Disclosure of Invention
Aiming at the situation, in order to overcome the defects of the prior art, the invention provides the coaxial connecting device of the unmanned aerial vehicle for unmanned aerial vehicle operation, so as to solve the problems of difficult aerial docking of two unmanned aerial vehicles on the unmanned aerial vehicle and unstable connecting position.
The invention solves the technical scheme that the device comprises a docking module and a receiving module, wherein the docking module and the receiving module are respectively arranged on two combined aircrafts, the docking module is arranged at the lower end of an ascending aircrafts, the receiving module is arranged at the upper end of the descending aircrafts, 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 at the lower end of the ascending aircrafts, the docking sleeve is fixedly connected below the first fixing frame, at least one guide plate is arranged on the side surface of the docking sleeve, a concave electromagnet is arranged at the lower end of the docking sleeve, the receiving module comprises a second fixing frame, a receiving sleeve, a tape and a winding mechanism, the second fixing frame is fixedly connected at the upper end of the descending aircrafts, the winding mechanism is fixedly connected with the upper end of the receiving sleeve, one end of the tape is wound on the winding mechanism, the other end of the tape penetrates through the receiving sleeve, the end of the tape is rotatably connected with the receiving sleeve, the upper end of the receiving sleeve is fixedly connected with a convex permanent magnet, the side surface of the receiving sleeve is provided with at least one spiral guide notch, the lower guide notch is arranged at the side surface of the docking sleeve is provided with a concave electromagnet, the guide notch is arranged at the lower end of the guide notch is opposite to the concave magnetic pole notch in the receiving sleeve, and the guide notch is in the concave notch can be inserted into the concave notch, and the concave guide notch is inserted into the concave guide notch, and the concave guide notch is opposite to the concave guide notch.
Preferably, the winding mechanism comprises a shell, a steering engine, a winding shaft and two rollers, wherein the shell is fixedly connected with the steering engine on the second fixing frame, the steering engine is arranged on one side of the shell in parallel, the winding shaft and the two rollers are respectively connected to the shell in a rotating way, driven gears are respectively connected to one end of each roller close to the steering engine and the winding shaft through coaxial keys, the two driven gears are respectively positioned on two sides of the winding device, a winding barrel is coaxially and fixedly connected to the winding shaft and positioned in the shell, the winding barrel is used for winding a tape steel band, the tape steel band passes through between the two rollers, and the two rollers are extruded on the tape steel band.
Preferably, the steering engine is provided with two coaxial output shafts, the two output shafts are respectively connected with an inner ratchet gear in a coaxial transmission manner, the two output shafts are respectively connected with a pawl disc in a key manner, the pawl disc is positioned at the axis of the inner ratchet gear, and pawls on the pawl disc act on ratchets on the inner ratchet gear.
Preferably, the directions of ratchets in the two inner ratchet gears are opposite, and the directions of pawls on the two output shafts of the steering engine are the same.
Preferably, the butt joint sleeve is located at the axle center of the uplink aircraft, and the guide plate on the side edge of the butt joint sleeve is located on the angular bisector of any two cantilever included angles of the uplink aircraft.
Preferably, the receiving sleeve is fixedly connected to the upper end of the shell, the receiving sleeve is located at the axis of the descending aircraft, and the clamping groove on the receiving sleeve is parallel to one cantilever of the descending aircraft.
Preferably, the tape measure rigid belt is formed by splicing two identical tape measures, and the heat shrinkage tube is wrapped outside the tape measure steel belt.
Compared with the prior art, the technical scheme provided by the invention has the following remarkable effects:
1. Through the cooperation setting of butt joint module and accepting the module, the deflector on the butt joint sleeve can be smooth and easy along accepting the guiding incision on the sleeve and slide into the draw-in groove to with the butt joint sleeve joint together, realized the fixed connection of two crafts, reduced the butt joint degree of difficulty, and the position after two aircraft butt joints has been limited to the position of deflector and draw-in groove, make eight cantilever looks staggered arrangement of two crafts totaling, constitute the aircraft of an eight rotor, make the connection of two aircrafts more stable, improve the load capacity.
2. And after the convex permanent magnet on the tape steel belt is adsorbed with the concave electromagnet at the lower end of the butt joint sleeve, the traction of the tape steel belt is utilized, so that the butt joint of the ascending aircraft and the descending aircraft can be better guided, the guiding effect is achieved, the influence of sea waves on the aircraft can be resisted when the unmanned ship is matched for offshore operation, and the butt joint success rate of the two aircrafts is improved.
Drawings
Fig. 1 is a schematic view of a docking module and a receiving module according to the present invention when connected.
Fig. 2 is a schematic diagram of the docking module and the receiving module of the present invention after separation.
Fig. 3 is a schematic view of the winding mechanism of the present invention.
Fig. 4 is a schematic structural view of the docking sleeve and the receiving sleeve of the present invention.
Fig. 5 is a schematic view of the docking module of the present invention as assembled on an aircraft.
Fig. 6 is a schematic view of the invention with the receiving module assembled on a downstream aircraft.
Fig. 7 is a schematic view of the docking of two aircraft of the present invention.
Fig. 8 is a schematic view of the present invention in operation with an unmanned boat.
Reference numerals in the schematic drawings illustrate:
1. The device comprises a docking module, 101, a first fixing frame, 102, a docking sleeve, 103, a guide plate, 104, a concave electromagnet, 2, a receiving module, 201, a second fixing frame, 202, a receiving sleeve, 203, a tape steel band, 204, a receiving seat, 205, a convex permanent magnet, 206, a guide notch, 207, a clamping groove, 3, an ascending aircraft, 4, a descending aircraft, 5, a winding mechanism, 501, a shell, 502, a steering engine, 503, a winding drum shaft, 504, rollers, 505, a driven gear, 506, a winding drum, 507, an inner ratchet gear, 508 and a pawl disc.
Detailed Description
The following describes the embodiments of the present invention in further detail with reference to the drawings.
The embodiment of the invention discloses an unmanned aerial vehicle coaxial connecting device for unmanned ship operation.
Referring to fig. 1 to 8, an unmanned aerial vehicle coaxial connection device for unmanned ship operation comprises a docking module 1 and a receiving module 2, wherein the two modules are respectively installed on two combined-use aircrafts, the docking module 1 is installed at the lower end of an ascending aircrafts 3, the receiving module 2 is installed at the upper end of a descending aircrafts 4, the docking module 1 is detachably connected with the receiving module 2, and the two aircrafts are assembled together through the connection of the docking module 1 and the receiving module 2.
Wherein, the aircraft above is defined as an ascending aircraft 3, the aircraft below is defined as a descending aircraft 4, the receiving module 2 is arranged at the upper end of the descending aircraft 4, and the docking module 1 is detachably connected with the receiving module 2;
Referring to fig. 2 and 4, the docking module 1 includes a first fixing frame 101 and a docking sleeve 102, the first fixing frame 101 is fixedly connected to the lower end of the ascending aircraft 3, the docking sleeve 102 is fixedly connected below the first fixing frame 101, a guide plate 103 is disposed on a side surface of the docking sleeve 102, and a concave electromagnet 104 is disposed at the lower end of the docking sleeve 102;
Referring to fig. 2, 3 and 4, the receiving module 2 includes a second fixing frame 201, a receiving sleeve 202, a tape steel band 203 and a winding mechanism 5, the second fixing frame 201 is fixedly connected to the upper end of the down going vehicle 4, the winding mechanism 5 is connected to the upper end of the second fixing frame 201, the receiving sleeve 202 is fixedly connected to the upper end of the winding mechanism 5, one end of the tape steel band 203 is wound around the winding mechanism 5 and controlled by the winding mechanism 5, the other end of the tape steel band 203 penetrates through the receiving sleeve 202, the upper end of the tape steel band 203 is rotatably connected with a receiving seat 204 through a bearing, the upper end of the receiving seat 204 is fixedly connected with a convex permanent magnet 205, a spiral downward guiding notch 206 is provided on the side surface of the receiving sleeve 202, and a clamping groove 207 is provided at the lowermost end of the guiding notch 206.
The convex permanent magnet 205 can be inserted into the concave electromagnet 104 and the magnetic poles of the butt joint ends of the convex permanent magnet and the concave electromagnet are opposite, so that the connection of the tape steel band 203 and the butt joint module 1 is facilitated by the adsorption of the two magnets, and the connection of the butt joint module 1 and the receiving module 2 can be more accurately completed by the traction of the tape steel band 203 for guiding.
The guide plate 103 can enter the clamping groove 207 along the guide notch 206, and the connection between the docking module 1 and the receiving module 2 is completed through the clamping connection between the guide plate 103 and the clamping groove 207, so that unexpected separation is prevented when two combined aircrafts drag heavy objects, and the carrying capacity is enhanced.
Further, to facilitate the docking of two modules, the docking sleeve 102 and the receiving sleeve 202 may be funnel-shaped, and the docking sleeve 102 may be inserted into the receiving sleeve 202.
Specifically, when the up-going aircraft 3 is docked with the down-going aircraft 4, the docking sleeve 102 is plugged into the receiving sleeve 202, the concave electromagnet 104 is docked with the convex permanent magnet 205 and is attracted together, the guide plate 103 gradually slides into the clamping groove 207 along the guide notch 206, and when the guide plate 103 is located in the clamping groove 207, the docking sleeve 102 is clamped with the receiving sleeve 202.
Referring to fig. 5 and 6, the docking sleeve 102 is located at the axis of the up-going aircraft 3, the guide plate 103 on the side of the docking sleeve 102 is located on the angular bisector of the included angle between two adjacent cantilevers of the up-going aircraft 3, the receiving sleeve 202 is located at the axis of the down-going aircraft 4, and the slot 207 on the receiving sleeve 202 is parallel to one cantilever of the down-going aircraft 4, so that after the two aircrafts are docked, the four cantilevers of the up-going aircraft 3 are staggered with the four cantilevers of the down-going aircraft 4 to form an eight-rotor aircraft.
Referring to fig. 4, the winding mechanism 5 includes a housing 501, a steering gear 502, a spool shaft 503 and two rollers 504, wherein the housing 501 and the steering gear 502 are fixedly connected to the second fixing frame 201, the steering gear 502 is disposed parallel to the housing 501, the spool shaft 503 and the two rollers 504 are respectively rotatably connected to the housing 501, one end of the roller 504 near the steering gear 502 and the spool shaft 503 are respectively connected with driven gears 505 by coaxial keys, the two driven gears 505 are respectively disposed on two sides of the winding device, the spool shaft 503 is coaxially and fixedly connected with a winding drum 506 disposed in the housing 501, the winding drum 506 is used for winding the tape steel band 203, the tape steel band 203 passes through between the two rollers 504, and the two rollers 504 are pressed on the tape steel band 203.
Further, in order to control the two inner ratchet gears 507 to rotate independently by using one steering engine 502, the steering engine 502 has two coaxial output shafts, the two output shafts are connected with the inner ratchet gears 507 in a coaxial transmission manner respectively, the two output shafts are connected with pawl discs 508 in a key manner respectively, the pawl discs 508 are positioned at the axle centers of the inner ratchet gears 507, pawls on the pawl discs 508 act on ratchets on the inner ratchet gears 507, the directions of ratchets in the two inner ratchet gears 507 are opposite, and the directions of pawls on the two output shafts of the steering engine 502 are the same, so that when the steering engine 502 rotates forward or reversely, one and only one of the two inner ratchet gears 507 is actively rotated.
Specifically, when the steering engine 502 rotates positively, one of the inner ratchet gears 507 actively rotates to drive the winding drum shaft 503 to rotate, the winding drum 506 winds up, the tape steel band 203 is contracted, and the other inner ratchet gear 507 is not controlled by the output shaft of the steering engine 502, namely, the roller 504 at the moment only passively rotates under the drive of the tape steel band 203, so that the wound tape steel band 203 is more compact and stable.
Correspondingly, when the steering engine 502 is reversely rotated, one of the inner ratchet gears 507 rotates to drive one roller 504 to rotate, so that the two rollers 504 extruded on the tape steel belt 203 synchronously rotate, and the tape steel belt 203 is pulled upwards to extend, at the moment, the other inner ratchet gear 507 is not controlled by the output shaft of the steering engine 502, namely, the winding shaft is passively unwound, so that the phenomenon of shell blocking during unwinding of the tape steel belt 203 is not caused, and the tape steel belt 203 can stably extend upwards.
Further, the tape rigid tape is formed by splicing two same tapes, and the heat shrink tube is wrapped outside the tape steel tape 203.
Further, two rollers 504 may be further disposed on the housing 501 above the existing two rollers 504, so that the tape 203 may be better guided.
It should be emphasized that the control system and the communication system of the aircraft belong to the prior art, and the hovering, rotation and remote control of the electromagnet and the steering engine 502 of the aircraft can be realized by adopting the prior art, and the invention only designs the mechanical structure for docking the two aircrafts so as to better complete the stable docking of the two aircrafts.
The two aircrafts are docked in the air in the following manner:
At least two aircrafts are carried on the unmanned ship, wherein each of the two aircrafts fly, the aircraft carrying the docking module 1 is an ascending aircraft 3, and the aircraft carrying the receiving module 2 is a descending aircraft 4 (shown in fig. 8);
when a heavy object is towed, two aircrafts are needed to be spliced for use, firstly, a downlink aircrafts 4 are hovered, a steering engine 502 is remotely started to reversely rotate, two pawl disks 508 rotate, one pawl disk 508 drives an inner ratchet gear 507 to rotate, the inner ratchet gear 507 drives a roller 504 to rotate through a driven gear 505, and under the extrusion and rotation actions of a plurality of rollers 504, a tape measure steel belt 203 is moved upwards, at the moment, a winding shaft is free from control of the steering engine 502 and is freely rotated under the pulling of the tape measure steel belt, so that the tape measure steel belt 203 is guided to be towed upwards smoothly, and a part of the tape measure steel belt 203, which is separated from the extrusion of the roller 504, is vertically spliced in a receiving sleeve 202 to wait for being butted with the uplink aircrafts 3;
Then, the ascending aircraft 3 moves to the upper part of the descending aircraft 4 and then slowly moves downwards, meanwhile, the concave electromagnet 104 is electrified and magnetized, and the concave electromagnet 104 and the convex permanent magnet 205 can be easily adsorbed together by utilizing magnetic force, so that the preliminary docking of the two aircrafts is completed;
Then, the steering engine 502 is controlled to reversely rotate, the tape steel band 203 is wound, the ascending aircraft 3 is dragged to approach the descending aircraft 4 until the docking sleeve 102 is spliced in the receiving sweet drum, and docking is completed;
Finally, the ascending aircraft 3 is controlled to rotate, because the convex permanent magnet and the bearing seat 204 can rotate on the rolled steel belt, when the two magnets are adsorbed together, the ascending aircraft 3 can still carry the docking sleeve 102 to rotate synchronously, and meanwhile, under the dragging of the tape steel belt 203, the guide plate 103 moves downwards gradually along the guide notch 206 until the guide plate 103 is clamped in the clamping groove 207, and the clamping of the docking sleeve 102 and the bearing sleeve 202 is completed, so that the two aircrafts are fixedly connected together.
When two aircrafts need to be separated, firstly, the concave electromagnet 104 is powered off to demagnetize, then the ascending aircrafts 3 rotate to separate the guide plate 103 from the clamping groove 207, and then the docking sleeve 102 and the receiving sleeve 202 can be separated, so that the two aircrafts are separated.
According to the invention, through the matching arrangement of the docking module 1 and the receiving module 2, the guide plate 103 on the docking sleeve 102 can smoothly slide into the clamping groove 207 along the guide notch 206 on the receiving sleeve 202, so that the docking sleeve 102 and the receiving sleeve 202 are clamped together, the fixed connection of two aircrafts is realized, the docking difficulty is reduced, the positions of the guide plate 103 and the clamping groove 207 limit the positions of the two aircrafts after docking, and the two aircrafts are staggered in total by eight cantilevers to form an eight-rotor aircraft, so that the carrying capacity is improved. Through the cooperation setting of tape measure steel band 203 and steering wheel 502, utilize pawl ratchet structure to realize the independent control of two interior ratchet gears 507 to receive and release tape measure steel band 203 more steadily, and after the protruding permanent magnet on tape measure steel band 203 adsorbs with the concave electro-magnet 104 of butt joint sleeve 102 lower extreme, utilize the traction of tape measure steel band 203, the butt joint of the aircraft 3 that can be better guide goes up and down 4, when the operation of cooperation unmanned ship offshore, can resist the influence of marine stormy waves to the aircraft, improve two aircraft butt joint success rates.
Therefore, the coaxial connection device of the unmanned aerial vehicle for unmanned ship-based operation can effectively solve the problems that two aerial vehicles are difficult to butt in the air and the connection position is unstable.
The foregoing examples have been presented for the purpose of illustrating only a few embodiments of the invention and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.