A magnetic docking mechanism suitable for cooperative control of unmanned aerial vehicles

Abstract

The application provides a magnetic type docking mechanism suitable for cooperatively controlling unmanned aerial vehicles, and belongs to the field of unmanned aerial vehicle design. The magnetic type docking mechanism comprises a male group and a female group. The mechanical type docking mechanism and the electromagnetic type docking mechanism are combined innovatively, the male group component and the female group component are guided and aligned through the polarity matching of the magnet group, the control difficulty in the docking process of the unmanned aerial vehicle is reduced, the male group component and the female group component are mechanically locked through the cooperation of the rubber and the locking hook, the influence of the electromagnetic field on the unmanned aerial vehicle system is avoided, and the applicability of the unmanned aerial vehicle docking mechanism is improved. The magnetic attraction force and the mechanical force are provided simultaneously during docking, the firmness of connection is improved, the repulsion force of the magnet is provided during separation, the unmanned aerial vehicle is separated by a small distance in advance, the collision risk in the separation process of the unmanned aerial vehicle is reduced, and the safety of the separation of the unmanned aerial vehicle is improved.

Description

Technical Field

[0001] This invention belongs to the field of UAV design, and designs a magnetic docking mechanism for UAVs. Specifically, it is a novel magnetic docking mechanism for UAVs that combines magnetic attraction and mechanical locking, facilitates convenient aerial / ground docking of UAVs, and has a simple structure and low energy consumption. Background Technology

[0002] With the development of technology, drones have been gradually promoted and applied in many fields. However, as their application demands continue to increase, a single drone can no longer meet the needs of complex application scenarios, such as collaborative transportation to achieve a larger load. This requires multiple drones to work together. Drones communicate and cooperate with each other through wireless transmission. If drones use a specific docking mechanism to achieve aerial docking and networking, they can work together as a whole to complete the task.

[0003] Currently available docking mechanisms are either mechanical or electromagnetic. Mechanical docking mechanisms require high levels of drone control, necessitating that both drones remain relatively stationary and slowly approach each other to achieve mechanical locking. Electromagnetic docking mechanisms use electromagnets to attract the two drones when they are close together, guiding the docking process. However, electromagnets consume electricity during operation, and the unstable magnetic field they generate can potentially affect the drone's control system. Therefore, a docking mechanism that combines the advantages of both is needed to suit collaborative drone control. Summary of the Invention

[0004] To address the technical shortcomings mentioned above, such as the high control requirements of a single mechanical docking method and the high power consumption of a single electromagnetic docking method, and to fully leverage the advantages of both docking methods, this invention proposes a novel magnetic docking mechanism for UAVs. It utilizes magnetic force for guidance and alignment, and a mechanical structure for locking, reducing the control requirements on the UAV and preventing the impact of prolonged electromagnetic force on the UAV system. Furthermore, this invention is compact, suitable for various rotorcraft, flexible in use, and easy to operate.

[0005] The technical solution of this invention:

[0006] This invention provides a magnetic docking mechanism suitable for novel collaborative control UAVs, comprising a male assembly and a female assembly. The male assembly includes a male magnet assembly 1, a guide cone 2, a bearing 3, a male support plate 4, a large gear 5, a fixed shaft 6, a small gear 7, and a servo motor 8; the female assembly includes a female magnet assembly 9, a female support plate 10, a secondary guide cone 11, a locking hook 12, and an elastic band 13.

[0007] The male group is the driving part of the entire magnetic docking mechanism. The male group magnet group 1 contains 8 magnets with opposite polarities for adjacent magnets. The 8 magnets of the male group magnet group 1 correspond to the 8 magnets of the female group magnet group 9. The middle part of the guide cone 2 is a cone. The 8 magnets of the male group magnet group 1 are evenly fixed on the surface of the cone. An arc groove 14 is provided on the outer side of the guide cone 2. The inner end of the guide cone 2 is fixed to one end of the fixed shaft 6. A large hole is made in the middle of the male support plate 4, and a bearing bracket is fixedly installed in the large hole. A small hole is made on each side of the large hole. Two bearings 3 are fixedly installed at both ends inside the bearing bracket. A fixed shaft 6 is installed in the bearing 3. The middle part of the fixed shaft 6 passes through the axis of the large gear 5 and is fixed to the large gear 5. The large gear 5 meshes with the small gear 7. Under the restriction of the bearing bracket, the large gear 5 can only rotate 45 degrees. The central axis of the small gear 7 is fixed to the output shaft of the servo motor 8. The large gear 5 and the small gear 7 cooperate to amplify and transmit the mechanical force of the servo motor 8 to the fixed shaft 6 when the magnetic docking mechanism is separated, driving the fixed shaft 6 to rotate 45 degrees, so that the polarity of the male magnet group and the female magnet group are opposite, and at the same time, the guide cone 2 pushes open the locking hook 12 to realize the separation of the docking mechanism.

[0008] The mother assembly is the locking part of the entire docking mechanism. A concave conical support frame is set in the center of the mother assembly support plate 10. The eight magnets of the mother assembly magnet group 9 are evenly fixed on the conical support frame. The two sides of the conical support frame on the mother assembly support plate 10 are provided with convex secondary guide cones 11 for docking with the small holes of the male assembly support plate 4. The locking hook 12 is rotatably connected to the back of the conical support frame. The elastic band 13 is sleeved around the locking hook 12, and always provides a tightening force to the locking hook 12.

[0009] The beneficial effects of this invention are:

[0010] 1. The present invention proposes a magnetic docking mechanism suitable for novel collaborative control UAVs, which innovatively combines mechanical docking mechanism and electromagnetic docking mechanism. The polarity matching of the magnet group realizes the guidance and alignment of male and female components, reducing the control difficulty in the UAV docking process. The cooperation of rubber and locking hook realizes the mechanical locking of male and female components, avoiding the influence of electromagnetic field on UAV system, and improving the applicability of UAV docking mechanism.

[0011] 2. The present invention proposes a magnetic docking mechanism suitable for novel collaborative control drones. During docking, it provides both magnetic attraction and mechanical force, which improves the strength of the connection. During separation, it provides magnetic repulsion force, which allows the drones to be separated by a small distance beforehand, reducing the risk of collision during the separation process and improving the safety of drone separation.

[0012] 3. The present invention proposes a magnetic docking mechanism suitable for novel collaborative control UAVs. The drive component uses only one servo motor, which simplifies the structural complexity of the docking mechanism, reduces its weight, and minimizes its impact on the performance of the UAV. Attached Figure Description

[0013] Figure 1 This is a front view schematic diagram of the male and female components of the magnetic docking mechanism applicable to novel collaborative control UAVs of the present invention.

[0014] Figure 2 This is a rearward schematic diagram of the male and female components of the magnetic docking mechanism applicable to novel collaborative control UAVs of the present invention.

[0015] Figure 3 This is a schematic diagram of the components of the magnetic docking mechanism for a novel collaborative control UAV, as described in this invention.

[0016] Figure 4 This is a schematic diagram of the components of the magnetic docking mechanism for a novel collaborative control UAV, as described in this invention.

[0017] Figure 5 This is a schematic diagram of the guide shaft lock of the magnetic docking mechanism applicable to a novel collaborative control UAV of the present invention.

[0018] In the diagram: 1. Male magnet assembly, 2. Guide cone, 3. Bearing, 4. Male support plate, 5. Large gear, 6. Fixed shaft, 7. Small gear, 8. Servo, 9. Female magnet assembly, 10. Female support plate, 11. Secondary guide cone, 12. Locking hook, 13. Rubber band, 14. Arc groove. Detailed Implementation

[0019] The male group is the driving part of the entire magnetic docking mechanism. The male magnet group 1 contains 8 magnets with opposite polarities for adjacent magnets. The 8 magnets of the male magnet group 1 correspond to the 8 magnets of the female magnet group 9, and are used to cooperate with the female magnet group 9 to generate magnetic attraction and repulsion, so that the magnetic docking mechanism can attract and separate each other. The middle part of the guide cone 2 is a cone, and the 8 magnets of the male magnet group 1 are evenly fixed on the surface of the cone. The outer side of the guide cone 2 is provided with an arc groove 14, and the inner end of the guide cone 2 is fixed to one end of the fixed shaft 6. The guide cone 2 serves as a guide during the docking process, ensuring that the male assembly component is accurately inserted into the hole of the female assembly support plate 10. Simultaneously, the arc-shaped groove 14 on the top side of the guide cone 2 provides an anchor point for the locking hook 12, enabling the magnetic docking mechanism to lock. The male assembly support plate 4 provides structural support and component installation for the male assembly component. A large hole is formed in the center of the male assembly support plate 4, in which a bearing bracket is fixedly installed. Small holes are formed on both sides of the large hole to mate with the auxiliary guide cone 11 on the female assembly, providing additional constraint and ensuring a secure fit. Two bearings 3 are respectively fixedly installed inside the bearing brackets. At one end, the fixed shaft 6 is set in the bearing 3, which is used to ensure the normal rotation of the fixed shaft 6. The middle part of the fixed shaft 6 passes through the axis of the large gear 5 and is fixed to the large gear 5. The large gear 5 meshes with the small gear 7. Under the restriction of the bearing bracket, the large gear 5 can only rotate 45 degrees. The central axis of the small gear 7 is fixed to the output shaft of the servo motor 8. The large gear 5 and the small gear 7 cooperate to amplify and transmit the mechanical force of the servo motor 8 to the fixed shaft 6 when the magnetic docking mechanism is separated, driving the fixed shaft 6 to rotate 45 degrees, so that the polarity of the male magnet group and the female magnet group are opposite, and at the same time, the guide cone 2 pushes open the locking hook 12 to realize the separation of the docking mechanism.

[0020] The female assembly serves as the locking part of the entire docking mechanism. The female magnet assembly 9 and the male magnet assembly 1 interact to generate magnetic attraction and repulsion. A concave conical support frame is located at the center of the female assembly support plate 10. The eight magnets of the female magnet assembly 9 are evenly fixed to the conical support frame. Outwardly protruding secondary guide cones 11 are located on both sides of the conical support frame on the female assembly support plate 10. The female assembly support plate 10 provides structural support and facilitates component installation for the female assembly components. The secondary guide cones 11 engage with small holes in the male assembly support plate 4. Additional constraints are provided; the locking hook 12 is rotatably connected to the back of the cone support frame, and the elastic band 13 is sleeved around the locking hook 12, always providing a tightening force to the locking hook 12; the locking hook 12 cooperates with the elastic band 13, and the elastic force of the elastic band is used to ensure that the locking hook 12 always acts forcefully on the guide cone 2. When the guide cone 2 is inserted into the mother group support plate 10 and moves into place, the structure at the top of the locking hook 12 will automatically lock into the arc groove 14 at the top of the guide cone 2 under the action of the elastic force of the elastic band 13, thereby realizing the locking of the docking mechanism.

[0021] Docking process: During docking, the male assembly inserts into the octagonal conical support frame of the female assembly's support plate 10 via guide cone 2. The female assembly's auxiliary guide cones 11 on both sides provide guidance and coordination. Eight magnets are arranged on the octagonal conical support frame of the female assembly's support plate 10, with adjacent magnets having opposite polarities. These eight magnets correspond to the eight magnets arranged on the male assembly's guide cones. When the UAVs dock, due to the opposite polarities of the eight pairs of magnets, the magnetic force causes the docking mechanism to attract each other. The streamlined cone in front of guide cone 2 guides itself into the hole in the female assembly's support plate, allowing for a certain degree of relative positional error between the two UAVs. Simultaneously, the auxiliary guide cones 11 on both sides guide its insertion. The holes in the male support plate ensure that torque can be transmitted when the docking mechanism is locked. A pair of arc-shaped grooves 14 are arranged on the side of the streamlined cone head of the guide cone 2. A pair of locking hooks 12 that can rotate around their fulcrum are fixed on the female support plate 10. The locking hooks 12 are provided with inclined surfaces and are tightened by rubber bands 13. When the streamlined cone head of the guide cone 2 extends out of the hole of the female support plate, the inclined surfaces of the locking hooks 12 will guide it to open. When the eight sets of magnets are in contact with each other, the locking hooks 12 will be locked together by the tension of the rubber bands 13 and locked into the arc-shaped grooves 14 of the guide cone 2. This ensures that when the two aircraft are separated due to insufficient magnetic attraction caused by external force, there is still a mechanical structure to lock them together and prevent them from separating.

[0022] The separation process of the docking mechanism: When the docking is disengaged, the servo motor 8 is activated, which drives the pinion 7 to rotate 90 degrees. The large gear 5 is fixed to the center of the guide cone 2 through the fixed shaft 6. The ratio of the number of teeth of the pinion 7 to the large gear 5 is 1:2. Then the large gear 5 rotates 45 degrees. At the same time, since the magnetic properties of the adjacent two pieces of the magnet group arranged on the guide cone are opposite, when the guide cone 2 rotates 45 degrees, the auxiliary guide cone 11 can cancel the torque generated by the attraction of the magnets when the guide cone rotates. After rotation, the male and female magnets change from attraction to repulsion. The arc groove of the guide cone will also rotate at the same time, automatically opening the locking hook 12. The male and female docking mechanism is separated. The female support plate is equipped with a limit position to prevent the locking hook from closing too much during separation.

Claims

1. A magnetic docking mechanism suitable for collaborative control of unmanned aerial vehicles (UAVs), characterized in that, It includes a male group and a female group; the male group includes a male magnet assembly (1), a guide cone (2), a bearing (3), a male support plate (4), a large gear (5), a fixed shaft (6), a small gear (7), and a servo motor (8); the female group includes a female magnet assembly (9), a female support plate (10), a secondary guide cone (11), a locking hook (12), and an elastic band (13); The male group is the driving part of the entire magnetic docking mechanism. The male group magnet group (1) contains 8 magnets. The polarities of adjacent magnets are opposite. The polarities of the 8 magnets in the male group magnet group (1) correspond to the polarities of the 8 magnets in the female group magnet group (9). The middle part of the guide cone (2) is a cone. The 8 magnets of the male group magnet group (1) are evenly fixed on the surface of the cone. An arc groove (14) is provided on the outer side of the guide cone (2). The inner end of the guide cone (2) is fixed to one end of the fixed shaft (6). A large hole is opened in the middle of the male group support plate (4). A bearing bracket is fixedly installed in the large hole. A small hole is opened on each side of the large hole. Two bearings (3) are fixedly installed on the bearings. Inside the bracket, at both ends, the fixed shaft (6) is set in the bearing (3). The middle part of the fixed shaft (6) passes through the axis of the large gear (5) and is fixed to the large gear (5). The large gear (5) meshes with the small gear (7). Under the restriction of the bearing bracket, the large gear (5) can only rotate 45 degrees. The central axis of the small gear (7) is fixed to the output shaft of the servo motor (8). The large gear (5) and the small gear (7) cooperate to amplify and transmit the mechanical force of the servo motor (8) to the fixed shaft (6) when the magnetic docking mechanism is separated, driving the fixed shaft (6) to rotate 45 degrees, so that the polarity of the male magnet group and the female magnet group are opposite, and at the same time, the guide cone (2) pushes open the locking hook (12) to realize the separation of the docking mechanism. The mother group is the locking part of the entire docking mechanism. A concave cone support frame is set in the center of the mother group support plate (10). The eight magnets of the mother group magnet group (9) are evenly fixed on the cone support frame. The two sides of the cone support frame on the mother group support plate (10) are provided with convex secondary guide cones (11) for docking with the small holes of the male group support plate (4). The locking hook (12) is rotatably connected to the back of the cone support frame. The rubber band (13) is sleeved around the locking hook (12) and always provides a tightening force to the locking hook (12).

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