CN116409475A - Coaxial connection device for unmanned aerial vehicles based on unmanned boat operations - Google Patents

Abstract

The invention provides an unmanned aerial vehicle coaxial connecting device for unmanned aerial vehicle operation, which is used for solving the problems that two unmanned aerial vehicles on an unmanned aerial vehicle are difficult to dock in the air and the connecting position is unstable; the receiving module is arranged at the upper end of the downlink aircraft, and the docking module is detachably connected with the receiving module; the docking module comprises a first fixing frame and a docking sleeve, the first fixing frame is fixedly connected to the lower end of the unmanned aerial vehicle, the docking sleeve is fixedly connected to the lower portion of the first fixing frame, a guide plate is arranged on the side face of the docking sleeve, and a concave electromagnet is arranged at the lower end of the docking sleeve; the second fixing frame is fixedly connected to the upper end of the aircraft, the winding mechanism is connected to the upper end of the second fixing frame, the bearing sleeve is fixedly connected to the upper end of the winding mechanism, the other end of the tape measure steel belt penetrates through the bearing sleeve, the end of the tape measure steel belt is rotatably connected with a bearing seat, and the upper end of the bearing seat is fixedly connected with a convex permanent magnet; the side surface of the bearing sleeve is provided with a spiral downward guiding incision, and the lowest end of the guiding incision is provided with a clamping groove.

Description

Translated fromChinese

基于无人艇作业用无人飞行器共轴连接装置Coaxial connection device for unmanned aerial vehicles based on unmanned boat operations

技术领域technical field

本发明涉及飞行器设备技术领域，特别是基于无人艇作业用无人飞行器共轴连接装置。The invention relates to the technical field of aircraft equipment, in particular to an unmanned aircraft coaxial connection device for unmanned boat operations.

背景技术Background technique

近年来，无人艇技术发展迅速,无人水面艇因其机动灵活，可替代人工进行危险领域作业等特点日益成为国内外学者的研究重点。无人艇搭载无人飞行器可以提高无人艇作业时的空中侦察能力，四旋翼无人飞行器由于具有体积小、结构简单、飞行灵活、可垂直起降，但是，其仅具有四个驱动单元，它的机动能力受到很大制约；八旋翼无人飞行器与四旋翼飞行器相比，其具有更大的驱动能力、更强的带载能力，但是能耗大大增加，不利于长时间作业，为此，设想利用两个四旋无人飞行器组合成一个八旋翼无人飞行器，以满足在无人艇作业时自由组合使用。In recent years, unmanned vehicle technology has developed rapidly, and unmanned surface vehicles have increasingly become the research focus of scholars at home and abroad because of their flexible maneuverability and the ability to replace manual operations in dangerous areas. Unmanned boats equipped with unmanned aerial vehicles can improve the aerial reconnaissance capabilities of unmanned boats during operations. The quadrotor unmanned aerial vehicles are small in size, simple in structure, flexible in flight, and can take off and land vertically. However, they only have four drive units. Its maneuverability is greatly restricted; compared with the quadrotor aircraft, the eight-rotor unmanned aerial vehicle has greater driving capacity and stronger carrying capacity, but the energy consumption is greatly increased, which is not conducive to long-term operation. , it is envisaged to use two four-rotor unmanned aerial vehicles to combine into an eight-rotor unmanned aerial vehicle, so as to meet the free combination and use in the operation of unmanned boats.

但是，两个四旋翼无人飞行器配合无人艇海上作业时，两个无人飞行器的对接存在以下几点问题：However, when two quadrotor unmanned aerial vehicles cooperate with unmanned boats to operate at sea, there are the following problems in the docking of two unmanned aerial vehicles:

1、受海上风浪影响，两个飞行器在空中定位困难，不便于自动对接。1. Affected by sea wind and waves, it is difficult for two aircrafts to locate in the air, and it is not convenient for automatic docking.

2、自动对接后，两个飞行器的连接部位连接不牢固，受风浪影响拖曳重物时，容易造成两个飞行器分离。2. After automatic docking, the connecting parts of the two aircrafts are not firmly connected. When dragging heavy objects under the influence of wind and waves, the two aircrafts are likely to be separated.

发明内容Contents of the invention

针对上述情况，为克服现有技术之缺陷，本发明提供基于无人艇作业用无人飞行器共轴连接装置，以解决无人艇上的两个无人飞行器空中对接困难，及连接处不稳定的问题。In view of the above situation, in order to overcome the defects of the prior art, the present invention provides a coaxial connection device for unmanned aerial vehicles based on unmanned boat operations to solve the difficulty of docking two unmanned aerial vehicles on the unmanned boat in the air and the instability of the connection The problem.

其解决的技术方案是，本发明包括对接模块和承接模块，两个所述的模块分别安装在两个组合使用的飞行器上，对接模块安装在上行飞行器的下端，承接模块安装在下行飞行器的上端，对接模块与承接模块可拆卸连接；所述对接模块包括第一固定架和对接套筒，第一固定架固定连接在上行飞行器的下端，对接套筒固定连接在第一固定架的下方，对接套筒侧面设有至少一个导向板，对接套筒下端设有凹型电磁铁；所述承接模块包括第二固定架、承接套筒、卷尺钢带和收卷机构，第二固定架固定连接在下行飞行器的上端，收卷机构连接在第二固定架的上端，承接套筒固定连接在收卷机构上端，卷尺钢带一端卷绕在收卷机构中受收卷机构控制，卷尺钢带另一端贯穿承接套筒且其端部转动连接有承接座，承接座上端固定连接有凸型永磁铁；承接套筒侧面开设有至少一个螺旋向下的导向切口，导向切口最下端开设有卡槽；所述对接套筒和所述承接套筒均形如上大下小的漏斗状，对接套筒可插接在承接套筒内；所述凸型永磁铁可插接在所述凹型电磁铁内且二者对接端的磁极相反；所述导向板可卡接在导向切口内的卡槽中。The technical solution is that the present invention includes a docking module and a receiving module, the two modules are respectively installed on two combined aircrafts, the docking module is installed at the lower end of the uplinking aircraft, and the receiving module is installed at the upper end of the downlinking aircraft , the docking module is detachably connected to the receiving module; the docking module includes a first fixing frame and a docking sleeve, the first fixing frame is fixedly connected to the lower end of the uplink aircraft, and the docking sleeve is fixedly connected to the bottom of the first fixing frame, and the docking At least one guide plate is provided on the side of the sleeve, and a concave electromagnet is provided at the lower end of the docking sleeve; the receiving module includes a second fixing frame, a receiving sleeve, a steel tape for a tape and a winding mechanism, and the second fixing frame is fixedly connected to the downlink On the upper end of the aircraft, the winding mechanism is connected to the upper end of the second fixed frame, and the receiving sleeve is fixedly connected to the upper end of the winding mechanism. One end of the steel tape of the tape is wound in the winding mechanism and is controlled by the winding mechanism, and the other end of the steel tape of the tape runs through The end of the receiving sleeve is rotatably connected with a receiving seat, and the upper end of the receiving seat is fixedly connected with a convex permanent magnet; the side of the receiving sleeve is provided with at least one spiral downward guiding cutout, and the bottom end of the guiding cutout is provided with a card slot; Both the docking sleeve and the receiving sleeve are shaped like a funnel with a large top and a small bottom, and the docking sleeve can be inserted into the receiving sleeve; the convex permanent magnet can be inserted into the concave electromagnet and the two The magnetic poles of the butt ends are opposite; the guide plate can be engaged in the slot in the guide notch.

优选地，所述收卷机构包括壳体、舵机、卷筒轴和两个辊子，壳体与舵机均固定连接在第二固定架上，且舵机平行设置在壳体的一侧，卷筒轴与两个辊子分别转动连接在壳体上，且靠近舵机的辊子的一端以及卷筒轴上分别同轴键连接有从动齿轮，两个从动齿轮分别位于收卷装置的两侧，卷筒轴上同轴固定连接有位于壳体内的收卷筒，收卷筒用于收卷卷尺钢带，卷尺钢带经两个辊子之间穿过，两个辊子挤压在卷尺钢带上。Preferably, the winding mechanism includes a housing, a steering gear, a reel shaft and two rollers, the housing and the steering gear are fixedly connected to the second fixed frame, and the steering gear is arranged on one side of the housing in parallel, The reel shaft and the two rollers are respectively connected to the housing in rotation, and one end of the roller close to the steering gear and the reel shaft are respectively coaxially keyed with driven gears, and the two driven gears are respectively located at the two ends of the winding device. On the side, the reel shaft is coaxially fixedly connected with a reel located in the housing. The reel is used to rewind the steel tape of the tape. bring.

优选地，所述舵机有两个同轴的输出轴，两个输出轴上分别同轴传动连接有内棘式齿轮，两个输出轴上分别键连接有棘爪盘，棘爪盘位于内棘式齿轮轴心处，且棘爪盘上的棘爪作用在内棘式齿轮上的棘齿上。Preferably, the steering gear has two coaxial output shafts, the two output shafts are coaxially connected with internal ratchet gears respectively, and the two output shafts are respectively keyed with pawl discs, and the pawl discs are located in the inner At the axis of the ratchet gear, and the ratchet on the ratchet plate acts on the ratchet on the inner ratchet gear.

优选地，两个所述内棘式齿轮内的棘齿方向相反，所述舵机的两个输出轴上的棘爪的朝向相同。Preferably, the directions of the ratchets in the two internal ratchet gears are opposite, and the directions of the ratchets on the two output shafts of the steering gear are the same.

优选地，所述对接套筒位于上行飞行器的轴心处，对接套筒侧边的导向板位于上行飞行器的任意两个悬臂夹角的角平分线上。Preferably, the docking sleeve is located at the axis of the ascending aircraft, and the guide plate on the side of the docking sleeve is located on the bisector of any two cantilever angles of the ascending aircraft.

优选地，所述承接套筒固定连接在壳体上端，承接套筒位于下行飞行器的轴心处，承接套筒上的卡槽与下行飞行器的一个悬臂平行。Preferably, the receiving sleeve is fixedly connected to the upper end of the casing, the receiving sleeve is located at the axis of the down-going aircraft, and the slot on the receiving sleeve is parallel to a cantilever of the down-going aircraft.

优选地，所述卷尺刚带由两个相同片卷尺拼接而成，卷尺钢带的外面包裹有热缩管。Preferably, the steel tape of the tape is spliced by two identical tapes, and the steel tape of the tape is wrapped with a heat-shrinkable tube.

采用本发明提供的技术方案，与已有的公知技术相比，具有如下显著效果：Compared with the existing known technology, the technical solution provided by the invention has the following remarkable effects:

1、通过对接模块和承接模块的配合设置，对接套筒上的导向板可以顺畅地沿着承接套筒上的导向切口滑入到卡槽内，从而将对接套筒与承接套筒卡接在一起，实现两个飞行器的固定连接，降低了对接难度，且导向板与卡槽的位置限定了两个飞行器对接后的位置，使得两个飞行器共计八个悬臂相交错布置，组成一个八旋翼的飞行器，使得两个飞行器的连接更加稳定，提高带载能力。1. Through the coordinated setting of the docking module and the receiving module, the guide plate on the docking sleeve can smoothly slide into the slot along the guide notch on the receiving sleeve, so that the docking sleeve and the receiving sleeve are snapped together Together, it realizes the fixed connection of the two aircraft, which reduces the difficulty of docking, and the position of the guide plate and the slot defines the position of the two aircraft after docking, so that a total of eight cantilever arms of the two aircraft are arranged in a staggered manner to form an eight-rotor The aircraft makes the connection between the two aircraft more stable and improves the carrying capacity.

2、通过卷尺钢带和舵机的配合设置，利用棘爪棘齿结构实现两个内棘式齿轮的单独控制，从而更加稳定地对卷尺钢带进行收放卷；且卷尺钢带上的凸型永磁体与对接套筒下端的凹型电磁铁吸附后，利用卷尺钢带的牵引，能够更好的引导上行飞行器与下行飞行器的对接，起到一个引导作用，在配合无人艇海上作业时，能够抵抗海上风浪对飞行器的影响，提高两个飞行器对接成功率。2. Through the coordinated setting of the tape tape and the steering gear, the pawl and ratchet structure is used to realize the separate control of the two internal ratchet gears, so that the tape tape can be retracted and unwound more stably; and the convex tape on the tape tape After the permanent magnet is adsorbed to the concave electromagnet at the lower end of the docking sleeve, it can better guide the docking of the uplink aircraft and the downlink aircraft by using the traction of the steel tape of the tape, and play a guiding role. When working with unmanned boats at sea, It can resist the impact of sea wind and waves on the aircraft, and improve the success rate of docking of two aircraft.

附图说明Description of drawings

图1是本发明的对接模块与承接模块连接时的示意图。Fig. 1 is a schematic diagram of the connection between the docking module and the receiving module of the present invention.

图2是本发明的对接模块与承接模块分离后的示意图。Fig. 2 is a schematic diagram of the docking module of the present invention after being separated from the receiving module.

图3是本发明的收卷机构的示意图。Fig. 3 is a schematic diagram of the winding mechanism of the present invention.

图4是本发明对接套筒与承接套筒的结构示意图。Fig. 4 is a structural schematic diagram of a butt joint sleeve and a receiving sleeve of the present invention.

图5是本发明对接模块装配在上行飞行器上时的示意图。Fig. 5 is a schematic diagram of the docking module of the present invention assembled on an uplink aircraft.

图6是本发明承接模块装配在下行飞行器上时的示意图。Fig. 6 is a schematic diagram of the receiving module of the present invention assembled on the downlink aircraft.

图7是本发明两个飞行器的对接示意图。Fig. 7 is a schematic diagram of the docking of two aircraft of the present invention.

图8是本发明与无人艇配合作业的示意图。Fig. 8 is a schematic diagram of the cooperation between the present invention and the unmanned boat.

示意图中的标号说明：Explanation of the labels in the schematic diagram:

1、对接模块；101、第一固定架；102、对接套筒；103、导向板；104、凹型电磁铁；2、承接模块；201、第二固定架；202、承接套筒；203、卷尺钢带；204、承接座；205、凸型永磁铁；206、导向切口；207、卡槽；3、上行飞行器；4、下行飞行器；5、收卷机构；501、壳体；502、舵机；503、卷筒轴；504、辊子；505、从动齿轮；506、收卷筒；507、内棘式齿轮；508、棘爪盘。1. Docking module; 101. First fixing frame; 102. Docking sleeve; 103. Guide plate; 104. Concave electromagnet; 2. Receiving module; 201. Second fixing frame; 202. Receiving sleeve; 203. Tape measure Steel strip; 204, receiving seat; 205, convex permanent magnet; 206, guide notch; 207, slot; 3, up-flying aircraft; 4, down-flying aircraft; 5, winding mechanism; 501, shell; 502,steering gear 503, reel shaft; 504, roller; 505, driven gear; 506, reel; 507, inner ratchet gear;

具体实施方式Detailed ways

以下结合附图对本发明的具体实施方式作进一步详细说明。The specific implementation manners of the present invention will be described in further detail below in conjunction with the accompanying drawings.

本发明实施例公开一种基于无人艇作业用无人飞行器共轴连接装置。The embodiment of the invention discloses a coaxial connection device for an unmanned aerial vehicle based on an unmanned boat operation.

参考图1至图8，基于无人艇作业用无人飞行器共轴连接装置包括对接模块1和承接模块2，两个上述的模块分别安装在两个组合使用的飞行器上，对接模块1安装在上行飞行器3的下端，承接模块2安装在下行飞行器4的上端，对接模块1与承接模块2可拆卸连接，通过对接模块1与承接模块2的连接，将两个飞行器装配在一起。Referring to Figures 1 to 8, the coaxial connection device for unmanned aerial vehicles based on unmanned boat operations includes adocking module 1 and areceiving module 2, and the two above-mentioned modules are respectively installed on two combined aircrafts, and thedocking module 1 is installed on The lower end of theuplink aircraft 3, thereceiving module 2 is installed on the upper end of thedownlink aircraft 4, thedocking module 1 and thereceiving module 2 are detachably connected, and the two aircraft are assembled together through the connection between thedocking module 1 and thereceiving module 2.

其中，位于上方的飞行器定义为上行飞行器3，位于下方的飞行器定义为下行飞行器4，承接模块2安装在下行飞行器4的上端，对接模块1与承接模块2可拆卸连接；Wherein, the upper aircraft is defined as theuplink aircraft 3, and the lower aircraft is defined as thedownlink aircraft 4, thereceiving module 2 is installed on the upper end of thedownlink aircraft 4, and thedocking module 1 and thereceiving module 2 are detachably connected;

参考图2和图4，上述对接模块1包括第一固定架101和对接套筒102，第一固定架101固定连接在上行飞行器3的下端，对接套筒102固定连接在第一固定架101的下方，对接套筒102侧面设有一个导向板103，对接套筒102下端设有凹型电磁铁104；Referring to Fig. 2 and Fig. 4, the above-mentioneddocking module 1 includes afirst fixing frame 101 and adocking sleeve 102, thefirst fixing frame 101 is fixedly connected to the lower end of theuplink aircraft 3, and thedocking sleeve 102 is fixedly connected to the bottom of thefirst fixing frame 101. Below, aguide plate 103 is provided on the side of thedocking sleeve 102, and aconcave electromagnet 104 is provided at the lower end of thedocking sleeve 102;

参考图2、图3、图4，上述承接模块2包括第二固定架201、承接套筒202、卷尺钢带203和收卷机构5，第二固定架201固定连接在下行飞行器4的上端，收卷机构5连接在第二固定架201的上端，承接套筒202固定连接在收卷机构5上端，卷尺钢带203一端卷绕在收卷机构5中受收卷机构5控制，卷尺钢带203的另一端贯穿承接套筒202，且卷尺钢带203上端通过轴承转动连接有承接座204，承接座204上端固定连接有凸型永磁铁205；承接套筒202侧面开设有一个螺旋向下的导向切口206，导向切口206最下端开设有卡槽207。Referring to Fig. 2, Fig. 3 and Fig. 4, the above-mentionedreceiving module 2 includes asecond fixing frame 201, areceiving sleeve 202, a tapemeasure steel belt 203 and awinding mechanism 5, and thesecond fixing frame 201 is fixedly connected to the upper end of thedownlink aircraft 4, Thewinding mechanism 5 is connected to the upper end of the secondfixed frame 201, and thereceiving sleeve 202 is fixedly connected to the upper end of thewinding mechanism 5. One end of the tapemeasure steel strip 203 is wound in thewinding mechanism 5 and is controlled by thewinding mechanism 5. The tape measure steel strip The other end of 203 runs through thereceiving sleeve 202, and the upper end of the tapemeasure steel strip 203 is rotatably connected with thereceiving seat 204 through the bearing, and the upper end of thereceiving seat 204 is fixedly connected with the convexpermanent magnet 205; the side of thereceiving sleeve 202 is provided with a spiral downward Theguide notch 206 is provided with aslot 207 at the lowermost end of theguide notch 206 .

上述凸型永磁铁205可插接在上述凹型电磁铁104内且二者对接端的磁极相反，利用两个磁体的吸附，方便卷尺钢带203与对接模块1的连接，利用卷尺钢带203的牵引做引导，可以更加准确地完成对接模块1与承接模块2的连接。The above-mentioned convexpermanent magnet 205 can be plugged into the above-mentionedconcave electromagnet 104 and the magnetic poles of the two docking ends are opposite. The adsorption of the two magnets facilitates the connection of thetape 203 to thedocking module 1, and the traction of thetape 203 With guidance, the connection between thedocking module 1 and the receivingmodule 2 can be completed more accurately.

上述导向板103可沿着导向切口206进入到卡槽207中，通过导向板103与卡槽207的卡接，完成对接模块1和承接模块2的连接，从而防止组合后的两个飞行器拖曳重物时意外分离，增强了带载能力。The above-mentionedguide plate 103 can enter into theslot 207 along theguide cutout 206, and through the clamping of theguide plate 103 and theslot 207, the connection between thedocking module 1 and the receivingmodule 2 is completed, thereby preventing the combined two aircraft from dragging heavy When the object is accidentally separated, the carrying capacity is enhanced.

进一步地，为了方便两个模块的对接，上述对接套筒102和上述承接套筒202均形如上大下小的漏斗状，对接套筒102可插接在承接套筒202内。Further, in order to facilitate the docking of the two modules, the above-mentioneddocking sleeve 102 and the above-mentionedreceiving sleeve 202 are both shaped like a funnel with a large top and a small bottom, and thedocking sleeve 102 can be inserted into the receivingsleeve 202 .

具体地，上行飞行器3与下行飞行器4对接时，对接套筒102插接在上述承接套筒202内，凹型电磁铁104与上述凸型永磁铁205对接且二者吸附在一起，导向板103沿导向切口206逐渐滑入卡槽207中，导向板103位于卡槽207内时对接套筒102与承接套筒202卡接在一起。Specifically, when theuplink aircraft 3 is docked with thedownlink aircraft 4, thedocking sleeve 102 is inserted into the above-mentionedreceiving sleeve 202, theconcave electromagnet 104 is docked with the above-mentioned convexpermanent magnet 205 and the two are adsorbed together, theguide plate 103 along the Theguide notch 206 gradually slides into theslot 207 , and when theguide plate 103 is located in theslot 207 , thedocking sleeve 102 and the receivingsleeve 202 are snapped together.

参考图5和图6，上述对接套筒102位于上行飞行器3的轴心处，对接套筒102侧边的导向板103位于上行飞行器3的两个相邻悬臂夹角的角平分线上；上述承接套筒202位于下行飞行器4的轴心处，承接套筒202上的卡槽207与下行飞行器4的一个悬臂平行；这样两个飞行器在对接后，上行飞行器3的四个悬臂与下行飞行器4的四个悬臂相交错，组成一个八旋翼的飞行器。Referring to Fig. 5 and Fig. 6, the above-mentioneddocking sleeve 102 is located at the axis of theuplink aircraft 3, and theguide plate 103 on the side of thedocking sleeve 102 is located on the angle bisector of the angle between two adjacent cantilever arms of theuplink aircraft 3; The receivingsleeve 202 is located at the axis of the down-goingaircraft 4, and theslot 207 on the receivingsleeve 202 is parallel to a cantilever of the down-goingaircraft 4; The four cantilevers are interlaced to form an eight-rotor aircraft.

参考图4，上述收卷机构5包括壳体501、舵机502、卷筒轴503和两个辊子504，壳体501与舵机502均固定连接在第二固定架201上，且舵机502平行设置在壳体501的一侧，卷筒轴503与两个辊子504分别转动连接在壳体501上，且靠近舵机502的辊子504的一端以及卷筒轴503上分别同轴键连接有从动齿轮505，两个从动齿轮505分别位于收卷装置的两侧，卷筒轴503上同轴固定连接有位于壳体501内的收卷筒506，收卷筒506用于收卷卷尺钢带203，卷尺钢带203经两个辊子504之间穿过，两个辊子504挤压作用在卷尺钢带203上。With reference to Fig. 4, above-mentioned windingmechanism 5 compriseshousing 501, steeringgear 502,reel shaft 503 and tworollers 504,housing 501 andsteering gear 502 are all fixedly connected on the second fixedframe 201, andsteering gear 502 Parallel to one side of thecasing 501, thereel shaft 503 and the tworollers 504 are respectively connected to thecasing 501 in rotation, and one end of theroller 504 close to thesteering gear 502 and thereel shaft 503 are respectively coaxially keyed.Driven gear 505, the two drivengears 505 are respectively located on both sides of the winding device, and the windingshaft 503 is coaxially fixedly connected with the windingdrum 506 located in thehousing 501, and the windingdrum 506 is used for winding the tape measure Thesteel strip 203 and the tapemeasure steel strip 203 pass between tworollers 504 , and the tworollers 504 squeeze and act on the tapemeasure steel strip 203 .

进一步地，为了利用一个舵机502控制两个内棘式齿轮507单独旋转，上述舵机502有两个同轴的输出轴，两个输出轴上分别同轴传动连接有内棘式齿轮507，两个输出轴上分别键连接有棘爪盘508，棘爪盘508位于内棘式齿轮507轴心处，且棘爪盘508上的棘爪作用在内棘式齿轮507上的棘齿上，两个上述内棘式齿轮507内的棘齿方向相反，上述舵机502的两个输出轴上的棘爪的朝向相同，这样舵机502正转或反转时两个内棘式齿轮507有且只有一个为主动式转动。Further, in order to use onesteering gear 502 to control the two internal ratchet gears 507 to rotate independently, thesteering gear 502 has two coaxial output shafts, and the two output shafts are respectively coaxially connected with the internal ratchet gears 507, The two output shafts are respectively keyed withpawl discs 508, thepawl discs 508 are located at the axis of theinner ratchet gear 507, and the pawls on theratchet discs 508 act on the ratchets on theinner ratchet gear 507, The ratchets in the two above-mentioned internal ratchet gears 507 have opposite directions, and the orientation of the pawls on the two output shafts of the above-mentionedsteering gear 502 is the same, so that the two internal ratchet gears 507 have And only one is active rotation.

具体地，舵机502正转时，其中一个内棘式齿轮507呈主动式转动，带动卷筒轴503旋转，收卷筒506收卷，将卷尺钢带203收缩，而另一个内棘式齿轮507不受舵机502输出轴的控制，即此时的辊子504仅在卷尺钢带203的带动下被动地转动，这样收卷的卷尺钢带203更加的紧实、稳定。Specifically, when thesteering gear 502 rotates forward, one of the internal ratchet gears 507 actively rotates, driving thereel shaft 503 to rotate, and thereel 506 is rewound to shrink thetape 203, while the otherinternal ratchet gear 507 is not controlled by the output shaft of thesteering gear 502, that is, theroller 504 only rotates passively under the drive of the tapemeasure steel belt 203 at this time, so that the tapemeasure steel belt 203 that is wound up is more compact and stable.

相应的，舵机502反转时，则其中一个内棘式齿轮507转动带动一个辊子504转动，使得挤压在卷尺钢带203上的两个辊子504的同步转动，从而将卷尺钢带203向上拖拽伸出，此时另一个内棘式齿轮507不受舵机502输出轴的控制，即收卷轴呈被动式放卷，这样才不会导致卷尺钢带203放卷时出现卡壳现象，使得卷尺钢带203能平稳地向上延伸。Correspondingly, when thesteering gear 502 reverses, one of the internal ratchet gears 507 rotates to drive aroller 504 to rotate, so that the tworollers 504 pressed on thetape tape 203 rotate synchronously, thereby pushing thetape tape 203 upward. Drag and stretch out. At this time, the otherinternal ratchet gear 507 is not controlled by the output shaft of thesteering gear 502, that is, the winding shaft is passively unwound, so that it will not cause thesteel tape 203 of the tape to be unwound. Thesteel belt 203 can extend upward smoothly.

进一步地，上述卷尺刚带由两个相同片卷尺拼接而成，卷尺钢带203的外面包裹有热缩管。Further, the steel measuring tape is formed by splicing two identical tapes, and thesteel measuring tape 203 is wrapped with a heat-shrinkable tube.

进一步地，也可以在壳体501上现有的两个辊子504上方再设置两个辊子504，这样可以更好的对卷尺钢带203起到引导作用。Further, twomore rollers 504 can also be arranged above the existing tworollers 504 on thecasing 501 , so that thetape 203 can be better guided.

需要强调的一点是，飞行器的操控系统、通信系统均属于现有技术，飞行器的悬停、旋转以及对电磁铁和舵机502的远程控制均可采用现有技术得以实现，在此不做过多赘述，本发明仅对两个飞行器对接用的机械结构进行设计，以更好完成两个飞行器的稳定对接。It should be emphasized that the control system and communication system of the aircraft belong to the existing technology, and the hovering and rotation of the aircraft, as well as the remote control of the electromagnet and thesteering gear 502, can be realized by using the existing technology, which will not be done here. More details, the present invention only designs the mechanical structure for the docking of two aircrafts, so as to better complete the stable docking of the two aircrafts.

两个飞行器在空中的对接方式如下：The docking method of two aircraft in the air is as follows:

在无人艇上携带有至少两个飞行器，其中，两个飞行器各自行飞行作业，携带对接模块1的飞行器为上行飞行器3，携带承接模块2的飞行器为下行飞行器4(如图8所示)；At least two aircraft are carried on the unmanned boat, wherein, the two aircraft operate independently, the aircraft carrying thedocking module 1 is theuplink aircraft 3, and the aircraft carrying the receivingmodule 2 is the downlink aircraft 4 (as shown in Figure 8) ;

当拖曳重物时，需要将两个飞行器拼接使用，首先，将下行飞行器4悬停，远程启动舵机502使其反转，两个棘爪盘508旋转，其中一个棘爪盘508带动着一个内棘式齿轮507转动，该内棘式齿轮507通过从动齿轮505带动辊子504旋转，在多个辊子504挤压转动作用下，从而将卷尺钢带203向上移动，而此时，收卷轴则不受舵机502的控制，在卷尺刚带的拉动下自由地转动，从而引导卷尺钢带203顺畅地向上拖拽，卷尺钢带203脱离辊子504挤压的部分竖直地插接在承接套筒202内部，等待与上行飞行器3对接；When towing heavy objects, two aircrafts need to be spliced and used. First, thedownlink aircraft 4 is hovered, and thesteering gear 502 is remotely started to reverse, and the twopawl discs 508 rotate, and one of thepawl discs 508 drives a Theinner ratchet gear 507 rotates, and theinner ratchet gear 507 drives theroller 504 to rotate through the drivengear 505. Under the extrusion and rotation of a plurality ofrollers 504, thetape 203 is moved upwards, and at this time, the winding shaft is Not controlled by thesteering gear 502, it can rotate freely under the pull of the steel tape of the tape, thereby guiding thesteel tape 203 to be dragged upwards smoothly, and the part of thesteel tape 203 detached from theroller 504 is vertically inserted into the socket Inside thebarrel 202, waiting for docking with theuplink aircraft 3;

然后，上行飞行器3移动至下行飞行器4的上方后再缓慢下移，同时将凹型电磁铁104上电充磁，利用磁力，凹型电磁铁104可轻易与凸型永磁铁205吸附在一起，完成两个飞行器的初步对接；Then, theuplink aircraft 3 moves to the top of thedownlink aircraft 4 and then slowly moves down. At the same time, theconcave electromagnet 104 is energized and magnetized. Using magnetic force, theconcave electromagnet 104 can be easily adsorbed with the convexpermanent magnet 205 to complete two steps. Initial docking of two aircraft;

而后，再控制舵机502反向转动，卷尺钢带203收卷，拖动上行飞行器3向下行飞行器4靠近，直至对接套筒102插接在承接甜筒内部，完成对接；Then, thesteering gear 502 is controlled to rotate in the opposite direction, thesteel tape 203 is rewound, and theuplink aircraft 3 is dragged towards thedownlink aircraft 4 until thedocking sleeve 102 is inserted into the accepting cone to complete the docking;

最后，操控上行飞行器3旋转，由于凸型永磁体与承接座204可以在收卷钢带上转动，因此，在两个磁铁吸附在一起时，上行飞行器3仍可以带着对接套筒102同步转动，同时在卷尺钢带203的拖拽下，使得导向板103沿着导向切口206逐渐下移，直至导向板103卡接在卡槽207内，完成对接套筒102与承接套筒202的卡接，从而将两个飞行器固定连接在一起。Finally, control theuplink aircraft 3 to rotate, since the convex permanent magnet and the receivingseat 204 can rotate on the winding steel belt, therefore, when the two magnets are attracted together, theuplink aircraft 3 can still rotate synchronously with thedocking sleeve 102 At the same time, under the dragging of thesteel tape 203, theguide plate 103 gradually moves down along theguide notch 206 until theguide plate 103 is engaged in theslot 207, and the engagement between thedocking sleeve 102 and the receivingsleeve 202 is completed. , so that the two aircraft are fixedly connected together.

当需要将两个飞行器分离时，首先，将凹型电磁铁104断电消磁，然后，上行飞行器3旋转，将导向板103从卡槽207内脱离，而后即可将对接套筒102与承接套筒202分离，两个飞行器完成分离。When it is necessary to separate the two aircraft, first, theconcave electromagnet 104 is powered off and demagnetized, then theupward aircraft 3 is rotated, theguide plate 103 is disengaged from theslot 207, and then thedocking sleeve 102 and the receiving sleeve can be connected 202 Separation, the separation of the two aircraft is completed.

本发明通过对接模块1和承接模块2的配合设置，对接套筒102上的导向板103可以顺畅地沿着承接套筒202上的导向切口206滑入到卡槽207内，从而将对接套筒102与承接套筒202卡接在一起，实现两个飞行器的固定连接，降低了对接难度，且导向板103与卡槽207的位置限定了两个飞行器对接后的位置，使得两个飞行器共计八个悬臂相交错布置，组成一个八旋翼的飞行器，提高带载能力。通过卷尺钢带203和舵机502的配合设置，利用棘爪棘齿结构实现两个内棘式齿轮507的单独控制，从而更加稳定地对卷尺钢带203进行收放卷；且卷尺钢带203上的凸型永磁体与对接套筒102下端的凹型电磁铁104吸附后，利用卷尺钢带203的牵引，能够更好的引导上行飞行器3与下行飞行器4的对接，在配合无人艇海上作业时，能够抵抗海上风浪对飞行器的影响，提高两个飞行器对接成功率。In the present invention, through the cooperative arrangement of thedocking module 1 and the receivingmodule 2, theguide plate 103 on thedocking sleeve 102 can smoothly slide into thecard slot 207 along theguide cutout 206 on the receivingsleeve 202, so that thedocking sleeve 102 and the receivingsleeve 202 are clamped together to realize the fixed connection of the two aircraft, which reduces the difficulty of docking, and the position of theguide plate 103 and theslot 207 defines the position of the two aircraft after docking, so that the two aircraft have a total of eight The two cantilevers are arranged staggeredly to form an eight-rotor aircraft, which improves the carrying capacity. Through the cooperative setting of the tapemeasure steel belt 203 and thesteering gear 502, the pawl and ratchet structure is used to realize the separate control of the two inner ratchet gears 507, so that the tapemeasure steel belt 203 can be retracted and unwound more stably; and the tapemeasure steel belt 203 After the convex permanent magnet on the upper end is adsorbed to theconcave electromagnet 104 at the lower end of thedocking sleeve 102, it can better guide the docking of theuplink aircraft 3 and thedownlink aircraft 4 by using the traction of the tapemeasure steel belt 203. , it can resist the impact of sea wind and waves on the aircraft, and improve the success rate of docking of two aircraft.

可见，利用本发明所提供的基于无人艇作业用无人飞行器共轴连接装置，可以有效解决两个飞行器在空中对接困难，及连接处不稳定的问题。It can be seen that using the coaxial connection device for unmanned aerial vehicles based on unmanned boat operations provided by the present invention can effectively solve the problems of difficult docking of two aircrafts in the air and unstable connections.

以上上述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对本发明范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。The above-mentioned embodiments only express several implementations of the present invention, and the description thereof is relatively specific and detailed, but should not be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.

Claims (7)

Translated fromChinese

1.基于无人艇作业用无人飞行器共轴连接装置，其特征在于，包括对接模块和承接模块，两个所述的模块分别安装在两个组合使用的飞行器上，对接模块安装在上行飞行器的下端，承接模块安装在下行飞行器的上端，对接模块与承接模块可拆卸连接；1. The coaxial connection device for unmanned aerial vehicles based on unmanned boat operations is characterized in that it includes a docking module and a receiving module, the two modules are respectively installed on two combined aircrafts, and the docking module is installed on the uplink aircraft The lower end of the lower end, the receiving module is installed on the upper end of the downlink aircraft, and the docking module and the receiving module are detachably connected;所述对接模块包括第一固定架和对接套筒，第一固定架固定连接在上行飞行器的下端，对接套筒固定连接在第一固定架的下方，对接套筒侧面设有至少一个导向板，对接套筒下端设有凹型电磁铁；The docking module includes a first fixing frame and a docking sleeve, the first fixing frame is fixedly connected to the lower end of the uplink aircraft, the docking sleeve is fixedly connected below the first fixing frame, and at least one guide plate is provided on the side of the docking sleeve, The lower end of the docking sleeve is provided with a concave electromagnet;所述承接模块包括第二固定架、承接套筒、卷尺钢带和收卷机构，第二固定架固定连接在下行飞行器的上端，收卷机构连接在第二固定架的上端，承接套筒固定连接在收卷机构上端，卷尺钢带一端卷绕在收卷机构中受收卷机构控制，卷尺钢带另一端贯穿承接套筒且其端部转动连接有承接座，承接座上端固定连接有凸型永磁铁；承接套筒侧面开设有至少一个螺旋向下的导向切口，导向切口最下端开设有卡槽；The receiving module includes a second fixing frame, a receiving sleeve, a steel tape and a winding mechanism, the second fixing frame is fixedly connected to the upper end of the downlink aircraft, the winding mechanism is connected to the upper end of the second fixing frame, and the receiving sleeve is fixed Connected to the upper end of the winding mechanism, one end of the tape measure steel strip is wound in the winding mechanism and controlled by the winding mechanism, the other end of the tape measure steel strip passes through the receiving sleeve and its end is rotatably connected with a receiving seat, and the upper end of the receiving seat is fixedly connected with a convex type permanent magnet; the side of the sleeve is provided with at least one spiral downward guide cutout, and the bottom end of the guide cutout is provided with a card slot;所述对接套筒和所述承接套筒均形如上大下小的漏斗状，对接套筒可插接在承接套筒内；Both the docking sleeve and the receiving sleeve are shaped like a funnel with a large top and a small bottom, and the docking sleeve can be plugged into the receiving sleeve;所述凸型永磁铁可插接在所述凹型电磁铁内且二者对接端的磁极相反；The convex permanent magnet can be plugged into the concave electromagnet and the magnetic poles of the butt ends of the two are opposite;所述导向板可卡接在导向切口内的卡槽中。The guide plate can be snapped into the slot in the guide cutout.2.根据权利要求1所述的基于无人艇作业用无人飞行器共轴连接装置，其特征在于，所述收卷机构包括壳体、舵机、卷筒轴和两个辊子，壳体与舵机均固定连接在第二固定架上，且舵机平行设置在壳体的一侧，卷筒轴与两个辊子分别转动连接在壳体上，且靠近舵机的辊子的一端以及卷筒轴上分别同轴键连接有从动齿轮，两个从动齿轮分别位于收卷装置的两侧，卷筒轴上同轴固定连接有位于壳体内的收卷筒，收卷筒用于收卷卷尺钢带，卷尺钢带经两个辊子之间穿过，两个辊子挤压在卷尺钢带上。2. The coaxial connection device for unmanned aerial vehicles based on unmanned boat operations according to claim 1, wherein the winding mechanism includes a housing, a steering gear, a reel shaft and two rollers, and the housing and The steering gear is fixedly connected to the second fixed frame, and the steering gear is arranged on one side of the casing in parallel, and the reel shaft and the two rollers are respectively connected to the casing in rotation, and are close to one end of the roller of the steering gear and the reel Driven gears are respectively coaxially keyed on the shaft, and the two driven gears are respectively located on both sides of the rewinding device. The reel shaft is coaxially fixedly connected with a reeling drum located in the housing, and the reeling drum is used for rewinding. Steel tape for measuring tape, the steel tape for measuring tape passes between two rollers, and the two rollers are squeezed on the steel tape for measuring tape.3.根据权利要求2所述的基于无人艇作业用无人飞行器共轴连接装置，其特征在于，所述舵机有两个同轴的输出轴，两个输出轴上分别同轴传动连接有内棘式齿轮，两个输出轴上分别键连接有棘爪盘，棘爪盘位于内棘式齿轮轴心处，且棘爪盘上的棘爪作用在内棘式齿轮上的棘齿上。3. The coaxial connection device for unmanned aerial vehicles based on unmanned boat operations according to claim 2, wherein the steering gear has two coaxial output shafts, and the two output shafts are respectively coaxially connected There are inner ratchet gears, and the two output shafts are respectively keyed with pawl discs, which are located at the axis of the inner ratchet gears, and the pawls on the ratchet discs act on the ratchet teeth on the inner ratchet gears .4.根据权利要求3所述的基于无人艇作业用无人飞行器共轴连接装置，其特征在于，两个所述内棘式齿轮内的棘齿方向相反，所述舵机的两个输出轴上的棘爪的朝向相同。4. The coaxial connection device for unmanned aerial vehicles based on unmanned boat operations according to claim 3, wherein the ratchets in the two internal ratchet gears are in opposite directions, and the two outputs of the steering gear are The detents on the shaft are oriented in the same direction.5.根据权利要求1所述的基于无人艇作业用无人飞行器共轴连接装置，其特征在于，所述对接套筒位于上行飞行器的轴心处，对接套筒侧边的导向板位于上行飞行器的任意两个悬臂夹角的角平分线上。5. The coaxial connection device for unmanned aerial vehicles based on unmanned boat operations according to claim 1, wherein the docking sleeve is located at the axis of the uplink aircraft, and the guide plate on the side of the docking sleeve is located on the uplink The angle bisector of any two cantilever angles of the aircraft.6.根据权利要求2所述的基于无人艇作业用无人飞行器共轴连接装置，其特征在于，所述承接套筒固定连接在壳体上端，承接套筒位于下行飞行器的轴心处，承接套筒上的卡槽与下行飞行器的一个悬臂平行。6. The coaxial connection device for unmanned aerial vehicles based on unmanned boat operations according to claim 2, wherein the receiving sleeve is fixedly connected to the upper end of the housing, and the receiving sleeve is located at the axis of the descending aircraft. The draw-in groove on the receiving sleeve is parallel to a cantilever of the descending aircraft.7.根据权利要求1所述的基于无人艇作业用无人飞行器共轴连接装置，其特征在于，所述卷尺刚带由两个相同片卷尺拼接而成，卷尺钢带的外面包裹有热缩管。7. The coaxial connection device for unmanned aerial vehicles based on unmanned boat operations according to claim 1, wherein the tape measure steel band is spliced by two identical pieces of tape measure, and the outside of the tape measure steel band is wrapped with heat shrink tube.

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