Wing tip docking and separation device

Abstract

The present invention discloses a wingtip docking and separation device, which belongs to the fields of unmanned aerial vehicles, machinery, and mechanics. The present invention uses a carbon fiber rod and a clamp to install the mechanism on the wingtip of the unmanned aerial vehicle, which includes a docking claw, a permanent magnet actuator, and a docking ball rod. The permanent magnet actuator is connected to the wingtip of the unmanned aerial vehicle through the clamp, and the docking ball rod is connected to the wingtip of another unmanned aerial vehicle through the wing connecting rod. During the wingtip docking process, the docking ball rod applies a force to the docking plate. After crossing the maximum potential energy position, the docking claw quickly retracts to achieve the purpose of rapid docking. A servo or other active actuating device can be installed on the free side of the limiter to apply a force to the limiter to separate the mechanism. The present invention can realize the rapid docking of the unmanned aerial vehicle wingtip, and can provide a larger gripping force, improve the stability of the wingtip connection, and at the same time realize the separation between the unmanned aerial vehicles.

Description

Technical Field

[0001] The present invention relates to the fields of unmanned aerial vehicles (UAVs), machinery, and mechanics, and in particular to the technical field of wingtip docking of UAVs. The present invention specifically relates to a device installed at the wingtip to enable two or more UAVs to dock and separate their wingtips in the air. Background Art

[0002] The larger the aspect ratio of a single drone, the greater its lift-to-drag ratio, thereby improving the drone's cruising performance and enabling long-duration, high-altitude flight. However, as the aspect ratio of the wing increases, the manufacturing cost and difficulty of a single drone also increase significantly, and the requirements for takeoff and landing sites also become more stringent. At the same time, aerodynamic issues become more prominent in high-aspect-ratio drones. The US "Helios" high-aspect-ratio drone disintegrated due to turbulent airflow and wing flutter.

[0003] In recent years, a new approach has been proposed: multiple small- to medium-aspect-ratio drones take off from the ground and dock in mid-air using wingtip docking devices to form a large- or even ultra-large-aspect-ratio drone. The wingtips then detach upon arrival or landing. This approach effectively avoids issues with manufacturing costs, difficulty, and the need for takeoff and landing sites.

[0004] As a key development direction for transformable aircraft, modular drones, composed of multiple small fixed-wing drones flexibly connected by wings, can freely converge and separate in mid-air. Combining the advantages of small fixed-wing drones with those of high-altitude, long-endurance drones, they are expected to play a significant role in future military and civilian applications. Multi-body drones, which are connected by wingtip docking devices, currently connect on the ground and cannot dock in mid-air. However, the docking process for two aircraft in the military suffers from long and unstable docking times, making rapid docking impossible in practical applications. Summary of the Invention

[0005] The purpose of the present invention is to provide a wingtip docking device to provide a reliable and effective docking solution for the docking and separation of multi-body aircraft, so as to achieve efficient docking and separation of the wingtips of multi-body UAVs in the air, thereby improving cruising efficiency and completing their respective subtasks.

[0006] The present invention addresses the problems of unstable docking process and long docking time of drones, and utilizes a bistable mechanism to achieve a fast, stable and easy-to-use docking process. A bistable mechanism refers to a type of mechanism that has two stable equilibrium states and one unstable equilibrium state during its movement. The present invention adopts a bistable mechanism. During the process of the mechanism moving from one stable equilibrium state to another, the annular permanent magnet pair first stores potential energy and then releases the potential energy to reach another equilibrium state. When the docking device is in two stable equilibrium states, it can be stabilized in a limited position without the need for external force to maintain it.

[0007] The present invention is achieved in that:

[0008] A wingtip docking and undocking device, characterized by comprising a docking claw, a permanent magnet actuator, and a docking ball rod. The permanent magnet actuator is secured to the wingtip via a clamp, and the docking ball rod is secured to the wingtip of another drone via a carbon fiber rod. The docking claw and permanent magnet actuator are connected together by threads.

[0009] The docking claw comprises a docking identification rod (1), a connecting rod (2), a docking plate (3), and an intermediate connecting piece (4); a single docking identification rod (1) is hinged to the docking plate (3) and the connecting rod (2), and the connecting rod (2) is hinged to the intermediate connecting piece (4) in the same manner; the docking identification rod (1), the docking plate (3), the connecting rod (2), and the intermediate connecting piece (4) form a connecting rod mechanism; four identical connecting rod mechanisms are evenly arranged around the docking plate (3) and the intermediate connecting piece (4);

[0010] The permanent magnet actuator comprises an outer annular permanent magnet fixing member (5), an end fixing nut (6), a stopper (7), an outer annular permanent magnet (8), an inner annular permanent magnet (9), and a core shaft (10); the permanent magnet actuator is connected to the intermediate connecting member (4) and the docking plate (3) through the outer annular permanent magnet fixing member (5) and the core shaft (10); the inner annular permanent magnet (9) is mounted on the core shaft (11) and fixed by pressing with a nut, and the outer annular permanent magnet (8) is mounted in the outer annular permanent magnet fixing member (5) and fixed by pressing with an end fixing nut; one end of the stopper (7) is connected to the core shaft (11) by a thread, so as to achieve the purpose of limiting the stroke of the permanent magnet actuator; the permanent magnet actuator forms a bistable structure through the specific arrangement of permanent magnets with different magnetization directions;

[0011] The docking ball rod comprises a docking clamping ball (11) and a wing connecting rod (12) connected to each other; the permanent magnet actuator is fixed to the wing tip of the drone wing through a clamp, and the docking ball rod is connected to the wing tip of another drone wing through the wing connecting rod.

[0012] Furthermore, the permanent magnet actuator and the docking ball rod are fixedly mounted on the wingtips of the two UAVs respectively; the permanent magnet actuator is fixed to the intermediate connector (4) via threads as a bistable mechanism, and the core shaft (10) and the docking plate (3) are also connected via threads.

[0013] Furthermore, the stopper (7) moves to the end face of the end fixing nut (6) during the separation process to stop, thereby achieving the function of limiting. One end of the stopper is connected to the core shaft by a thread to achieve the purpose of limiting the stroke of the permanent magnet actuator. The minimum force required to apply to the docking ball can be adjusted by adjusting the length of the stopper thread. The other end of the stopper is free, and an active actuating device such as a servo can be installed to apply active force to the free end of the stopper.

[0014] Furthermore, the outer annular permanent magnet (8) and the inner annular permanent magnet (9) can provide a stronger magnetic force for actuation through the specific arrangement of the annular and tile-shaped permanent magnets that are magnetized axially and radially.

[0015] Furthermore, one end of the docking identification rod (1) is a straight rod with a hinge hole, and the other end is a large-area structure of a triangle or other shape to achieve the purpose of easy docking with the docking clamping ball (11), and this structure is hollowed out to achieve the purpose of weight reduction.

[0016] Furthermore, one end of the stopper (7) is connected to the core shaft through a thread, and an active actuating device can be installed at the other end away from the end face, so as to achieve the purpose of mechanism separation by applying active force to the end face.

[0017] Furthermore, the docking clamping ball (11) is connected to the wing connecting rod (12) through a threaded connection, and connecting rods of different diameters can be replaced according to the actual wingtip size of the docked drone.

[0018] A wingtip docking and separation device, characterized in that the working process of the device is as follows:

[0019] Two UAVs take off from the ground, and the docking claws and the docking ball rods are controlled to approach each other. When the docking clamping ball (11) contacts the docking plate (3), a force is generated between the two, and docking begins.

[0020] During the docking process, the force between the docking clamping ball (11) and the docking disc (3) causes the opening angle of the docking claws to continuously decrease, the middle position of the inner and outer permanent magnets is in an aligned state, the axial magnetic force is zero, the permanent magnet actuator reaches the maximum potential energy point, and the docking separation device is in an unstable point; the docking clamping ball continues to exert force on the docking disc, and the docking disc moves to the left;

[0021] When the docking and separation device passes the maximum potential energy point, without the need for external force, the docking plate (3) automatically moves to the left, the docking claws quickly close, and the docking clamping balls (11) are quickly clamped, thereby achieving rapid docking of the wingtips of both wings;

[0022] The permanent magnet actuator is fixed to the left wing tip through a clamp, and the wing connecting rod (12) on the docking ball rod is fixed to the right wing tip through a carbon fiber rod, and the docking of the two wing tips is completed;

[0023] At the beginning of docking, the displacement of the docking rod is zero, and the left is the positive direction of displacement. The permanent magnet actuator generates an axial magnetic force during the docking process; at the beginning of docking, the direction of the axial magnetic force is right. During the movement to the left, the magnitude of the axial magnetic force gradually decreases. When it reaches the maximum potential energy point, the axial magnetic force is zero. After crossing the maximum potential energy point, the axial magnetic force reverses, allowing the docking and separation device to automatically tighten.

[0024] The beneficial effects of the present invention are as follows: the present invention proposes a novel wingtip docking device, which has the following advantages over the current wing connection device. First, the docking claws of the wingtip docking device have a larger opening area before the docking state, which makes it easier to use a visual recognition scheme for docking identification and has a high fault tolerance rate; second, the bistable mechanism adopted by the docking device has a faster docking speed; finally, after the docking is completed, the permanent magnet actuator is in a steady state, and the connection with the docking claw generates a larger and more stable gripping force, so that the two drones are in a stable connection state during the flight. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the main body of the docking and separation device of the present invention;

[0026] Figure 2 This is a schematic diagram of the docking start state of the docking and separation device;

[0027] Figure 3 It is a schematic diagram of the docking and separation device in a state of maximum potential energy;

[0028] Figure 4 This is a schematic diagram of the docking and separation device in the docking completion state;

[0029] Figure 5 This is a schematic diagram of the wingtip installation of the docking and separation device;

[0030] Figure 6 is the force-displacement curve during the docking process of the permanent magnet actuator;

[0031] Among them: 1-docking identification rod; 2-connecting rod; 3-docking plate; 4-intermediate connecting piece; 5-outer annular permanent magnet fixing piece; 6-end fixing nut; 7-limiter; 8-outer annular permanent magnet; 9-inner annular permanent magnet; 10-core shaft; 11-docking clamping ball; 12-wing connecting rod. Implementation Method

[0032] In order to illustrate the technical features of the present invention, the specific embodiments of the present invention are further described in detail through the accompanying drawings and examples. The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0033] Reference Attachment Figure 1 The figure shows a wingtip docking device, which includes a docking claw, a permanent magnet actuator, and a docking ball rod. The docking claw includes a docking identification rod 1, a connecting rod 2, a docking plate 3, and an intermediate connector 4; the permanent magnet actuator includes an outer permanent magnet fixing member 5, an end fixing nut 6, a stopper 7, an outer annular permanent magnet 8, an inner annular permanent magnet 9, and a core shaft 10; the docking ball rod includes a docking clamping ball 11 and a wing connecting rod 12.

[0034] A single docking identification rod is hinged to the docking plate and connecting rod via plug bolts. The connecting rod is hinged to the intermediate connector in the same manner. The docking identification rod, docking plate, connecting rod, and intermediate connector form a connecting rod mechanism, with four identical connecting rod mechanisms evenly arranged around the docking plate and intermediate connector. The permanent magnet actuator is threadedly connected to the intermediate connector and docking plate via an outer annular permanent magnet fixture and a core shaft. The inner annular permanent magnet is mounted on the core shaft and secured with a nut, while the outer annular permanent magnet is mounted within the outer annular permanent magnet fixture and secured with an end fixing nut. One end of the limiter is threaded onto the core shaft to limit the travel of the permanent magnet actuator. The permanent magnet actuator forms a bistable structure through the specific arrangement of permanent magnets with different magnetization directions.

[0035] The docking clamping ball is also connected to the wing connecting rod through a thread. The permanent magnet actuator is fixed to the wing tip of the drone wing through a clamp, and the docking ball rod is connected to the wing tip of the other drone wing through the wing connecting rod.

[0036] The working process of the wingtip docking and separation device of the present invention is as follows:

[0037] like Figure 2 As shown, two UAVs take off from the ground, and the docking claws and the docking ball rods are controlled to approach each other. When the docking clamping ball 11 contacts the docking plate 3, a force is generated between the two, and docking begins.

[0038] like Figure 3 As shown, during the docking process, the force between the docking clamping ball 11 and the docking plate 3 causes the opening angle of the docking claws to decrease continuously. Figure 3 In the position shown, the permanent magnet actuator reaches its maximum potential energy point, and the docking and separation device is at an unstable point. The docking clamping ball continues to exert force on the docking plate, causing the docking plate to move to the left.

[0039] like Figure 4 As shown, the docking and separation device passes the maximum potential energy point, and without the need for external force, the docking plate 3 automatically moves to the left, the docking claws quickly retract, and the docking clamping ball 11 is quickly clamped, thereby achieving rapid docking of the wingtips of both wings.

[0040] like Figure 5 As shown, the permanent magnet actuator is fixed to the left wing tip through a clamp, and the wing connecting rod 12 on the docking ball rod is fixed to the right wing tip through a carbon fiber rod. Figure 5 The state shown is the state after the wingtips of the two wings are connected.

[0041] like Figure 6 As shown, the displacement of the docking rod at the beginning of docking is zero, and the left is the positive direction of displacement. The axial magnetic force generated by the permanent magnet actuator during the docking process is as follows: Figure 6 As shown in . At the start of docking, the axial magnetic force is directed to the right. As it moves to the left, the axial magnetic force gradually decreases. When it reaches the maximum potential energy point, the axial magnetic force is zero. Beyond the maximum potential energy point, the axial magnetic force reverses, allowing the docking and separation device to automatically tighten.

[0042] Matters not covered by the present invention are known technologies.

[0043] The above embodiments are intended only to illustrate the technical concepts and features of the present invention. Their purpose is to enable those skilled in the art to understand the contents of the present invention and implement them accordingly. They are not intended to limit the scope of protection of the present invention. Any equivalent changes or modifications made in accordance with the spirit of the present invention are intended to be covered by the scope of protection of the present invention.

Claims

1. A wing tip docking and separation device, characterized in that: The device comprises a docking claw, a permanent magnet actuator, and a docking ball rod; The docking claw comprises a docking identification rod (1), a connecting rod (2), a docking plate (3), and an intermediate connecting piece (4); A single docking identification rod (1) is hinged to the docking plate (3) and the connecting rod (2), respectively. The connecting rod (2) is hinged to the intermediate connecting piece (4). The docking identification rod (1), the docking plate (3), the connecting rod (2) and the intermediate connecting piece (4) form a connecting rod mechanism. Four identical connecting rod mechanisms are evenly arranged around the docking plate (3) and the intermediate connecting piece (4). The permanent magnet actuator comprises an outer annular permanent magnet fixing member (5), an end fixing nut (6), a stopper (7), an outer annular permanent magnet (8), an inner annular permanent magnet (9), and a core shaft (10); the permanent magnet actuator is connected to the intermediate connecting member (4) and the docking plate (3) through the outer annular permanent magnet fixing member (5) and the core shaft (10); the inner annular permanent magnet (9) is mounted on the core shaft (10) and fixed by pressing with a nut, and the outer annular permanent magnet (8) is mounted in the outer annular permanent magnet fixing member (5) and fixed by pressing with an end fixing nut; one end of the stopper (7) is connected to the core shaft (10) by a thread, so as to achieve the purpose of limiting the stroke of the permanent magnet actuator; the permanent magnet actuator forms a bistable structure through the specific arrangement of permanent magnets with different magnetization directions; The docking ball rod comprises a docking clamping ball (11) and a wing connecting rod (12) connected to each other; The permanent magnet actuator is fixed to the wing tip of the UAV through a clamp, and the docking ball rod is connected to the wing tip of another UAV through a wing connecting rod.

2. The wingtip docking and separation device according to claim 1, characterized in that: The permanent magnet actuator and the docking ball rod are respectively fixedly mounted on the wingtips of the two UAVs; the permanent magnet actuator is fixed to the intermediate connector (4) via threads as a bistable mechanism, and the core shaft (10) and the docking plate (3) are also connected via threads.

3. The wing tip docking and separation device according to claim 1, characterized in that: During the separation process, the stopper (7) moves to the left end surface of the end fixing nut (6) and stops, thereby achieving the limiting effect.

4. The wingtip docking and separation device according to claim 1, characterized in that: The outer annular permanent magnet (8) and the inner annular permanent magnet (9) can provide a strong magnetic force for actuation through the specific arrangement of the annular and tile-shaped permanent magnets that are magnetized axially and radially.

5. The wingtip docking and separation device according to claim 1, characterized in that: One end of the docking identification rod (1) is a straight rod with a hinge hole, and the other end is a large-area structure of a triangle or other shape to achieve the purpose of easy docking with the docking clamping ball (11), and this structure is hollowed out to achieve the purpose of weight reduction.

6. The wingtip docking and separation device according to claim 1, characterized in that: One end of the stopper (7) is connected to the core shaft through a thread, and an active actuating device can be installed at the other end away from the end face, so as to achieve the purpose of mechanism separation by applying active force to the end face.

7. The wingtip docking and separation device according to claim 1, characterized in that: The docking clamping ball (11) is connected to the wing connecting rod (12) through a threaded connection, and connecting rods of different diameters can be replaced according to the actual wingtip size of the docked drone.

8. The working process of the wingtip docking and separation device according to any one of claims 1 to 7, characterized in that: The working process of the device is: Two UAVs take off from the ground, and the docking claws and the docking ball rods are controlled to approach each other. When the docking clamping ball (11) contacts the docking plate (3), a force is generated between the two, and docking begins. During the docking process, the force between the docking clamping ball (11) and the docking disc (3) causes the opening angle of the docking claws to continuously decrease, the middle position of the inner and outer permanent magnets is in an aligned state, the axial magnetic force is zero, the permanent magnet actuator reaches the maximum potential energy point, and the docking separation device is in an unstable point; the docking clamping ball continues to exert force on the docking disc, and the docking disc moves to the left; When the docking and separation device passes the maximum potential energy point, without the need for external force, the docking plate (3) automatically moves to the left, the docking claws quickly close, and the docking clamping balls (11) are quickly clamped, thereby achieving rapid docking of the wingtips of both wings; The permanent magnet actuator is fixed to the left wing tip through a clamp, and the wing connecting rod (12) on the docking ball rod is fixed to the right wing tip through a carbon fiber rod, and the docking of the two wing tips is completed; At the beginning of docking, the displacement of the docking rod is zero, and the left is the positive direction of displacement. The permanent magnet actuator generates an axial magnetic force during the docking process; at the beginning of docking, the direction of the axial magnetic force is right. During the movement to the left, the magnitude of the axial magnetic force gradually decreases. When it reaches the maximum potential energy point, the axial magnetic force is zero. After crossing the maximum potential energy point, the axial magnetic force reverses, allowing the docking and separation device to automatically tighten.

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