CN112429251A - Small aerial array docking and separating mechanism and method meeting electrical connection - Google Patents
Small aerial array docking and separating mechanism and method meeting electrical connectionDownload PDFInfo
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- CN112429251A CN112429251ACN202011452736.4ACN202011452736ACN112429251ACN 112429251 ACN112429251 ACN 112429251ACN 202011452736 ACN202011452736 ACN 202011452736ACN 112429251 ACN112429251 ACN 112429251A
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- 230000007246mechanismEffects0.000titleclaimsabstractdescription144
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- 230000003578releasing effectEffects0.000claimsdescription5
- 230000002441reversible effectEffects0.000claims1
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- 238000010586diagramMethods0.000description6
- 230000008602contractionEffects0.000description5
- 230000005540biological transmissionEffects0.000description2
- 239000000446fuelSubstances0.000description2
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- 238000009434installationMethods0.000description1
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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
- B64D39/00—Refuelling during flight
- 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
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Abstract
Translated fromChinese
Description
Technical Field
The invention belongs to the technical field of space butt joint, and particularly relates to a small aerial array butt joint and separation mechanism and method meeting electrical connection.
Background
The development and the application of the air butt joint of the unmanned aerial vehicle arouse high importance of all countries, and people put forward higher requirements to the aerial navigation of the unmanned aerial vehicle, information transmission between the unmanned aerial vehicles and the load of the unmanned aerial vehicle, and the modular design of the operation unit. A docking/separating mechanism which can simultaneously ensure the electrical connection and the structural connection when two unmanned aerial vehicles are docked can ensure the reliability of information transmission between the unmanned aerial vehicles and the structural stability of aerial array assembly flight; can be with the functional object design modularization of unmanned aerial vehicle system for the cost of unmanned aerial vehicle system reduces, and storage space reduces. The suitability and the application possibility of unmanned aerial vehicle system have greatly been enriched.
Most of the traditional air docking mechanisms are applied to air refueling systems, an active docking system (a fuel carrying machine) docks a passive docking system (a fuel receiving machine), and a guide profile guides an active docking head to go deep into a docking port, so that a docking locking action is completed. The mechanism requires that the butt joint mechanism has a longer axial distance, the butt joint action is discontinuous, the butt joint position is not accurate enough, the adjustment of the butt joint position through the guidance of the guide surface has collision interference, and the electrical connection cannot be realized.
The electromagnetic docking mechanism is used for accurately aligning the positions of the driving docking system and the driven docking system through electromagnetic force and then performing grabbing and locking of the mechanism through rotary driving or docking claws. The mechanism requires that the docking mechanism has enough axial distance for the rotary driving mechanism to screw in and lock, and the docking performance of the system is poor due to uncertainty of the thread starting point of the threaded screw.
Based on docking mechanism of butt joint hook, through two butt joint face laminating collisions, then butt joint hook locking butt joint face. Similarly, after the connection of the mating surface structure is secured, the electrical connection operation is performed. The mechanism has no guiding action, so that the requirement of air butt joint is difficult to meet, and the mutual interference of the connection action is easily caused because the electrical connection action and the structural connection action are discontinuous.
In addition, based on the most occupation space of aerial unmanned aerial vehicle butt joint system that foretell mechanism scheme designed is great, and mechanism connection rigidity is relatively poor, and the clearance is great between the mechanism, leads to can be because relative velocity produces not hard up collision between the unmanned aerial vehicle. The working capability of small space, high rigidity and reliable electrical connection is not provided.
Disclosure of Invention
The present invention is directed to overcoming the above-mentioned deficiencies in the prior art and providing a small aerial array docking and undocking mechanism and method that satisfies electrical connection with less space occupation, reliable guiding surface, and small play.
In order to achieve the above objects, the present invention provides a small aerial array docking and detaching mechanism satisfying electrical connection, which comprises apassive docking mechanism 1 and anactive docking mechanism 2, wherein thepassive docking mechanism 1 and theactive docking mechanism 2 are movably connected, and is characterized in that: the passive docking mechanism includes at least: the device comprises an electricfemale head 101, afemale lead screw 102, a passive butt jointlead screw slider 103, a passivebutt joint cushion 104, a passive buttjoint slider 105, a passive buttjoint limit ring 106, alimit strip 107, aguide surface 108, apassive steering engine 109, a passive buttjoint driving gear 110, a passive butt joint drivengear 111 and apassive mechanism shell 112; the electricfemale head 101 is embedded in thefemale screw rod 102, thefemale screw rod 102 is fixedly connected with the drivenbutt joint gear 111, the driven butt joint screwrod sliding block 103 is driven to move axially by the rotation of the driven buttjoint steering engine 109 transmitted by the driven buttjoint driving gear 110, and the driven buttjoint limiting ring 106 restrains the axial movement length of the driven buttjoint sliding block 105; the axial movement of the passive butt joint leadscrew slide block 103 drives the passive buttjoint slide block 105 to move and thelimit strip 107 and theguide surface 108 to move inwards; apassive mechanism shell 112 is used as a mechanism structure foundation, and an active butt jointpassive steering engine 109 is arranged at a steering engine mounting port special for the bottom of the shell; the drivendocking driving gear 110 and the driven docking drivengear 111 are respectively connected with the master part and the slave part thereof, and are locked by the special convex characteristic on the shell; thefemale screw 102 is fixedly connected with the drivengear 110; thelimiting strip 107 is connected to the butt joint sliding block 10 through threads; theguide surface 108 is arranged on the butt joint surface and guides thehook 207 of the active butt joint mechanism; the electricfemale head 101, thefemale lead screw 102, the passive butt leadscrew slide block 103, thepassive butt cushion 104 and the passivebutt slide block 105 are connected in an embedded mode according to the size.
Thepassive docking mechanism 1 is composed of an electricfemale head 101, afemale screw 102, a passivedocking screw slider 103, a passivedocking buffer pad 104, apassive docking slider 105, a passivedocking limit ring 106, alimit strip 107, aguide surface 108, an active dockingpassive steering engine 109, a passivedocking driving gear 110, a passive docking drivengear 111 and apassive mechanism shell 112. The electricfemale head 101 is embedded in thefemale screw rod 102 and is in clearance fit with the hole to ensure the connection stability, thefemale screw rod 102 is fixedly connected with the driven buttjoint gear 111, and the driven butt jointscrew rod slider 103 is driven to axially move by the rotation of the drivensteering engine 109 transmitted by the driven buttjoint driving gear 110, and meanwhile, the driven buttjoint limiting ring 106 restrains the axial movement length of the drivenbutt joint slider 105; the axial movement of the passive dockinglead screw slider 103 drives the contraction/expansion movement of thepassive docking slider 105 to generate the forward/backward movement of theelectric bus head 101 relative to thepassive docking slider 105 on the one hand, and drives thelimit strip 107 and theguide surface 108 to generate the inward contraction/expansion on the other hand; the gap between thestop bar 107 and theguide surface 108 is reduced/increased to produce a locking/unlocking action for thehook 207 of the active docking mechanism.
All parts of the passive docking mechanism are connected with apassive mechanism shell 112 in an active or passive mode, wherein apassive steering engine 109 is arranged at a special steering engine mounting port at the bottom of the shell and is driven by a standard SG90 type steering engine; the drivendocking driving gear 110 and the driven docking drivengear 111 are further locked in position through a special convex feature on the shell except for being respectively connected with a master part and a slave part of the driven docking driving gear; thefemale lead screw 102 is fixedly connected with the drivengear 110 structurally; thelimiting strips 107 are connected to four corresponding positions of the passive buttjoint sliding block 105 through threads; theguide surface 108 is arranged on the butt joint surface and plays a role of guiding thehook 207 of the active butt joint mechanism; the electricfemale head 101, thefemale lead screw 102, the passive butt leadscrew slide block 103, thepassive butt cushion 104 and the passivebutt slide block 105 are connected in an embedded mode according to the size.
The drivingbutt joint mechanism 2 is composed of anelectric male head 201, amale screw rod 202, a driving butt jointscrew rod slider 203, a driving buttjoint buffer pad 204, a drivingbutt joint slider 205, a driving butt joint limitingring 206, ahook 207, ahook connecting rod 208, a driven butt jointdriving steering gear 209, a driving buttjoint driving gear 210, a driving butt joint drivengear 211 and adriving mechanism shell 212. Theelectric male head 201 is embedded in themale lead screw 202 and is in clearance fit with the hole to ensure the connection stability, themale lead screw 202 is fixedly connected with the driving butt joint drivengear 211, the driving buttjoint driving gear 210 transmits the rotation of the driven butt jointdriving steering engine 209 to drive the driving butt jointlead screw slider 203 to axially move, and meanwhile, the driving buttjoint limiting ring 206 restricts the axial movement length of the driving buttjoint slider 205; the axial movement of the active dockinglead screw slider 203 drives the contraction/expansion movement of theactive docking slider 205 to generate the forward/backward movement of the electricmale head 201 relative to theactive docking slider 205 on the one hand, and drives thehook 207 and thehook link 208 to generate the inward contraction/expansion release action on the other hand; the locking/unlocking function of the active docking mechanism on the passive docking mechanism is realized.
All parts of the active docking mechanism are connected with anactive mechanism shell 212 in an active or passive mode, wherein a passive dockingactive steering engine 209 is installed at a special steering engine installation port at the bottom of the shell and is driven by a standard SG90 type steering engine; the drivingdocking driving gear 210 and the driving docking drivengear 211 are further locked in position by a special convex feature on the housing, in addition to being respectively connected with the master and slave parts thereof; themale lead screw 202 is structurally and fixedly connected with the drivengear 210; thehook claws 207 are connected with four corresponding positions of the active buttjoint sliding block 205 through threads; the hookclaw connecting rod 208 is arranged on a corresponding threaded opening of theactive mechanism shell 212 to play a role in guiding thehook claw 207 of the active docking mechanism; the electricmale head 201, themale screw rod 202, the active buttlead screw slider 203, theactive butt cushion 204 and theactive butt slider 205 are connected in an embedded mode according to the size.
A small aerial array docking and undocking mechanism and method for satisfying electrical connections includes: a guiding stage: the active docking unmanned aerial vehicle sends a docking signal, at the moment, a passive dockingactive steering engine 209 of theactive docking mechanism 2 rotates to generate forward axial movement of the activedocking sliding block 205, and further drives thehook claw 207 to generate an expansion action to wait for a docking grabbing process; the passive butt joint unmanned aerial vehicle receives the butt joint signal, and thepassive steering engine 109 of passivebutt joint mechanism 1 rotates this moment, produces the forward axial motion of passive buttjoint slider 105, and then drivesspacing strip 107 and moves forward equally, waits for the snatching of active mechanism.
Grabbing and locking of the driving mechanism: the butt joint surfaces of the active and passive butt joint mechanisms are continuously close to each other, at the moment, when the butt joint surfaces are close to a critical distance, the fourhooks 207 can enter the range of theguide surface 108, at the moment, the two butt joint surfaces are continuously close to each other, then thehooks 207 slide into the gaps between thelimiting strips 107 and theguide surface 108 through the guide lines of theguide surface 108, at the moment, the collision is buffered through the passive buttjoint buffer pads 104/204 of the two butt joint mechanisms, then the passive butt jointactive steering engine 209 starts to rotate to drive the active buttjoint sliding block 205 to perform contraction movement, at the moment, the generated relative movement enables the electricfemale head 101 to be in butt joint with theelectric male head 201, then thehooks 207 contract and are embedded into the gaps between thelimiting strips 107, the grabbing and locking of the butt joint mechanisms are completed.
Unlocking and releasing of the passive mechanism: thepassive steering engine 109 of thepassive mechanism 1 starts to rotate, so that the passive buttjoint sliding block 105 is driven to produce stretching action, at the moment, the connection between the electricmale head 201 and the electricfemale head 101 is disconnected, then the active butt joint mechanism is passively butted with theactive steering engine 209 to rotate, so that the active buttjoint sliding block 205 is driven to produce stretching action, at the moment, thehook claw 207 produces releasing action, slides out from the gap between thelimiting strip 107 and theguide surface 108, and the structural connection of the two butt joint surfaces is disconnected.
A separation stage: through passive mechanism's unblock and release stage, the electric between two unmanned aerial vehicles this moment and the whole disconnection of structural connection, next through the restriction ofguide surface 108, active passive unmanned aerial vehicle alright break away from each other.
Compared with the prior art, the invention has the following advantages:
firstly, the invention adopts the claw grabbing combined with the guide surface to carry out butt joint guide on the active and passive butt joint mechanism, realizes accurate positioning and stable grabbing of the butt joint mechanism, has reliable structure and stable connection, and can meet the butt joint process in the posture small disturbance process in the air butt joint process of the unmanned aerial vehicle.
Secondly, the screw rod drives the butt joint sliding block to move back and forth in the axial direction, so that the electric connector moves back and forth relative to the butt joint sliding block, and the male and female electric butt joints can be connected and released through the movement.
Thirdly, the SG90 steering engine drives the whole butt joint process, and the grabbing action and the locking action of electrical and structural connection in the butt joint process are cooperatively controlled, so that the control of the structure is extremely simple, the reliability is maintained, and the simplicity is realized.
Fourthly, the invention occupies a smaller space, and the aperture for electrical connection inside is larger, compared with the traditional butt joint mechanism, the size of the occupied space is 37mm multiplied by 80mm, and the aperture for electrical connection inside is 30mm, thereby greatly improving the utilization rate of the space.
Fifth, the invention has simple and reliable structure and simple process, realizes electrical connection on the basis of ensuring the reliability of structural connection by realizing structural connection firstly, adopts standard components as the electrical connector, is adaptive to various common electrical connectors, and has high working reliability and high part replaceability.
Drawings
Fig. 1A is a schematic diagram of a passive docking structure according to an embodiment of the present invention in a first state, and fig. 1B is a perspective working view of fig. 1A;
fig. 2A is a schematic diagram of a passive docking structure according to a second state of the embodiment of the present invention, and fig. 2B is a perspective working view of fig. 2A;
FIG. 3 is a schematic diagram of an active docking structure according to an embodiment of the present invention;
FIG. 4 is an exploded view of an active docking structure;
FIG. 5A is an electrical and structural diagram of an embodiment of the present invention; FIG. 5B is a schematic diagram of electrical and structural connections according to an embodiment of the present invention;
FIG. 6 is a partial view of a finger locking arrangement;
FIG. 7 is a diagram showing the docking/undocking process (A-B-C is the docking process and C-B-A is the undocking process).
In the figure: 1. passive docking mechanism: 101. an electrical female connector; 102. a female lead screw; 103. passively butting a lead screw slide block; 104. a passive docking cushion; 105. a passive docking slide block; 106. a passive butt joint limiting ring; 107. a limiting strip; 108. a guide surface; 109. actively connecting a passive steering engine in a butt joint mode; 110. a driving gear is in passive butt joint; 111. passively butting driven gears; 112. a passive mechanism housing; 2. the active butt joint mechanism comprises: 201. an electrical male; 202. a male lead screw; 203. actively butting a lead screw slide block; 204. actively docking the cushion; 205. actively butting the sliding block; 206. actively butting the limiting ring; 207. a hook claw; 208. a knuckle connecting rod; 209. a passive butt joint active steering engine; 210. actively butting a driving gear; 211. the driven gear is in active butt joint; 212. an active mechanism housing.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following description is presented to enable one of ordinary skill in the art to make and use the present invention as provided within the context of a fully functioning computer system. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1A, fig. 1B, fig. 2A, and fig. 2B, a small aerial array docking and detaching mechanism satisfying electrical connection includes a passive docking mechanism 1 and an active docking mechanism 2, the passive docking mechanism 1 and the active docking mechanism 2 are movably connected, and the passive docking mechanism at least includes: the device comprises an electric female head 101, a female lead screw 102, a passive butt joint lead screw slider 103, a passive butt joint cushion 104, a passive butt joint slider 105, a passive butt joint limit ring 106, a limit strip 107, a guide surface 108, a driving butt joint passive steering engine 109, a passive butt joint driving gear 110, a passive butt joint driven gear 111 and a passive mechanism shell 112; the electric female head 101 is embedded in the female screw rod 102, the female screw rod 102 is fixedly connected with the driven butt joint gear 111, the driven butt joint screw rod sliding block 103 is driven to move axially by the rotation of the driven butt joint steering engine 109 transmitted by the driven butt joint driving gear 110, and the driven butt joint limiting ring 106 restrains the axial movement length of the driven butt joint sliding block 105; the axial movement of the passive butt joint lead screw slide block 103 drives the passive butt joint slide block 105 to move and the limit strip 107 and the guide surface 108 to move inwards; a passive mechanism shell 112 is used as a mechanism structure foundation, and an active butt joint passive steering engine 109 is arranged at a steering engine mounting port special for the bottom of the shell; the driven docking driving gear 110 and the driven docking driven gear 111 are respectively connected with the master part and the slave part thereof, and are locked by the special convex characteristic on the shell; the female screw 102 is fixedly connected with the driven gear 110; the limiting strip 107 is connected to the butt joint sliding block 10 through threads; the guide surface 108 is arranged on the butt joint surface and guides the hook 207 of the active butt joint mechanism; the electric female head 101, the female lead screw 102, the passive butt lead screw slide block 103, the passive butt cushion 104 and the passive butt slide block 105 are connected in an embedded mode according to the size.
As shown in fig. 3 and 4, the active docking mechanism 2 at least includes: the electric male head 201, a male screw 202, a driving butt joint lead screw slider 203, a driving butt joint buffer pad 204, a driving butt joint slider 205, a driving butt joint limit ring 206, a hook claw 207, a hook claw connecting rod 208, a driven butt joint driving steering engine 209, a driving butt joint driving gear 210, a driving butt joint driven gear 211 and a driving mechanism shell 212; the electric male head 201 is embedded in the male lead screw 202, the male lead screw 202 is fixedly connected with the driving butt joint driven gear 211, the driving butt joint driving gear 210 transmits the rotation of the driven butt joint driving steering gear 209 to drive the axial movement of the driving butt joint lead screw slider 203, and the driving butt joint limiting ring 206 restrains the axial movement length of the driving butt joint slider 205; the active docking lead screw slider 203 drives the active docking slider 205 to move, so that the electric male head 201 moves relative to the active docking slider 205, and the hook 207 and the hook connecting rod 208 are driven to move inwards; the driving mechanism shell 212 is used as a mechanism structure foundation, and a driven butt joint driving steering engine 209 is arranged at a steering engine mounting port; the driving docking driving gear 210 and the driving docking driven gear 211 are connected with the master and slave parts thereof and locked by the special convex features on the shell; the male lead screw 202 is fixedly connected with the driven gear 210; the hook claw 207 is connected to the corresponding position of the active butt joint sliding block 205; the finger link 208 is mounted on the active mechanism housing 212; the electric male head 201, the male screw rod 202, the active butt lead screw slider 203, the active butt cushion 204 and the active butt slider 205 are connected in an embedded mode according to the size.
As shown in fig. 5A and 5B, thehook 207 and thehook link 208 of the active docking mechanism are structurally connected with thelimit strip 107 and theguide surface 108 of the passive docking mechanism, and are electrically connected with the electricalmale connector 201 through the electricalfemale connector 101; the total number of the fourhooks 207 of the active butt joint mechanism is four, and the four hooks are respectively arranged at four corners of the cross section of the mechanism and are distributed in a right angle; the hookclaw connecting rod 208 is connected to thehook claw 207 and the shell of the active mechanism, so that the connection between the hook claw and the shell is realized, and the grabbing action of the hook claw is completed. Thelimit strip 107 of the passive docking mechanism is arranged at the position, corresponding to the claw, on the cross section of the passive mechanism and is connected to the shell of the passive mechanism through threads, theguide surface 108 is fixedly connected to the passive docking surface through threads, and the size of a locking gap is controlled by thelimit strip 107 and the motion; the electricmale head 201 and the electricfemale head 101 are electrically connected and disconnected through movement relative to respective butt joint sliding blocks, a standard 7-wire telephone line is adopted as a connector for the electric connector, the diameter of a circular section used for electric connection in the electric connector is 20mm, and the electric connector can be replaced according to requirements.
As shown in fig. 6, thehook 207 of the active docking mechanism is fastened in the locking gap between the limitingstrip 107 and the guidingsurface 108, and the guiding surface mainly functions to guide the movement track of thehook 207 during docking and separation, so that the hook can accurately slide into the locking gap; the design of the tail end of thehook claw 207 by adopting a flexible material can ensure that the axial clearance of the butt joint mechanism has certain connection reliability, and meanwhile, the transverse position limitation is limited by the locking clearance. The overall axial position of the docking mechanism is defined by fourhooks 207 and fourlimit bars 107, and the radial direction is defined by eight contact surfaces of the locking gaps and thehooks 207.
As shown in fig. 7, the docking/separating process of thepassive docking mechanism 1 and theactive docking mechanism 2 has interchange reversibility, a is the starting stage of the docking process and the ending stage of the separating process of the two docking mechanisms, and B is the unlocking and releasing stage of the guiding stage and the separating process in the docking process; and C is the finishing stage of the docking process and the initial state of the separation process.
In the docking process, as shown in fig. 7A, the two drones enable the drones to be approximately positioned on the docking axis through stable control, and then receive a docking start signal, at this time, the two drones enter the docking state, the docking surface of the active docking drone is continuously close to the passive surface of the passive docking drone, at this time, the four protrudingclaws 207 firstly enter the inlets of theguide surface 108, under the limitation of theguide surface 108, the active docking surface is continuously close to the passive docking surface, theclaws 107 slide into the locking gaps formed by the limitingstrips 108 and theguide surface 108 along the guide line, and at this time, the two drones enter the state shown in fig. 7B; then measuring the distance at the moment through a distance sensor, and entering a grabbing stage: theclaw 207 of the active docking mechanism is driven by the passive dockingactive steering engine 209 to generate a gripping action to realize structural connection, and meanwhile, relative to the activedocking sliding block 205/105, the electricalmale connector 201 and the electricalfemale connector 101 generate a stretching action relative to the docking sliding blocks respectively, and the two electrical connectors are connected to realize electrical connection, so that the state shown in fig. 7C is entered.
During the separation process, as shown in fig. 7B: the first stage is an unlocking and releasing stage, at the moment, the passive docking mechanismpassive steering engine 109 actuates firstly to drive the passivedocking sliding block 105 to extend out, at the moment, the electricalfemale head 101 contracts relative to the passivedocking sliding block 105 to realize the disconnection of electrical connection, then the active docking mechanism passive dockingactive steering engine 209 actuates to drive the activedocking sliding block 205 to extend out, at the moment, thehook claw 207 releases to separate from a locking gap between the limitingstrip 107 and theguide surface 108 to realize the disconnection of structural connection; as shown in fig. 7C, the second phase is a separation phase, in which the electrical connection and the structural connection between the two drones are disconnected, and the two drones can maintain the relative position error to achieve the position separation within a certain tolerance under the action of theguide surface 108 and thehook 207.
It is to be understood that the terms "clockwise," "counterclockwise," "pitch," "yaw," "vertical," "horizontal," "null," and the like, as used herein, are used in a generic and descriptive sense only and not for purposes of limitation, the terms "clockwise," "counterclockwise," "pitch," "yaw," "vertical," "horizontal," "null," and the like, being used in a generic and descriptive sense only and not for purposes of limitation, the specific orientation at which a device or element is referred to must be constructed and operated in a specific manner.
While specific embodiments of the invention have been described above, it will be appreciated that those skilled in the art will be able to practice the invention without more details than those set forth herein. The present invention is not limited to the specific embodiments described above, and the above examples do not limit the scope of the present invention, and all modifications or variations that fall within the scope of the claims of the present invention fall within the scope of the present invention.
Claims (9)
Translated fromChinesePriority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202011452736.4ACN112429251B (en) | 2020-12-11 | 2020-12-11 | Small aerial array docking and separating mechanism and method meeting electrical connection |
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| CN202011452736.4ACN112429251B (en) | 2020-12-11 | 2020-12-11 | Small aerial array docking and separating mechanism and method meeting electrical connection |
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| CN115556931A (en)* | 2022-10-12 | 2023-01-03 | 北京理工大学 | A reconfigurable drone |
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