Land and air vehicle locking device

Abstract

The present invention discloses a land-air vehicle locking device, wherein the first matching part comprises a first funnel-shaped shell and an axial locking device; the first funnel-shaped shell is provided with at least one circumferential locking hole; the top of the first funnel-shaped shell is provided with an opening; the opening is provided with an axial locking device; the second matching part comprises a second funnel-shaped shell, an axial positioning portion and a circumferential locking device; the top of the second funnel-shaped shell is provided with an axial positioning portion; the second funnel-shaped shell is provided with a circumferential locking device; the circumferential locking device is used to match the circumferential locking hole so that the second funnel-shaped shell is circumferentially locked when it is matched with the inner side of the first funnel-shaped shell; the axial locking device is used to match the axial positioning portion so that the axial positioning portion is axially locked when it passes through the opening. The land-air vehicle locking device of the present invention has a simple and compact structure, and the dynamic lower vehicle body system and the flight system can be precisely matched, and it is flexible and maneuverable, and has high stability and reliability, so that the flexible switching of the land-air mode can be realized, and the passability of the land-air vehicle in complex environments can be improved.

Description

Technical Field

[0001] The invention belongs to the field of unmanned aerial vehicles, and in particular relates to a locking device for a land-air vehicle. Background Art

[0002] Land-to-air vehicles are composed of two parts: a land vehicle system and an aircraft system. The land vehicle system has good passing performance in general terrain and has a certain ability to climb and overcome obstacles, but it is greatly affected by environmental factors; the aircraft system has a compact structure, safe transportation, and can achieve efficient passing through complex environments, but the aircraft's endurance and adaptability to extreme environments are still insufficient. Land-to-air vehicles can not only adapt to both flying and land driving conditions, but also overcome the shortcomings of the land vehicle system and the aircraft system. However, there are few related studies on the locking devices of the land vehicle system and the aircraft system in land-to-air vehicles in China. At present, the traditional locking device has a complex structure, is not easy to accurately match under dynamic conditions, is unstable and has low reliability, and the land-to-air mode cannot be flexibly switched. Therefore, it is of great significance to explore and develop the locking device of land-to-air vehicles. Summary of the invention

[0003] The purpose of the present invention is to provide a land-to-air vehicle locking device to address the above shortcomings, and to solve the problems of complex structure, difficulty in precise coordination under dynamic conditions, instability and low reliability, and inability to flexibly switch between land-to-air modes. To achieve the above purpose, the present invention provides the following technical solutions:

[0004] The locking device for a land-air vehicle comprises a first matching part 1 and a second matching part 2; the first matching part 1 comprises a first funnel-shaped shell 11 and an axial locking device 12; the first funnel-shaped shell 11 is provided with at least one circumferential locking hole 13; the top of the first funnel-shaped shell 11 is provided with an opening 14; the opening 14 is provided with an axial locking device 12; the second matching part 2 comprises a second funnel-shaped shell 21, an axial positioning part 22 and a circumferential locking device 23; the top of the second funnel-shaped shell 21 is provided with an axial positioning part 22; the second funnel-shaped shell 21 is provided with a circumferential locking device 23; the circumferential locking device 23 is used to match the circumferential locking hole 13, so that the second funnel-shaped shell 21 is circumferentially locked when it is matched inside the first funnel-shaped shell 11; the axial locking device 12 is used to match the axial positioning part 22, so that the axial positioning part 22 is axially locked when it passes through the opening 14. As can be seen from the above structure, the first matching part 1 and the second matching part 2 are respectively connected to the land vehicle body system and the aircraft system of the land-air vehicle. The first funnel-shaped shell 11 and the second funnel-shaped shell 21 are funnel-shaped, and both gradually become larger from the top to the bottom. When the second funnel-shaped shell 21 approaches the first funnel-shaped shell 11, the top of the second funnel-shaped shell 21 is easier to enter the inside of the first funnel-shaped shell 11, and the first funnel-shaped shell 11 can guide the second funnel-shaped shell 21, so that the second funnel-shaped shell 21 moves along the inside of the first funnel-shaped shell 11 to the top of the first funnel-shaped shell 11, so that the first funnel-shaped shell 11 and the second funnel-shaped shell 21 are precisely matched and connected in the moving state. Therefore, when the land vehicle system and the aircraft system need to cooperate, even if the centers of the second funnel-shaped shell 21 and the first funnel-shaped shell 11 do not completely overlap, it does not affect the precise cooperation between the two, which improves the precise cooperation between the dynamic lower vehicle system and the flight system, and is maneuverable and flexible. The first funnel-shaped shell 11 and the second funnel-shaped shell 21 are funnel-shaped, so the outer wall of the second funnel-shaped shell 21 can completely fit the inner wall of the first funnel-shaped shell 11, making the land-to-air vehicle locking device simple and compact in structure. An opening 14 is provided at the top of the first funnel-shaped shell 11, and an axial positioning portion 22 is provided at the top of the second funnel-shaped shell 21. Therefore, when the second funnel-shaped shell 21 approaches the first funnel-shaped shell 11, the axial positioning portion 22 at the front end will preferentially enter the first funnel-shaped shell 11. If the axial positioning portion 22 is located at the center of the first funnel-shaped shell 11, it will be directly inserted into the opening 14; if the axial positioning portion 22 is not located at the center of the first funnel-shaped shell 11, it will turn along the inner wall of the first funnel-shaped shell 11, and finally, under the structure in which the first funnel-shaped shell 11 and the second funnel-shaped shell 21 guide each other, the axial positioning portion 22 will return to the center of the first funnel-shaped shell 11 and be inserted into the opening 14; therefore, as long as the axial positioning portion 22 enters the first funnel-shaped shell 11, it can be aligned with the opening 14, so that the dynamic lower body system and the flight system can be precisely coordinated.When the axial positioning portion 22 is inserted into the opening 14, the axial locking device 12 provided on the opening 14 will automatically lock the axial positioning portion 22, so that the first funnel-shaped shell 11 and the second funnel-shaped shell 21 will not be axially separated, that is, the land vehicle body system and the aircraft system will not be axially separated after being matched. The first funnel-shaped shell 11 is provided with at least one circumferential locking hole 13, and the second funnel-shaped shell 21 is provided with a circumferential locking device 23. The circumferential locking hole 13 and the circumferential locking device 23 cooperate with each other, so that the second funnel-shaped shell 21 is circumferentially locked when it is matched inside the first funnel-shaped shell 11. Thereby, the first funnel-shaped shell 11 and the second funnel-shaped shell 21 will not rotate circumferentially, that is, the land vehicle body system and the aircraft system will not rotate circumferentially after being matched. The stability and reliability of the matching between the land vehicle body system and the aircraft system are improved.

[0005] Overall working process: When the land vehicle system and the aircraft system need to be connected, the land vehicle system and the aircraft system move toward each other, and the first mating part 1 and the second mating part 2 connected to the two move toward each other, and the axial positioning part 22 at the top of the second funnel-shaped shell 21 enters into the first mating part 1, and moves toward the top of the first mating part 1 along the inner side of the first mating part 1. After the axial positioning part 22 passes through the opening 14, the axial locking device 12 provided on the opening 14 will automatically lock the axial positioning part 22, thereby completing the axial locking of the first funnel-shaped shell 11 and the second funnel-shaped shell 21. Then, the circumferential locking hole 13 on the first funnel-shaped shell 11 and the circumferential locking device 23 on the second funnel-shaped shell 21 cooperate with each other, so that the first funnel-shaped shell 11 and the second funnel-shaped shell 21 are automatically locked circumferentially. When the land vehicle system and the aircraft system need to be separated, the circumferential locking of the first funnel-shaped shell 11 and the second funnel-shaped shell 21 is first released through the circumferential locking device 23, and then the axial locking of the first funnel-shaped shell 11 and the second funnel-shaped shell 21 is released through the axial locking device 12, thereby completely releasing the lock of the land vehicle system and the aircraft system. The land-to-air vehicle locking device of the present invention has a simple and compact structure, can be precisely matched under dynamic conditions, and the automatic axial locking and automatic circumferential locking functions make the land-to-air vehicle locking device flexible and easy to use, so that the land vehicle system and the aircraft system can be quickly matched and separated, and the stability and reliability of the matching between the land vehicle system and the aircraft system are improved by the axial locking and circumferential locking of the land-to-air vehicle locking device.

[0006] Furthermore, the axial positioning portion 22 includes an axial positioning rod 24 and an axial positioning head 25; the axial positioning rod 24 is provided at the top of the second funnel-shaped shell 21; the axial positioning head 25 is provided at the top of the axial positioning rod 24; the axial positioning head 25 gradually increases in size from the top to the bottom. As can be seen from the above structure, the axial positioning rod 24 is connected to the top of the second funnel-shaped shell 21 to support the axial positioning head 25. The axial positioning head 25 gradually increases in size from the top to the bottom, which can make it easier to guide the axial positioning head 25 inside the first funnel-shaped shell 11 and align it with the opening 14. The bottom diameter of the axial positioning head 25 is larger than the diameter of the axial positioning rod 24, so that when the axial positioning rod 24 passes through the opening 14, the axial locking device 12 is stuck under the axial positioning head 25, so that the axial positioning head 25 cannot move downward out of the opening 14, and after the first funnel-shaped shell 11 and the second funnel-shaped shell 21 are in place, the axial positioning head 25 can no longer move upward, thereby realizing the axial locking of the axial positioning part 22, and the first funnel-shaped shell 11 and the second funnel-shaped shell 21 will not axially separate.

[0007] Furthermore, the axial positioning part 22 also includes a ball joint 26, a first spring and a limit plate 27; the axial positioning head 25 is hinged to the top of the axial positioning rod 24 through the ball joint 26; a limit plate 27 is provided on the top of the axial positioning rod 24; the limit plate 27 is used to limit the flipping angle of the axial positioning head 25; the first spring is used to make the axial positioning rod 24 have a tendency to be pushed out to the top of the second funnel-shaped shell 21. As can be seen from the above structure, the axial positioning head 25 is hinged to the top of the axial positioning rod 24 through the ball joint 26, and the axial positioning head 25 can be freely flipped on the ball joint 26. When the axial positioning head 25 touches the inside of the first funnel-shaped shell 11 or the axial locking device 12, it can automatically adjust its position, which is more conducive to its rapid passage through the opening 14. A limit plate 27 is provided on the top of the axial positioning rod 24, and the limit plate 27 can limit the flipping angle of the axial positioning head 25 to prevent the positioning head 25 from over-flipping. The first spring enables the axial positioning rod 24 to be retractable and arranged at the top of the second funnel-shaped shell 21. When the axial positioning head 25 touches the inner side of the first funnel-shaped shell 11 or the axial locking device 12, the axial positioning head 25 can transfer the axial impact to the axial positioning rod 24, which is absorbed by the first spring, and can have a certain buffering effect on the collision impact force, thereby improving the stability and service life of the axial positioning part 22, the axial locking device, and the first funnel-shaped shell 11. Moreover, if the axial positioning part 22 is not located at the center of the first funnel-shaped shell 11 and moves forward, it will turn along the inner wall of the first funnel-shaped shell 11. The first spring enables the axial positioning rod 24 to be retractable, which is conducive to the mutual guidance and cooperation between the first funnel-shaped shell 11 and the second funnel-shaped shell 21, so that the axial positioning part 22 quickly returns to the center of the first funnel-shaped shell 11 and moves forward, and is inserted into the opening 14 to achieve fast and accurate positioning.

[0008] Further, the axial locking device 12 includes a bottom plate 15 and a plurality of blades 16; the blades 16 are rotatably arranged on the bottom plate 15 through a blade shaft; an opening 14 is arranged at the center of the bottom plate 15, and a plurality of blades 16 are uniformly arranged around the opening 14; a limiting portion corresponding to the blades 16 is arranged on the bottom plate 15, and a torsion spring is arranged on the blade shaft; the torsion spring is used to drive the blades 16 to lean against the limiting portion, so that the plurality of blades 16 cover the opening 14; a guide surface is arranged at one end of the bottom of the blade 16. As can be seen from the above structure, the blades 16 are rotatably arranged on the bottom plate 15 through the blade shaft, the bottom plate 15 is arranged at the top of the first funnel-shaped shell 11, a torsion spring is arranged on the blade shaft, and the blades 16 will rotate under the action of the torsion spring, and the limiting portion on the bottom plate 15 is used to limit the rotation of the blades 16, so that under the joint action of the torsion spring and the limiting portion, the blades 16 are just blocked on the opening 14, making the opening 14 smaller. The blade 16 evenly surrounds the opening 14, shielding the opening 14 but not completely covering the opening 14, so as to facilitate the axial positioning head 25 to pass through the opening 14, and can also lock the axial positioning portion 22 after it passes through the opening 14. A guide surface is provided at one end of the bottom of the blade 16. When the axial positioning head 25 touches the guide surface at the bottom of the blade 16 and continues to move upward, a thrust is generated on the guide surface, pushing the blade 16 to rotate to overcome the torsion of the torsion spring, forming a passive opening state, allowing the axial positioning head 25 to pass through the opening 14 in the center of the bottom plate 15. After the axial positioning head 25 passes through the opening 14, the blade 16 rotates and resets under the action of the torsion spring, restores the closed state, and rests against the limit portion again, and is stuck under the axial positioning head 25 to form a lock, completing the axial automatic locking.

[0009] Furthermore, the axial locking device 12 also includes a driving motor, a driving gear 17 and a driving ring 18; the driving ring 18 is rotatably arranged on the bottom plate 15; the inner circumference of the driving ring 18 is provided with a plurality of inner arc-shaped racks 19 spaced from each other; a driven wheel 31 is provided on the blade shaft; the outer circumference of the driven wheel 31 is provided with a first arc-shaped rack 32; the first arc-shaped rack 32 corresponds to the inner arc-shaped rack 19 one by one; the outer circumference of the driving ring 18 is provided with an outer arc-shaped rack 33 meshing with the driving gear 17; the driving motor is used to drive the driving gear 17 to make the driving ring 18 rotate forward and reverse. It can be seen from the above structure that the bottom plate 15 is provided with an annular groove, and the driving ring 18 is arranged in the annular groove, so it can rotate on the bottom plate 15; the outer circumference of the driving ring 18 is provided with an outer arc-shaped rack 33 meshing with the driving gear 17, and when the driving motor drives the driving gear 17 to rotate forward and reverse, the driving gear 17 will drive the driving ring 18 to rotate forward and reverse. The inner circumference of the driving ring 18 is provided with a plurality of inner arc-shaped racks 19 spaced from each other. For example, the inner circumference of the driving ring 18 has 6 inner arc-shaped racks 19, and the 6 inner arc-shaped racks 19 are spaced from each other, and there is no tooth portion in the spaced intervals. A driven wheel 31 is provided on the blade shaft, and a first arc-shaped rack 32 corresponding to the inner arc-shaped racks 19 is provided on the outer circumference of the driven wheel 31. The number of driven wheels 31 corresponds to the number of inner arc-shaped racks 19. If there are 6 inner arc-shaped racks 19 on the inner circumference of the driving ring 18, then the number of driven wheels 31 is also 6. A first arc-shaped rack 32 is provided on the outer periphery of the passive wheel 31. When the driving ring 18 rotates and the passive wheel 31 is located between the two inner arc-shaped racks 19, the driving ring 18 cannot drive the passive wheel 31 to rotate through the first arc-shaped rack 32. When the passive wheel 31 is located at the corresponding inner arc-shaped rack 19, the driving ring 18 can drive the passive wheel 31 to rotate by engaging the inner arc-shaped rack 19 with the corresponding first arc-shaped rack 32. The axial locking device 12 has an axial automatic locking state and an axial active unlocking state. When in the axial automatic locking state, the passive wheel 31 is located between the two inner arc-shaped racks 19. When the axial positioning head 25 touches the guide surface at the bottom of the blade 16 and continues to move upward, it will generate thrust on the guide surface, pushing the blade 16 to rotate to overcome the torsion of the torsion spring. The blade 16 rotates counterclockwise around the blade shaft to form a passive opening state, allowing the axial positioning head 25 to pass through the opening 14 in the center of the bottom plate 15. Since the passive wheel 31 is located between the two inner arc-shaped racks 19, the rotation of the blade 16 drives the blade shaft and the passive wheel 31 to rotate. The first arc-shaped rack 32 of the passive wheel 31 cannot contact the inner arc-shaped rack 19 and does not interfere with the drive ring 18, thereby achieving automatic axial locking. When in the axial active unlocking state, the driving motor drives the driving gear 17, and the driving gear 17 drives the driving ring 18 to rotate counterclockwise, so that the first arc-shaped rack 32 and the corresponding inner arc-shaped rack 19 are engaged, so that the rotation of the driving ring 18 can drive the passive wheel 31 to rotate counterclockwise, thereby causing several blades 16 to rotate counterclockwise, actively opening the opening 14, and unlocking the axial positioning head 25.The axial locking device 12 can realize automatic locking and active unlocking of the axial positioning portion 22, thereby realizing flexible switching between land and air modes.

[0010] Further, the circumferential locking device 23 includes at least one circumferential locking mechanism 28; the circumferential locking mechanism 28 includes a circumferential locking block 29 and a second spring 41; the second funnel-shaped shell 21 is provided with a through hole 42 corresponding to the circumferential locking hole 13; the circumferential locking block 29 is hinged on the through hole 42; the second spring 41 is used to drive the circumferential locking block 29 to cover the through hole 42 from the inside, so that the circumferential locking block 29 protrudes from the outer surface of the second funnel-shaped shell 21. It can be seen from the above structure that one end of the circumferential locking block 29 is hinged on the through hole 42 and connected to the second funnel-shaped shell 21, and the other end is connected to the edge of the through hole 42 through the second spring 41, and passes through the through hole 42 under the action of the pulling force of the second spring 41, and protrudes from the outer surface of the second funnel-shaped shell 21. When the through hole 42 on the second funnel-shaped shell 21 has not rotated to overlap with the circumferential locking hole 13 on the first funnel-shaped shell 11, the inner wall of the first funnel-shaped shell 11 presses the circumferential locking block 29, and the circumferential locking block 29 overcomes the pulling force of the second spring 41, so that it cannot protrude from the through hole 42; when the through hole 42 on the second funnel-shaped shell 21 rotates to overlap with the circumferential locking hole 13 on the first funnel-shaped shell 11, the circumferential locking block 29 pops out under the action of the second spring 41, and the circumferential locking block 29 is stuck on the through hole 42 and the circumferential locking hole 13, so that the second funnel-shaped shell 21 and the first funnel-shaped shell 11 cannot rotate relative to each other in the circumferential direction, thereby completing the circumferential automatic locking.

[0011] Furthermore, the circumferential locking device 23 also includes a central axis 43 and an up-and-down driving mechanism; the central axis 43 is fixed at the center of the second funnel-shaped shell 21, and a movable sleeve 44 is provided on the central axis 43; the movable sleeve 44 is driven by the up-and-down driving mechanism to move up and down along the central axis 43; the circumferential locking mechanism 28 also includes a connecting rod 45 and a connecting sleeve 46; one end of the connecting rod 45 is hinged on the movable sleeve 44, and the other end is provided with a connecting sleeve 46; there is a telescopic margin between the connecting sleeve 46 and the connecting rod 45; the connecting sleeve 46 is hinged to the circumferential locking block 29. As can be seen from the above structure, a movable sleeve 44 is provided on the central axis 43, and the up-and-down driving mechanism can drive the movable sleeve 44 to move up and down along the central axis 43. One end of the connecting rod 45 is hinged on the movable sleeve 44, and when the movable sleeve 44 moves up and down along the central axis 43, one end of the connecting rod 45 moves up and down accordingly. The other end of the connecting rod 45 is sleeved with a connecting sleeve 46, and there is a telescopic margin between the connecting sleeve 46 and the connecting rod 45, so the other end of the connecting rod 45 can move back and forth inside the connecting sleeve 46. The circumferential locking device 23 has a circumferential automatic locking state and a circumferential active unlocking state. When in the circumferential automatic locking state, the first funnel-shaped shell 11 and the second funnel-shaped shell 21 transition from separation to matching, and the circumferential locking block 29 passes through the through hole 42 under the pulling force of the second spring 41, and protrudes from the outer surface of the second funnel-shaped shell 21. Because the connecting sleeve 46 is hinged to the circumferential locking block 29, the circumferential locking block 29 will drive the connecting sleeve 46 away from the connecting rod 45 at this time. When the first funnel-shaped shell 11 overlaps with the second funnel-shaped shell 21 but the through hole 42 on the second funnel-shaped shell 21 does not overlap with the circumferential locking hole 13 on the first funnel-shaped shell 11, the inner wall of the first funnel-shaped shell 11 presses the circumferential locking block 29, and the circumferential locking block 29 is retracted into the second funnel-shaped shell 21 under the pressure of the first funnel-shaped shell 11, and pushes the connecting sleeve 46 closer to the connecting rod 45. Since there is a telescopic margin between the connecting sleeve 46 and the connecting rod 45, the connecting sleeve 46 will not push the connecting rod 45 when it approaches the connecting rod 45. When the through hole 42 on the second funnel-shaped shell 21 rotates to overlap with the circumferential locking hole 13 on the first funnel-shaped shell 11, the circumferential locking block 29 pops out under the action of the second spring 41, and drives the connecting sleeve 46 away from the connecting rod 45. Since there is a telescopic margin between the connecting sleeve 46 and the connecting rod 45, when the connecting sleeve 46 approaches the connecting rod 45, it will not pull the connecting rod 45, thereby realizing the free retraction and pop-up of the circumferential locking block 29. The circumferential locking block 29 is stuck on the through hole 42 and the circumferential locking hole 13, so that the second funnel-shaped shell 21 and the first funnel-shaped shell 11 cannot rotate relative to each other in the circumferential direction, thereby completing the circumferential automatic locking.At this time, the circumferential active locking state can also be started, that is, the upper and lower driving mechanisms drive the movable sleeve 44 to move downward and drive the connecting rod 45 to move. Due to the existence of telescopic margin, the other end of the connecting rod 45 will not apply force to the connecting sleeve 46, and the movable sleeve 44 continues to move downward until the telescopic margin is insufficient. At this time, the connecting rod 45 supports the circumferential locking block 29 through the connecting sleeve 46 to ensure that the circumferential locking block 29 will not be disengaged, thereby improving the stability and reliability of the circumferential locking of the land vehicle system and the aircraft system. When in the circumferential active unlocking state, the upper and lower driving mechanisms drive the movable sleeve 44 to move upward and drive the connecting rod 45 to move. Due to the existence of telescopic margin, the connecting rod 45 will not drive the connecting sleeve 46 at first. The movable sleeve 44 continues to move upward until the telescopic margin is insufficient. At this time, the connecting rod 45 pulls the connecting sleeve 46, and then drives the circumferential locking block 29. When the pulling force generated by the connecting sleeve 46 on the circumferential locking block 29 is greater than the pulling force of the second spring 41, the circumferential locking block 29 retracts into the second funnel-shaped shell 21, thereby releasing the circumferential locking. The axial locking device 23 can realize automatic locking and active unlocking of the first funnel-shaped shell 11 and the second funnel-shaped shell 21, thereby realizing flexible switching between land and air modes.

[0012] Furthermore, the circumferential locking device 23 also includes a rotating motor; the rotating motor is used to drive the central shaft 43 to rotate. As can be seen from the above structure, when the first funnel-shaped shell 11 and the second funnel-shaped shell 21 are circumferentially locked, the first funnel-shaped shell 11 and the second funnel-shaped shell 21 are close to each other, but the circumferential locking hole 13 on the first funnel-shaped shell 11 and the through hole 42 on the second funnel-shaped shell 21 do not necessarily overlap. The rotating motor drives the central shaft to rotate, driving the second matching part 2 to rotate as a whole, until the circumferential locking hole 13 on the first funnel-shaped shell 11 and the through hole 42 on the second funnel-shaped shell 21 overlap, and the circumferential locking block 29 pops out under the action of the second spring 41, realizing circumferential automatic locking.

[0013] Furthermore, the first funnel-shaped shell 11 is provided with at least two layers of circumferential locking holes 13 at different heights; each layer of circumferential locking holes 13 has a plurality of circumferential locking holes 13; and the circumferential locking holes 13 at different layers are staggered. As can be seen from the above structure, the first funnel-shaped shell 11 is provided with at least two layers of circumferential locking holes 13 at different heights, and each layer has a plurality of circumferential locking holes 13, so that when the first matching part 1 rotates as a whole, the circumferential locking holes 13 on the first funnel-shaped shell 11 can be quickly aligned and overlapped with the through holes 42 on the second funnel-shaped shell 21. The circumferential locking holes 13 at different layers are staggered, and when the first funnel-shaped shell 11 and the second funnel-shaped shell 21 are circumferentially locked, the first funnel-shaped shell 11 and the second funnel-shaped shell 21 are locked at multiple points, and the force distribution is more uniform, thereby improving the stability of the locking device.

[0014] Furthermore, the first matching part 1 also includes a fixed seat 51 and a plurality of telescopic rods 52; the first funnel-shaped shell 11 includes a plurality of curved surface units 53; the curved surface units 53 correspond to the telescopic rods 52 one by one; the top of the curved surface unit 53 is hinged to the fixed seat 51; one end of the telescopic rod 52 is hinged to the fixed seat 51, and the other end is hinged to the corresponding curved surface unit 53. As can be seen from the above structure, the first funnel-shaped shell 1 is formed into a funnel shape by a plurality of curved surface units 53, one end of the plurality of curved surface units 53 is hinged to the fixed seat 51, and the other end of the plurality of curved surface units 53 is hinged to the corresponding telescopic rod 52, and the telescopic rod 52 can drive the curved surface unit 53 to flip when it is extended or retracted. When the first funnel-shaped shell 11 and the second funnel-shaped shell 21 need to be connected in a mating manner, the telescopic rod 52 contracts, driving the curved surface unit 53 to open, so that the bottom of the first funnel-shaped shell 11 presents a larger mating area. When the second funnel-shaped shell 21 approaches the first funnel-shaped shell 11, the top of the second funnel-shaped shell 21 is more easily inserted into the inside of the first funnel-shaped shell 11, and then the telescopic rod 52 extends, driving the curved surface unit 53 to close, and the connection is completed. The first funnel-shaped shell 11 can guide the second funnel-shaped shell 21, so that the second funnel-shaped shell 21 moves along the inside of the first funnel-shaped shell 11 toward the top of the first funnel-shaped shell 11, so that the first funnel-shaped shell 11 and the second funnel-shaped shell 21 are precisely mated and connected in a moving state.

[0015] The beneficial effects of the present invention are:

[0016] The present invention discloses a land-air vehicle locking device, wherein the first matching part comprises a first funnel-shaped shell and an axial locking device; the first funnel-shaped shell is provided with at least one circumferential locking hole; the top of the first funnel-shaped shell is provided with an opening; the opening is provided with an axial locking device; the second matching part comprises a second funnel-shaped shell, an axial positioning portion and a circumferential locking device; the top of the second funnel-shaped shell is provided with an axial positioning portion; the second funnel-shaped shell is provided with a circumferential locking device; the circumferential locking device is used to match the circumferential locking hole so that the second funnel-shaped shell is circumferentially locked when it is matched with the inner side of the first funnel-shaped shell; the axial locking device is used to match the axial positioning portion so that the axial positioning portion is axially locked when it passes through the opening. The land-air vehicle locking device of the present invention has a simple and compact structure, and the dynamic lower vehicle body system and the flight system can be precisely matched, and it is flexible and maneuverable, and has high stability and reliability, so that the flexible switching of the land-air mode can be realized, and the passability of the land-air vehicle in complex environments can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the present invention;

[0018] Figure 2 It is a schematic diagram of the structure in which the first matching part and the second matching part of the present invention are close to each other;

[0019] Figure 3 It is a schematic diagram of the cross-section structure of the first matching part and the second matching part of the present invention that are close to each other;

[0020] Figure 4 It is a schematic diagram of the structure of the present invention after the first matching part and the second matching part are fully matched and not circumferentially locked;

[0021] Figure 5 It is a schematic diagram of the structure of circumferential locking after the first matching part and the second matching part of the present invention are fully matched;

[0022] Figure 6 It is a schematic diagram of the locking structure of the first matching part and the second matching part of the present invention;

[0023] Figure 7 It is a schematic diagram of the structure of the axial positioning part of the present invention;

[0024] Figure 8 It is a schematic diagram of the structure of the circumferential locking device of the present invention;

[0025] Fig. 9 is a top view schematic diagram of a first funnel-shaped shell structure of the present invention;

[0026] Fig.10 It is a schematic diagram of the top view of the axial locking device of the present invention;

[0027] Fig.11 1. It is a bottom view structural diagram of the axial locking device of the present invention;

[0028] Fig.12 It is a schematic diagram of the three-dimensional structure of the axial locking device of the present invention;

[0029] Fig.13 It is a schematic diagram of the opening structure of the first funnel-shaped shell of the present invention;

[0030] Fig.14 It is a schematic diagram of the closed structure of the first funnel-shaped shell of the present invention;

[0031] In the accompanying drawings: 1-first matching part, 2-second matching part, 11-first funnel-shaped shell, 12-axial locking device, 13-circumferential locking hole, 14-opening, 15-bottom plate, 16-blade, 17-driving gear, 18-driving ring, 19-inner arc-shaped rack, 21-second funnel-shaped shell, 22-axial positioning part, 23-circumferential locking device, 24-axial positioning rod, 25-axial positioning head, 26-ball joint, 27-limiting plate, 28-circumferential locking mechanism, 29-circumferential locking block, 31-passive wheel, 32-first arc-shaped rack, 33-outer arc-shaped rack, 41-second spring, 42-through hole, 43-center axis, 44-moving sleeve, 45-connecting rod, 46-connecting sleeve, 51-fixed seat, 52-telescopic rod, 53-curved unit. DETAILED DESCRIPTION

[0032] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation methods, but the present invention is not limited to the following embodiments.

[0033] Embodiment 1:

[0034] See attached Figures 1 to 14The locking device for a land-air vehicle comprises a first matching part 1 and a second matching part 2; the first matching part 1 comprises a first funnel-shaped shell 11 and an axial locking device 12; the first funnel-shaped shell 11 is provided with at least one circumferential locking hole 13; the top of the first funnel-shaped shell 11 is provided with an opening 14; the opening 14 is provided with an axial locking device 12; the second matching part 2 comprises a second funnel-shaped shell 21, an axial positioning part 22 and a circumferential locking device 23; the top of the second funnel-shaped shell 21 is provided with an axial positioning part 22; the second funnel-shaped shell 21 is provided with a circumferential locking device 23; the circumferential locking device 23 is used to match the circumferential locking hole 13, so that the second funnel-shaped shell 21 is circumferentially locked when it is matched inside the first funnel-shaped shell 11; the axial locking device 12 is used to match the axial positioning part 22, so that the axial positioning part 22 is axially locked when it passes through the opening 14. As can be seen from the above structure, the first matching part 1 and the second matching part 2 are respectively connected to the land vehicle body system and the aircraft system of the land-air vehicle. The first funnel-shaped shell 11 and the second funnel-shaped shell 21 are funnel-shaped, and both gradually become larger from the top to the bottom. When the second funnel-shaped shell 21 approaches the first funnel-shaped shell 11, the top of the second funnel-shaped shell 21 is easier to enter the inside of the first funnel-shaped shell 11, and the first funnel-shaped shell 11 can guide the second funnel-shaped shell 21, so that the second funnel-shaped shell 21 moves along the inside of the first funnel-shaped shell 11 to the top of the first funnel-shaped shell 11, so that the first funnel-shaped shell 11 and the second funnel-shaped shell 21 are precisely matched and connected in the moving state. Therefore, when the land vehicle system and the aircraft system need to cooperate, even if the centers of the second funnel-shaped shell 21 and the first funnel-shaped shell 11 do not completely overlap, it does not affect the precise cooperation between the two, which improves the precise cooperation between the dynamic lower vehicle system and the flight system, and is maneuverable and flexible. The first funnel-shaped shell 11 and the second funnel-shaped shell 21 are funnel-shaped, so the outer wall of the second funnel-shaped shell 21 can completely fit the inner wall of the first funnel-shaped shell 11, making the land-to-air vehicle locking device simple and compact in structure.An opening 14 is provided at the top of the first funnel-shaped shell 11, and an axial positioning portion 22 is provided at the top of the second funnel-shaped shell 21. Therefore, when the second funnel-shaped shell 21 approaches the first funnel-shaped shell 11, the axial positioning portion 22 at the front end will preferentially enter the first funnel-shaped shell 11. If the axial positioning portion 22 is located at the center of the first funnel-shaped shell 11, it will be directly inserted into the opening 14; if the axial positioning portion 22 is not located at the center of the first funnel-shaped shell 11, it will turn along the inner wall of the first funnel-shaped shell 11, and finally, under the structure in which the first funnel-shaped shell 11 and the second funnel-shaped shell 21 guide each other, the axial positioning portion 22 will return to the center of the first funnel-shaped shell 11 and be inserted into the opening 14; therefore, as long as the axial positioning portion 22 enters the first funnel-shaped shell 11, it can be aligned with the opening 14, so that the dynamic lower body system and the flight system can be precisely coordinated. When the axial positioning portion 22 is inserted into the opening 14, the axial locking device 12 provided on the opening 14 will automatically lock the axial positioning portion 22, so that the first funnel-shaped shell 11 and the second funnel-shaped shell 21 will not be axially separated, that is, the land vehicle body system and the aircraft system will not be axially separated after being matched. The first funnel-shaped shell 11 is provided with at least one circumferential locking hole 13, and the second funnel-shaped shell 21 is provided with a circumferential locking device 23. The circumferential locking hole 13 and the circumferential locking device 23 cooperate with each other, so that the second funnel-shaped shell 21 is circumferentially locked when it is matched inside the first funnel-shaped shell 11. Thereby, the first funnel-shaped shell 11 and the second funnel-shaped shell 21 will not rotate circumferentially, that is, the land vehicle body system and the aircraft system will not rotate circumferentially after being matched. The stability and reliability of the matching between the land vehicle body system and the aircraft system are improved.

[0035] Overall working process: When the land vehicle system and the aircraft system need to be connected, the land vehicle system and the aircraft system move toward each other, and the first mating part 1 and the second mating part 2 connected to the two move toward each other, and the axial positioning part 22 at the top of the second funnel-shaped shell 21 enters into the first mating part 1, and moves toward the top of the first mating part 1 along the inner side of the first mating part 1. After the axial positioning part 22 passes through the opening 14, the axial locking device 12 provided on the opening 14 will automatically lock the axial positioning part 22, thereby completing the axial locking of the first funnel-shaped shell 11 and the second funnel-shaped shell 21. Then, the circumferential locking hole 13 on the first funnel-shaped shell 11 and the circumferential locking device 23 on the second funnel-shaped shell 21 cooperate with each other, so that the first funnel-shaped shell 11 and the second funnel-shaped shell 21 are automatically locked circumferentially. When the land vehicle system and the aircraft system need to be separated, the circumferential locking of the first funnel-shaped shell 11 and the second funnel-shaped shell 21 is first released through the circumferential locking device 23, and then the axial locking of the first funnel-shaped shell 11 and the second funnel-shaped shell 21 is released through the axial locking device 12, thereby completely releasing the lock of the land vehicle system and the aircraft system. The land-to-air vehicle locking device of the present invention has a simple and compact structure, can be precisely matched under dynamic conditions, and the automatic axial locking and automatic circumferential locking functions make the land-to-air vehicle locking device flexible and easy to use, so that the land vehicle system and the aircraft system can be quickly matched and separated, and the stability and reliability of the matching between the land vehicle system and the aircraft system are improved by the axial locking and circumferential locking of the land-to-air vehicle locking device.

[0036] Embodiment 2:

[0037] See attached Figures 1 to 14 . On the basis of the first embodiment, the axial positioning portion 22 includes an axial positioning rod 24 and an axial positioning head 25; the axial positioning rod 24 is provided at the top of the second funnel-shaped shell 21; the axial positioning head 25 is provided at the top of the axial positioning rod 24; the axial positioning head 25 gradually increases in size from the top to the bottom. As can be seen from the above structure, the axial positioning rod 24 is connected to the top of the second funnel-shaped shell 21 to support the axial positioning head 25. The axial positioning head 25 gradually increases in size from the top to the bottom, which can make it easier to guide the axial positioning head 25 inside the first funnel-shaped shell 11 and align it with the opening 14. The bottom diameter of the axial positioning head 25 is larger than the diameter of the axial positioning rod 24, so that when the axial positioning rod 24 passes through the opening 14, the axial locking device 12 is stuck under the axial positioning head 25, so that the axial positioning head 25 cannot move downward out of the opening 14, and after the first funnel-shaped shell 11 and the second funnel-shaped shell 21 are in place, the axial positioning head 25 can no longer move upward, thereby realizing the axial locking of the axial positioning part 22, and the first funnel-shaped shell 11 and the second funnel-shaped shell 21 will not axially separate.

[0038] Embodiment three:

[0039] See attached Figures 1 to 14 . On the basis of the second embodiment, the axial positioning part 22 also includes a ball joint 26, a first spring and a limit plate 27; the axial positioning head 25 is hinged to the top of the axial positioning rod 24 through the ball joint 26; a limit plate 27 is provided at the top of the axial positioning rod 24; the limit plate 27 is used to limit the flipping angle of the axial positioning head 25; the first spring is used to make the axial positioning rod 24 have a tendency to be ejected toward the top of the second funnel-shaped shell 21. It can be seen from the above structure that the axial positioning head 25 is hinged to the top of the axial positioning rod 24 through the ball joint 26, and the axial positioning head 25 can be freely flipped on the ball joint 26. When the axial positioning head 25 touches the inner side of the first funnel-shaped shell 11 or the axial locking device 12, it can automatically adjust its position, which is more conducive to its rapid passage through the opening 14. A limit plate 27 is provided at the top of the axial positioning rod 24, and the limit plate 27 can limit the flipping angle of the axial positioning head 25 to prevent the positioning head 25 from over-flipping. The first spring enables the axial positioning rod 24 to be retractable and arranged at the top of the second funnel-shaped shell 21. When the axial positioning head 25 touches the inner side of the first funnel-shaped shell 11 or the axial locking device 12, the axial positioning head 25 can transfer the axial impact to the axial positioning rod 24, which is absorbed by the first spring, and can have a certain buffering effect on the collision impact force, thereby improving the stability and service life of the axial positioning part 22, the axial locking device, and the first funnel-shaped shell 11. Moreover, if the axial positioning part 22 is not located at the center of the first funnel-shaped shell 11 and moves forward, it will turn along the inner wall of the first funnel-shaped shell 11. The first spring enables the axial positioning rod 24 to be retractable, which is conducive to the mutual guidance and cooperation between the first funnel-shaped shell 11 and the second funnel-shaped shell 21, so that the axial positioning part 22 quickly returns to the center of the first funnel-shaped shell 11 and moves forward, and is inserted into the opening 14 to achieve fast and accurate positioning.

[0040] The axial locking device 12 includes a bottom plate 15 and a plurality of blades 16; the blades 16 are rotatably arranged on the bottom plate 15 through a blade shaft; an opening 14 is arranged at the center of the bottom plate 15, and a plurality of blades 16 evenly surround the opening 14; a limiting portion corresponding to the blades 16 is arranged on the bottom plate 15, and a torsion spring is arranged on the blade shaft; the torsion spring is used to drive the blades 16 to lean against the limiting portion, so that the plurality of blades 16 cover the opening 14; a guide surface is arranged at one end of the bottom of the blade 16. It can be seen from the above structure that the blades 16 are rotatably arranged on the bottom plate 15 through the blade shaft, the bottom plate 15 is arranged at the top of the first funnel-shaped shell 11, and a torsion spring is arranged on the blade shaft. The blades 16 will rotate under the action of the torsion spring, and the limiting portion on the bottom plate 15 is used to limit the rotation of the blades 16, so that under the joint action of the torsion spring and the limiting portion, the blades 16 are just blocked on the opening 14, making the opening 14 smaller. The blade 16 evenly surrounds the opening 14, shielding the opening 14 but not completely covering the opening 14, so as to facilitate the axial positioning head 25 to pass through the opening 14, and can also lock the axial positioning portion 22 after it passes through the opening 14. A guide surface is provided at one end of the bottom of the blade 16. When the axial positioning head 25 touches the guide surface at the bottom of the blade 16 and continues to move upward, a thrust is generated on the guide surface, pushing the blade 16 to rotate to overcome the torsion of the torsion spring, forming a passive opening state, allowing the axial positioning head 25 to pass through the opening 14 in the center of the bottom plate 15. After the axial positioning head 25 passes through the opening 14, the blade 16 rotates and resets under the action of the torsion spring, restores the closed state, and rests against the limit portion again, and is stuck under the axial positioning head 25 to form a lock, completing the axial automatic locking.

[0041] The axial locking device 12 also includes a driving motor, a driving gear 17 and a driving ring 18; the driving ring 18 is rotatably arranged on the bottom plate 15; the inner circumference of the driving ring 18 is provided with a plurality of inner arc-shaped racks 19 spaced from each other; a driven wheel 31 is provided on the blade shaft; the outer circumference of the driven wheel 31 is provided with a first arc-shaped rack 32; the first arc-shaped rack 32 corresponds to the inner arc-shaped rack 19 one by one; the outer circumference of the driving ring 18 is provided with an outer arc-shaped rack 33 meshing with the driving gear 17; the driving motor is used to drive the driving gear 17 to make the driving ring 18 rotate forward and reverse. It can be seen from the above structure that the bottom plate 15 is provided with an annular groove, and the driving ring 18 is arranged in the annular groove, so it can rotate on the bottom plate 15; the outer circumference of the driving ring 18 is provided with an outer arc-shaped rack 33 meshing with the driving gear 17, and when the driving motor drives the driving gear 17 to rotate forward and reverse, the driving gear 17 will drive the driving ring 18 to rotate forward and reverse. The inner circumference of the driving ring 18 is provided with a plurality of inner arc-shaped racks 19 spaced from each other. For example, the inner circumference of the driving ring 18 has 6 inner arc-shaped racks 19, and the 6 inner arc-shaped racks 19 are spaced from each other, and there is no tooth portion in the spaced intervals. A driven wheel 31 is provided on the blade shaft, and a first arc-shaped rack 32 corresponding to the inner arc-shaped racks 19 is provided on the outer circumference of the driven wheel 31. The number of driven wheels 31 corresponds to the number of inner arc-shaped racks 19. If there are 6 inner arc-shaped racks 19 on the inner circumference of the driving ring 18, then the number of driven wheels 31 is also 6. A first arc-shaped rack 32 is provided on the outer periphery of the passive wheel 31. When the driving ring 18 rotates and the passive wheel 31 is located between the two inner arc-shaped racks 19, the driving ring 18 cannot drive the passive wheel 31 to rotate through the first arc-shaped rack 32. When the passive wheel 31 is located at the corresponding inner arc-shaped rack 19, the driving ring 18 can drive the passive wheel 31 to rotate by engaging the inner arc-shaped rack 19 with the corresponding first arc-shaped rack 32. The axial locking device 12 has an axial automatic locking state and an axial active unlocking state. When in the axial automatic locking state, the passive wheel 31 is located between the two inner arc-shaped racks 19. When the axial positioning head 25 touches the guide surface at the bottom of the blade 16 and continues to move upward, it will generate thrust on the guide surface, pushing the blade 16 to rotate to overcome the torsion of the torsion spring. The blade 16 rotates counterclockwise around the blade shaft to form a passive opening state, allowing the axial positioning head 25 to pass through the opening 14 in the center of the bottom plate 15. Since the passive wheel 31 is located between the two inner arc-shaped racks 19, the rotation of the blade 16 drives the blade shaft and the passive wheel 31 to rotate. The first arc-shaped rack 32 of the passive wheel 31 cannot contact the inner arc-shaped rack 19 and does not interfere with the drive ring 18, thereby achieving automatic axial locking. When in the axial active unlocking state, the driving motor drives the driving gear 17, and the driving gear 17 drives the driving ring 18 to rotate counterclockwise, so that the first arc-shaped rack 32 and the corresponding inner arc-shaped rack 19 are engaged, so that the rotation of the driving ring 18 can drive the passive wheel 31 to rotate counterclockwise, thereby causing several blades 16 to rotate counterclockwise, actively opening the opening 14, and unlocking the axial positioning head 25.The axial locking device 12 can realize automatic locking and active unlocking of the axial positioning portion 22, thereby realizing flexible switching between land and air modes.

[0042] The circumferential locking device 23 includes at least one circumferential locking mechanism 28; the circumferential locking mechanism 28 includes a circumferential locking block 29 and a second spring 41; the second funnel-shaped shell 21 is provided with a through hole 42 corresponding to the circumferential locking hole 13; the circumferential locking block 29 is hinged on the through hole 42; the second spring 41 is used to drive the circumferential locking block 29 to cover the through hole 42 from the inside, so that the circumferential locking block 29 protrudes from the outer surface of the second funnel-shaped shell 21. It can be seen from the above structure that one end of the circumferential locking block 29 is hinged on the through hole 42 and connected to the second funnel-shaped shell 21, and the other end is connected to the edge of the through hole 42 through the second spring 41, and passes through the through hole 42 under the action of the pulling force of the second spring 41, and protrudes from the outer surface of the second funnel-shaped shell 21. When the through hole 42 on the second funnel-shaped shell 21 has not rotated to overlap with the circumferential locking hole 13 on the first funnel-shaped shell 11, the inner wall of the first funnel-shaped shell 11 presses the circumferential locking block 29, and the circumferential locking block 29 overcomes the pulling force of the second spring 41, so that it cannot protrude from the through hole 42; when the through hole 42 on the second funnel-shaped shell 21 rotates to overlap with the circumferential locking hole 13 on the first funnel-shaped shell 11, the circumferential locking block 29 pops out under the action of the second spring 41, and the circumferential locking block 29 is stuck on the through hole 42 and the circumferential locking hole 13, so that the second funnel-shaped shell 21 and the first funnel-shaped shell 11 cannot rotate relative to each other in the circumferential direction, thereby completing the circumferential automatic locking.

[0043] The circumferential locking device 23 also includes a central axis 43 and an up-and-down driving mechanism; the central axis 43 is fixed at the center of the second funnel-shaped shell 21, and a movable sleeve 44 is provided on the central axis 43; the movable sleeve 44 is driven by the up-and-down driving mechanism to move up and down along the central axis 43; the circumferential locking mechanism 28 also includes a connecting rod 45 and a connecting sleeve 46; one end of the connecting rod 45 is hinged on the movable sleeve 44, and the other end is provided with a connecting sleeve 46; there is a telescopic margin between the connecting sleeve 46 and the connecting rod 45; the connecting sleeve 46 is hinged with the circumferential locking block 29. As can be seen from the above structure, a movable sleeve 44 is provided on the central axis 43, and the up-and-down driving mechanism can drive the movable sleeve 44 to move up and down along the central axis 43. One end of the connecting rod 45 is hinged on the movable sleeve 44, and when the movable sleeve 44 moves up and down along the central axis 43, one end of the connecting rod 45 moves up and down accordingly. The other end of the connecting rod 45 is sleeved with a connecting sleeve 46, and there is a telescopic margin between the connecting sleeve 46 and the connecting rod 45, so the other end of the connecting rod 45 can move back and forth inside the connecting sleeve 46. The circumferential locking device 23 has a circumferential automatic locking state and a circumferential active unlocking state. When in the circumferential automatic locking state, the first funnel-shaped shell 11 and the second funnel-shaped shell 21 transition from separation to matching, and the circumferential locking block 29 passes through the through hole 42 under the pulling force of the second spring 41, and protrudes from the outer surface of the second funnel-shaped shell 21. Because the connecting sleeve 46 is hinged to the circumferential locking block 29, the circumferential locking block 29 will drive the connecting sleeve 46 away from the connecting rod 45 at this time. When the first funnel-shaped shell 11 overlaps with the second funnel-shaped shell 21 but the through hole 42 on the second funnel-shaped shell 21 does not overlap with the circumferential locking hole 13 on the first funnel-shaped shell 11, the inner wall of the first funnel-shaped shell 11 presses the circumferential locking block 29, and the circumferential locking block 29 is retracted into the second funnel-shaped shell 21 under the pressure of the first funnel-shaped shell 11, and pushes the connecting sleeve 46 closer to the connecting rod 45. Since there is a telescopic margin between the connecting sleeve 46 and the connecting rod 45, the connecting sleeve 46 will not push the connecting rod 45 when it approaches the connecting rod 45. When the through hole 42 on the second funnel-shaped shell 21 rotates to overlap with the circumferential locking hole 13 on the first funnel-shaped shell 11, the circumferential locking block 29 pops out under the action of the second spring 41, and drives the connecting sleeve 46 away from the connecting rod 45. Since there is a telescopic margin between the connecting sleeve 46 and the connecting rod 45, when the connecting sleeve 46 approaches the connecting rod 45, it will not pull the connecting rod 45, thereby realizing the free retraction and pop-up of the circumferential locking block 29. The circumferential locking block 29 is stuck on the through hole 42 and the circumferential locking hole 13, so that the second funnel-shaped shell 21 and the first funnel-shaped shell 11 cannot rotate relative to each other in the circumferential direction, thereby completing the circumferential automatic locking.At this time, the circumferential active locking state can also be started, that is, the upper and lower driving mechanisms drive the movable sleeve 44 to move downward and drive the connecting rod 45 to move. Due to the existence of telescopic margin, the other end of the connecting rod 45 will not apply force to the connecting sleeve 46, and the movable sleeve 44 continues to move downward until the telescopic margin is insufficient. At this time, the connecting rod 45 supports the circumferential locking block 29 through the connecting sleeve 46 to ensure that the circumferential locking block 29 will not be disengaged, thereby improving the stability and reliability of the circumferential locking of the land vehicle system and the aircraft system. When in the circumferential active unlocking state, the upper and lower driving mechanisms drive the movable sleeve 44 to move upward and drive the connecting rod 45 to move. Due to the existence of telescopic margin, the connecting rod 45 will not drive the connecting sleeve 46 at first. The movable sleeve 44 continues to move upward until the telescopic margin is insufficient. At this time, the connecting rod 45 pulls the connecting sleeve 46, and then drives the circumferential locking block 29. When the pulling force generated by the connecting sleeve 46 on the circumferential locking block 29 is greater than the pulling force of the second spring 41, the circumferential locking block 29 retracts into the second funnel-shaped shell 21, thereby releasing the circumferential locking. The axial locking device 23 can realize automatic locking and active unlocking of the first funnel-shaped shell 11 and the second funnel-shaped shell 21, thereby realizing flexible switching between land and air modes.

[0044] The circumferential locking device 23 also includes a rotating motor; the rotating motor is used to drive the central shaft 43 to rotate. As can be seen from the above structure, when the first funnel-shaped shell 11 and the second funnel-shaped shell 21 are circumferentially locked, the first funnel-shaped shell 11 and the second funnel-shaped shell 21 are close to each other, but the circumferential locking hole 13 on the first funnel-shaped shell 11 and the through hole 42 on the second funnel-shaped shell 21 do not necessarily overlap. The rotating motor drives the central shaft to rotate, driving the second matching part 2 to rotate as a whole, until the circumferential locking hole 13 on the first funnel-shaped shell 11 and the through hole 42 on the second funnel-shaped shell 21 overlap, and the circumferential locking block 29 pops out under the action of the second spring 41, realizing circumferential automatic locking.

[0045] The first funnel-shaped shell 11 is provided with at least two layers of circumferential locking holes 13 at different heights; each layer of circumferential locking holes 13 has a plurality of circumferential locking holes 13; and the circumferential locking holes 13 at different layers are staggered. As can be seen from the above structure, the first funnel-shaped shell 11 is provided with at least two layers of circumferential locking holes 13 at different heights, and each layer has a plurality of circumferential locking holes 13, so that when the first matching part 1 rotates as a whole, the circumferential locking holes 13 on the first funnel-shaped shell 11 can be quickly aligned and overlapped with the through holes 42 on the second funnel-shaped shell 21. The circumferential locking holes 13 at different layers are staggered. When the first funnel-shaped shell 11 and the second funnel-shaped shell 21 are circumferentially locked, the first funnel-shaped shell 11 and the second funnel-shaped shell 21 are locked at multiple points, and the force distribution is more uniform, thereby improving the stability of the locking device.

[0046] The first matching part 1 also includes a fixed seat 51 and a plurality of telescopic rods 52; the first funnel-shaped shell 11 includes a plurality of curved surface units 53; the curved surface units 53 correspond to the telescopic rods 52 one by one; the top of the curved surface unit 53 is hinged to the fixed seat 51; one end of the telescopic rod 52 is hinged to the fixed seat 51, and the other end is hinged to the corresponding curved surface unit 53. As can be seen from the above structure, the first funnel-shaped shell 1 is formed into a funnel shape by a plurality of curved surface units 53, one end of the plurality of curved surface units 53 is hinged to the fixed seat 51, and the other end of the plurality of curved surface units 53 is hinged to the corresponding telescopic rod 52, and the telescopic rod 52 can drive the curved surface unit 53 to flip when it is extended or retracted. When the first funnel-shaped shell 11 and the second funnel-shaped shell 21 need to be connected in a mating manner, the telescopic rod 52 contracts, driving the curved surface unit 53 to open, so that the bottom of the first funnel-shaped shell 11 presents a larger mating area. When the second funnel-shaped shell 21 approaches the first funnel-shaped shell 11, the top of the second funnel-shaped shell 21 is more easily inserted into the inside of the first funnel-shaped shell 11, and then the telescopic rod 52 extends, driving the curved surface unit 53 to close, and the connection is completed. The first funnel-shaped shell 11 can guide the second funnel-shaped shell 21, so that the second funnel-shaped shell 21 moves along the inside of the first funnel-shaped shell 11 toward the top of the first funnel-shaped shell 11, so that the first funnel-shaped shell 11 and the second funnel-shaped shell 21 are precisely mated and connected in a moving state.

[0047] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. Land and air vehicle locking device, Features: The invention comprises a first mating part (1) and a second mating part (2); the first mating part (1) is used to connect with the land vehicle body system of the land-air vehicle, and the second mating part (2) is used to connect with the aircraft system of the land-air vehicle; the first mating part (1) comprises a first funnel-shaped shell (11) and an axial locking device (12); the first funnel-shaped shell (11) is provided with at least one circumferential locking hole (13); the top of the first funnel-shaped shell (11) is provided with an opening (14); the opening (14) is provided with the axial locking device (12); the second mating part (2) comprises a second funnel-shaped shell (21), an axial positioning portion (2 2) and a circumferential locking device (23); an axial positioning portion (22) is provided at the top of the second funnel-shaped shell (21); a circumferential locking device (23) is provided on the second funnel-shaped shell (21); the circumferential locking device (23) is used to cooperate with the circumferential locking hole (13) so that the second funnel-shaped shell (21) is circumferentially locked when it is matched inside the first funnel-shaped shell (11); the axial locking device (12) is used to cooperate with the axial positioning portion (22) so that the axial positioning portion (22) is axially locked when it passes through the opening (14); the axial positioning portion (22) includes an axial positioning rod (24) and an axial positioning head (25); the second funnel-shaped shell (2 1) An axial positioning rod (24) is provided at the top; an axial positioning head (25) is provided at the top of the axial positioning rod (24); the axial positioning head (25) gradually becomes larger from the top to the bottom; the axial locking device (12) comprises a bottom plate (15) and a plurality of blades (16); the blades (16) are rotatably arranged on the bottom plate (15) via blade shafts; an opening (14) is provided at the center of the bottom plate (15), and a plurality of blades (16) are uniformly arranged around the opening (14); a limiting portion corresponding to each blade (16) is provided on the bottom plate (15), and a torsion spring is provided on the blade shaft; the torsion spring is used to drive the blade (16) to abut against the limiting portion, so that if A plurality of blades (16) cover the opening (14); a guide surface is provided at one end of the bottom of the blade (16); the circumferential locking device (23) includes at least one circumferential locking mechanism (28); the circumferential locking mechanism (28) includes a circumferential locking block (29) and a second spring (41); the second funnel-shaped shell (21) is provided with a through hole (42) corresponding to the circumferential locking hole (13); the circumferential locking block (29) is hingedly connected to the through hole (42); the second spring (41) is used to drive the circumferential locking block (29) to cover the through hole (42) from the inside, so that the circumferential locking block (29) protrudes from the outer surface of the second funnel-shaped shell (21).

2. The land-air vehicle locking device according to claim 1, Features: The axial positioning portion (22) further comprises a ball joint (26), a first spring and a limit plate (27); the axial positioning head (25) is hinged to the top of the axial positioning rod (24) via the ball joint (26); a limit plate (27) is provided on the top of the axial positioning rod (24); the limit plate (27) is used to limit the turning angle of the axial positioning head (25); and the first spring is used to make the axial positioning rod (24) tend to be pushed out towards the top of the second funnel-shaped shell (21).

3. The land-air vehicle locking device according to claim 1, Features: The axial locking device (12) further comprises a driving motor, a driving gear (17) and a driving ring (18); the driving ring (18) is rotatably arranged on the bottom plate (15); a plurality of inner arc-shaped racks (19) spaced apart from each other are arranged on the inner circumference of the driving ring (18); a driven wheel (31) is arranged on the blade shaft; a first arc-shaped rack (32) is arranged on the outer circumference of the driven wheel (31); the first arc-shaped rack (32) and the inner arc-shaped rack (19) are in one-to-one correspondence; an outer arc-shaped rack (33) meshing with the driving gear (17) is arranged on the outer circumference of the driving ring (18); the driving motor is used to drive the driving gear (17) to make the driving ring (18) rotate forward and reverse.

4. The land-air vehicle locking device according to claim 1, Features: The circumferential locking device (23) further comprises a central shaft (43) and an up-and-down driving mechanism; the central shaft (43) is fixed at the center of the second funnel-shaped shell (21), and a movable sleeve (44) is disposed on the central shaft (43); the movable sleeve (44) is driven by the up-and-down driving mechanism to move up and down along the central shaft (43); the circumferential locking mechanism (28) further comprises a connecting rod (45) and a connecting sleeve (46); one end of the connecting rod (45) is hinged on the movable sleeve (44), and the other end is sleeved with the connecting sleeve (46); there is a telescopic margin between the connecting sleeve (46) and the connecting rod (45); the connecting sleeve (46) and the circumferential locking block (29) are hinged.

5. The land-air vehicle locking device according to claim 4, Features: The circumferential locking device (23) further comprises a rotary motor; the rotary motor is used to drive the central shaft (43) to rotate.

6. The land-air vehicle locking device according to claim 1, 3, 4 or 5, Features: The first funnel-shaped shell (11) is provided with at least two layers of circumferential locking holes (13) at different height positions; each layer has a plurality of circumferential locking holes (13); and the circumferential locking holes (13) at different layers are staggered.

7. The land-air vehicle locking device according to claim 1, Features: The first mating portion (1) further comprises a fixing seat (51) and a plurality of telescopic rods (52); the first funnel-shaped shell (11) comprises a plurality of curved surface units (53); the curved surface units (53) correspond to the telescopic rods (52) one by one; the top of the curved surface unit (53) is hinged to the fixing seat (51); one end of the telescopic rod (52) is hinged to the fixing seat (51), and the other end is hinged to the corresponding curved surface unit (53).

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