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CN-122009569-A - Automatic docking locking mechanism and method for tethered unmanned aerial vehicle

CN122009569ACN 122009569 ACN122009569 ACN 122009569ACN-122009569-A

Abstract

The invention discloses an automatic docking and locking mechanism and method of a tethered unmanned aerial vehicle, belonging to the technical field of tethered unmanned aerial vehicles, wherein the mechanism comprises a magnetic power supply assembly, a stand, a connecting rod assembly and an elastic reset piece, the magnetic power supply assembly comprises a male end and a female end, the connecting rod assembly comprises a first connecting rod sliding along the axis of the supporting rod, a second connecting rod sliding connected to the bottom of the unmanned aerial vehicle and a linkage mechanism for connecting the first connecting rod and the second connecting rod, the first connecting rod is provided with a passive force bearing part protruding downwards, and the second connecting rod is provided with a blocking part matched with the male end locking part. According to the invention, the ground contact pressure during landing of the unmanned aerial vehicle is used for driving the link mechanism to realize automatic unlocking, and the elastic reset during take-off is used for realizing normalized mechanical locking, so that the problems of low efficiency of traditional manual plug-in connection and easy loosening and falling of connection under wind power pulling are effectively solved through the cooperation of mechanical locking and magnetic attraction guide, and the reliability and automatic deployment possibility of the tethered unmanned aerial vehicle system are improved.

Inventors

  • WU YANNI

Assignees

  • 扬州云阙纪元智能装备有限公司

Dates

Publication Date
20260512
Application Date
20260320

Claims (10)

  1. 1. Automatic butt joint locking mechanism of tethered unmanned aerial vehicle, its characterized in that includes: The magnetic attraction power supply assembly comprises a female end (1 b) fixed at the bottom of the unmanned aerial vehicle (1) and a male end (2 d 1) fixed at the free end of the tethered power supply line (2 d), wherein the male end (2 d 1) is in magnetic attraction fit with the female end (1 b), and a locking part (2 d 2) is arranged on the periphery of the male end (2 d 1); A stand (1 d) fixed at the bottom of the unmanned aerial vehicle (1), wherein the stand (1 d) at least comprises a supporting rod (1 d 1); a link assembly provided to the support rod (1 d 1), the link assembly having a first link (3), a second link (4), and a link mechanism connected between the first link (3) and the second link (4); The first connecting rod (3) is slidably connected to the tripod (1 d) along the axial direction of the supporting rod (1 d 1), the first connecting rod (3) is provided with a passive force bearing part (3 a), and the passive force bearing part (3 a) is configured to contact with a berthing plane (2 a) before the tripod (1 d) so as to bear upward acting force during berthing of the unmanned aerial vehicle (1); the second connecting rod (4) is connected to the bottom of the unmanned aerial vehicle (1) in a sliding way, and one end of the second connecting rod is provided with a blocking part (4 a) matched with the locking part (2 d 2); The linkage mechanism is configured such that, during the parking of the unmanned aerial vehicle (1), the passive force-receiving portion (3 a) is driven by a force directed to the bottom of the unmanned aerial vehicle (1) to slide along the support rod (1 d 1), and the second link (4) is driven by the linkage mechanism to slide in a direction away from the male end (2 d 1), so that the blocking portion (4 a) is separated from the locking portion (2 d 2); the elastic reset piece is used for providing elastic pretightening force for enabling the first connecting rod (3) and/or the second connecting rod (4) to restore to the original position in the process that the unmanned aerial vehicle (1) flies away from the parking plane (2 a), so that the blocking part (4 a) and the locking part (2 d 2) are mutually locked.
  2. 2. A tethered unmanned aerial vehicle automatic docking locking mechanism according to claim 1, wherein the stand (1 d) comprises: the number of the support rods (1 d 1) is two, the two support rods are symmetrically distributed with respect to the longitudinal center of the unmanned aerial vehicle (1), the two support rods (1 d 1) are distributed in an eight shape, and the upper ends of the support rods (1 d 1) are fixedly connected with the bottom of the unmanned aerial vehicle (1); The number of the bottom beams (1 e) is two, each bottom beam (1 e) is horizontally arranged, and the lower end of each supporting rod (1 d 1) is fixedly connected with the bottom beam (1 e); The first connecting rod (3) is parallel to the supporting rod (1 d 1), the lower end of the passive force bearing part (3 a) protrudes downwards from the bottom beam (1 e) by a preset distance, and the preset distance is configured to enable the blocking part (4 a) to be completely separated from the locking part (2 d 2) under the driving of the linkage mechanism.
  3. 3. The automatic docking and locking mechanism of the tethered unmanned aerial vehicle according to claim 2, wherein the linkage mechanism is a swinging rod (5), the first connecting rod (3) is positioned below the second connecting rod (4), and two ends of the swinging rod (5) are respectively hinged with the upper end of the first connecting rod (3) and one end, far away from the male end (2 d 1), of the second connecting rod (4); wherein when the first connecting rod (3) is not acted by upward force from the stopping plane (2 a), the first connecting rod (3) and the second connecting rod (4) are maintained at an initial locking position under the action of the elastic resetting piece, an acute angle is formed between the longitudinal axis of the swing rod (5) and the horizontal sliding axis of the second connecting rod (4), and an opening of the acute angle is arranged towards the female end (1 b); when the first connecting rod (3) slides upwards under the action of force, the inclined upward pushing force is converted into the horizontal pulling force through the swing rod (5), so that the second connecting rod (4) is driven to slide in the direction away from the male end (2 d 1).
  4. 4. The automatic docking and locking mechanism of the tethered unmanned aerial vehicle according to claim 2, wherein the bottoms of the two ends of each bottom beam (1 e) are fixedly provided with first permanent magnets (1 e 1), four first electromagnets (2 c) distributed in a rectangular shape are arranged on the docking plane (2 a), and an envelope area formed by the four first electromagnets (2 c) is configured as a docking station; When the unmanned aerial vehicle (1) is parked at the parking station, the first permanent magnet (1 e 1) is arranged corresponding to the first electromagnet (2 c) so as to guide the male end (2 d 1) to be coaxially aligned with the female end (1 b) in the axial direction.
  5. 5. A tethered unmanned aerial vehicle automatic docking locking mechanism according to claim 4, wherein in the docking station, the resultant force of the magnetic attraction between all the first electromagnets (2 c) and the first permanent magnets (1 e 1) is greater than the resultant force of the elastic pre-tightening force of all the elastic return members.
  6. 6. The automatic docking and locking mechanism of the tethered unmanned aerial vehicle according to claim 1, wherein the unmanned aerial vehicle (1) is provided with second permanent magnets (1 c) distributed on the periphery of the female end (1 b) at the bottom thereof, and second electromagnets (2 e) corresponding to the second permanent magnets (1 c) are arranged on the periphery of the male end (2 d 1); the parking plane (2 a) is provided with an avoidance hole (2 a 2) for the tethered power supply line (2 d) to extend out, a line head initial fixing area (2 a 3) is arranged in the peripheral side area of the avoidance hole (2 a 2) of the parking plane (2 a), and the line head initial fixing area (2 a 3) is provided with a third permanent magnet (2 b) for being magnetically matched with the second electromagnet (2 e); Wherein, the magnetism of one side of the second permanent magnet (1 c) and the third permanent magnet (2 b) opposite to each other is the same, the second electromagnet (2 e) is configured to be capable of switching magnetic poles by changing the current direction, and the second electromagnet (2 e) is configured to be in a butt joint mode and a separation mode according to different magnetic pole directions: In the butt joint mode, the second electromagnet (2 e) is switched to a first magnetic pole direction, so that the second permanent magnet (1 c) generates magnetic attraction force matched with the second electromagnet (2 e), and the male end (2 d 1) is driven to move towards the direction close to the female end (1 b) to realize butt joint; In the separation mode, the second electromagnet (2 e) is switched to a second magnetic pole direction, so that the second permanent magnet (1 c) generates magnetic attraction force matched with the third permanent magnet (2 b), and the male end (2 d 1) is driven to move in a direction close to the initial thread end fixing area (2 a 3) to realize resetting.
  7. 7. The automatic docking and locking mechanism of a tethered unmanned aerial vehicle according to claim 6, wherein a lifting mechanism (7) is arranged below the docking plane (2 a), the lifting mechanism (7) is provided with a thread end supporting frame (7 a) capable of lifting through the avoidance hole (2 a 2), the diameter of the male end (2 d 1) is larger than the inner diameter of the thread end supporting frame (7 a), and the thread diameter of the tethered power supply line (2 d) is smaller than the inner diameter of the thread end supporting frame (7 a); the lifting mechanism (7) is configured to have a preset upper limit position and a preset lower limit position; When the upper limit position is reached, the second permanent magnet (1 c) at the bottom of the unmanned aerial vehicle (1) in a berthing state enters the effective magnetic attraction range of the second electromagnet (2 e); and when the third permanent magnet (2 b) is at the lower limit position, the third permanent magnet (2 b) enters the effective magnetic attraction range of the second electromagnet (2 e).
  8. 8. A tethered unmanned aerial vehicle automatic docking locking mechanism according to claim 3, wherein the bottom of the unmanned aerial vehicle (1) is provided with a chute (1 a) for the second connecting rod (4) to slide laterally; the support rod (1 d 1) is of a hollow structure, and the upper end of the support rod is fixed at the bottom of the unmanned aerial vehicle (1) through a V-shaped connecting frame (1 d 2); the first connecting rod (3) is coaxially arranged in the supporting rod (1 d 1) in a penetrating mode, graphite guide and slide bushings (1 d 3) are fixedly arranged at two ends of an inner cavity of the supporting rod (1 d 1), and the upper end and the lower end of the first connecting rod (3) respectively slide and penetrate through the corresponding graphite guide and slide bushings (1 d 3).
  9. 9. The automatic docking and locking mechanism of the tethered unmanned aerial vehicle according to claim 8, wherein the elastic reset piece is a spring (6), the spring (6) is arranged on one side, away from the male end (2 d 1), of the guide chute (1 a), and the spring (6) keeps abutting against the second connecting rod (4) so that the second connecting rod (4) always has a trend of approaching the male end (2 d 1).
  10. 10. A docking locking method of a tethered unmanned aerial vehicle comprising a mechanism according to any of claims 4 to 7, the method comprising the steps of: S1, lifting a lifting mechanism (7) from a preset lower limit position, switching a second electromagnet (2 e) from a separation mode to a butt joint mode, and lifting a male end (2 d 1) through a wire head support frame (7 a) until the male end (2 d 1) and a female end (1 b) are attracted to complete power supply connection; S2, taking off the unmanned aerial vehicle (1), wherein in the process of lifting the unmanned aerial vehicle (1), an unreeling mechanism in a ground power supply box (2) and the lifting action of the unmanned aerial vehicle (1) synchronously execute paying-off operation, and after the unmanned aerial vehicle (1) separates a stopping plane (2 a), a first connecting rod (3) and a second connecting rod (4) execute mechanical locking under the action of an elastic resetting piece; S3, in the automatic landing process of the unmanned aerial vehicle (1), starting the first electromagnet (2 c) to generate magnetic force so as to capture and guide the magnetic force at the bottom of the unmanned aerial vehicle (1) to be stopped, and enabling the unmanned aerial vehicle (1) to be finally adsorbed and fixed at the stopping station; And S4, in the descending and magnetic force capturing process of the unmanned aerial vehicle (1), the unreeling mechanism executes reeling operation, meanwhile, the lifting mechanism (7) drives the wire end supporting frame (7 a) to descend, after the unmanned aerial vehicle (1) is stopped, the passive force bearing part (3 a) triggers unlocking action in a touch manner, and the second electromagnet (2 e) is switched to a separation mode, so that the male end (2 d 1) is fixed on the stopping plane (2 a).

Description

Automatic docking locking mechanism and method for tethered unmanned aerial vehicle Technical Field The invention relates to the field of tethered unmanned aerial vehicles, in particular to an automatic docking locking mechanism and method of a tethered unmanned aerial vehicle. Background The tethered unmanned aerial vehicle obtains electric energy through the tethered power supply line, has extremely long endurance, and is key equipment for long-time monitoring and communication guarantee tasks. However, the existing tethered power supply connection mostly adopts a manual plugging mode, which not only results in long operation preparation time and high labor cost, but also severely limits the automatic deployment level of the tethered unmanned aerial vehicle system. Under actual operation environment, because the interface of manual grafting mainly relies on frictional force or simple and easy buckle to fix, under the continuous pulling force effect that unmanned aerial vehicle rotor produced high frequency vibration and tethered cable follow wind swing produced, the phenomenon that joint department very easily appears not hard up, poor contact even drops completely has greatly threatened the stability of power transmission and unmanned aerial vehicle's flight safety, simultaneously, traditional manual connection's mode exists inefficiency's drawback, is unfavorable for realizing automatic deployment strategy. Disclosure of Invention The invention aims to provide an automatic docking and locking mechanism and method for a tethered unmanned aerial vehicle, which are used for solving the problems of low operation efficiency, unstable connection and high difficulty in automatic deployment caused by manual insertion. In order to solve the technical problems, the invention specifically provides the following technical scheme: an automatic docking locking mechanism of a tethered unmanned aerial vehicle, comprising: The magnetic attraction power supply assembly comprises a female end fixed at the bottom of the unmanned aerial vehicle and a male end fixed at the free end of the tethered power supply line, wherein the male end and the female end are in magnetic attraction fit, and the periphery of the male end is provided with a locking part; the unmanned aerial vehicle comprises a frame, a support rod and a support rod, wherein the frame is fixed at the bottom of the unmanned aerial vehicle and at least comprises the support rod; the connecting rod assembly is arranged on the supporting rod and is provided with a first connecting rod, a second connecting rod and a linkage mechanism connected between the first connecting rod and the second connecting rod; The first connecting rod is connected to the tripod along the axial direction of the supporting rod in a sliding way, and is provided with a passive force bearing part which is configured to contact with the docking plane before the tripod so as to bear upward acting force in the unmanned aerial vehicle docking process; The second connecting rod is connected to the bottom of the unmanned aerial vehicle in a sliding way, and one end of the second connecting rod is provided with a blocking part matched with the locking part; the linkage mechanism is configured to drive the first connecting rod to slide along the supporting rod by the passive force part under the action of the acting force pointing to the bottom of the unmanned aerial vehicle in the unmanned aerial vehicle parking process, and drive the second connecting rod to slide in the direction away from the public end through the linkage mechanism so as to separate the blocking part from the locking part; the elastic reset piece is used for providing elastic pretightening force for enabling the first connecting rod and/or the second connecting rod to restore to the original position in the process that the unmanned aerial vehicle flies away from the parking plane, so that the blocking part and the locking part are mutually locked. Further, the tripod includes: The number of the support rods is two, the two support rods are symmetrically distributed with respect to the longitudinal center of the unmanned aerial vehicle, the two support rods are distributed in an eight shape, and the upper ends of the support rods are fixedly connected with the bottom of the unmanned aerial vehicle; The number of the bottom beams is two, each bottom beam is arranged in a horizontal state, and the lower ends of the supporting rods are fixedly connected with the bottom beams; the first connecting rod is parallel to the supporting rod, the lower end of the passive force bearing part protrudes downwards from the bottom beam by a preset distance, and the preset distance is configured to enable the blocking part and the locking part to be completely separated under the driving of the linkage mechanism. Further, the linkage mechanism is a swing rod, the first connecting rod is positioned below the second connecting rod, and two ends of