Modularized multi-rotor unmanned aerial vehicle docking mechanism based on permanent magnets

Abstract

The invention discloses a modular multi-rotor unmanned aerial vehicle docking mechanism based on permanent magnets, and belongs to the technical field of docking of modular multi-rotor unmanned aerial vehicles, and the modular multi-rotor unmanned aerial vehicle docking mechanism comprises a male docking mechanism, a female docking mechanism and a carbon fiber clamp. The male butt joint mechanism comprises a butt joint cone, a first left permanent magnet, a first right permanent magnet, a first left copper contact piece and a first right copper contact piece. The female butt joint mechanism comprises a butt joint groove, a connecting piece, a second left permanent magnet, a second right permanent magnet, a second left copper contact piece and a second right copper contact piece. The carbon fiber clamp comprises a butt joint mechanism fixing plate, an upper rack fixing plate and a lower rack fixing plate. Through the design of the butt joint cone and the butt joint groove, the redundancy of the butt joint mechanism is improved; the butt joint mechanism which completes butt joint is completely locked through the permanent magnet, and vacancy is avoided; two-machine communication is realized by attaching a copper contact piece to the permanent magnet; and finally, the mass is effectively reduced by adopting a hollowing design on the butt joint cone and opening a hole in a non-force-bearing part.

Description

Technical Field

[0001] The present invention relates to the fields of unmanned aerial vehicles, machinery, and mechanics, and particularly to the docking technology field of modular multi-rotor unmanned aerial vehicles. Specifically, it is a mechanism installed at the nose of a modular multi-rotor unmanned aerial vehicle to enable two modular multi-rotor unmanned aerial vehicles to dock in the air. Background Art

[0002] Due to their easy maintenance and high reliability, multi-rotor unmanned aerial vehicles are widely used in fields such as aerial photography, agricultural plant protection, and disaster relief. However, the blade diameter of multi-rotor unmanned aerial vehicles is limited by the structural design and it is difficult to achieve a significant increase, resulting in low aerodynamic efficiency, which limits the payload and endurance of multi-rotor unmanned aerial vehicles.

[0003] In recent years, researchers at home and abroad have proposed a modular multi-rotor unmanned aerial vehicle that can be freely assembled in the air. This unmanned aerial vehicle combines multiple unmanned aerial vehicles into a whole through autonomous docking in the air, thereby significantly improving the payload capacity. In addition, with the help of in-air fast charging technology, it can quickly replenish the power of unmanned aerial vehicles with insufficient power, effectively solving the problem of insufficient endurance.

[0004] In the development of modular multi-rotor unmanned aerial vehicles, the docking mechanism plays a crucial role. However, the docking mechanisms proposed by researchers in various countries currently generally have problems such as unreliable locking, too low redundancy, excessive weight, and lack of communication interfaces. These drawbacks greatly limit the further development of modular multi-rotor unmanned aerial vehicles.

[0005] In view of the deficiencies of the existing docking mechanisms for modular multi-rotor unmanned aerial vehicles, the present invention designs a new type of docking mechanism. This docking mechanism consists of a male docking mechanism, a female docking mechanism, and a carbon fiber fixture. Through the design of the docking cone and the docking groove, the redundancy of the docking mechanism is significantly improved; at the same time, neodymium iron boron magnets are used to firmly lock the docking mechanism to ensure no looseness after docking, thereby significantly enhancing the reliability of the connection. In addition, the present invention realizes communication between two aircraft by attaching copper contacts to permanent magnets, and the mutual force between the magnets further ensures the contact reliability of the copper contacts. Finally, by adopting a hollow design for the docking cone and opening holes in non-load-bearing components, the weight of the docking mechanism is effectively reduced. Summary of the Invention

[0006] The purpose of the present invention is to provide an in-air docking mechanism based on permanent magnets to provide a reliable and effective solution for the in-air docking of modular multi-rotor unmanned aerial vehicles.

[0007] The present invention is implemented as follows: The described docking mechanism based on permanent magnets includes a male docking mechanism, a female docking mechanism, and a carbon fiber fixture. The male docking mechanism and the female docking mechanism are fixed to the nose of the modular multi-rotor UAV through the carbon fiber fixture, and the carbon fiber fixture is fixed to the frame of the modular multi-rotor UAV by screws.

[0008] Specifically, the docking mechanism of the modular multi-rotor UAV includes a male docking mechanism, a female docking mechanism, and a carbon fiber fixture. The male docking mechanism includes a docking cone, a left first permanent magnet, a right first permanent magnet, a left first copper contact, and a right first copper contact; the female docking mechanism includes a docking groove, a connecting piece, a left second permanent magnet, a right second permanent magnet, a left second copper contact, and a right second copper contact; the carbon fiber fixture includes a docking mechanism fixing plate, an upper frame fixing plate, and a lower frame fixing plate. The docking cone can cooperate with the docking groove to limit the relative movement of the male and female docking mechanisms in the front-back, left-right, and up-down directions and the relative rotation in the pitch, yaw, and roll directions.

[0009] The left first permanent magnet and the right first permanent magnet are fixed in the permanent magnet installation groove in the male docking mechanism, and the left first copper contact and the right first copper contact are installed on both sides of the male docking mechanism; the left second permanent magnet and the right second permanent magnet are fixed in the permanent magnet installation groove in the female docking mechanism, and the left second copper contact and the right second copper contact are installed on both sides of the female docking mechanism.

[0010] The left first permanent magnet, the right first permanent magnet, the left second permanent magnet, and the right second permanent magnet can completely lock the male and female docking mechanisms after docking and provide the guiding force required during docking.

[0011] The N poles of the left first permanent magnet and the right second permanent magnet are installed outward, and the S poles of the right first permanent magnet and the left second permanent magnet are installed outward. When the two aircraft are misaligned during docking, that is, when the left first permanent magnet and the right second permanent magnet are opposite or the right first permanent magnet and the left second permanent magnet are opposite. Due to the principle of like poles repelling, the two aircraft will be automatically bounced off, ensuring that docking can only be completed when the docking cone is inserted into the docking groove.

[0012] Furthermore, both the male docking mechanism and the female docking mechanism are provided with permanent magnet installation grooves, and in order to prevent the permanent magnets from coming out, a circular blocking piece with a thickness of 1 mm is provided in front of the groove, and the permanent magnets are installed in the installation grooves of the male and female docking mechanisms by hot melt adhesive.

[0013] Furthermore, both the male docking mechanism and the female docking mechanism are provided with screw holes for cooperating with the carbon fiber fixture, and the male docking mechanism is connected to the docking mechanism fixing plate by bolts.

[0014] Furthermore, the female docking mechanism is connected to the connecting piece by bolts.

[0015] Furthermore, the connecting piece is connected to the docking mechanism fixing plate by bolts.

[0016] Furthermore, the docking mechanism fixing plate is connected by inserting the protrusions on the fixing plate into the grooves of the upper frame fixing plate and the lower frame fixing plate.

[0017] Furthermore, the upper frame fixing plate and the lower frame fixing plate are connected to the frame of the modular multi-rotor UAV by bolts.

[0018] Furthermore, the first left copper contact, the first right copper contact, the second left copper contact and the second right copper contact are attached to the permanent magnet by hot melt adhesive. The first left copper contact, the first right copper contact, the second left copper contact and the second right copper contact are mutually attached under the action of the permanent magnet, so as to send the cooperative control signal converted by the RS485 module.

[0019] The frame fixing plate and the lower frame fixing plate of the carbon fiber fixture are provided with openings that cooperate with the protrusions on the docking mechanism fixing plate. During assembly, the protrusions only need to be inserted into the corresponding openings to complete the assembly; the frame fixing plate and the lower frame fixing plate of the carbon fiber fixture are provided with corresponding screw holes for cooperating with the UAV frame.

[0020] The beneficial effects of the present invention are as follows: The present invention proposes a novel docking mechanism for a modular multi-rotor UAV. Compared with the current docking mechanism for modular multi-rotor UAVs, firstly, the redundancy of the docking mechanism is improved through the design of the docking cone and the docking groove; secondly, the completed docking mechanism is completely locked by the permanent magnet to avoid looseness; in addition, communication between two UAVs is achieved by attaching copper contacts to the permanent magnet; finally, the quality is effectively reduced by adopting a hollow design for the docking cone and opening holes in non-load-bearing components. Description of the Drawings

[0021] Figure 1 is the main body schematic diagram of the docking mechanism of the modular multi-rotor UAV based on permanent magnet of the present invention.

[0022] Figure 2 is the longitudinal sectional view of the male docking mechanism.

[0023] Figure 3 is the schematic diagram of the starting state of the docking mechanism during docking.

[0024] Figure 4 is the schematic diagram of the completed state of the docking mechanism during docking.

[0025] Figure 5 is the schematic diagram of the nose installation of the docking mechanism.

[0026] Figure 6 is the force-displacement curve diagram during the docking process of a pair of permanent magnets.

[0027] Wherein: 1 - male docking mechanism, 2 - female docking mechanism, 3 - carbon fiber fixture, 11 - docking cone, 12 - left first permanent magnet, 13 - right first permanent magnet, 14 - left first copper contact, 15 - right first copper contact, 21 - docking groove, 22 - connecting piece, 23 - left second permanent magnet, 24 - right second permanent magnet, 25 - left second copper contact, 26 - right second copper contact, 31 - docking mechanism fixing plate, 32 - upper frame fixing plate, 33 - lower frame fixing plate. Detailed implementation mode

[0028] To illustrate the technical features of the present invention, the specific embodiments of the present invention will be further described in detail through the drawings and examples. The following examples are used to illustrate the present invention, but are not used to limit the scope of the present invention.

[0029] As Figures 1 - 6 As shown, a modular multi-rotor UAV docking mechanism based on permanent magnets of the present invention includes a male docking mechanism 1, a female docking mechanism 2 and a carbon fiber fixture 3. Both the male docking mechanism 1 and the female docking mechanism 2 are provided with screw hole positions for cooperating with the carbon fiber fixture 3. Both the male docking mechanism 1 and the female docking mechanism 2 are provided with permanent magnet mounting grooves, and in order to prevent the permanent magnets from coming out, a circular blocking piece with a thickness of 1 mm is provided in front of the grooves.

[0030] The male docking mechanism includes a docking cone 11, a left first permanent magnet 12, a right first permanent magnet 13, a left first copper contact 14, and a right first copper contact 15. The left first copper contact 14, the right first copper contact 15, the left second copper contact 25, and the right second copper contact 26 are mutually attached under the action of the permanent magnets, so as to send the cooperative control signal converted by the RS485 module. The female docking mechanism includes a docking groove 21, a connecting piece 22, a left second permanent magnet 23, a right second permanent magnet 24, a left second copper contact 25, and a right second copper contact 26; the carbon fiber fixture includes a docking mechanism fixing plate 31, an upper frame fixing plate 32, and a lower frame fixing plate 33. The left first permanent magnet 12 and the right first permanent magnet 13 are fixed in the permanent magnet mounting grooves in the male docking mechanism 1, and the left first copper contact 14 and the right first copper contact 15 are installed on both sides of the male docking mechanism 1; the left second permanent magnet 23 and the right second permanent magnet 24 are fixed in the permanent magnet mounting grooves in the female docking mechanism 2, and the left second copper contact 25 and the right second copper contact 26 are installed on both sides of the female docking mechanism 2.

[0031] The described docking cone 11 can cooperate with the docking groove 21 to limit the relative movement of the male and female docking mechanisms in the front-back, left-right and up-down directions and the relative rotation in the pitch, yaw and roll directions.

[0032] The left first permanent magnet 12, the right first permanent magnet 13, the left second permanent magnet 23, and the right second permanent magnet 24 can completely lock the male and female docking mechanisms after docking and provide the guiding force required during docking.

[0033] The N poles of the leftmost permanent magnet 12 and the second right permanent magnet 24 face outward, and the S poles of the rightmost permanent magnet 13 and the second left permanent magnet 23 face outward. When the two machines are misaligned during docking, that is, when the leftmost permanent magnet 12 faces the second right permanent magnet 24 or the rightmost permanent magnet 13 faces the second left permanent magnet 23. Due to the principle of like poles repelling each other, the two machines will be automatically bounced apart, thus ensuring that docking can only be completed when the docking cone 11 is inserted into the docking groove 21.

[0034] The frame fixing plates 32 and the lower frame fixing plates 33 of the carbon fiber fixture 3 are provided with openings that cooperate with the protrusions on the docking mechanism fixing plate 31. During assembly, the protrusions can be inserted into the corresponding openings to complete the assembly. The frame fixing plates 32 and the lower frame fixing plates 33 of the carbon fiber fixture 3 are provided with corresponding screw holes for cooperating with the drone frame.

[0035] Matters not covered in this invention are well-known technologies. The above embodiments are only used to illustrate the technical concept and features of this invention, and their purpose is to enable those familiar with this technology to understand the content of this invention and implement it accordingly. It should not be used to limit the protection scope of this invention. Any equivalent changes or modifications made according to the spirit and essence of this invention should be covered within the protection scope of this invention.

Claims

1. A modular multi-rotor UAV docking mechanism based on permanent magnets, characterized in that, The described mechanism includes: a male docking mechanism (1), a female docking mechanism (2), and a carbon fiber fixture (3); The male docking mechanism (1) includes a docking cone (11), a left first permanent magnet (12), a right first permanent magnet (13), a left first copper contact (14), and a right first copper contact (15). The left first permanent magnet (12) and the right first permanent magnet (13) are fixed in the permanent magnet mounting grooves in the male docking mechanism (1), and the left first copper contact (14) and the right first copper contact (15) are installed on both sides of the male docking mechanism (1); The female docking mechanism includes a docking groove (21), a connecting member (22), a left second permanent magnet (23), a right second permanent magnet (24), a left second copper contact (25), and a right second copper contact (26). The left second permanent magnet (23) and the right second permanent magnet (24) are fixed in the permanent magnet mounting grooves in the female docking mechanism (2), and the left second copper contact (25) and the right second copper contact (26) are installed on both sides of the female docking mechanism (2); The carbon fiber fixture (3) includes a docking mechanism fixing plate (31), an upper frame fixing plate (32), and a lower frame fixing plate (33); The docking cone (11) can cooperate with the docking groove (21) to limit the relative movement of the male and female docking mechanisms in the front-back, left-right, and up-down directions and the relative rotation in the pitch, yaw, and roll directions.

2. The docking mechanism of a modular multi-rotor drone based on a permanent magnet according to claim 1, wherein The left first permanent magnet (12) and the right first permanent magnet (13) are respectively connected to the docking cone (11) through hot melt adhesive, and the left first copper contact (14) and the right first copper contact (15) are respectively connected to the docking cone (11) through hot melt adhesive; The docking groove (21) and the connecting member (22) are connected by bolts. The left second permanent magnet (23) and the right second permanent magnet (24) are respectively connected to the docking groove (21) through hot melt adhesive, and the left second copper contact (25) and the right second copper contact (26) are respectively connected to the docking groove (21) through hot melt adhesive; The docking mechanism fixing plate (31) is connected to the docking cone (11) and the connecting member (22) respectively by bolts. The upper frame fixing plate (32) is connected to the upper frame of the modular multi-rotor UAV by bolts, and the lower frame fixing plate (33) is connected to the lower frame of the modular multi-rotor UAV by bolts.

3. The docking mechanism of a modular multi-rotor UAV based on a permanent magnet according to claim 1, characterized in that The N poles of the left first permanent magnet (12) and the right second permanent magnet (24) are installed outward, and the S poles of the right first permanent magnet (13) and the left second permanent magnet (23) are installed outward. The left first permanent magnet (12), the right first permanent magnet (13), the left second permanent magnet (23), and the right second permanent magnet (24) completely lock the male and female docking mechanisms after docking and provide the guiding force required during docking.

4. The docking mechanism of a modular multi-rotor unmanned aerial vehicle based on a permanent magnet according to claim 1, characterized in that When the male docking mechanism (1) and the female docking mechanism (2) are misaligned during docking, that is, when the left first permanent magnet (12) and the right second permanent magnet (24) are opposite or the right first permanent magnet (13) and the left second permanent magnet (23) are opposite, due to the principle of like poles repelling, the two mechanisms will be automatically bounced off, thus ensuring that docking can only be completed when the docking cone (11) is inserted into the docking groove (21).

5. The docking mechanism of a modular multi-rotor UAV based on permanent magnets according to claim 1, characterized in that Both the male docking mechanism (1) and the female docking mechanism (2) are provided with permanent magnet mounting grooves, and in order to prevent the permanent magnets from coming out, an annular blocking piece with a thickness of 1 mm is provided in front of the grooves; the permanent magnets are installed in the mounting grooves of the male and female docking mechanisms through hot melt adhesive.

6. The docking mechanism of a modular multi-rotor drone based on permanent magnets according to claim 1, characterized in that, Both the male docking mechanism (1) and the female docking mechanism (2) are provided with screw hole positions for cooperating with the carbon fiber fixture (3).

7. A modular multi-rotor UAV docking mechanism based on a permanent magnet according to claim 1, characterized in that, The frame fixing plate (32) and the lower frame fixing plate (33) of the carbon fiber fixture (3) are provided with openings that cooperate with the protrusions on the docking mechanism fixing plate (31). During assembly, the protrusions can be inserted into the corresponding openings to complete the assembly.

8. The docking mechanism of a modular multi-rotor unmanned aerial vehicle based on permanent magnets according to claim 6, characterized in that The frame fixing plate (32) and the lower frame fixing plate (33) of the carbon fiber fixture (3) are provided with corresponding screw hole positions for cooperating with the drone frame.

9. The docking mechanism of a modular multi-rotor unmanned aerial vehicle based on a permanent magnet according to claim 1, characterized in that The first left copper contact (14), the first right copper contact (15), the second left copper contact (25), and the second right copper contact (26) are mutually attached under the action of the permanent magnet, thereby sending the coordinated control signal converted by the RS485 module.

10. A modular multi-rotor UAV docking mechanism based on permanent magnets, characterized in that, The operation process of the drone docking mechanism is as follows: During the process of the male docking mechanism (1) and the female docking mechanism (2) approaching each other, the permanent magnets arranged on both sides of the male docking mechanism (1) and the female docking mechanism (2) will provide corresponding guiding forces. When the male docking mechanism (1) is completely inserted into the female docking mechanism (2), the permanent magnets arranged on both sides of the male docking mechanism (1) and the female docking mechanism (2) will completely lock the male docking mechanism (1) and the female docking mechanism (2). Subsequently, the two machines can communicate with each other through the copper contacts.

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