall of the rotating shaft; the The control plate is fixedly connected with the side wall of the rotating shaft; the reset plate is fixedly connected with the outer wall on the side away from the rotating shaft;
所述第一、第二锁止舌转动轴的一端均和所述安装板垂直转动相连，能够绕其轴线自由转动；所述复位弹簧一端和第一锁止舌复位板固连、另一端和第二锁止舌复位板固连，使得第一、第二锁止舌的锁环在复位弹簧的作用下抱住穿过安装板上通孔的导向杆且和锁止锥的底面相抵，此时第一锁止舌控制板、第二锁止舌控制板之间的夹角等于预设的角度阈值，如图4所示；One end of the first and second locking tongue rotating shafts is connected to the mounting plate for vertical rotation and can freely rotate around its axis; one end of the reset spring is fixedly connected to the first locking tongue reset plate, and the other end is The second locking tongue reset plate is fixedly connected, so that the locking rings of the first and second locking tongues hug the guide rod passing through the through hole on the mounting plate under the action of the reset spring and abut against the bottom surface of the locking cone. When the angle between the first locking tongue control plate and the second locking tongue control plate is equal to the preset angle threshold, as shown in Figure 4;
所述安装板在第一锁止舌控制板、第二锁止舌控制板之间夹角的角平分线所在直线上设有导轨；所述卡头设置在导轨上、能够沿导轨自由滑动；The mounting plate is provided with a guide rail on the straight line where the angle bisector of the angle between the first locking tongue control plate and the second locking tongue control plate is located; the clamping head is arranged on the guide rail and can freely slide along the guide rail;
所述卡头为半包围结构，包含基板、第一连接板、第二连接板、第一加力板和第二加力板，其中，所述第一连接板、第二连接板的一端分别和基板的两端垂直固连，第一加力板、第二加力板在同一平面，第一加力板的一端和第一连接板的另一端垂直固连，第二加力板的一端和和第二连接板的另一端垂直固连；The clip head is a semi-enclosed structure, including a base plate, a first connecting plate, a second connecting plate, a first forcing plate and a second forcing plate, wherein one end of the first connecting plate and the second connecting plate are respectively It is vertically fixed with both ends of the base plate, the first forcing plate and the second forcing plate are in the same plane, one end of the first forcing plate is vertically fixed with the other end of the first connecting plate, and one end of the second forcing plate is and the other end of the second connecting plate is vertically fixed;
所述卡头将第一锁止舌控制板、第二锁止舌控制板包围在内，其中，第一加力板和第一锁止舌控制板相抵，第二加力板和第二锁止舌控制板相抵，用于沿所述导轨滑动时对第一锁止舌控制板、第二锁止舌控制板施力，使得第一锁止舌、第二锁止舌的锁环绕其转动轴转动进而开合；当第一锁止舌、第二锁止舌打开时，所述锁止锥能够从第一锁止舌、第二锁止舌之间穿过；The clamping head encloses the first locking tongue control plate and the second locking tongue control plate, wherein the first forcing plate and the first locking tongue control plate abut against each other, and the second forcing plate and the second locking tongue are in contact with each other. The tongue control plates are abutted against each other, and are used to exert force on the first locking tongue control plate and the second locking tongue control plate when sliding along the guide rail, so that the locks of the first locking tongue and the second locking tongue rotate around them. The shaft rotates to open and close; when the first locking tongue and the second locking tongue are opened, the locking cone can pass through between the first locking tongue and the second locking tongue;
所述直线舵机固定在基座背面，其输出端通过拉杆和所述卡头相连，用于控制卡头在导轨上运动。The linear steering gear is fixed on the back of the base, and the output end thereof is connected with the clip head through a pull rod, and is used to control the movement of the clip head on the guide rail.
所述预设的角度阈值为180°。The preset angle threshold is 180°.
所述第一锁止舌、第二锁止舌的锁环在其靠近安装板的一端均设有和锁止锥相配合圆形倒角。The locking rings of the first locking tongue and the second locking tongue are provided with circular chamfers matched with the locking cone at their ends close to the mounting plate.
第一对接单元、第二对接单元的基座上均开有多个固定孔位，可以通过阻尼减震元件的连接，安装在无人机的对接面上。The bases of the first docking unit and the second docking unit are both provided with a plurality of fixing holes, which can be installed on the docking surface of the drone through the connection of damping and shock absorption elements.
在进行对接和锁紧时，由飞控系统发出对接指令，控制第一对接单元、第二对接单元的直线舵机拉动其拉杆，使第一对接单元、第二对接单元中第一、第二锁止舌相对打开，飞行器相互靠近，在第一对接单元、第二对接单元导向机构的引导下，第一对接单元的锁止锥滑入第二对接单元基座的导向凹槽，并从第二对接单元基座导向凹槽中心的通孔穿出至第二对接单元的锁紧机构中；第二对接单元的锁止锥滑入第一对接单元基座的导向凹槽，并从第一对接单元基座导向凹槽中心的通孔穿出至第一对接单元的锁紧机构中，在飞控系统的控制下，直线舵机反向推动拉杆，使第一对接单元、第二对接单元中第一、第二锁止舌相对关闭，第一、第二锁止舌被锁死。When docking and locking, the flight control system issues a docking command to control the linear servos of the first docking unit and the second docking unit to pull their pull rods, so that the first and second docking units in the first docking unit and the second docking unit are pulled. The locking tongues are relatively opened, and the aircrafts approach each other. Under the guidance of the guiding mechanisms of the first docking unit and the second docking unit, the locking cone of the first docking unit slides into the guide groove of the base of the second docking unit, and starts from the second docking unit base. The through hole in the center of the guide groove of the base of the two docking units is inserted into the locking mechanism of the second docking unit; the locking cone of the second docking unit slides into the guiding groove of the base of the first butt The through hole in the center of the guiding groove of the base of the docking unit penetrates into the locking mechanism of the first docking unit. Under the control of the flight control system, the linear steering gear pushes the pull rod in the opposite direction to make the first docking unit and the second docking unit The first and second locking tongues are relatively closed, and the first and second locking tongues are locked.
在解锁和分离时，将上述对接步骤反向施行，即可实现飞行器的分离。When unlocking and separating, the above-mentioned docking steps are reversed to realize the separation of the aircraft.
第一锁止舌、第二锁止舌的锁环在其靠近安装板的一端设有和锁止锥相配合圆形倒角后，即便第一对接单元、第二对接单元的直线舵机不工作，在推力的作用下，第一锁止舌、第二锁止舌能够克服复位弹簧的拉力使得锁止锥穿过第一锁止舌、第二锁止舌，并在锁止锥穿过第一锁止舌、第二锁止舌由复位弹簧拉动第一锁止舌、第二锁止舌的锁环闭合，将锁止锥锁死。After the locking ring of the first locking tongue and the second locking tongue is provided with a circular chamfer at the end close to the mounting plate to match the locking cone, even if the linear steering gear of the first docking unit and the second docking unit are not Work, under the action of thrust, the first locking tongue and the second locking tongue can overcome the pulling force of the return spring so that the locking cone passes through the first locking tongue and the second locking tongue, and when the locking cone passes through The first locking tongue and the second locking tongue are closed by the restoring spring to pull the locking rings of the first locking tongue and the second locking tongue to lock the locking cone.
本技术领域技术人员可以理解的是，除非另外定义，这里使用的所有术语（包括技术术语和科学术语）具有与本发明所属领域中的普通技术人员的一般理解相同的意义。还应该理解的是，诸如通用字典中定义的那些术语应该被理解为具有与现有技术的上下文中的意义一致的意义，并且除非像这里一样定义，不会用理想化或过于正式的含义来解释。It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with their meanings in the context of the prior art and, unless defined as herein, are not to be taken in an idealized or overly formal sense. explain.
以上所述的具体实施方式，对本发明的目的、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上所述仅为本发明的具体实施方式而已，并不用于限制本发明，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The specific embodiments described above further describe the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above descriptions are only specific embodiments of the present invention, and are not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.
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| CN206663060U (en) * | 2017-03-06 | 2017-11-24 | 陕西飞机工业（集团）有限公司 | One kind clamps force adaptive scroll chuck location locking mechanism |
| CN109264035A (en) * | 2018-10-11 | 2019-01-25 | 北京航空航天大学 | A kind of spacecraft " connecting rod --- claw " formula butt-joint locking device |
| CN110316404A (en) * | 2019-07-04 | 2019-10-11 | 西北工业大学 | A kind of spacecraft self- steering isomorphism interface fault-tolerant greatly and its application method |
| CN111605686A (en) * | 2020-05-26 | 2020-09-01 | 中国船舶科学研究中心 | Mechanical butt-joint locking mechanism for ROV and tool magazine |
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| CN206663060U (en) * | 2017-03-06 | 2017-11-24 | 陕西飞机工业（集团）有限公司 | One kind clamps force adaptive scroll chuck location locking mechanism |
| CN109264035A (en) * | 2018-10-11 | 2019-01-25 | 北京航空航天大学 | A kind of spacecraft " connecting rod --- claw " formula butt-joint locking device |
| CN110316404A (en) * | 2019-07-04 | 2019-10-11 | 西北工业大学 | A kind of spacecraft self- steering isomorphism interface fault-tolerant greatly and its application method |
| CN111605686A (en) * | 2020-05-26 | 2020-09-01 | 中国船舶科学研究中心 | Mechanical butt-joint locking mechanism for ROV and tool magazine |
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