An aerial docking and locking device for a drone swarm

Abstract

The present invention relates to the technical field of drone docking and locking devices, and specifically relates to a drone cluster aerial docking and locking device, which includes 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 seat is movably installed at the upper end of the upper shell. A plurality of positioning plates are rotatably installed at the bottom end of the upper shell. The positioning plates are arranged in a ring shape. And a plug tube is fixedly installed at the bottom end of the upper shell. A central shell is fixedly installed at the upper inner side of the bottom shell. A jack for facilitating the insertion of the plug tube is opened at the center of the central 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. A locking device is arranged inside the central shell. By first maintaining balance during the docking step, the docking deviation caused by unstable attitude is reduced. After docking is completed, the plug tube is locked by the positioning plate pressing the triangular block. The fixing effect of the positioning plate can resist the acting force generated by vibration during flight or external interference, thereby improving the firmness after docking.

Description

Technical Field

[0001] The present invention relates to the technical field of UAV docking and locking devices, and specifically provides a UAV cluster air docking and locking device. Background Technique

[0002] The process of UAVs docking in the air requires precise pose control to ensure the stability of the UAVs during docking. Traditional UAV docking methods often rely on the assistance of ground personnel or external fixed devices, which not only increases the operation difficulty and cost but also limits the autonomy and flexibility of the UAVs. After docking, the UAVs also need to ensure a safe and firm connection to maintain stability under mutual forces. Especially in complex tasks after docking, such as heavy object transportation and split flight, a high locking reliability is required to ensure the smooth completion of the tasks.

[0003] After retrieval, it is found that the prior art publication number is CN113291481B, which discloses a UAV cluster air docking and locking device, including two docking units with the same structure. The structure of the docking unit includes a base, a guiding mechanism, and a locking mechanism. The guiding mechanism is arranged on the front of the base and includes a guiding cone, a guiding rod, and a locking cone. One end of the guiding rod is coaxially fixed to the apex of the guiding cone, and the other end is coaxially fixed to the center of the bottom surface of the locking cone. A guiding groove matching the guiding cone is provided on the front of the base, and a through hole for the locking cone and the guiding rod to pass through from the back of the base is provided at the center of the guiding groove. The locking mechanism is arranged on the back of the base and is used to lock the passing locking cone. This solution can automatically complete the docking alignment process, achieve passive docking and 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 retrieval and in combination with the existing technology, when the above solution is used, after two UAVs are docked, the docking device provided by the above solution firmly locks the two UAVs to each other. This will cause the UAVs to consume more power during the attitude adjustment step in flight to counteract the mutual forces, and at the same time, the docking device itself also needs to bear more friction and stress. Excessive wear will inevitably occur after long-term use. Therefore, we propose a UAV cluster air docking and locking device. Summary of the Invention

[0005] The purpose of the present invention is to provide a UAV cluster air docking and locking device to solve the problems raised in the above background technique.

[0006] To achieve the above object, the present invention provides the following technical solution: An aerial docking and locking device for an unmanned aerial vehicle cluster, including a base, a bottom shell is fixedly installed at the upper end of the base, an upper shell is arranged above the bottom shell, a top seat is movably installed at the upper end of the upper shell, a plurality of positioning plates for assisting docking are rotatably installed at the bottom end of the upper shell, the positioning plates are arranged in a ring shape, and a plug tube is fixedly installed at the bottom end of the upper shell. A central shell is fixedly installed at the upper inner side of the bottom shell. A jack for facilitating the insertion of the plug tube is opened at the center of the central shell, and the plug tube corresponds to the jack. A resisting post is fixedly installed at the center of the upper end of the base, and the resisting post corresponds to the plug tube. A stabilizing plate is fixedly installed at the inner end of the upper shell. A central rod is slidably installed at the inner end of the plug tube, and the positioning plate and the central rod are fixedly connected by a traction wire. When the central rod moves upward, the positioning plate is pulled by the traction wire to rotate towards the mutually approaching ends. A locking device for fixing the plug tube is arranged inside the central shell.

[0007] As a further scheme of the present invention, a locking hole is opened at the upper end of the stabilizing plate, the upper end of the central rod is inserted into the locking hole, a round cover is fixedly installed at the bottom end of the top 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 central rod corresponds to the locking ring, and after the round cover deflects at any angle, the central rod cannot be inserted into the locking ring.

[0008] As a further scheme of the present invention, a plurality of limiting blocks are fixedly installed at the upper end of the upper shell, the limiting blocks are arranged in a ring shape, a plurality of limiting grooves are opened at the bottom end of the top seat, the limiting grooves correspond to the limiting blocks. When the round cover moves downward in a horizontal state, the limiting blocks are inserted into the limiting grooves. Then when the top seat rotates, under the interaction of the forces of the limiting grooves and the limiting blocks, the upper shell also rotates accordingly.

[0009] As a further scheme of the present invention, the locking device includes a plurality of abutting rods, the abutting rods are arranged in a ring shape inside the central shell, and the abutting rods are connected to the central shell by a resisting spring. Locking balls are arranged at the mutually approaching ends of the abutting rods. A locking groove is opened on the outer surface of the plug tube. When the plug tube is inserted into the central shell, the locking balls are clamped in the locking groove. Clamps are clamped on the outer surfaces of the locking balls, and connecting blocks are connected between two adjacent clamps.

[0010] As a further scheme of the present invention, the connecting block is composed of two mating blocks, the mutually approaching ends of the two mating blocks are connected by a reset spring, a guiding rod is slidably installed at the upper end of the connecting block. After the two mating blocks are separated from each other and then reset, they can return to the initial state along the arc of the guiding rod. The guiding rod prevents the two mating blocks from not being able to accurately return to the initial state when moving 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 central shell. The sliding holes correspond to the abutting rods, and a passive block is arranged in the sliding holes. A clamping ring is fixedly installed at the upper end of the passive block. A clamping groove is provided on the outer surface of the abutting rod, and the clamping groove corresponds to the clamping ring. After the passive block moves upward, the clamping ring is clamped in the clamping groove.

[0012] As a further solution of the present invention, a stable disk is rotatably installed at the upper end of the base. A passive disk is slidably installed at the inner end of the stable disk, and the passive disk moves up and down in the stable disk. A threaded groove is provided at the upper end of the passive disk, and a triangular convex block is fixedly installed at the bottom end of the passive block. The triangular convex block slides in the threaded groove. Thus, when the passive disk rotates, under the action of the triangular convex block being clamped in the threaded groove, the passive block moves.

[0013] As a further solution of the present invention, a plurality of clamping grooves are provided at the upper end of the stable disk. The clamping grooves correspond to the positioning plates. When the insertion tube is inserted into the central shell, the bottom end of the positioning plate is located in the clamping groove. A plurality of triangular blocks are slidably installed at the upper end of the stable disk, and the triangular blocks are respectively located in the clamping grooves. When the positioning plate is located in the clamping 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-shaped grooves are provided at the upper end of the base. A sliding block is slidably installed in each arc-shaped groove, and the sliding block is connected to the base through an angular spring. An abutting block is fixedly installed at the bottom end of the stable disk. The abutting block penetrates through the arc-shaped groove, and the abutting block abuts against the sliding block.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] 1. When the present invention is used, by first maintaining balance during the docking step, the docking deviation caused by unstable posture is reduced. After docking is completed, the insertion tube is locked by the positioning plate squeezing the triangular block. The fixing function of the positioning plate can resist the acting force generated by vibration during flight or external interference, thereby improving the firmness after docking. At the same time, after the drones are docked, any one of the drones can freely deviate by a certain angle, so that in the face of sudden airflow, the drones can adjust their postures to maintain balance, rather than causing unstable flight or increased 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 accidentally loosening during flight, especially during long-term flight or complex control tasks, avoiding the risk of the docking device disengaging under the action of external forces. Even if the drone has small vibrations or accidental movements during flight, the lock can remain locked under the action of the positioning plate, enhancing the redundancy and fault tolerance of the docking system.

[0018] 3. When the present invention is in use, only after the two drones are horizontal to each other and then any one of the drones rotates can the docking device be unlocked, reducing the situation of accidental unlocking during flight, enabling the operator to focus more on the task operation 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, thus providing a layer of redundant protection. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic structural diagram of an aerial docking and locking device for a drone swarm;

[0020] Figure 2 is an exploded view of an aerial docking and locking device for a drone swarm;

[0021] Figure 3 is a schematic structural diagram of the interior of the upper shell;

[0022] Figure 4 is a schematic structural diagram of the interior of the insertion tube;

[0023] Figure 5 is a schematic structural diagram of the interior of the bottom shell;

[0024] Figure 6 is a schematic structural diagram of the interior of the central shell;

[0025] Figure 7 is a schematic structural diagram of the disassembly of the locking ball and the connecting block;

[0026] Figure 8 is a schematic structural diagram at the connecting block;

[0027] Figure 9 is an enlarged schematic structural diagram at the central shell and the stabilizing disk;

[0028] Figure 10 is an enlarged view at the base and the central shell.

[0029] In the figure: 1. Base; 2. Bottom shell; 3. Upper shell; 4. Upper seat; 5. Insertion tube; 6. Supporting column; 7. Round cover;

[0030] 101. Positioning plate; 102. Arc block; 103. Central rod; 104. Towing wire; 105. Locking groove; 106. Locking ring; 107. Locking hole; 108. Stabilizing plate; 109. Limiting block; 110. Limiting groove;

[0031] 201. Central shell; 202. Locking ball; 203. Connecting block; 204. Clamp; 205. Passive block; 206. Snap ring; 207. Resisting spring; 208. Contact rod; 209. Return spring; 210. Guide rod;

[0032] 301. Stable disk; 302. Clamping groove; 303. Triangular block; 304. Driven disk;

[0033] 401. Angle spring; 402. Sliding block; 403. Contact block. Specific implementation mode

[0034] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0035] Embodiment 1: Please refer to Figures 1 to 3 , a drone cluster aerial docking and locking device, including a base 1. A bottom shell 2 is fixedly installed at the upper end of the base 1. A plurality of water filtering holes are formed 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. An upper seat 4 is movably installed at 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 assisting docking are rotatably installed at the bottom end of the upper shell 3. The positioning plates 101 are arranged in a ring shape. The positioning plates 101 are arc-shaped, and the inner wall of the bottom shell 2 is also arc-shaped. A plug tube 5 is fixedly installed at the bottom end of the upper shell 3. A central shell 201 is fixedly installed at the upper inner side of the bottom shell 2. A jack for facilitating the insertion of the plug tube 5 is formed at the center of the central shell 201. The inner diameter of the jack is equal to that of the plug tube 5, and the plug tube 5 corresponds to the jack. When the plug tube 5 is inserted into the jack on the central shell 201, at this time, the positioning plates 101 also move into the bottom shell 2. Then, under the mutual extrusion of the arc-shaped inner wall of the bottom shell 2 and the positioning plates 101, the positioning plates 101 all rotate towards the mutually approaching ends;

[0036] Please refer to Figure 2 , 3, 4. At the center of the upper end of the base 1, a resisting post 6 is fixedly installed. The resisting post 6 corresponds to the insertion tube 5. At the inner end of the upper shell 3, a stabilizing plate 108 is fixedly installed. A central rod 103 is slidably installed at the inner end of the insertion tube 5. And between the positioning plate 101 and the central rod 103, they are fixedly connected by a traction wire 104. When the central rod 103 moves upward, it pulls the positioning plate 101 to rotate towards the closer ends through the traction wire 104. Specifically, a plurality of wire holes are opened at the bottom end of the upper shell 3. The wire holes correspond to the positioning plate 101. And the traction wire 104 passes through the wire holes and is fixedly installed at the upper end of the central rod 103. Inside the central shell 201, a locking device for fixing the insertion tube 5 is provided. Specifically, when the insertion tube 5 is inserted into the central shell 201, during the docking flight of the two drones, to prevent separation, the locking device fixes the insertion tube 5. More specifically, at the upper end of the resisting post 6, communication contacts are provided. And at the bottom end of the central rod 103, communication contacts are also provided. When the two drones are successfully docked, the contacts of the resisting post 6 will contact the contacts of the central rod 103, and the circuit is conducted, thereby realizing the mutual communication between the two drones;

[0037] At the upper end of the stabilizing plate 108, a locking hole 107 is opened. The upper end of the central rod 103 is inserted into the locking hole 107. At the bottom end of the upper seat 4, a round cover 7 is fixedly installed. The round cover 7 is located inside the upper shell 3. And the round cover 7 is movably connected to the upper shell 3. At the bottom end of the round cover 7, a locking ring 106 is fixedly installed. And the locking ring 106 corresponds to the locking hole 107. And after the round cover 7 moves upward by a certain distance, it can rotate at any angle inside the upper shell 3. The central rod 103 corresponds to the locking ring 106. And after the round cover 7 deflects at any angle, the central rod 103 cannot be inserted into the locking ring 106. At the upper end of the stabilizing plate 108, a plurality of arc-shaped blocks 102 are fixedly installed. The arc-shaped blocks 102 are arranged in a ring shape. When the round cover 7 moves downward to the lowest end, the outer surface contacts the outer surface of the arc-shaped blocks 102, thereby realizing the support and limitation of the round cover 7. Lubricating butter is applied between the round cover 7 and the upper shell 3 to reduce wear and increase service life;

[0038] Please refer to Figure 2 , at the upper end of the upper shell 3, a plurality of limiting blocks 109 are fixedly installed. The limiting blocks 109 are arranged in a ring shape. At the bottom end of the upper seat 4, a plurality of limiting grooves 110 are opened. The limiting grooves 110 correspond to the limiting blocks 109. The upper edge of the limiting blocks 109 is chamfered so that it can be inserted into the limiting grooves 110 more easily. When the round cover 7 moves downward in a horizontal state, the limiting blocks 109 are inserted into the limiting grooves 110. Then when the upper seat 4 rotates, the upper shell 3 also rotates accordingly;

[0039] Example 2: Please refer to Figure 5 , 6, 7. A drone swarm aerial docking and locking device. Based on Example 1, the locking device includes a plurality of abutting rods 208. The abutting rods 208 are arranged in a ring shape inside the central shell 201, and the abutting rods 208 are connected to the central shell 201 through abutting springs 207. Specifically, a plurality of moving chambers are respectively arranged inside the central shell 201, and the abutting rods 208 are respectively arranged in these moving chambers. Locking balls 202 are arranged at the ends of the abutting rods 208 that are close to each other. A locking groove 105 is formed on the outer surface of the insertion tube 5. When the insertion tube 5 is inserted into the central shell 201, the locking balls 202 are clamped in the locking groove 105 (as Figure 6 shown). Clamps 204 are clamped on the outer surfaces of the locking balls 202. Connecting blocks 203 are used to connect between two adjacent clamps 204. The clamps 204 are located in the moving chambers inside the central shell 201, so that the locking balls 202 cannot revolve around the insertion tube 5;

[0040] Please refer to Figure 7 , 8 . The connecting block 203 is composed of two mating blocks. The ends of the two mating blocks that are close to each other are connected through a return spring 209. After the two mating blocks are separated from each other, the return spring 209 is stretched, and then the two mating blocks are pulled back under the elastic force of the return spring 209. A guide rod 210 is slidably installed at the upper end of the connecting block 203. The guide rod 210 has elasticity, so that when the two mating blocks are separated from each other and then reset, they can return to the initial state along the arc of the guide rod 210. Specifically, a slider is fixedly installed on the outer surface of the guide rod 210, and a chute is formed at the upper end of the connecting block 203. The slider is located in the chute, so that the guide rod 210 will not easily fall off. More specifically, the guide rod 210 is made of metal, and a magnet is fixedly installed at 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] Please refer to Figure 5 , 6, 9. A plurality of sliding holes are formed at the bottom end of the central housing 201. The sliding holes correspond to the abutting rods 208, and a passive block 205 is arranged in each sliding hole. The passive block 205 can slide left and right in the sliding groove and can also move up and down. A clamping ring 206 is fixedly installed at the upper end of the passive block 205. The clamping ring 206 is located at the upper left side of the passive block 205. A clamping groove is formed on the outer surface of the abutting rod 208. The clamping groove corresponds to the clamping ring 206. After the passive block 205 moves upward, the clamping ring 206 is clamped in the clamping groove. Then, after the passive block 205 moves to the right, under the action of the clamping ring 206 being clamped in the clamping groove on the outer surface of the abutting rod 208, the abutting rod 208 also moves to the right and compresses the abutting spring 207. At this time, the locking balls 202 can move away from each other;

[0042] A stabilizing disk 301 is rotatably installed at the upper end of the base 1. A passive disk 304 is slidably installed at 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 installed on the outer surface of the passive disk 304. A rectangular groove is formed 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 by itself in the stabilizing disk 301. A threaded groove is formed at the upper end of the passive disk 304. A triangular protrusion is fixedly installed at the bottom end of the passive block 205. The triangular protrusion slides in the threaded groove. Then, when the passive disk 304 rotates, the passive block 205 moves left or right under the action of the rotation of the passive disk 304;

[0043] Please refer to Figure 5 、 9 , 10. A plurality of clamping grooves 302 are formed at the upper end of the stabilizing disk 301. The clamping grooves 302 correspond to the positioning plates 101. When the insertion tube 5 is inserted into the central housing 201, the bottom end of the positioning plate 101 is located in the clamping grooves 302. A plurality of triangular blocks 303 are slidably installed at the upper end of the stabilizing disk 301. The triangular blocks 303 are respectively located in the clamping grooves 302. Specifically, a rectangular slider is fixedly installed at the bottom end of the triangular block 303. A rectangular sliding groove is formed at the upper end of the stabilizing disk 301. The rectangular slider slides in the rectangular sliding groove, so that the triangular blocks 303 are not easily separated. And when the positioning plate 101 is located in the clamping grooves 302, the triangular blocks 303 are located on the left side of the positioning plate 101. A plurality of sliding openings are formed on the outer surface of the passive disk 304. The sliding openings correspond to the triangular blocks 303. When the triangular blocks 303 move towards the passive disk 304, under the mutual extrusion of the slopes of the triangular blocks 303 and the sliding openings of the passive disk 304, the passive disk 304 moves upward;

[0044] The upper end of the base 1 is provided with a plurality of arc-shaped grooves, and sliding blocks 402 are slidably installed in the arc-shaped grooves. The sliding blocks 402 are connected to the base 1 through angle springs 401. The bottom end of the stabilizing plate 301 is fixedly installed with an abutting block 403. The abutting block 403 penetrates through the arc-shaped groove, and the abutting block 403 abuts against the sliding block 402. When the stabilizing plate 301 rotates, the sliding block 402 is pushed to move by the abutting block 403, and the angle spring 401 is compressed. Then, the space of the arc-shaped groove at the upper end of the base 1 directly determines the rotation angle of the stabilizing plate 301, preventing the challenges faced by the drone during flight operations from increasing due to excessive rotation angles.

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

[0046] Before use, the base 1 and the upper seat 4 are respectively fixed on the casings of two drones and the landing gears. Subsequently, the two drones are respectively released. During the docking operation, the two drones are controlled to be in a parallel state. When the bottom shell 2 and the upper shell 3 are close to each other, the two drones are slowly moved closer to each other until the positioning plate 101 enters the bottom shell 2. Then, due to the arc shape of the positioning plate 101 and the arc-shaped inner cavity in the bottom shell 2, the insertion tube 5 and the abutting column 6 are on the same axis. Then, the two drones are moved closer to each other, causing the insertion tube 5 to penetrate into the central shell 201. Subsequently, the locking ball 202 is clamped on the outer surface of the locking groove 105, and at this time, the positioning plate 101 is located in the clamping groove 302.

[0047] At the same time, the upper end of the abutting column 6 will push the bottom end of the central rod 103, causing the central rod 103 to move upward. The positioning plate 101 is pulled to rotate towards the closer end through the traction wire 104. The bottom end of the positioning plate 101 squeezes the triangular block 303 to move towards the direction of the passive plate 304. Under the action of the inclined plane of the triangular block 303 squeezing the passive plate 304, the passive plate 304 moves upward. At this time, the passive plate 304 moves upward to push the passive block 205 upward, causing the snap ring 206 to be clamped in the card slot on the outer surface of the abutting rod 208. Since the triangular convex block at the bottom end of the passive block 205 is clamped in the threaded groove at the upper end of the passive plate 304, the passive block 205 cannot move left and right at this time, nor can it move up and down, causing the abutting rod 208 to also be unable to move left and right at this time. At this time, the abutting rod 208 restricts the moving space of the locking ball 202, so that the locking ball 202 cannot move in the locking groove 105, which will cause the insertion tube 5 to be unable to break away from the central shell 201, thus completing the docking operation of the two drones.

[0048] When the two drones need to separate, first keep the two drones parallel to each other. At this time, the upper seat 4 and the base 1 are also in a horizontal state with respect to each other. Then control the upper drone to move downward. At this time, the round cover 7 also moves downward, and the locking ring 106 is also sleeved on the outer surface of the upper side of the central rod 103. At this time, the central rod 103 meets the condition of being able to move up and down. Then operate any one of the drones to rotate. At this time, because 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 clamping groove 302, the stabilizing plate 301 starts to rotate. Then the driven plate 304 also starts to rotate, causing the driven blocks 205 to move away from each other. The abutting rod 208 is driven to move through the snap ring 206. At this time, the locking balls 202 have a certain amount of moving space. Operating any one of the drones to fly up or down can achieve the separation of the two drones.

[0049] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, making equivalent substitutions or changes should be covered within 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). A center rod (103) is slidably installed at the inner end of the cannula (5), and 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 close to each other. A locking device for fixing the cannula (5) is provided inside the center shell (201); 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), a triangular protrusion is fixedly mounted on the bottom end of the passive block (205), and the triangular protrusion slides in the thread groove; The upper end of the stabilizing plate (301) is provided with a plurality of snap-fitting grooves (302), the snap-fitting grooves (302) corresponding to the positioning plate (101), and 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-fitting groove (302), and the upper end of the stabilizing plate (301) is slidably provided with a plurality of triangular blocks (303), the triangular blocks (303) are respectively located in the snap-fitting grooves (302), and when the positioning plate (101) is located in the snap-fitting groove (302), the triangular blocks (303) are located on the left side of the positioning plate (101).

2. The locking device for aerial docking of a drone cluster according to claim 1, characterized in that: A locking hole (107) is formed 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 mounted on the bottom end of the upper seat (4), and the round cover (7) is located inside the upper shell (3). The round cover (7) is movably connected to the upper shell (3). A locking ring (106) is fixedly mounted on the bottom end of the round cover (7), 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) being arranged in a ring shape in the center shell (201), and the abutment rods (208) and the center shell (201) being connected via abutment springs (207), and locking balls (202) being arranged at mutually adjacent ends of the abutment rods (208), and a locking groove (105) being provided on the outer surface of the insertion tube (5), and when the insertion tube (5) is inserted into the center shell (201), the locking balls (202) are clamped in the locking groove (105), and the outer surfaces of the locking balls (202) are clamped with clamps (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 via 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 corresponding 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 corresponding 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 plurality of arc-shaped grooves are provided at the upper end of the base (1), and sliding blocks (402) are slidably mounted 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 mounted 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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