CN118220508A - Docking mechanism and unmanned aerial vehicle - Google Patents

Abstract

The present disclosure relates to the field of unmanned aerial vehicle technologies, and more particularly, to a docking mechanism and an unmanned aerial vehicle. The docking mechanism comprises a plug assembly and a locking mechanism; the plug-in assembly comprises a first plug-in part and a first accommodating part, wherein the first accommodating part is provided with a plug-in cavity, the first accommodating part is provided with a first end and a second end which are opposite, and the diameter of the plug-in cavity is gradually reduced from the first end to the second end; the locking mechanism is configured to lock the first plug portion in the first accommodation portion after the first plug portion is inserted into the first accommodation portion. The unmanned aerial vehicle includes: the machine body and the docking mechanism are arranged on the machine body; the docking mechanism is mounted on the machine body. The utility model discloses a stable connection between first grafting portion and the first portion of holding has been realized, has reduced the butt joint degree of difficulty through loudspeaker form cartridge chamber, is favorable to reducing the operating time of robot recovery in-process.

Description

Docking mechanism and unmanned aerial vehicle

Technical Field

The present disclosure relates to the field of unmanned aerial vehicle technologies, and more particularly, to a docking mechanism and an unmanned aerial vehicle.

Background

The unmanned aerial vehicle is an unmanned aerial vehicle which is controlled by using a radio remote control device and a self-contained program control device; unmanned aerial vehicles can be divided into fixed-wing unmanned aerial vehicles and multi-rotor unmanned aerial vehicles; the multi-rotor unmanned aerial vehicle is a special unmanned helicopter with three or more rotor shafts. Which is rotated by a motor on each shaft to drive the rotor, thereby generating lift thrust. The collective pitch of the rotor is fixed and not as variable as in a typical helicopter. The relative rotation speed among different rotors can be changed, so that the size of single-shaft propulsion can be changed, and the running track of the aircraft can be controlled; compared with the application range of the fixed wing unmanned aerial vehicle, the application range of the multi-rotor unmanned aerial vehicle is wide, the multi-rotor unmanned aerial vehicle can be applied to the fields of express transportation, disaster relief, electric power inspection and the like, for example, when the multi-rotor unmanned aerial vehicle is applied to electric power inspection, the unmanned aerial vehicle and a high-altitude cable robot are combined to realize the overhaul of a cable, the unmanned aerial vehicle is particularly used for transporting the robot to the upper part of the high-altitude cable, then the gripper on the robot is separated from the unmanned aerial vehicle, and when the unmanned aerial vehicle is recovered, the gripper and the gripper can be in butt joint due to the fact that the gripper of the robot corresponds to the position of the gripper on the unmanned aerial vehicle accurately, and the operation time and the operation difficulty of the robot recovery process are increased by the operation mode.

It should be noted that the information disclosed in the above background section is only for enhancing understanding of the background of the present disclosure and thus may include information that does not constitute prior art known to those of ordinary skill in the art.

Disclosure of Invention

An aim of the embodiment of the disclosure is to provide a docking mechanism and an unmanned aerial vehicle, and aims to solve the technical problems that a gripper of a robot corresponds to a clamping rod on the unmanned aerial vehicle accurately in position, so that the gripper and the clamping rod can be docked, and the operation time and the operation difficulty of a robot recovery process are increased by the operation mode.

In order to achieve the above purpose, the technical scheme adopted in the present disclosure is as follows: there is provided a docking mechanism comprising:

The plug-in assembly comprises a first plug-in part and a first accommodating part, wherein the first accommodating part is provided with a plug-in cavity, the first accommodating part is provided with a first end and a second end which are opposite, and the diameter of the plug-in cavity is gradually reduced from the first end to the second end; and

And a locking mechanism configured to lock the first plug portion in the first accommodation portion after the first plug portion is inserted into the first accommodation portion.

In one possible design, the locking mechanism includes: the locking driving device is used for driving the locking sliding block to move so as to lock the first inserting part and the first accommodating part through the locking sliding block.

In one possible design, the lock driving device further includes: the device comprises a first connecting rod, a guide sliding block, a second connecting rod, an output connecting rod and a locking motor; the output shaft of the locking motor is fixedly connected with one end of the output connecting rod, the other end of the output connecting rod is hinged with one end of the second connecting rod, the other end of the second connecting rod is hinged with the guide sliding block, one end of the first connecting rod is hinged with the guide sliding block, and the other end of the first connecting rod is hinged with the locking sliding block.

In one possible design, the number of the locking sliders is two, and the number of the first connecting rods is two, wherein one first connecting rod is hinged with one locking slider, and the other first connecting rod is hinged with the other locking slider; the two locking sliding blocks can move towards each other to form a locking through hole in a closing mode.

In one possible design, the locking drive further comprises a return spring configured to cause the two locking sliders to have a tendency to move toward each other.

In one possible design, the locking mechanism further comprises a locking base, a strip-shaped hole is formed in the locking base, and the guide sliding block is provided with a guide column, and the guide column is inserted into the strip-shaped hole so that the guide sliding block can move along the length direction of the strip-shaped hole.

In one possible design, the locking mechanism further comprises a trigger switch, and the first plug-in portion is configured to enable the locking motor to drive the locking slider to move when the first plug-in portion is in contact with the trigger switch.

In one possible design, the first plug-in connection part comprises a docking cylinder, a first clamping groove is formed in the circumferential direction of the docking cylinder, and the locking sliding block can be clamped into the first clamping groove.

In one possible design, the first accommodating portion includes a tapered portion and a first extension portion in communication with the tapered portion, and the insertion cavity is formed on the tapered portion; the docking cylinder is insertable into the first extension via the taper.

In one possible design, the docking mechanism further comprises a tolerance adjustment portion configured to be able to adjust the azimuth and pitch angles of the first receiving portion.

In one possible design, the tolerance adjustment portion includes an azimuth mechanism including a first axis of rotation and an azimuth base; the first rotating shaft is rotatably installed on the azimuth angle base, and the first accommodating part is installed on the first rotating shaft, so that the first accommodating part can rotate together with the first rotating shaft around the axis of the first rotating shaft.

In one possible design, the tolerance adjusting part comprises a pitching mechanism, wherein the pitching mechanism comprises a pitching fixing seat and a pitching movable seat, and the pitching fixing seat is hinged with the pitching movable seat through a hinge shaft; the first accommodating portion is connected with the pitching movable seat so that the first accommodating portion can rotate around the axis of the hinge shaft along with the pitching movable seat.

The present disclosure also provides an unmanned aerial vehicle, comprising: the machine body and the docking mechanism are arranged on the machine body; the docking mechanism is mounted on the machine body.

The beneficial effect that this disclosure provided docking mechanism and unmanned vehicles lies in:

According to the plug-in cavity of the first accommodating part, the property that the plug-in cavity of the first accommodating part gradually decreases from the first end to the second end is facilitated, namely, the plug-in cavity is horn-shaped, so that the first plug-in part is conveniently inserted into the first accommodating part, and the tolerance performance in the plug-in process is improved; and locking mechanism is convenient for lock first grafting portion in first accommodation portion to realize the stable connection between first grafting portion and the first accommodation portion, and then reduced the butt joint degree of difficulty through loudspeaker form cartridge chamber, be favorable to reducing the operating time in the robot recovery process.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings that are required for the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.

Fig. 1 is a schematic structural view of a first accommodating portion in an embodiment of the present disclosure;

FIG. 2 is a schematic structural view of a first plug portion according to an embodiment of the present disclosure;

FIG. 3 is a schematic view of the structure of a locking mechanism in an embodiment of the present disclosure;

FIG. 4 is a schematic view of a locking mechanism without a second attachment plate and a portion of a first attachment plate according to an embodiment of the present disclosure;

FIG. 5 is another perspective view of a locking mechanism according to an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of a positioning mechanism in an embodiment of the present disclosure;

FIG. 7 is a schematic structural view of a pitch mechanism in an embodiment of the present disclosure;

FIG. 8 is a schematic structural view of another view of a pitch mechanism in an embodiment of the present disclosure;

FIG. 9 is a schematic structural view of a docking mechanism in an embodiment of the present disclosure;

FIG. 10 is a schematic structural view of another view of a docking mechanism in an embodiment of the present disclosure;

FIG. 11 is a schematic structural view of a further view of a docking mechanism in an embodiment of the present disclosure;

FIG. 12 is a schematic view of a docking mechanism mated with a robot (the fuselage showing a partial structure) in an embodiment of the present disclosure;

FIG. 13 is a state diagram of the docking mechanism in an embodiment of the present disclosure without a tolerance adjustment;

Fig. 14 is a schematic view of a first receptacle mated with a locking mechanism in an embodiment of the present disclosure.

The main reference numerals illustrate:

101. A first plug-in connection; 102. a first accommodation portion; 103. a cartridge cavity; 104. a first end; 105. a second end; 106. locking the sliding block; 107. a first link; 108. a guide slide block; 109. a second link; 110. an output link; 111. locking a motor; 112. locking the through hole; 113. a return spring; 114. the first limiting chute; 115. a guide chute; 116. a base bottom plate; 117. a first additional plate; 118. a second additional plate; 119. a strip-shaped hole; 120. a guide post; 121. a second bar-shaped hole; 122. triggering a switch; 123. a butt joint barrel; 124. a first clamping groove; 125. a tapered portion; 126. a first extension; 127. a second extension; 128. butt joint; 129. a limit protrusion; 130. a flange; 131. a docking base; 132. a first rotating shaft; 133. an azimuth base; 134. a limiting swivel; 135. an angle limiting groove; 136. radial protrusions; 137. a first return elastic member; 138. a pitching fixing seat; 139. a pitching movable seat; 140. a first mounting bracket; 141. a first plate structure; 142. a first hinge part; 143. a first sub-board section; 144. a second sub-board section; 145. a rotating shaft mounting part; 146. reinforcing rib plates; 147. a second plate structure; 148. a second hinge part; 149. a second return elastic member; 150. a hinge shaft; 151. a shock pad; 152. a locking mechanism; 201. a fuselage.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present disclosure more clear, the present disclosure is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present disclosure and are not intended to limit the present disclosure.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the disclosure and simplify description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and thus should not be construed as limiting the disclosure.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present disclosure, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

For the purpose of illustrating the technical solutions described in this disclosure, the following detailed description is given with reference to specific drawings and embodiments.

Referring to fig. 1, 9, 13, and 14, in one or more embodiments, the present disclosure provides a docking mechanism that may be applied to an unmanned aerial vehicle, diving equipment, or other device or apparatus. The docking mechanism includes: a plug assembly and locking mechanism 152; the plug-in assembly comprises a first plug-in part 101 and a first accommodating part 102, wherein the first accommodating part 102 is provided with a plug-in cavity 103, the first accommodating part 102 is provided with a first end 104 and a second end 105 which are opposite, and the diameter of the plug-in cavity 103 gradually decreases from the first end 104 to the second end 105; the locking mechanism 152 is configured to lock the first plug portion 101 in the first accommodating portion 102 after the first plug portion 101 is inserted into the first accommodating portion 102.

According to the plug-in cavity 103 of the first accommodating part 102, the plug-in cavity 103 is horn-shaped by being beneficial to the property that the plug-in cavity 103 of the first accommodating part 102 gradually decreases from the first end 104 to the second end 105, so that the first plug-in part 101 is conveniently inserted into the first accommodating part 102, and the tolerance performance in the plug-in process is improved; the locking mechanism 152 is convenient to lock the first plugging portion 101 in the first accommodating portion 102, so that stable connection between the first plugging portion 101 and the first accommodating portion 102 is realized, and docking difficulty is reduced through the horn-shaped plugging cavity 103, which is beneficial to reducing operation time in the robot recycling process.

Referring to fig. 12, in some embodiments, the first plug 101 is configured to be fixedly coupled to a robot or other device. The first receiving portion 102 may be mounted on the fuselage 201 of the unmanned aerial vehicle, which facilitates recovery and release of the robot. The robot can be a robot for overhauling an aerial cable, and can also be a robot in other fields. It should be noted that, in some other possible embodiments, the first socket 101 is mounted on the fuselage 201 of the unmanned aerial vehicle, and the first receiving portion 102 is connected to the robot or other devices, that is, the first receiving portion 102 and the first socket 101, when the mounting position of one of them is determined, the mounting position of the other one can be determined, and the mounting positions of the two can be interchanged.

Referring to fig. 3-5, in some embodiments, the locking mechanism 152 includes: a locking slider 106 and a locking driving device for driving the locking slider 106 to move so as to lock the first socket portion 101 and the first accommodating portion 102 by the locking slider 106. The locking sliding block 106 can be moved through the locking driving device to lock the first inserting part 101 and the first accommodating part 102, so that the connection between the unmanned aerial vehicle and the robot is realized, and the release and recovery of the robot are realized; on the other hand, the reliable connection between the unmanned aerial vehicle and the robot is convenient to realize, and accidental falling of the unmanned aerial vehicle in the robot conveying process is avoided.

Referring to fig. 3 to 5, in some embodiments, the locking driving device further includes: a first link 107, a guide slider 108, a second link 109, an output link 110, and a lock motor 111; the output shaft of the locking motor 111 is fixedly connected with one end of the output connecting rod 110, the other end of the output connecting rod 110 is hinged with one end of the second connecting rod 109, the other end of the second connecting rod 109 is hinged with the guide slide block 108, one end of the first connecting rod 107 is hinged with the guide slide block 108, the other end of the first connecting rod 107 is hinged with the locking slide block 106, and the movement of the locking slide block 106 can be quickly realized through a connecting rod mechanism, so that the reaction capacity of the locking mechanism 152 is improved. It should be noted that the locking motor 111 may be implemented by other rotating devices, such as a rotary cylinder.

Referring to fig. 3 to 5, in some embodiments, the number of locking sliders 106 is two, and the number of first links 107 is two, wherein one first link 107 is hinged to one of the locking sliders 106, and the other first link 107 is hinged to the other locking slider 106; the two locking sliders 106 can be moved toward each other to close the locking through holes 112, so that the locking slider 106 is locked to the first plug portion 101 by the locking through holes 112. In some embodiments, the locking mechanism 152 further comprises a locking base, the first receiving portion 102 being fixedly connected to the locking base, the locking driving device and the locking slider 106 being mounted on the locking base; the shell of the locking motor 111 is fixedly connected with the locking base through a screw, the locking base is also provided with a guide chute 115, and the guide sliding block 108 is arranged in the guide chute 115; the number of the locking sliders 106 is two, and when the two locking sliders 106 are combined, a locking through hole 112 can be formed, so that the first plugging portion 101 is inserted into the locking through hole 112, and locking of the first plugging portion 101 is achieved, namely: the part of the locking slide block 106 can just extend into the first clamping groove 124 of the docking cylinder 123, so that the locking slide block 106 and the first clamping groove 124 can be clamped.

Referring to fig. 3 to 5, in some embodiments, the locking driving device further includes a return spring 113, and the return spring 113 is configured to cause the two locking sliders 106 to have a tendency to move toward each other, so as to facilitate improving the stability of the connection between the first socket portion 101 and the first receiving portion 102. In one embodiment, the locking base is provided with a first limiting chute 114, the locking sliding block 106 is slidably arranged in the first limiting chute 114, and two opposite ends of the return spring 113 are respectively abutted against the locking sliding block 106 and the bottom of the first limiting chute 114; the two first connecting rods are symmetrically arranged, so that when the output shaft of the locking motor 111 drives the output connecting rod 110 to rotate, the output connecting rod 110 drives the second connecting rod 109 to move so that the guide sliding blocks 108 move along the guide sliding grooves 115, and the two first connecting rods 107 drive the two locking sliding blocks 106 to move in opposite directions respectively to realize closing, so that the first plug-in connection part 101 is locked, and the reset spring 113 can also ensure that the two locking sliding blocks 106 have opposite movement trend, so that the closing state is ensured. The locking motor 111 may be a servo motor with a band brake. The locking slide 106 is made of teflon (PTFE), so that the locking slide 106 can move smoothly in the first limiting chute 114. In a state where the first socket 101 is not in abutment with the first accommodating portion 102, the two lock sliders 106 are in an open state, and the return spring 113 is in a compressed state. The locking base comprises a base bottom plate 116, a first additional plate 117 and a second additional plate 118, wherein a first limit chute 114 is formed between the first additional plates 117 and the base bottom plate 116; the second additional plate 118 is U-shaped, and a guide chute 115 is formed between the second additional plate 118 and the base bottom plate 116.

Referring to fig. 3 to 5, in some embodiments, a strip hole 119 is formed in the base bottom plate 116 of the locking base, the guide slide block 108 is provided with a guide post 120, and the guide post 120 is inserted into the strip hole 119, so that the guide slide block 108 can move along the length direction of the strip hole 119, and thus, when the guide slide block 108 moves along the length direction of the strip hole 119, the two first connecting rods 107 are facilitated to be driven to move simultaneously, so as to realize closing or opening between the two locking slide blocks 106. Illustratively, a strip-shaped hole 119 is formed on the base bottom plate 116, and the strip-shaped hole 119 is a blind hole or a through hole; the hinge shaft between the first link 107 and the locking slider 106 is limited in a second bar-shaped hole 121 formed in the first additional plate 117, the second bar-shaped hole 121 is a through hole, and the hinge shaft between the first link 107 and the locking slider 106 moves along the length direction of the second bar-shaped hole 121.

Referring to fig. 3 to 5, in some embodiments, the locking mechanism 152 further includes a trigger switch 122, and the first socket portion 101 is configured to enable the locking motor 111 to drive the locking slider 106 to move when contacting the trigger switch 122, so as to facilitate control of the locking motor 111, so as to facilitate engagement of the locking slider 106 with the first socket portion 101. In one embodiment, the locking slider 106 is located on one side of the locking base, the first accommodating portion 102 is located on the other opposite side of the locking base, and a trigger switch 122 is further located on one side of the locking base, and when the trigger switch 122 contacts the first plug portion 101, the locking motor 111 acts to achieve the locking slider 106 to be engaged with the first plug portion 101; illustratively, the trigger switch 122 is a proximity switch or a micro switch.

Referring to fig. 2, in some embodiments, the first plug portion 101 includes a docking cylinder 123, where a first clamping groove 124 is formed in a circumferential direction of the docking cylinder 123, and the locking slider 106 can be snapped into the first clamping groove 124, so as to facilitate locking of the first plug portion 101 by the locking mechanism 152.

Referring to fig. 1, in some embodiments, the first receiving portion 102 includes a tapered portion 125 and a first extension portion 126 in communication with the tapered portion 125, and the cartridge cavity 103 is formed on the tapered portion 125; the docking cylinder 123 can be inserted into the first extension portion 126 via the tapered portion 125, and the supporting force of the first accommodating portion 102 on the first insertion portion 101 is increased by the first extension portion 126.

Referring to fig. 1, in some embodiments, the tapered portion 125 and the first extension portion 126 are each tubular in structure, and the first extension portion 126 communicates with one end of the tapered portion 125, so that the tapered portion 125 may facilitate guiding the first plug portion 101 to facilitate docking. The first accommodating portion 102 further includes a second extension portion 127, the second extension portion 127 is of a tubular structure, one end of the first extension portion 126 and one end of the tapered portion 125 are of an integral structure, and the other end of the first extension portion 126 is detachably and fixedly connected with one end of the second extension portion 127. The first extension 126 and the second extension 127 are in communication, the first extension 126 is in communication with the tapered portion 125, and the first extension and the second extension 127 cooperate to further enhance the support of the first plug portion 101. The outlet at the other end of the second extension part 127 corresponds to the locking through hole 112, so that the first plugging part 101 can be conveniently engaged with the locking through hole 112 through the second extension part 127 after being plugged.

Referring to fig. 2, in some embodiments, the first plug portion 101 further includes a docking head 128 connected to the docking barrel 123, the docking head 128 being configured to guide the docking barrel 123 such that the docking barrel 123 is inserted into the first extension 126 from the tapered portion 125, the docking barrel 123 being guided by the docking head 128. The outer circumferential surface of the abutting cylinder 123 is provided with an annular limit projection 129, and the limit projection 129 protrudes outwards along the radial direction of the abutting cylinder 123; the first clamping groove 124 is annular, the butt joint 128 is fixedly connected with one end of the butt joint barrel 123, the other end of the butt joint barrel 123 is fixedly provided with a flange 130, the flange 130 is detachably and fixedly connected with the butt joint base 131, and the butt joint base 131 is detachably and fixedly connected with the robot, so that the connection between the first plug-in connection portion 101 and the robot is realized. The first clamping groove 124 is close to the abutment 128, and the limit projection 129 is far from the abutment 128. In order to ensure the smoothness of the whole butt joint and reduce the friction resistance, the butt joint 128 is made of teflon (PTFE); the butt-joint barrel 123 and the flange 130 are in smooth transition connection, so that the connection strength can be increased, stress concentration is avoided, and meanwhile, the end part of the butt-joint barrel 123 connected with the flange 130 is in a round table shape, so that the connection stability is guaranteed, and the butt-joint barrel 123 and the flange 130 are in an integrated structure. When the limit protrusion 129 abuts against the inner wall of the conical portion 125, the locking slide blocks 106 just correspond to the first clamping grooves 124, so that after the two locking slide blocks 106 move towards each other to be closed, part of the structure of the locking slide blocks 106 just can stretch into the first clamping grooves 124, and the locking slide blocks 106 and the first clamping grooves 124 can be clamped, so that the situation that the robot is aligned in place in the abutting process and still moves forwards continuously, and damage to other parts is caused is avoided.

In some embodiments, the docking mechanism further includes a tolerance adjustment portion, where the tolerance adjustment portion is configured to be capable of adjusting an azimuth angle and a pitch angle of the first accommodating portion 102, and when the first accommodating portion 102 is docked with the first plugging portion 101, the tolerance adjustment portion is used to enable the first accommodating portion 102 to rotate relative to the first plugging portion 101 when the first accommodating portion 102 is not aligned with the first plugging portion 101, so that a fault tolerance of docking is improved, automatic alignment of the tolerance adjustment portion is facilitated, smooth docking between the first accommodating portion 102 and the first plugging portion 101 is facilitated, and docking difficulty between the first accommodating portion 102 and the first plugging portion 101 is reduced, which is beneficial to reducing docking time.

In one embodiment, the first receiving portion 102 is mounted on the tolerance adjusting portion, and it should be noted that, in some other possible embodiments, the first plugging portion 101 is mounted on the tolerance adjusting portion; the adjustment of the azimuth angle and the pitch angle of the first housing 102 may both take place, or only the azimuth angle, or only the pitch angle.

Referring to fig. 6 and 11, in some embodiments, the tolerance adjustment portion includes an azimuth mechanism including a first rotation shaft 132 and an azimuth base 133; the first rotating shaft 132 is rotatably mounted on the azimuth base 133, and the first accommodating portion 102 is mounted on the first rotating shaft 132, so that the first accommodating portion 102 can rotate together with the first rotating shaft 132 around the axis of the first rotating shaft 132. Thus, the first rotating shaft 132 rotates relative to the azimuth angle base 133, so that the fault tolerance performance of the first accommodating part 102 in the docking process is improved, the rotation of the first accommodating part 102 in the yaw (yaw) direction is realized, and the tolerance requirement of the robot in the yaw direction is met. In one embodiment, the first shaft 132 rotates about its own axis relative to the azimuth base 133; the first rotating shaft 132 is mounted on the azimuth base 133 through a first bearing, specifically, an outer ring of the first bearing is fixed on the azimuth base 133, and the first rotating shaft 132 is fixedly connected with an inner ring of the first bearing, so that the first rotating shaft 132 is conveniently mounted on the azimuth base 133 in a rotating manner; the first bearing may be an angular contact ball bearing or a deep groove ball bearing.

Referring to fig. 6, in some embodiments, the azimuth mechanism further includes a limiting swivel 134, the limiting swivel 134 is fixedly connected with the first rotating shaft 132, an angle limiting groove 135 is formed on the azimuth base 133, the edge of the limiting swivel 134 has a radial protrusion 136 protruding radially outwards along the edge, and at least part of the structure of the radial protrusion 136 is limited in the angle limiting groove 135; the radial protrusion 136 cooperates with the angle limiting groove 135 to rotate the first shaft 132 within a first set angle range, which facilitates rotation of the first receiving portion 102 about the axis of the first shaft 132 within a certain range. In one embodiment, the main structure of the azimuth base 133 is plate-shaped, two angle limiting grooves 135 are formed in the plate surface of the main structure of the azimuth base 133, the two angle limiting grooves 135 are arranged in a central symmetry manner with the center of the first rotating shaft 132, two central symmetry radial protrusions 136 are arranged on the limiting rotating ring 134, the two radial protrusions 136 are arranged in one-to-one correspondence with the two angle limiting grooves 135, the occupied area of the radial protrusions 136 is smaller than that of the angle limiting grooves 135, and therefore when the radial protrusions 136 rotate along with the limiting rotating ring 134, the radial protrusions 136 can have a certain rotation space in the angle limiting grooves 135, and therefore limitation of the rotation angle range of the limiting rotating ring 134 is achieved, and limitation of the rotation angle range of main rotation is achieved.

The range of the rotation angle of the first accommodating portion 102 may be adjusted as needed; or an angle adjusting mechanism is arranged to adjust the rotation angle range, for example, a set screw is arranged on the azimuth angle base 133, the angle range is adjusted by screwing the set screw, the axis of the set screw is parallel to the radial direction of the limiting swivel 134, and the end part of the set screw can be abutted against the radial protrusion 136, so that the angle range is adjusted.

Referring to fig. 6, in some embodiments, two first reset elastic members 137 are connected between the limit swivel 134 and the azimuth base 133, so that the automatic reset of the limit swivel 134 can be achieved by using the property that the force applied by the two first reset elastic members 137 is opposite in direction. The direction of force applied by one first reset elastic piece 137 to the limiting swivel 134 is opposite to the direction of force applied by the other first reset elastic piece 137 to the limiting swivel 134, so that when the limiting swivel 134 is forced by external force, the limiting swivel 134 is restored to the initial state through the two first reset elastic pieces 137 under the action of removing the external force after the limiting swivel 134 rotates. In one embodiment, one of the first restoring springs 137 is coupled to one of its radial protrusions 136, and the other first restoring spring 137 is coupled to the other radial protrusion 136; one end of the first restoring elastic member 137 is connected with the radial protrusion 136, the other end of the first restoring elastic member 137 is connected with the mounting base, and the first restoring elastic member 137 is a tension spring; when the first rotating shaft 132 rotates, one tension spring is lengthened, the tension is increased, the other tension spring is shortened, the tension is reduced, and after the external force is removed, the first rotating shaft 132 finally returns due to the fact that the tension at the two ends of the limiting rotating ring 134 is different in size, the tension of the two tension springs is equal, and the directions of the tension springs on the radial protrusions 136 are the same; the rotation angle range of the first rotation shaft 132 is ±7.5°.

Referring to fig. 7 and 8, in some embodiments, the tolerance adjustment portion includes a pitch mechanism including a pitch fixing base 138 and a pitch movable base 139, the pitch fixing base 138 and the pitch movable base 139 being hinged by a hinge shaft 150; the first accommodation portion 102 is connected to the pitching movable seat 139 such that the first accommodation portion 102 can rotate around the axis of the hinge shaft 150 together with the pitching movable seat 139. In this way, a rotation in the pitch direction of the first receptacle 102 can be achieved, so that the tolerance requirements of the robot in the pitch direction are met. In one embodiment, the first shaft 132 is fixedly connected to the pitch fixing base 138, so that the pitch mechanism integrally rotates around the first shaft 132; the first accommodating part 102 further comprises a first mounting bracket 140, and the first mounting bracket 140 is fixedly connected with the pitching movable seat 139; the first extension 126 and the second extension 127 are fixedly coupled to the first mounting bracket 140 by screws, respectively.

When the first housing 102 is mounted to the tolerance adjusting unit, the first housing 102, the azimuth mechanism, and the pitch mechanism are not limited to the first housing 102 being mounted to the azimuth mechanism by the pitch mechanism, but the first housing 102 may be mounted to the pitch mechanism by the azimuth mechanism. The same applies when the first plug-in portion 101 is mounted to the tolerance adjusting portion, and will not be described in detail here. In some other possible embodiments, the tolerance adjusting portion may be further configured such that, during the process of docking the first accommodating portion 102 with the secondary docking portion, the first accommodating portion 102 can rotate around the third set axis relative to the first docking portion 101, and the axis of the first rotating shaft 132, the axis of the hinge shaft 150 between the pitch fixing seat 138 and the pitch movable seat 139, and the third set axis are perpendicular to each other, so as to facilitate yaw, pitch, and 5 roll of the first accommodating portion 102, thereby further improving fault tolerance performance during the docking process, for example: the first accommodating part 102 can be hinged with the pitching movable seat 139, and a third reset elastic piece is arranged, and the axis of the hinge shaft 150 between the first accommodating part 102 and the pitching movable seat 139 is a third set axis, so that fault tolerance performance is provided.

Referring to fig. 7 and 8, in some embodiments, the pitch fixing base 138 includes a first plate structure 141 and a first hinge portion 142, the first hinge portion 142 is fixedly connected with the first plate structure 141, the first plate structure 0 includes a first sub-plate portion 143 and a second sub-plate portion 144, the first sub-plate portion 143 is connected with the second sub-plate portion 144, and an angle is formed between a plate surface of the first sub-plate portion 143 and a plate surface of the second sub-plate portion 144. This facilitates the rotation of the pitching movable base 139 relative to the pitching fixed base 138, and can limit the rotation angle range of the pitching movable base 139 relative to the pitching fixed base 138. In one embodiment of the present invention, in one embodiment,

The pitching fixing base 138 further comprises a rotating shaft mounting portion 145, the rotating shaft mounting portion 145 and the first plate structure 1415 are integrated, a reinforcing rib plate 146 is arranged between the rotating shaft mounting portion 145 and the first plate structure 141,

Thus, the connection strength between the rotating shaft mounting part and the first plate structure 141 is improved; the angle between the plate surface of the first sub-plate portion 143 and the plate surface of the second sub-plate portion 144 is 170 °, so that the rotation angle of the pitching movable seat 139 relative to the pitching fixing seat 138 ranges from 0 ° to 10 °; of course, the plate surface of the first sub-plate portion 143

The angle between the second sub-board 144 and the board surface may be 120 ° to 160 °, so that the range of the rotation angle of the tilt-0 movable base 139 with respect to the tilt-fixing base 138 may be increased.

Referring to fig. 7 and 8, in some embodiments, the pitch motion housing 139 includes a second plate structure 147 and a second hinge portion 148, the second hinge portion 148 is fixedly connected to the second plate structure 147, and the second hinge portion 148 is hinged to the first hinge portion 142 through a hinge shaft 150, thereby implementing the pitch motion housing 139

Can rotate relative to the pitch anchor 138. Between the second hinge 148 and the second plate structure 147 is a 5-body structure. The first mounting bracket 140 is fixedly connected with the second plate structure 147 of the pitching movable seat 139 through screws, so that the connection between the first accommodating portion 102 and the pitching movable seat 139 is realized.

Referring to fig. 7 and 8, in some embodiments, a second return elastic member 149 is disposed between the first sub-board portion 143 and the second board structure 147, and a shock pad 151 is disposed between the second sub-board portion 144 and the second board structure 147, where the shock pad 151 may be made of rubber or polyurethane, so as to facilitate shock absorption. In one embodiment, the shock pad 151 is on the plate surface of the second sub-plate portion 144; the second return elastic member 149 is a compression spring, two ends of the compression spring are respectively abutted against the surface of the plate surface of the first sub-plate portion 143 and the surface of the second plate structure 147, and specifically, a plug bolt can be adopted to pass through the first sub-plate portion 143 and the second plate structure, so that the compression spring is arranged between the first sub-plate portion 143 and the second plate structure. The damper pad 151 may be fixed to the plate surface of the second plate-like structure.

In one or more embodiments, the present disclosure also provides an unmanned aerial vehicle, comprising: the fuselage 201 and docking mechanism in either embodiment; the docking mechanism is mounted to the body 201.

As shown in connection with fig. 9, 10 and 12, in one embodiment, the first receiving portion 102 is mounted on the body 201 and the first plugging portion 101 is configured to be mounted on a robot. The first accommodating portion 102 is mounted on the body 201 through a tolerance adjusting portion, that is: the pitching fixing seat 138 of the tolerance adjusting part is connected with the machine body 201, and the docking mechanism is mounted on the machine body 201, so that the docking fault tolerance is improved, the tolerance adjusting part is beneficial to realizing automatic alignment, smooth docking between the first accommodating part 102 and the first plugging part 101 is convenient to realize, the docking difficulty between the first accommodating part 102 and the first plugging part 101 is reduced, and the docking time is reduced.

It should be noted that, in some other possible embodiments, the pitch fixing base 138 may be mounted on the body 201 by a lifting device, where the lifting device includes a first moving mechanism and a second moving mechanism, the first moving mechanism is used to move the tolerance adjusting portion along a first direction, and the second moving mechanism is used to move the tolerance adjusting portion along a second direction, where the first direction is perpendicular to the second direction, so that not only the robot may be lifted, but also the movement in the first direction may be implemented, where the first direction may be a horizontal direction, and the second direction may be a vertical direction. The first moving mechanism may be a linear slide, a screw rod or other mechanism capable of achieving linear motion, and the second moving mechanism may be a linear slide, a screw rod or other mechanism capable of achieving linear motion, and illustratively, the first moving mechanism is mounted on the machine body 201, the second moving mechanism is mounted on the first moving mechanism, the deflection mechanism is mounted on the second moving mechanism, and the first accommodating portion 102 is mounted on the tolerance adjusting portion, so that the first accommodating portion 102 can move in the horizontal direction, the vertical direction, and the fault tolerance requirements in the yaw direction and the pitch direction are achieved. In still other possible embodiments, the first socket 101 is mounted on the body 201 and the first receptacle 102 is configured to be mounted on a robot.

To sum up, the docking mechanism and the unmanned aerial vehicle in the embodiments of the present disclosure have at least the following advantages: the unmanned aerial vehicle is matched with the docking mechanism to realize the release and recovery of other equipment such as robots; when the cable is applied to an aerial cable, the danger of working of workers can be reduced, the life safety of the workers is protected, the number of operators is greatly reduced, the labor cost is reduced, and the operation efficiency is improved; the butt joint barrel 123 is matched with the conical part 125, and then the tolerance adjusting part is matched, so that the success rate of butt joint is greatly improved.

The foregoing description of the preferred embodiments of the present disclosure is provided for the purpose of illustration only and is not intended to limit the disclosure to the particular embodiments disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the disclosure.

Claims (13)

1. A docking mechanism, comprising:

The plug-in assembly comprises a first plug-in part and a first accommodating part, wherein the first accommodating part is provided with a plug-in cavity, the first accommodating part is provided with a first end and a second end which are opposite, and the diameter of the plug-in cavity is gradually reduced from the first end to the second end; and

And a locking mechanism configured to lock the first plug portion in the first accommodation portion after the first plug portion is inserted into the first accommodation portion.

2. The docking mechanism of claim 1, wherein the locking mechanism comprises: the locking driving device is used for driving the locking sliding block to move so as to lock the first inserting part and the first accommodating part through the locking sliding block.

3. The docking mechanism as recited in claim 2 wherein the lock drive further comprises: the device comprises a first connecting rod, a guide sliding block, a second connecting rod, an output connecting rod and a locking motor; the output shaft of the locking motor is fixedly connected with one end of the output connecting rod, the other end of the output connecting rod is hinged with one end of the second connecting rod, the other end of the second connecting rod is hinged with the guide sliding block, one end of the first connecting rod is hinged with the guide sliding block, and the other end of the first connecting rod is hinged with the locking sliding block.

4. A docking mechanism as recited in claim 3, wherein the number of locking slides is two and the number of first links is two, wherein one of the first links is hinged to one of the locking slides and the other of the first links is hinged to the other of the locking slides; the two locking sliding blocks can move towards each other to form a locking through hole in a closing mode.

5. The docking mechanism of claim 4, wherein the lock drive further comprises a return spring configured to cause the two lock slides to have a tendency to move toward each other.

6. A docking mechanism according to claim 3 wherein said locking mechanism further comprises a locking base having a bar-shaped aperture formed therein, said guide slide being provided with a guide post which is inserted into said bar-shaped aperture such that said guide slide is movable along the length of said bar-shaped aperture.

7. A docking mechanism as recited in claim 3, wherein the locking mechanism further comprises a trigger switch, the first plug portion being configured to enable the locking motor to move the locking slide when in contact with the trigger switch.

8. The docking mechanism of any one of claims 2 to 7, wherein the first plug portion includes a docking barrel, a first clamping groove is formed in a circumferential direction of the docking barrel, and the locking slider is capable of being clamped into the first clamping groove.

9. The docking mechanism of claim 8, wherein the first receiving portion includes a tapered portion and a first extension in communication with the tapered portion, the cartridge cavity being formed on the tapered portion; the docking cylinder is insertable into the first extension via the taper.

10. The docking mechanism of any one of claims 1-7, further comprising a tolerance adjustment portion configured to adjust an azimuth angle and a pitch angle of the first receiving portion.

11. The docking mechanism of claim 10, wherein the tolerance adjustment portion comprises an azimuth mechanism comprising a first axis of rotation and an azimuth base; the first rotating shaft is rotatably installed on the azimuth angle base, and the first accommodating part is installed on the first rotating shaft, so that the first accommodating part can rotate together with the first rotating shaft around the axis of the first rotating shaft.

12. The docking mechanism of claim 10, wherein the tolerance adjustment portion comprises a pitch mechanism comprising a pitch mount and a pitch movable mount, the pitch mount being hinged to the pitch movable mount by a hinge shaft; the first accommodating portion is connected with the pitching movable seat so that the first accommodating portion can rotate around the axis of the hinge shaft along with the pitching movable seat.

13. An unmanned aerial vehicle, comprising: a fuselage and a docking mechanism as defined in any one of claims 1 to 12; the docking mechanism is mounted on the machine body.