A wingtip docking device based on permanent magnets

Abstract

The present invention discloses a docking device installed on the wingtip to enable multi-body aircraft to complete docking and separation in the air, thereby improving aerodynamic efficiency and increasing range. The method is to install a 3D printed fixture on the wingtip of the unmanned aerial vehicle to install the mechanism, which includes a docking cone, a permanent magnet and a groove that cooperates with the docking cone. The permanent magnet is installed on both sides of the docking cone and the groove that cooperates with the docking cone to provide the guiding force required for the docking process. The docking cone and the groove cooperate with each other to constrain the relative yaw, pitch and roll of the two aircraft. During the wingtip docking process, when the guiding force provided by the permanent magnet is greater than the lateral aerodynamic force, the docking can be completed. At the same time, the docking cone of this mechanism can play a certain guiding role and has a certain fault tolerance rate. The present invention can realize the rapid docking of unmanned aerial vehicles, and when the unmanned aerial vehicles are misaligned, the two aircraft can be ejected, thereby improving the safety of docking.

Description

Technical Field

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

[0002] The larger the aspect ratio of a single drone, the greater its lift-to-drag ratio and the better its cruise performance. However, as the aspect ratio increases, the manufacturing cost and difficulty of a single drone also increase, and the requirements for takeoff and landing sites become more stringent. At the same time, high-aspect-ratio drones face aeroelastic challenges. Therefore, a new solution has been proposed in recent years: multiple drones with small or medium aspect ratios are launched from the ground and then connected in mid-air using wingtip docking devices to form drones with high or even ultra-high aspect ratios. This solution effectively addresses the challenges of manufacturing cost, difficulty, and takeoff and landing sites.

[0003] Modular drones are a key development direction for transformable aircraft. They consist of multiple small fixed-wing drones connected by flexible wings, allowing them to freely converge and separate in mid-air. Combining the advantages of small fixed-wing drones with those of high-altitude, long-endurance drones, these drones have enormous potential and will play a significant role in future military and civilian applications. Modular drones are composed of multiple drones connected by wingtip docking mechanisms. However, current docking systems for multi-body drones suffer from low error tolerance, inability to lock the two drones together, poor safety, and difficulty replacing damaged drones, hindering their further application in both military and civilian fields. Summary of the Invention

[0004] The purpose of the present invention is to address the problems of low fault tolerance, inability to lock two drones, poor safety, and difficulty in replacing damaged drones in docking devices of multi-body drones. A wingtip docking device based on permanent magnets is disclosed. The specific technology is as follows:

[0005] A wingtip docking device based on permanent magnets is characterized in that the device comprises a left docking mechanism (1) and a right docking mechanism (2); a docking cone (11) is provided at the front end of the left docking mechanism (1); a docking groove (21) is provided at the front end of the right docking mechanism (2), the docking groove (21) has an opening, and the opening of the docking groove (21) cooperates with the docking cone (11) to limit the mutual rotation of the left and right docking mechanisms; and a left first permanent magnet (17) and a left second permanent magnet (18) are provided behind the docking cone (11).

[0006] A right first permanent magnet (26) and a right second permanent magnet (27) are arranged behind the docking groove (21); the arranged permanent magnets provide the guiding force required by the left docking mechanism (1) and the right docking mechanism (2) during the docking process;

[0007] The N poles of the right first permanent magnet (26) and the left second permanent magnet (18) are installed outward, and the S poles of the right second permanent magnet (27) and the left first permanent magnet (17) are installed outward. When the right drone is in front and the left drone is behind during the docking process, and the two drones are misaligned, the right second permanent magnet (27) and the left first permanent magnet (17) are opposite each other. Since both magnets are installed with their S poles facing outward, the same poles repel each other, and the two drones can be bounced apart to avoid collision. Similarly, when the left drone is in front and the right drone is behind, the permanent magnets can still bounce the two drones apart to avoid collision. The present invention is provided with permanent magnets on both sides of the docking cone and the docking groove, which can provide a certain guiding force during the docking process to assist in completing the docking work. At the same time, the permanent magnets are installed in a staggered manner. When the two drones are misaligned during docking, the two drones can be bounced apart to avoid collision, thereby increasing the safety of the docking process. The docking mechanism of the present invention is connected to the wing cover by bolts, and can be quickly replaced after the docking mechanism is damaged.

[0008] Furthermore, the docking cone (11) on the left docking mechanism (1) is connected to the front panel (12). The front panel (12) can prevent the permanent magnet from being broken due to impact load during the docking process.

[0009] The front panel (12) is then connected to the second permanent magnet fixing slot (13) and the first back panel (14) in sequence; a left upper wing cover (15) and a left lower wing cover (16) are provided behind the first back panel (14); the left upper wing cover (15) and the left lower wing cover (16) are matched with the shape of the wing, so as to facilitate fixing the docking mechanism during the installation process; at the same time, the left upper wing cover (15) and the left lower wing cover (16) are both provided with openings to reduce weight.

[0010] Furthermore, the second permanent magnet fixing groove (13) is used to fix the first left permanent magnet (17) and the second left permanent magnet (18); the first back plate (14) and the wing cover are connected by bolts, which facilitates replacement after the docking mechanism is damaged.

[0011] Furthermore, the docking groove (21) of the right docking mechanism (2) is connected to the first permanent magnet fixing groove (22), and the first permanent magnet fixing groove (22) is further connected to the second back plate (23); a right upper wing cover (24) and a right lower wing cover (25) are provided behind the second back plate (23), and the right upper wing cover (24) and the right lower wing cover (25) are matched with the shape of the wing to facilitate fixing the docking mechanism during the installation process; at the same time, the right upper wing cover (24) and the right lower wing cover (25) are both provided with openings to reduce weight.

[0012] Furthermore, the first permanent magnet fixing groove (22) is used to fix the first right permanent magnet (26) and the second right permanent magnet (27); the second back plate (23) and the wing cover are connected by bolts, which facilitates replacement after the docking mechanism is damaged.

[0013] Furthermore, the cone portion of the docking cone is processed by cutting the edges of a cone, and when the front end of the docking cone enters the docking groove, it can slide into the docking groove to complete the docking and lock.

[0014] Furthermore, the docking groove (21) is rectangular. By trimming the docking cone and processing the docking groove into a rectangle so that it matches the docking cone, the docking mechanism has a certain degree of redundancy, so that it can complete docking within a certain error, and after docking, the two machines are completely locked so that they cannot roll relative to each other.

[0015] Furthermore, the permanent magnet is completely embedded in the permanent magnet fixing groove and is installed below the circular opening of the front panel (12) and the docking groove (21). During the docking process, since the permanent magnet is installed below the circular opening, the permanent magnet does not come into direct contact during the docking process, thereby avoiding breakage under impact load.

[0016] The beneficial effects of the present invention are:

[0017] The docking cone of the present invention is processed with trimming, and the docking groove is also processed into a rectangle that can match the docking groove, so that the two machines can be completely locked after docking and cannot roll relative to each other.

[0018] The present invention has a certain degree of redundancy. Due to the special shape of the docking cone, when the front end of the docking cone enters the docking groove, the two machines can complete docking under the guidance of the permanent magnet. Even if the posture deviates slightly, docking can still be completed, and the posture of the two machines can be corrected during docking.

[0019] The present invention has high safety. Since the permanent magnets of the docking mechanisms on both sides are installed in a staggered manner, when two drones are misaligned during docking, the two drones can be ejected to avoid collision.

[0020] The permanent magnet of the present invention is installed under the docking groove and the circular opening of the front panel, so no direct contact occurs during the docking process, which can avoid breakage due to impact load during the docking process.

[0021] The docking mechanism of the present invention is connected to the wing sleeve by bolts. If the docking mechanism is damaged during the docking process, it can be quickly replaced.

[0022] The wing cover of the present invention matches the shape of the wing and is easy to install.

[0023] The wing sleeve of the present invention is processed with holes, which can reduce the weight of the docking mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the main body of the docking and separation device of the present invention;

[0025] Figure 2 This is a schematic diagram of the docking device in the docking start state;

[0026] Figure 3 This is a schematic diagram of the range of the docking cone of the docking device entering the docking groove;

[0027] Figure 4 It is a schematic diagram of the completed state of the docking device;

[0028] Figure 5 is the force-displacement curve during the docking process of the permanent magnet actuator;

[0029] Figure 6 Schematic diagram of the installation of the wingtip of the docking device;

[0030] Among them, 1-left docking mechanism, 11-docking cone, 12-front panel, 13-second permanent magnet fixing slot, 14-first back panel, 15-left upper wing cover, 16-left lower wing cover, 17-left first permanent magnet, 18-left second permanent magnet;

[0031] 2-right docking mechanism, 21-docking slot, 22-first permanent magnet fixing slot, 23-second back plate, 24-right upper wing cover, 25-right lower wing cover, 26-right first permanent magnet, 27-right second permanent magnet. DETAILED DESCRIPTION

[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 based on permanent magnets, comprising a left docking mechanism 1 and a right docking mechanism 2. The left docking mechanism 1 has a docking cone 11 at its front end; the right docking mechanism 2 has a docking slot 21 at its front end. The slot 21 has an opening that cooperates with the docking cone 11 to restrict the relative rotation of the left and right docking mechanisms. A first left permanent magnet 17 and a second left permanent magnet 18 are located behind the docking cone 11. A first right permanent magnet 26 and a second right permanent magnet 27 are located behind the docking slot 21. These permanent magnets provide the guiding force required for the left and right docking mechanisms 1 and 2 during the docking process.

[0034] The N poles of the right permanent magnet 26 and the left second permanent magnet 18 are installed outward, and the S poles of the right second permanent magnet 27 and the left first permanent magnet 17 are installed outward. When the right drone is in front and the left drone is behind during the docking process, and the two drones are misaligned, the right second permanent magnet 27 and the left first permanent magnet 17 are opposite to each other. Since both magnets are installed with the S poles outward, like poles repel each other, and the two drones can be bounced away to avoid collision. Similarly, when the left drone is in front and the right drone is behind, the permanent magnets can still bounce the two drones away to avoid collision.

[0035] In the left docking mechanism 1, the docking cone 11 is glued to the front panel 12, the front panel 12 is glued to the second permanent magnet fixing slot 13, and the second permanent magnet fixing slot 13 is glued to the first back panel 14. The first back panel 14 is bolted to the left upper wing glove 15 and the left lower wing glove 16, and the left upper and lower wing glove are glued to the wing.

[0036] The diameter of the second permanent magnet fixing groove 13 is slightly smaller than the left first permanent magnet 17 and the left second permanent magnet 18, so that the permanent magnet can be snapped into the second permanent magnet fixing groove 13. Simultaneously, two holes on the front panel 12 are slightly larger than the left first permanent magnet 17 and the left second permanent magnet 18, so that the permanent magnet can pass through the front panel. The height of the second permanent magnet fixing groove 13 is identical with the left first permanent magnet 17 and the left second permanent magnet 18 heights, so that the permanent magnet can be fully embedded therein. Because the left first permanent magnet 17 and the left second permanent magnet 18 are fully embedded in the second permanent magnet fixing groove 13, the front panel 12 is higher than the left first permanent magnet 17 and the left second permanent magnet 18, which can play a role in protecting the permanent magnet from impact loads in the docking process. In the right docking mechanism, docking groove and the first permanent magnet fixing groove 22 are bonded by glue, and the remaining parts fixing mode is identical with the left docking mechanism.

[0037] In the left docking mechanism, the first left permanent magnet 17 is mounted with its south pole facing outward, and the second left permanent magnet 18 with its north pole facing outward. In the right docking mechanism, the first right permanent magnet 26 is mounted with its north pole facing outward, and the second right permanent magnet 27 with its south pole facing outward. If the two drones are docked with the right drone in front and the left drone behind, causing misalignment, the second right permanent magnet 27 and the first left permanent magnet 17 will face each other. Since both magnets are mounted with their south poles facing outward, like poles repel each other, effectively pushing the two drones apart and preventing a collision. Similarly, if the left drone is in front and the right drone is behind, the permanent magnets will still be able to push the two drones apart, preventing a collision.

[0038] Reference Attachment Figure 2 , two UAVs take off from the ground, and the left docking mechanism and the right docking mechanism are brought close to each other by control. When the docking cone 11 enters the docking groove 21, the docking begins.

[0039] Reference Attachment Figure 3During the docking process, due to the special shape of the docking cone 11, even if the posture is slightly deviated, the docking can still be completed. At the same time, during the docking process, the permanent magnet will provide the guiding force required for the docking process to assist in the completion of the docking.

[0040] Reference Attachment Figure 4 , the docking cone 11 and the docking groove 21 are completely locked, and the docking is completed.

[0041] Reference Attachment Figure 5 The magnetic force of the permanent magnet gradually increases during the docking process. The magnetic force is 39.6N at the beginning of docking and 1.6N when docking is completed.

[0042] Reference Attachment Figure 6 The left docking mechanism is glued to the wingtip of the left UAV, and the right docking mechanism is glued to the wingtip of the right UAV. Figure 6 The status shown is the status after the two machines are docked.

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

Claims

1. A wingtip docking device based on permanent magnets, characterized in that: The device comprises a left docking mechanism (1) and a right docking mechanism (2); a docking cone (11) is provided at the front end of the left docking mechanism (1); a docking groove (21) is provided at the front end of the right docking mechanism (2); the docking groove (21) has an opening, and the opening of the docking groove (21) cooperates with the docking cone (11) to limit the mutual rotation of the left and right docking mechanisms; a left first permanent magnet (17) and a left second permanent magnet (18) are provided at the rear of the docking cone (11); A first right permanent magnet (26) and a second right permanent magnet (27) are arranged behind the docking groove (21); the permanent magnets provide the guiding force required by the left docking mechanism (1) and the right docking mechanism (2) during the docking process; The N poles of the right permanent magnet (26) and the left second permanent magnet (18) are installed outward, and the S poles of the right second permanent magnet (27) and the left first permanent magnet (17) are installed outward; when the right drone is in front and the left drone is behind during the docking process, and the two drones are misaligned, the right second permanent magnet (27) and the left first permanent magnet (17) are opposite to each other. Since both magnets are installed with the S poles outward, like poles repel each other, and the two drones can be bounced away to avoid collision; similarly, when the left drone is in front and the right drone is behind, the permanent magnets can still bounce the two drones away to avoid collision; The cone of the docking cone is processed by cutting the edges of a circular cone. When the front end of the docking cone enters the docking groove, it can slide into the docking groove to complete the docking and lock. Due to the special shape of the docking cone, when the front end of the docking cone enters the docking groove, the two machines can complete the docking under the guidance of the permanent magnet. Even if the posture deviates slightly, the docking can still be completed, and the posture of the two machines can be corrected during docking.

2. The wingtip docking device based on permanent magnets according to claim 1, characterized in that: The docking cone (11) on the left docking mechanism (1) is connected to the front panel (12), and the front panel (12) is sequentially connected to the second permanent magnet fixing groove (13) and the first back panel (14); a left upper wing cover (15) and a left lower wing cover (16) are provided behind the first back panel (14); the left upper wing cover (15) and the left lower wing cover (16) are matched with the shape of the wing to facilitate fixing the docking mechanism during the installation process; at the same time, the left upper wing cover (15) and the left lower wing cover (16) are both provided with openings to reduce weight.

3. The wingtip docking device based on permanent magnets according to claim 2, characterized in that: The second permanent magnet fixing groove (13) is used to fix the first left permanent magnet (17) and the second left permanent magnet (18); the first back plate (14) and the left upper wing cover (15) and the left lower wing cover (16) are connected by bolts, so that they can be easily replaced after the docking mechanism is damaged.

4. The wingtip docking device based on permanent magnets according to claim 1, characterized in that: The docking groove (21) of the right docking mechanism (2) is connected to the first permanent magnet fixing groove (22), and the first permanent magnet fixing groove (22) is further connected to the second back plate (23); a right upper wing cover (24) and a right lower wing cover (25) are provided behind the second back plate (23); the right upper wing cover (24) and the right lower wing cover (25) are matched with the shape of the wing to facilitate fixing the docking mechanism during installation; at the same time, the right upper wing cover (24) and the right lower wing cover (25) are both provided with openings to reduce weight.

5. The wingtip docking device based on permanent magnets according to claim 4, characterized in that: The first permanent magnet fixing groove (22) is used to fix the first right permanent magnet (26) and the second right permanent magnet (27); the second back plate (23) and the right upper wing cover (24) and the right lower wing cover (25) are connected by bolts, which facilitates replacement after the docking mechanism is damaged.

6. The wingtip docking device based on permanent magnets according to claim 1, characterized in that: The docking groove (21) is rectangular.

7. The wingtip docking device based on permanent magnets according to claim 1, characterized in that: When the tip portion of the docking cone (11) enters the rectangular opening of the docking groove (21), the docking cone can slide into the docking groove along the rectangular opening of the docking groove under the guiding force of the permanent magnet. Since the conical portion of the docking cone is trimmed to form a match with the rectangular opening of the docking groove, locking is completed when the docking cone completely slides into the docking groove.

8. The wingtip docking device based on permanent magnets according to claim 1, characterized in that: The permanent magnet is completely embedded in the permanent magnet fixing groove and is installed below the circular opening of the front panel (12) and the docking groove (21); during the docking process, since the permanent magnet is not installed in the circular opening, the permanent magnet does not come into direct contact, thereby avoiding breakage under impact load.

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