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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- CN113291481B CN113291481B CN202110534207.7A CN202110534207A CN113291481B CN 113291481 B CN113291481 B CN 113291481B CN 202110534207 A CN202110534207 A CN 202110534207A CN 113291481 B CN113291481 B CN 113291481B
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- 210000001503 joint Anatomy 0.000 title claims abstract description 54
- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 238000003032 molecular docking Methods 0.000 claims abstract description 30
- 210000002105 tongue Anatomy 0.000 claims description 108
- 230000009471 action Effects 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000035515 penetration Effects 0.000 claims description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 abstract description 4
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 4
- 238000013461 design Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses an aerial docking and locking device for an unmanned aerial vehicle cluster, which comprises two docking units with the same structure, wherein each docking unit structure comprises a base, a guide mechanism and a locking mechanism; the guide mechanism is arranged on the front surface of the base and comprises a guide cone, a guide rod and a locking cone, one end of the guide rod is coaxially and fixedly connected with the cone top of the guide cone, and the other end of the guide rod is coaxially and fixedly connected with the center of the bottom surface of the locking cone; the front surface of the base is provided with a guide groove matched with 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 penetrate out from the back surface of the base; the locking mechanism is arranged on the back of the base and used for locking the passing locking cone. The invention can automatically finish the alignment process of butt joint, realizes passive butt joint locking, effectively solves the problem that the single 'cone-rod' system cannot eliminate the circumferential deviation of the butt joint shaft, reduces the requirement on the flight control precision of the butt joint process and improves the efficiency and the accuracy of the butt joint.
Description
Technical Field
The invention relates to the field of butt joint locking devices, in particular to an aerial butt joint locking device for an unmanned aerial vehicle cluster.
Background
Along with the gradual development of the unmanned aerial vehicle technology, the unmanned aerial vehicle has obtained extensive application in daily production life, and the expansibility of its service function is also constantly widening. The independent application of the unmanned aerial vehicle cannot meet the complicated and changeable future application scenes, and on the basis, the technical field of unmanned aerial vehicle cluster control and application is developed. Because the power, endurance, functions and the like of a single unmanned aerial vehicle are limited, if a specific docking mechanism can be relied on for the cluster-controlled unmanned aerial vehicle group, the cluster-controlled unmanned aerial vehicle group has the functions of combination and separation in flight, the unmanned aerial vehicle group can have the cooperative working capability similar to an ant colony, the power, energy and information of the unmanned aerial vehicle are directly and effectively linked and interacted, the integral working capability of the unmanned aerial vehicle in a specific environment is enhanced, and the unmanned aerial vehicle has wider application prospect.
The existing space docking technology is mainly applied to aircrafts and spacecrafts with large volumes, depends on higher measurement and control and positioning precision, and cannot be effectively applied to small unmanned aerial vehicle equipment with lower positioning precision, large environmental disturbance and limited body volume. The event needs to be to the problem that appears in the unmanned aerial vehicle cluster butt joint, designs special novel butt joint system.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art, and provides an aerial docking locking device for an unmanned aerial vehicle cluster, which can assist a small unmanned aerial vehicle to complete space intersection and docking under the requirements of lower positioning precision and control precision and transfer certain load after relative locking.
The invention adopts the following technical scheme for solving the technical problems:
an unmanned aerial vehicle cluster air docking locking device comprises a first docking unit and a second docking unit;
the first butt joint unit and the second butt joint unit have the same structure and respectively comprise a base, a guide mechanism and a locking mechanism;
the guide mechanism is arranged on the front surface of the base and comprises a guide cone, a guide rod and a locking cone, wherein the guide cone and the locking cone are both cone bodies; one end of the guide rod is coaxially and fixedly connected with the cone top of the guide cone, and the other end of the guide rod is coaxially and fixedly connected with the center of the bottom surface of the locking cone; the bottom surface of the guide cone is fixedly connected with the front surface of the base;
the front surface of the base is also provided with a guide groove matched with 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 penetrate out from the back surface of the base;
the locking mechanism is arranged on the back of the base and comprises an installation plate, first to second locking tongues, a return spring, a pull rod, a chuck and a linear steering engine;
the mounting plate is fixed on the back of the base and is provided with a through hole which is matched with the central through hole of the guide groove and is used for the penetration of the locking cone and the guide rod;
the first locking tongue, the second locking tongue and the third locking tongue are identical in structure and respectively comprise a control plate, a rotating shaft, a locking ring and a reset plate, wherein the locking ring is in a semicircular ring shape, and one end of the locking ring is fixedly connected with the side wall of the rotating shaft; the control panel is fixedly connected with the side wall of the rotating shaft; the reset plate is fixedly connected with the outer wall of one side of the lock ring, which is far away from the rotating shaft;
one end of the first locking tongue rotating shaft and one end of the second locking tongue rotating shaft are vertically and rotatably connected with the mounting plate and can freely rotate around the axis of the mounting plate; one end of the reset spring is fixedly connected with the first locking tongue reset plate, the other end of the reset spring is fixedly connected with the second locking tongue reset plate, so that the locking rings of the first locking tongue and the second locking tongue embrace the guide rod penetrating through the through hole in the mounting plate under the action of the reset spring and abut against the bottom surface of the locking cone, and at the moment, the included angle between the first locking tongue control plate and the second locking tongue control plate is equal to a preset angle threshold value;
the mounting plate is provided with a guide rail on a straight line where an angular bisector of an included 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;
the clamping head is of a semi-surrounding structure and comprises a base plate, a first connecting plate, a second connecting plate, a first stressing plate and a second stressing plate, wherein one end of the first connecting plate and one end of the second connecting plate are respectively and vertically fixedly connected with two ends of the base plate;
the clamping head surrounds the first locking tongue control plate and the second locking tongue control plate, wherein the first forcing plate is abutted with the first locking tongue control plate, and the second forcing plate is abutted with the second locking tongue control plate and is used for forcing the first locking tongue control plate and the second locking tongue control plate when sliding along the guide rail, so that locking rings of the first locking tongue and the second locking tongue rotate around rotating shafts of the first locking tongue and the second locking tongue to be opened and closed; when the first locking tongue and the second locking tongue are opened, the locking cone can penetrate through the space between the first locking tongue and the second locking tongue;
the linear steering engine is fixed on the back of the base, and the output end of the linear steering engine is connected with the chuck through a pull rod and used for controlling the chuck to move on the guide rail.
As a further optimization scheme of the aerial docking locking device for the unmanned aerial vehicle cluster, the preset angle threshold is 180 degrees.
As a further optimization scheme of the aerial butt-joint locking device for the unmanned aerial vehicle cluster, round chamfers matched with the locking cones are arranged at one ends, close to the mounting plate, of the locking rings of the first locking tongue and the second locking tongue.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
1. the butt joint mechanism can automatically finish the butt joint alignment process by depending on the restraint of the guide grooves of the first butt joint unit and the second butt joint unit; meanwhile, the design that the first butt joint unit and the second butt joint unit are simultaneously provided with the guide mechanism and the guide groove is adopted, the difficult problem that the circumferential deviation of the butt joint shaft cannot be eliminated by a single 'cone-rod' system is effectively solved, the requirement on the flight control precision of the butt joint process is reduced, and the butt joint efficiency and accuracy are improved;
2. the butt joint locking device can realize automatic locking under the action of the automatic restoring force of the return spring device, realize passive butt joint locking, does not need to consume the electric energy of the aircraft, can reduce the energy consumption of the aircraft and increase the endurance;
3. the docking mechanism is locked by a mechanical device and locked by mechanical cooperation, so that a large magnetic element is not needed, electromagnetic interference is not generated, and the normal work of the aircraft sensor is not adversely affected;
4. the first butt joint unit and the second butt joint unit both comprise butt joint guide and locking mechanisms, active and passive relations in butt joint are not distinguished, butt joint control difficulty is reduced, and complex scenes such as multi-machine butt joint can be effectively realized.
Drawings
FIG. 1 is a schematic front view of a docking mechanism;
FIG. 2 is a schematic view of the reverse configuration of the docking mechanism;
FIG. 3 is a mechanical schematic of the mechanical locking mechanism;
fig. 4 is an operation diagram of the locking mechanism locking the guide bar when it is inserted.
The locking mechanism comprises a base 1, a guide cone 2, a guide rod 3, a locking cone 4, a guide groove 5, a locking mechanism 6, a linear steering engine 7, a pull rod 8, a mounting plate 9, a locking ring of a first locking tongue 10, a control plate of the first locking tongue 11, a rotating shaft of the first locking tongue 12, a reset plate of the first locking tongue 13, a locking ring of a second locking tongue 14, a reset spring 15 and a chuck 16.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the attached drawings:
the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth 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.
The invention discloses an aerial docking and locking device for an unmanned aerial vehicle cluster, which comprises a first docking unit and a second docking unit;
as shown in fig. 1, 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;
the guide mechanism is arranged on the front surface of the base and comprises a guide cone, a guide rod and a locking cone, wherein the guide cone and the locking cone are both cone bodies; one end of the guide rod is coaxially and fixedly connected with the cone top of the guide cone, and the other end of the guide rod is coaxially and fixedly connected with the center of the bottom surface of the locking cone; the bottom surface of the guide cone is fixedly connected with the front surface of the base;
the front surface of the base is also provided with a guide groove matched with 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 penetrate out from the back surface of the base;
as shown in fig. 2 and 3, the locking mechanism is arranged on the back of the base and comprises an installation plate, first to second locking tongues, a return spring, a pull rod, a chuck and a linear steering engine;
the mounting plate is fixed on the back of the base and is provided with a through hole which is matched with the central through hole of the guide groove and is used for the penetration of the locking cone and the guide rod;
the first locking tongue, the second locking tongue and the third locking tongue are identical in structure and respectively comprise a control plate, a rotating shaft, a locking ring and a reset plate, wherein the locking ring is in a semicircular ring shape, and one end of the locking ring is fixedly connected with the side wall of the rotating shaft; the control panel is fixedly connected with the side wall of the rotating shaft; the reset plate is fixedly connected with the outer wall of one side of the lock ring, which is far away from the rotating shaft;
one end of the first locking tongue rotating shaft and one end of the second locking tongue rotating shaft are vertically and rotatably connected with the mounting plate and can freely rotate around the axis of the mounting plate; one end of the reset spring is fixedly connected with the first locking tongue reset plate, the other end of the reset spring is fixedly connected with the second locking tongue reset plate, so that the locking rings of the first locking tongue and the second locking tongue embrace the guide rod penetrating through the through hole in the mounting plate under the action of the reset spring and are abutted against the bottom surface of the locking cone, and at the moment, the included angle between the first locking tongue control plate and the second locking tongue control plate is equal to a preset angle threshold value, as shown in fig. 4;
the mounting plate is provided with a guide rail on a straight line where an angular bisector of an included 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;
the clamping head is of a semi-surrounding structure and comprises a base plate, a first connecting plate, a second connecting plate, a first stressing plate and a second stressing plate, wherein one end of the first connecting plate and one end of the second connecting plate are respectively and vertically fixedly connected with two ends of the base plate;
the clamping head surrounds the first locking tongue control plate and the second locking tongue control plate, wherein the first forcing plate is abutted with the first locking tongue control plate, and the second forcing plate is abutted with the second locking tongue control plate and is used for forcing the first locking tongue control plate and the second locking tongue control plate when sliding along the guide rail, so that locking rings of the first locking tongue and the second locking tongue rotate around rotating shafts of the first locking tongue and the second locking tongue to be opened and closed; when the first locking tongue and the second locking tongue are opened, the locking cone can penetrate through the space between the first locking tongue and the second locking tongue;
the linear steering engine is fixed on the back of the base, and the output end of the linear steering engine is connected with the chuck through a pull rod and used for controlling the chuck to move on the guide rail.
The preset angle threshold is 180 °.
And the locking rings of the first locking tongue and the second locking tongue are provided with round chamfers matched with the locking cones at one ends of the locking rings close to the mounting plate.
A plurality of fixing hole positions are formed in the bases of the first docking unit and the second docking unit, and the first docking unit and the second docking unit can be connected through damping shock absorption elements and installed on the docking surface of the unmanned aerial vehicle.
When butt joint and locking are carried out, a flight control system sends a butt joint instruction to control linear steering engines of the first butt joint unit and the second butt joint unit to pull rods of the first butt joint unit and the second butt joint unit, so that first locking tongues and second locking tongues in the first butt joint unit and the second butt joint unit are opened relatively, the aircrafts approach each other, and under the guide of guide mechanisms of the first butt joint unit and the second butt joint unit, locking cones of the first butt joint unit slide into a guide groove of a base of the second butt joint unit and penetrate out of a through hole in the center of the guide groove of the base of the second butt joint unit to a locking mechanism of the second butt joint unit; and a locking cone of the second butt joint unit slides into a guide groove of a base of the first butt joint unit, penetrates out of a through hole in the center of the guide groove of the base of the first butt joint unit to a locking mechanism of the first butt joint unit, and a linear steering engine reversely pushes a pull rod under the control of a flight control system to enable first and second locking tongues in the first butt joint unit and the second butt joint unit to be relatively closed and locked.
When the aircraft is unlocked and separated, the docking steps are reversely carried out, and the separation of the aircraft can be realized.
After the locking rings of the first locking tongue and the second locking tongue are provided with circular chamfers matched with the locking cones at one ends, close to the mounting plate, of the locking rings, even if the linear steering engines of the first butt joint unit and the second butt joint unit do not work, under the action of thrust, the first locking tongue and the second locking tongue can overcome the tension of the reset spring to enable the locking cones to penetrate through the first locking tongue and the second locking tongue, and the locking rings of the first locking tongue and the second locking tongue are pulled to be closed by the reset spring to lock the locking cones after the locking cones penetrate through the first locking tongue and the second locking tongue.
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 will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. An unmanned aerial vehicle cluster air docking locking device is characterized by comprising a first docking unit and a second docking unit;
the first butt joint unit and the second butt joint unit have the same structure and respectively comprise a base, a guide mechanism and a locking mechanism;
the guide mechanism is arranged on the front surface of the base and comprises a guide cone, a guide rod and a locking cone, wherein the guide cone and the locking cone are both cone bodies; one end of the guide rod is coaxially and fixedly connected with the cone top of the guide cone, and the other end of the guide rod is coaxially and fixedly connected with the center of the bottom surface of the locking cone; the bottom surface of the guide cone is fixedly connected with the front surface of the base;
the front surface of the base is also provided with a guide groove matched with 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 penetrate out from the back surface of the base;
the locking mechanism is arranged on the back of the base and comprises an installation plate, first to second locking tongues, a return spring, a pull rod, a chuck and a linear steering engine;
the mounting plate is fixed on the back of the base and is provided with a through hole which is matched with the central through hole of the guide groove and is used for the penetration of the locking cone and the guide rod;
the first locking tongue, the second locking tongue and the third locking tongue are identical in structure and respectively comprise a control plate, a rotating shaft, a locking ring and a reset plate, wherein the locking ring is in a semicircular ring shape, and one end of the locking ring is fixedly connected with the side wall of the rotating shaft; the control panel is fixedly connected with the side wall of the rotating shaft; the reset plate is fixedly connected with the outer wall of one side of the lock ring, which is far away from the rotating shaft;
one end of the first locking tongue rotating shaft and one end of the second locking tongue rotating shaft are vertically and rotatably connected with the mounting plate and can freely rotate around the axis of the mounting plate; one end of the reset spring is fixedly connected with the first locking tongue reset plate, the other end of the reset spring is fixedly connected with the second locking tongue reset plate, so that the locking rings of the first locking tongue and the second locking tongue embrace the guide rod penetrating through the through hole in the mounting plate under the action of the reset spring and abut against the bottom surface of the locking cone, and at the moment, the included angle between the first locking tongue control plate and the second locking tongue control plate is equal to a preset angle threshold value;
the mounting plate is provided with a guide rail on a straight line where an angular bisector of an included 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;
the clamping head is of a semi-surrounding structure and comprises a base plate, a first connecting plate, a second connecting plate, a first stressing plate and a second stressing plate, wherein one end of the first connecting plate and one end of the second connecting plate are respectively and vertically fixedly connected with two ends of the base plate;
the clamping head surrounds the first locking tongue control plate and the second locking tongue control plate, wherein the first forcing plate is abutted with the first locking tongue control plate, and the second forcing plate is abutted with the second locking tongue control plate and is used for forcing the first locking tongue control plate and the second locking tongue control plate when sliding along the guide rail, so that locking rings of the first locking tongue and the second locking tongue rotate around rotating shafts of the first locking tongue and the second locking tongue to be opened and closed; when the first locking tongue and the second locking tongue are opened, the locking cone can penetrate through the space between the first locking tongue and the second locking tongue;
the linear steering engine is fixed on the back of the base, and the output end of the linear steering engine is connected with the chuck through a pull rod and used for controlling the chuck to move on the guide rail.
2. The unmanned aerial vehicle cluster aerial docking locking device of claim 1, wherein the predetermined angular threshold is 180 °.
3. The aerial docking locking device of the unmanned aerial vehicle cluster as claimed in claim 1, wherein the locking rings of the first locking tongue and the second locking tongue are provided with round chamfers matched with the locking cones at the ends of the locking rings close to the mounting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110534207.7A CN113291481B (en) | 2021-05-17 | 2021-05-17 | Aerial butt joint locking device of unmanned aerial vehicle cluster |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110534207.7A CN113291481B (en) | 2021-05-17 | 2021-05-17 | Aerial butt joint locking device of unmanned aerial vehicle cluster |
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| Publication Number | Publication Date |
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| CN113291481A CN113291481A (en) | 2021-08-24 |
| CN113291481B true CN113291481B (en) | 2022-04-08 |
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| CN202110534207.7A Active CN113291481B (en) | 2021-05-17 | 2021-05-17 | Aerial butt joint locking device of unmanned aerial vehicle cluster |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115352645B (en) * | 2022-08-31 | 2023-03-28 | 西北工业大学 | Split type aircraft docking mechanism |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
-
2021
- 2021-05-17 CN CN202110534207.7A patent/CN113291481B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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| CN113291481A (en) | 2021-08-24 |
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