Combined separation and agile integrated structure for drones

Abstract

The present invention provides a combined detachable and flexible collective structure for unmanned aerial vehicles, comprising a combined detachable docking unit and a flight platform; the combined detachable docking unit comprises a primary ball joint connector, a primary connecting rod, a secondary connecting rod, and a secondary ball joint connector; the flight platform comprises a connecting plate, multiple ball joint seats, an end effector connecting device, a connecting device fastening nut, and a ball joint seat fastening nut; the connecting plate forms a slide groove structure, and the ball joint seat is screwed to the slide groove structure via the ball joint seat fastening nut; the end effector connecting device is fixed to the middle portion of the lower surface of the connecting plate via the connecting device fastening nut; the combined detachable docking unit is connected to the corresponding ball joint seat via the secondary ball joint connector. The combined detachable and flexible collective structure for unmanned aerial vehicles of the present invention can connect multiple multi-rotor unmanned aerial vehicles into a complete collective body, completing the transportation of large mass loads.

Description

Technical Field

[0001] The present invention relates to the field of rigid collective structures for unmanned aerial vehicles (UAVs), and in particular to a combined separation and agile collective structure for UAVs. Background Art

[0002] Multi-rotor drones are a highly versatile type of unmanned aerial vehicle with the characteristics of simple structure, strong maneuverability, vertical take-off and landing, and easy control. They are now widely used in civil and military fields such as photography, detection, and transportation.

[0003] Due to limitations such as energy conversion efficiency and thrust-to-weight ratio, multi-rotor drones have limited payload capacity and are unable to transport large objects. Connecting multiple multi-rotor drones through kinematic pairs to form a flight platform can overcome the limitations of individual drones, such as small payloads and underactuation, expand the contact area of ​​the aircraft, and significantly improve the drone's payload capacity. As mission scenarios change, the number and combination of drones can be adjusted to meet specific needs, providing strong adaptability. However, a structure that can connect multiple multi-rotor drones through kinematic pairs to form a flight platform is currently lacking. Summary of the Invention

[0004] In response to the above-mentioned deficiencies in the prior art, the present invention provides a combined and separated flexible collective structure for drones, which can connect multiple multi-rotor drones into a complete collective body to complete the transportation of large mass loads.

[0005] In order to achieve the above-mentioned object, the present invention provides a combined detachable and flexible integrated structure for a UAV, comprising a plurality of combined detachable docking units and a flight platform;

[0006] Each of the combined detachable docking units includes a primary ball joint connector, a primary connecting rod, a primary connecting rod, and a primary and secondary ball joint connector; the primary ball joint connector is screwed onto a drone chassis and connected to the primary connecting rod, the primary connecting rod is screwed to the secondary connecting rod, and the bottom of the secondary connecting rod is connected to the secondary ball joint connector;

[0007] The flying platform includes a connecting plate, a plurality of ball joint seats, an end effector connecting device, a connecting device fastening nut, and a plurality of ball joint seat fastening nuts; the connecting plate forms a slide groove structure, the ball joint seats are screwed to the slide groove structure via the ball joint seat fastening nuts; the end effector connecting device is fixed to the middle portion of the lower surface of the connecting plate via the connecting device fastening nuts;

[0008] The combined and separated docking unit is connected to the corresponding ball joint seat through the secondary ball joint connector.

[0009] Preferably, the primary connecting rod forms a long slot; the top end of the secondary connecting rod is connected to a pin, the pin is inserted into the long slot and is threadedly connected to a connecting rod fastening nut; the secondary connecting rod is adjustable in connection position and connection angle to the primary connecting rod through the pin and the connecting rod fastening nut.

[0010] Preferably, the first-level ball joint connector and the second-level ball joint connector respectively include a connected ball pin and a base; the base of the first-level ball joint connector is connected to the UAV chassis through bolts, and the ball pin of the first-level ball joint connector is connected to the top of the first-level connecting rod; the ball pin of the second-level ball joint connector is connected to the bottom of the second-level connecting rod, and the base of the second-level ball joint connector is connected to the ball joint seat.

[0011] Preferably, the slide groove structure includes several groups of arcuate slide grooves with different radii and four straight grooves arranged in a square shape; the straight grooves and each group of the arcuate slide grooves surround the periphery of the end effector connection device.

[0012] The present invention adopts the above technical solution, so it has the following beneficial effects:

[0013] The present invention enables the multi-rotor UAV to adjust the angle of the force transmitted to the flight platform during flight, ensuring that the overall degree of freedom of the integrated body is not reduced. As for the telescopic connecting rod part, the present invention adopts a two-stage fixed connecting rod to form a connecting rod with telescopic length and adjustable angle through a fastening nut, which is convenient for changing the overall configuration of the multi-UAV rigid integrated structure. As for the force-bearing part for adjusting the flight platform, the present invention adopts a method of configuring the ball joint seat in the slide groove structure of the flight platform, which can change the position of the ball joint seat, is easy to install and reduces the number of disassembly and assembly, and can quickly adapt to different integrated forms and the geometric layout of various UAVs. As for the object grasping part, the combined separation docking unit connecting the UAV and the flight platform adopts a rigid connecting rod structure to ensure stability during flight.

[0014] Furthermore, the present invention can adjust the angle between the primary connecting rod and the secondary connecting rod and the effective length of the primary connecting rod after loosening the connecting rod fastening nut, and fix the adjusted angle by tightening the connecting rod fastening nut to quickly change the configuration of the multi-UAV rigid collective structure.

[0015] Furthermore, the position of the ball joint seat in the sliding groove structure of the flight platform can be adjusted, and the position is fixed by fastening the nut of the ball joint seat, thereby changing the force position of the connecting plate in the flight platform.

[0016] Furthermore, the end effector connection device can be installed with a variety of different end effectors such as hooks, cables, connecting rods, robotic arms, electromagnetic suction cups, etc. to adapt to a variety of different task scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a structural diagram of a combined separation and agile collective connection structure for a UAV according to the first embodiment of the present invention;

[0018] Figure 2 This is a front view of a combined separation and agile integrated structure for a UAV according to the first embodiment of the present invention;

[0019] Figure 3 Schematic diagram of the connection structure between the primary ball joint connector and the primary connecting rod according to the first embodiment of the present invention;

[0020] Figure 4 Schematic diagram of the connection structure between the secondary ball joint connector and the ball joint seat according to the first embodiment of the present invention;

[0021] Figure 5 This is a schematic diagram of the connection structure between the end effector connection device and the connection device fastening nut according to the first embodiment of the present invention;

[0022] Figure 6 This is a structural diagram of a combined separation docking unit according to a first embodiment of the present invention;

[0023] Figure 7 This is a schematic structural diagram of a flight platform according to a first embodiment of the present invention;

[0024] Figure 8 This is a schematic diagram of the connection structure between the combined separation docking unit and the flying platform in accordance with the first embodiment of the present invention;

[0025] Figure 9 This is a structural diagram of a combined separation and agile collective connection structure for a UAV according to a second embodiment of the present invention;

[0026] Figure 10 This is a structural diagram of a combined separation and agile collective structure for a UAV according to the third embodiment of the present invention. DETAILED DESCRIPTION

[0027] Below according to the attached drawings Figures 1 to 10 , gives the preferred embodiment of the present invention, and describes it in detail so that the functions and features of the present invention can be better understood.

[0028] See also Figures 1 to 8 , a combined detachable and flexible integrated structure for a UAV according to a first embodiment of the present invention comprises a plurality of combined detachable docking units 1 and a flying platform 2;

[0029] Each combined detachable docking unit 1 includes a primary ball joint connector 11, a primary connecting rod 12, a primary connecting rod 14, and a primary and secondary ball joint connector 15; the primary ball joint connector 11 is screwed onto a UAV chassis and connected to the primary connecting rod 12, the primary connecting rod 12 is screwed to the secondary connecting rod 14, and the bottom of the secondary connecting rod 14 is connected to the secondary ball joint connector 15;

[0030] The flying platform 2 includes a connecting plate 21, a plurality of ball joints 22, an end effector connecting device 23, a connecting device fastening nut 24, and a plurality of ball joint fastening nuts 25. The connecting plate 21 forms a slide groove structure, and the ball joints 22 are screwed to the slide groove structure via the ball joint fastening nuts 25. The end effector connecting device 23 is fixed to the middle portion of the lower surface of the connecting plate 21 via the connecting device fastening nut 24.

[0031] The combined and separated docking unit 1 is connected to the corresponding ball joint seat 22 via a secondary ball joint connector 15 .

[0032] The primary connecting rod 12 forms a long slot; the top end of the secondary connecting rod 14 is connected to a pin, which is inserted into the long slot and screwed to a connecting rod fastening nut 13. The secondary connecting rod 14 is connected to the primary connecting rod 12 through the pin and the connecting rod fastening nut 13, and the connection position and connection angle can be adjusted. The effective length of the primary connecting rod 12 and the angle of the secondary connecting rod 14 can be adjusted by loosening the connecting rod fastening nut 13, and the adjusted angle can be fixed by tightening the connecting rod fastening nut 13, so that the configuration of the multi-UAV rigid collective structure can be quickly changed.

[0033] The primary and secondary ball joints 11 and 15 each include a connected ball pin and a base. The base of the primary ball joint 11 is bolted to the drone chassis, while the ball pin of the primary ball joint 11 connects to the top of the primary connecting rod 12. The ball pin of the secondary ball joint 15 connects to the bottom of the secondary connecting rod 14, and the base of the secondary ball joint 15 connects to the ball joint seat 22. The position of the ball joint seat 22 in the chute structure can be adjusted by loosening the ball joint seat fastening nut 25, thereby changing the force position of the connecting plate 21 in the flight platform 2.

[0034] The slide groove structure includes two groups of arcuate slide grooves with different radii and four straight grooves arranged in a square shape; the straight grooves and each group of arcuate slide grooves surround the periphery of the end effector connection device 23.

[0035] In this embodiment, the three-combination detachable docking unit 1 is connected to the outermost three-arc sliding groove through the ball joint seat 22.

[0036] See also Figure 9 The second embodiment of the present invention is a combined separation and agile collective structure for drones, and its structure is basically the same as that of the first embodiment. The difference is that the three combined separation docking units 1 are connected to the inner three-arc slide groove through the ball joint seat 22, and the primary connecting rod 12 and the secondary connecting rod 14 of the combined separation docking unit 1 are placed crosswise, and the long connecting rod is bent.

[0037] See also Figure 10The third embodiment of the present invention is a combined detachable and flexible collective structure for a UAV, and its structure is basically the same as that of the first embodiment, except that the four combined detachable docking units 1 are connected to the four innermost straight grooves through the ball joint seat 22; the primary connecting rod 12 and the secondary connecting rod 14 of the combined detachable docking unit 1 are placed in an overlapping manner, and the long connecting rod formed is retracted.

[0038] In other embodiments, the relative angle between the primary connecting rod 12 and the secondary connecting rod 14 and the relative position of the pin of the secondary connecting rod 14 in the long slot of the primary connecting rod 12 can be changed, thereby changing the length and shape of the connecting rod of the combined separation docking unit 1.

[0039] In other embodiments, the number of the ball joints 22 in the flying platform 2 and their positions in the slide structure can be changed, thereby changing the connection form and geometric layout of multiple UAVs.

[0040] In other embodiments, the type of the end effector in the flying platform 2 can be changed, such as a connecting rod, a cable, a hook, a robotic arm, an electromagnetic suction cup, etc., to grab different types of loads and adapt to a variety of different mission scenarios.

[0041] The present invention has been described in detail above with reference to the embodiments of the accompanying drawings. A person skilled in the art can make various modifications to the present invention based on the above description. Therefore, certain details in the embodiments should not be construed as limiting the present invention. The scope of protection of the present invention shall be determined by the scope defined in the appended claims.

Claims

1. A combined separation and agile integrated structure for drones, characterized by: It comprises a plurality of combined separation docking units (1) and a flying platform (2); Each of the combined detachable docking units (1) comprises a primary ball joint connector (11), a primary connecting rod (12), a primary secondary connecting rod (14) and a primary secondary ball joint connector (15); the primary ball joint connector (11) is screwed onto a drone chassis and connected to the primary connecting rod (12); the primary connecting rod (12) is screwed to the secondary connecting rod (14); and the bottom of the secondary connecting rod (14) is connected to the secondary ball joint connector (15); The flying platform (2) comprises a connecting plate (21), a plurality of ball joint seats (22), an end effector connecting device (23), a connecting device fastening nut (24) and a plurality of ball joint seat fastening nuts (25); the connecting plate (21) forms a slide groove structure, the ball joint seat (22) is screwed to the slide groove structure through the ball joint seat fastening nut (25); the end effector connecting device (23) is fixed to the middle part of the lower surface of the connecting plate (21) through the connecting device fastening nut (24); The combined detachable docking unit (1) is connected to the corresponding spherical joint seat (22) via the secondary spherical joint connector (15); The primary connecting rod (12) forms a long slot; the top end of the secondary connecting rod (14) is connected to a pin, the pin is inserted into the long slot and is screwed to a connecting rod fastening nut (13); the secondary connecting rod (14) is connected to the primary connecting rod (12) in an adjustable manner in terms of connection position and connection angle via the pin and the connecting rod fastening nut (13); The angle between the primary connecting rod (12) and the secondary connecting rod (14) and the effective length of the primary connecting rod (12) can be adjusted after loosening the connecting rod fastening nut (13), and the adjusted angle can be fixed by tightening the connecting rod fastening nut (13) to quickly change the configuration of the multi-UAV rigid collective structure; The first-level ball joint connector (11) and the second-level ball joint connector (15) respectively include a ball pin and a base connected to each other; the base of the first-level ball joint connector (11) is connected to the UAV chassis through bolts, and the ball pin of the first-level ball joint connector (11) is connected to the top of the first-level connecting rod (12); the ball pin of the second-level ball joint connector (15) is connected to the bottom of the second-level connecting rod (14), and the base of the second-level ball joint connector (15) is connected to the ball joint seat (22).

2. The combined separation and smart integrated structure for UAV according to claim 1 is characterized in that: The slide groove structure includes a plurality of groups of arcuate slide grooves with different radii and four straight grooves arranged in a square shape; the straight grooves and each group of the arcuate slide grooves surround the periphery of the end effector connection device (23).

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