Aerial docking locking device for unmanned aerial vehicle cluster

Abstract

The invention relates to the technical field of unmanned aerial vehicle docking and locking devices, in particular to an unmanned aerial vehicle cluster air docking and locking device which comprises a base, a bottom shell is fixedly installed at the upper end of the base, an upper shell is arranged above the bottom shell, an upper base is movably installed at the upper end of the upper shell, and a plurality of positioning plates are rotatably installed at the bottom end of the upper shell and are annularly arranged. An inserting pipe is fixedly installed at the bottom end of the upper shell, a center shell is fixedly installed at the upper end of the inner side of the bottom shell, an inserting hole facilitating inserting of the inserting pipe is formed in the center of the center shell, an abutting column is fixedly installed at the center of the upper end of the base, a stabilizing plate is fixedly installed at the inner end of the upper shell, and a locking device is arranged in the center shell. By means of the step of keeping balance first and then conducting butt joint, butt joint deviation caused by unstable postures is reduced, after butt joint is completed, the positioning plate extrudes the triangular block to lock the insertion pipe, the fixing effect of the positioning plate can resist acting force generated by vibration or external interference in the flight process, and therefore the firmness after butt joint is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle docking and locking devices, and in particular to a unmanned aerial vehicle cluster aerial docking and locking device. Background Art

[0002] The process of drone docking in the air requires precise posture control to ensure the stability of the drone during the docking process. Traditional drone docking methods often rely on the assistance of ground personnel or the use of external fixing equipment, which not only increases the difficulty and cost of operation, but also limits the autonomy and flexibility of the drone. After docking, the drones must ensure a safe and firm connection to maintain stability under the interaction force. Especially in complex tasks after docking, such as heavy object transportation, split flight, etc., a higher locking reliability is required to ensure the smooth completion of the task.

[0003] After searching, it was found that the prior art announcement number is CN113291481B, which discloses a locking device for aerial docking of a drone cluster, comprising two docking units with the same structure, and the docking unit structure comprises a base, a guide mechanism and a locking mechanism; the guide mechanism is arranged on the front of the base, comprising a guide cone, a guide rod and a locking cone, one end of the guide rod is coaxially fixed to the top of the guide cone, and the other end is coaxially fixed to the center of the bottom surface of the locking cone; a guide groove matching the guide cone is provided on the front of the base, and a through hole is provided in the center of the guide groove for the locking cone and the guide rod to pass through from the back of the base; the locking mechanism is arranged on the back of the base, and is used to lock the locking cone that passes through. This scheme can automatically complete the docking and alignment process, realize passive docking locking, and effectively solve the problem that a single "cone-rod" system cannot eliminate the circumferential deviation of the docking axis.

[0004] Therefore, based on the above search and in combination with the existing technology, when the above scheme is used, after the two drones are docked, the docking device provided by the above scheme will lock the two drones firmly to each other, which will cause the drones to consume more power in the attitude adjustment step during flight to offset the interaction force. At the same time, the docking device itself needs to withstand more friction and stress, and long-term use will inevitably cause excessive wear. Therefore, we propose a locking device for drone cluster aerial docking. Summary of the invention

[0005] The purpose of the present invention is to provide a locking device for aerial docking of a drone cluster to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a locking device for aerial docking of a drone cluster, comprising a base, a bottom shell is fixedly installed on the upper end of the base, an upper shell is arranged above the bottom shell, an upper seat is movably installed on the upper end of the upper shell, and a plurality of positioning plates for assisting docking are rotatably installed on the bottom end of the upper shell, the positioning plates are arranged in a ring shape, and a plug is fixedly installed on the bottom end of the upper shell, a center shell is fixedly installed on the inner upper end of the bottom shell, a plug hole for facilitating the insertion of the plug is opened at the center of the center shell, and the plug corresponds to the plug hole, a resist column is fixedly installed at the center of the upper end of the base, and the resist column corresponds to the plug, a stabilizing plate is fixedly installed on the inner end of the upper shell, a center rod is slidably installed on the inner end of the plug, and the positioning plate and the center rod are fixedly connected by a traction line, the center rod moves upward to pull the positioning plate to rotate toward one end close to each other through the traction line, and a locking device for fixing the plug is arranged inside the center shell.

[0007] As a further solution of the present invention, a locking hole is opened at the upper end of the stabilizing plate, the upper end of the center rod is inserted into the locking hole, a round cover is fixedly installed at the bottom end of the upper seat, the round cover is located inside the upper shell, a locking ring is fixedly installed at the bottom end of the round cover, and the locking ring corresponds to the locking hole, the center rod corresponds to the locking ring, and after the round cover is deflected to any angle, the center rod cannot be inserted into the locking ring.

[0008] As a further solution of the present invention, a plurality of limit blocks are fixedly installed on the upper end of the upper shell, and the limit blocks are arranged in a ring shape. A plurality of limit grooves are opened at the bottom end of the upper seat, and the limit grooves correspond to the limit blocks. When the round cover moves downward in a horizontal state, the limit blocks are inserted into the limit grooves. Then, when the upper seat rotates, the upper shell also rotates due to the interaction of the force between the limit grooves and the limit blocks.

[0009] As a further solution of the present invention, the locking device includes a plurality of abutment rods, which are annularly arranged in the center shell, and are connected to the center shell via abutment springs. Locking balls are provided at the ends of the abutment rods that are close to each other, and a locking groove is provided on the outer surface of the insert tube. When the insert tube is inserted into the center shell, the locking ball is clamped in the locking groove. A clamp is clamped on the outer surface of the locking ball, and two adjacent clamps are connected via a connecting block.

[0010] As a further solution of the present invention, the connecting block is composed of two matching blocks, and the ends of the two matching blocks that are close to each other are connected by a reset spring. A guide rod is slidably installed on the upper end of the connecting block. After the two matching blocks are separated from each other, they can be restored to their initial state along the curvature of the guide rod when they are reset again. The guide rod prevents the two matching blocks from being unable to accurately restore to their initial state when they are away from each other.

[0011] As a further solution of the present invention, a plurality of sliding holes are provided at the bottom end of the center shell, the sliding holes correspond to the abutment rods, and a passive block is arranged in the sliding holes, a retaining ring is fixedly installed on the upper end of the passive block, a retaining groove is provided on the outer surface of the abutment rod, the retaining groove corresponds to the retaining ring, and after the passive block moves upward, the retaining ring is clamped in the retaining groove.

[0012] As a further solution of the present invention, a stabilizing disk is rotatably installed on the upper end of the base, and a passive disk is slidably installed on the inner end of the stabilizing disk. The passive disk moves up and down in the stabilizing disk. A threaded groove is provided on the upper end of the passive disk, and a triangular protrusion is fixedly installed on the bottom end of the passive block. The triangular protrusion slides in the threaded groove, so that when the passive disk rotates, the triangular protrusion is clamped in the threaded groove, causing the passive block to move.

[0013] As a further solution of the present invention, a plurality of snap-in grooves are provided at the upper end of the stabilizing disk, and the snap-in grooves correspond to the positioning plate. When the insert tube is inserted into the center shell, the bottom end of the positioning plate is located in the snap-in groove. A plurality of triangular blocks are slidably installed on the upper end of the stabilizing disk, and the triangular blocks are respectively located in the snap-in grooves. When the positioning plate is located in the snap-in groove, the triangular blocks are located on the left side of the positioning plate.

[0014] As a further solution of the present invention, a plurality of arc grooves are provided at the upper end of the base, sliding blocks are slidably installed in the arc grooves, the sliding blocks are connected to the base through angle springs, and an abutment block is fixedly installed at the bottom end of the stabilizing plate, the abutment block is passed through the arc groove, and the abutment block and the sliding block abut against each other.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. When the present invention is used, by first maintaining balance in the docking step, the docking deviation caused by unstable posture is reduced. After the docking is completed, the positioning plate squeezes the triangular block to lock the cannula. The fixing effect of the positioning plate can resist the force generated by vibration or external interference during flight, thereby improving the firmness after docking. At the same time, after the UAVs are docked, any UAV can freely deviate by a certain angle, so that when facing sudden airflow, the UAV can adjust its posture to maintain balance, and will not cause unstable flight or increase energy consumption due to the locked posture;

[0017] 2. When the present invention is used, the locking design of the positioning plate can prevent the docking lock from being accidentally loosened during flight, especially during long-term flight or complex control tasks, avoiding the risk of the docking device being disengaged under the action of external force. Even if the drone vibrates slightly or moves unexpectedly during flight, the lock can remain locked under the action of the positioning plate, thereby enhancing the redundancy and fault tolerance of the docking system;

[0018] 3. When the present invention is used, the docking device can only be unlocked after the two drones are level with each other and then any one of the drones rotates, which reduces the situation of accidental unlocking during flight and allows the operator to focus more on task operations without having to frequently monitor the docking status. Through the dual unlocking conditions (horizontal attitude + rotation), when one of the conditions is missing, the docking device will still remain locked, thereby providing a layer of redundant protection. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a structural schematic diagram of a locking device for aerial docking of a drone cluster;

[0020] Figure 2 This is a disassembly diagram of a locking device for aerial docking of a drone cluster;

[0021] Figure 3 It is a schematic diagram of the structure inside the upper shell;

[0022] Figure 4 is a schematic diagram of the structure inside the cannula;

[0023] Figure 5 It is a schematic diagram of the structure inside the bottom shell;

[0024] Figure 6 Schematic diagram of the structure inside the center shell;

[0025] Figure 7 It is a schematic diagram of the structure of the disassembled locking ball and connecting block;

[0026] Figure 8 It is a structural schematic diagram of the connection block;

[0027] Fig. 9 It is a schematic diagram of the enlarged structure of the center shell and the stabilizing disk;

[0028] Fig.10 This is an enlarged view of the base and center shell.

[0029] In the figure: 1, base; 2, bottom shell; 3, upper shell; 4, upper seat; 5, insert tube; 6, stop column; 7, round cover;

[0030] 101, positioning plate; 102, arc block; 103, center rod; 104, traction line; 105, locking groove; 106, locking ring; 107, locking hole; 108, stabilizing plate; 109, limit block; 110, limit groove;

[0031] 201, center shell; 202, locking ball; 203, connecting block; 204, clamp; 205, passive block; 206, snap ring; 207, abutment spring; 208, abutment rod; 209, return spring; 210, guide rod;

[0032] 301, stabilizing disk; 302, snap-in slot; 303, triangular block; 304, passive disk;

[0033] 401, angle spring; 402, sliding block; 403, abutment block. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] Example 1: Please refer to Figures 1 to 3 A locking device for aerial docking of a drone cluster includes a base 1, a bottom shell 2 is fixedly installed on the upper end of the base 1, and a plurality of water filtering holes are opened on the outer surface of the bottom shell 2. When water accumulates inside the bottom shell 2, the accumulated water can be discharged through the water filtering holes, thereby preventing the drone from carrying unnecessary weight. An upper shell 3 is arranged above the bottom shell 2, and an upper seat 4 is movably installed on the upper end of the upper shell 3. Specifically, the base 1 is fixedly installed on the top cover of the drone, and the upper seat 4 is fixedly installed on the landing gear of the drone. A plurality of positioning plates 101 for auxiliary docking are rotatably installed on the bottom end of the upper shell 3, and the positioning plates 101 are annular. The positioning plate 101 is in an arc shape, and the inner wall of the bottom shell 2 is also in an arc shape, and the bottom end of the upper shell 3 is fixedly installed with a plug 5, and the inner upper end of the bottom shell 2 is fixedly installed with a center shell 201, and a plug hole for inserting the plug 5 is opened at the center of the center shell 201. The inner diameter of the plug hole is equal to that of the plug 5, and the plug 5 corresponds to the plug hole. When the plug 5 is inserted into the plug hole on the center shell 201, the positioning plate 101 is also moved into the bottom shell 2. Then, the positioning plates 101 are rotated toward one end close to each other by the mutual extrusion of the arc of the inner wall of the bottom shell 2 and the positioning plate 101;

[0036] See also Figure 2 , 34. A support column 6 is fixedly installed at the center of the upper end of the base 1, and the support column 6 corresponds to the insertion tube 5. A stabilizing plate 108 is fixedly installed at the inner end of the upper shell 3. A center rod 103 is slidably installed at the inner end of the insertion tube 5, and the positioning plate 101 and the center rod 103 are fixedly connected by a traction line 104. The center rod 103 moves upward and pulls the positioning plate 101 to rotate toward one end close to each other through the traction line 104. Specifically, a plurality of wire holes are opened at the bottom end of the upper shell 3, and the wire holes correspond to the positioning plate 101, and the traction line 104 is fixed after passing through the wire holes. Installed at the upper end of the center pole 103, the center shell 201 is provided with a locking device for fixing the cannula 5. Specifically, when the cannula 5 is inserted into the center shell 201, the two drones are prevented from separating during the docking flight, and the locking device fixes the cannula 5. More specifically, the upper end of the column 6 is provided with a communication contact, and the bottom end of the center pole 103 is also provided with a communication contact. When the two drones are successfully docked, the contact of the column 6 will contact the contact of the center pole 103, and the circuit will be turned on, thereby realizing the mutual communication between the two drones;

[0037] A locking hole 107 is provided at the upper end of the stabilizing plate 108, and the upper end of the center rod 103 is inserted into the locking hole 107. A round cover 7 is fixedly installed at the bottom end of the upper seat 4, and the round cover 7 is located inside the upper shell 3, and the round cover 7 is movably connected to the upper shell 3. A locking ring 106 is fixedly installed at the bottom end of the round cover 7, and the locking ring 106 corresponds to the locking hole 107, and the round cover 7 can rotate at any angle inside the upper shell 3 after moving upward for a distance, and the center rod 103 corresponds to the locking ring 106, and after the round cover 7 is deflected at any angle, the center rod 103 cannot be inserted into the locking ring 106, and a plurality of arc blocks 102 are fixedly installed on the upper end of the stabilizing plate 108, and the arc blocks 102 are arranged in a ring shape. When the round cover 7 moves downward to the bottom end, the outer surface contacts the outer surface of the arc block 102, thereby supporting and limiting the round cover 7, and lubricating grease is applied between the round cover 7 and the upper shell 3 to reduce wear and increase service life;

[0038] See also Figure 2 A plurality of limit blocks 109 are fixedly mounted on the upper end of the upper shell 3, and the limit blocks 109 are arranged in a ring shape. A plurality of limit grooves 110 are provided at the bottom end of the upper seat 4, and the limit grooves 110 correspond to the limit blocks 109. The upper edge of the limit block 109 is chamfered to make it easier to insert into the limit groove 110. When the round cover 7 moves downward in a horizontal state, the limit block 109 is inserted into the limit groove 110. Then, when the upper seat 4 rotates, the upper shell 3 also rotates accordingly.

[0039] Example 2: Please refer to Figure 5 , 67. A locking device for aerial docking of a drone cluster. Based on Example 1, the locking device includes a plurality of abutment rods 208, which are arranged in a ring shape in a central shell 201, and the abutment rods 208 and the central shell 201 are connected by abutment springs 207. Specifically, a plurality of movable chambers are respectively arranged inside the central shell 201, and the abutment rods 208 are respectively arranged in these movable chambers, and a locking ball 202 is arranged at one end of the abutment rods 208 close to each other, and a locking groove 105 is provided on the outer surface of the insert tube 5. When the insert tube 5 is inserted into the central shell 201, the locking ball 202 is clamped in the locking groove 105 (such as Figure 6 As shown in the figure, the outer surfaces of the locking balls 202 are clamped with clamps 204, and two adjacent clamps 204 are connected by a connecting block 203. The clamps 204 are located in the active cavity in the central shell 201, so that the locking balls 202 cannot revolve around the cannula 5;

[0040] See also Figure 7 , 8 The connecting block 203 is composed of two matching blocks. The ends of the two matching blocks that are close to each other are connected by a return spring 209. After the two matching blocks are separated from each other, the return spring 209 is pulled, and then the two matching blocks are pulled back under the elastic force of the return spring 209. A guide rod 210 is slidably installed on the upper end of the connecting block 203. The guide rod 210 is elastic, so that after the two matching blocks are separated from each other, they can be restored to their initial state along the curvature of the guide rod 210 when they are reset again. Specifically, a slider is fixedly installed on the outer surface of the guide rod 210, and a slide groove is provided at the upper end of the connecting block 203. The slider is located in the slide groove, so that the guide rod 210 will not fall off easily. More specifically, the guide rod 210 is made of metal, and a magnet is fixedly installed on the inner end of the connecting block 203, so that the guide rod 210 can always be kept at the center of the upper end of the connecting block 203. Lubricating grease is applied between the guide rod 210 and the connecting block 203, so that the guide rod 210 can slide more smoothly on the upper end of the connecting block 203.

[0041] See also Figure 5 , 69. The bottom end of the center shell 201 is provided with a plurality of sliding holes, which correspond to the abutment rod 208, and a passive block 205 is arranged in the sliding hole. The passive block 205 can slide left and right in the sliding groove and can also move up and down. A snap ring 206 is fixedly installed on the upper end of the passive block 205. The snap ring 206 is located at the upper left end of the passive block 205. The outer surface of the abutment rod 208 is provided with a slot, which corresponds to the snap ring 206. After the passive block 205 moves upward, the snap ring 206 is engaged in the slot. Then, after the passive block 205 moves to the right, the snap ring 206 is engaged in the slot on the outer surface of the abutment rod 208, so that the abutment rod 208 also moves to the right and compresses the abutment spring 207. At this time, the lock ball 202 can move in the direction away from each other.

[0042] A stabilizing disk 301 is rotatably mounted on the upper end of the base 1, and a passive disk 304 is slidably mounted on the inner end of the stabilizing disk 301. The passive disk 304 moves up and down in the stabilizing disk 301. Specifically, a rectangular block is fixedly mounted on the outer surface of the passive disk 304, and a rectangular groove is provided at the inner end of the stabilizing disk 301. The rectangular block slides in the rectangular groove, so that the passive disk 304 cannot rotate in the stabilizing disk 301. A threaded groove is provided at the upper end of the passive disk 304, and a triangular protrusion is fixedly mounted on the bottom end of the passive block 205. The triangular protrusion slides in the threaded groove. When the passive disk 304 rotates, the passive block 205 moves left or right under the rotation of the passive disk 304.

[0043] See also Figure 5 , 9 302, and the cam 303 is provided with the cam 304 of the embodiment of the present invention, and the cam 304 of the present invention is provided with the cam 304 of the embodiment of the present invention, and the cam 304 of the present invention is provided with the cam 304 of the present invention, and the cam 304 of the present invention is provided with the cam 304 of the present invention.

[0044] A plurality of arc grooves are provided at the upper end of the base 1, and sliding blocks 402 are slidably installed in the arc grooves. The sliding blocks 402 are connected to the base 1 through an angle spring 401. An abutment block 403 is fixedly installed at the bottom end of the stabilizing disk 301. The abutment block 403 is passed through the arc groove, and the abutment block 403 and the sliding block 402 abut against each other. When the stabilizing disk 301 rotates, the abutment block 403 pushes the sliding block 402 to move and compresses the angle spring 401. Then, the space of the arc groove at the upper end of the base 1 directly determines the rotation angle of the stabilizing disk 301, and preventing the rotation angle from being too large increases the challenge faced by the UAV flight operation.

[0045] The working principle of the present invention is:

[0046] Before use, the base 1 and the upper seat 4 are fixed on the casings of the two UAVs and the landing gears respectively, and then the two UAVs are released respectively. When docking, the two UAVs are controlled to be parallel to each other. When the bottom shell 2 and the upper shell 3 are close to each other, the two UAVs are slowly brought closer to each other until the positioning plate 101 enters the bottom shell 2. Then, the arc-shaped positioning plate 101 and the arc-shaped inner cavity in the bottom shell 2 make the insertion tube 5 and the support column 6 on the same axis. Then, the two UAVs are brought closer to each other, so that the insertion tube 5 passes through the center shell 201, and then the locking ball 202 is clamped on the outer surface of the locking groove 105, and the positioning plate 101 is now located in the clamping groove 302;

[0047] At the same time, the upper end of the stop column 6 pushes the bottom end of the center rod 103, so that the center rod 103 moves upward, and the positioning plate 101 is pulled toward one end close to each other by the traction line 104. The bottom end of the positioning plate 101 squeezes the triangular block 303 and moves in the direction of the passive disk 304. Under the action of the slope surface of the triangular block 303 squeezing the passive disk 304, the passive disk 304 moves upward. At this time, the passive disk 304 moves upward and pushes the passive block 205 to move upward, so that the clamping ring 206 is clamped on the stop column 6. In the slot on the outer surface of the connecting rod 208, the triangular protrusion at the bottom of the passive block 205 is engaged with the threaded groove at the upper end of the passive disk 304, so that the passive block 205 cannot move left and right, nor can it move up and down, so that the abutting rod 208 cannot move left and right at this time. At this time, the abutting rod 208 limits the moving space of the locking ball 202, so the locking ball 202 cannot move in the locking slot 105, which will cause the cannula 5 to be unable to escape from the center shell 201, thus completing the docking operation of the two drones;

[0048] Then when the two drones need to detach, first keep the two drones parallel to each other, then the upper seat 4 and the base 1 are also in a horizontal state with each other, then control the upper drone to move downward, and the round cover 7 also moves downward, and the locking ring 106 is also sleeved on the upper outer surface of the center rod 103. At this time, the center rod 103 has reached the condition of being able to move up and down, and then control any drone to rotate. At this time, since one of the drones does not rotate and the other drone rotates, under the action of the mutual force between the positioning plate 101 and the snap groove 302, the stabilizing disk 301 starts to rotate, and then the passive disk 304 also starts to rotate, causing the passive block 205 to move in a direction away from each other, and the abutment rod 208 is driven to move through the snap ring 206. At this time, the locking ball 202 has a certain amount of activity space, and the two drones can be detached from each other by controlling any drone to fly upward or downward.

[0049] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed in the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A locking device for aerial docking of a drone cluster, comprising a base (1), characterized in that: A bottom shell (2) is fixedly mounted on the upper end of the base (1), an upper shell (3) is arranged above the bottom shell (2), an upper seat (4) is movably mounted on the upper end of the upper shell (3), a plurality of positioning plates (101) for assisting docking are rotatably mounted on the bottom end of the upper shell (3), the positioning plates (101) are arranged in a ring shape, and a plug (5) is fixedly mounted on the bottom end of the upper shell (3), a center shell (201) is fixedly mounted on the inner upper end of the bottom shell (2), a plug hole for facilitating the insertion of the plug (5) is provided at the center of the center shell (201), and the plug (5) corresponds to the plug hole, A support column (6) is fixedly installed at the center of the upper end of the base (1), and the support column (6) corresponds to the cannula (5). A stabilizing plate (108) is fixedly installed at the inner end of the upper shell (3), and a center rod (103) is slidably installed at the inner end of the cannula (5). The positioning plate (101) and the center rod (103) are fixedly connected via a traction line (104). When the center rod (103) moves upward, the traction line (104) pulls the positioning plate (101) to rotate toward one end that is closer to each other. A locking device for fixing the cannula (5) is provided inside the center shell (201).

2. The locking device for aerial docking of a drone cluster according to claim 1, characterized in that: The upper end of the stabilizing plate (108) is provided with a locking hole (107), the upper end of the center rod (103) is inserted into the locking hole (107), the bottom end of the upper seat (4) is fixedly provided with a round cover (7), the round cover (7) is located inside the upper shell (3), and the round cover (7) is movably connected to the upper shell (3), the bottom end of the round cover (7) is fixedly provided with a locking ring (106), and the locking ring (106) corresponds to the locking hole (107), the center rod (103) corresponds to the locking ring (106), and after the round cover (7) is deflected at any angle, the center rod (103) cannot be inserted into the locking ring (106).

3. The locking device for aerial docking of a drone cluster according to claim 2, characterized in that: A plurality of limit blocks (109) are fixedly mounted on the upper end of the upper shell (3), and the limit blocks (109) are arranged in a ring shape. A plurality of limit grooves (110) are provided at the bottom end of the upper seat (4), and the limit grooves (110) correspond to the limit blocks (109). When the round cover (7) moves downward in a horizontal state, the limit blocks (109) are inserted into the limit grooves (110), and when the upper seat (4) rotates, the upper shell (3) also rotates accordingly.

4. The locking device for aerial docking of a drone cluster according to claim 3 is characterized by: The locking device comprises a plurality of abutment rods (208), the abutment rods (208) are arranged in a ring shape in the center shell (201), and the abutment rods (208) are connected to the center shell (201) via abutment springs (207), and locking balls (202) are arranged at the ends of the abutment rods (208) close to each other, and a locking groove (105) is provided on the outer surface of the insertion tube (5). When the insertion tube (5) is inserted into the center shell (201), the locking ball (202) is clamped in the locking groove (105), and the outer surface of the locking ball (202) is clamped with a clamp (204), and two adjacent clamps (204) are connected via a connecting block (203).

5. The locking device for aerial docking of a drone cluster according to claim 4, characterized in that: The connecting block (203) is composed of two matching blocks, and the ends of the two matching blocks that are close to each other are connected by a reset spring (209). A guide rod (210) is slidably mounted on the upper end of the connecting block (203). After the two matching blocks are separated from each other, they can be restored to their initial state along the curvature of the guide rod (210) when they are reset again.

6. The locking device for aerial docking of a drone cluster according to claim 5, characterized in that: A plurality of sliding holes are provided at the bottom end of the central shell (201), the sliding holes correspond to the abutting rods (208), and a passive block (205) is arranged in the sliding holes. A snap ring (206) is fixedly installed at the upper end of the passive block (205), and a snap groove is provided on the outer surface of the abutting rod (208), the snap groove corresponds to the snap ring (206), and after the passive block (205) moves upward, the snap ring (206) is snapped into the snap groove.

7. The locking device for aerial docking of a drone cluster according to claim 1, characterized in that: A stabilizing disk (301) is rotatably mounted on the upper end of the base (1), a passive disk (304) is slidably mounted on the inner end of the stabilizing disk (301), the passive disk (304) moves up and down in the stabilizing disk (301), a thread groove is formed on the upper end of the passive disk (304), and a triangular protrusion is fixedly mounted on the bottom end of the passive block (205), the triangular protrusion slides in the thread groove.

8. The locking device for aerial docking of a drone cluster according to claim 7, characterized in that: The upper end of the stabilizing plate (301) is provided with a plurality of snap-in grooves (302), and the snap-in grooves (302) correspond to the positioning plate (101). When the insertion tube (5) is inserted into the central shell (201), the bottom end of the positioning plate (101) is located in the snap-in groove (302). The upper end of the stabilizing plate (301) is slidably provided with a plurality of triangular blocks (303), and the triangular blocks (303) are respectively located in the snap-in grooves (302). When the positioning plate (101) is located in the snap-in groove (302), the triangular blocks (303) are located on the left side of the positioning plate (101).

9. The locking device for aerial docking of a drone cluster according to claim 8, characterized in that: A plurality of arc-shaped grooves are provided at the upper end of the base (1), and sliding blocks (402) are slidably installed in the arc-shaped grooves. The sliding blocks (402) are connected to the base (1) via angle springs (401). An abutment block (403) is fixedly installed at the bottom end of the stabilizing plate (301), and the abutment block (403) is inserted into the arc-shaped grooves, and the abutment block (403) and the sliding block (402) abut against each other.

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