Unmanned aerial vehicle quick docking and locking device and method based on open bushings

Abstract

The invention discloses an unmanned aerial vehicle quick butt-joint locking device and method based on an open bush, and relates to the technical field of unmanned aerial vehicles, the unmanned aerial vehicle quick butt-joint locking device comprises butt-joint connectors, a butt-joint reinforcing part, the open bush and a quick-release pin, the butt-joint connectors comprise a first butt-joint connector connected to a first component and a second butt-joint connector connected to a second component, the first butt joint and the second butt joint are suitable for matching butt joint connection; a through hole is formed in the butt joint reinforcing piece in the direction parallel to the first direction, and a first butt joint through hole and a second butt joint through hole are formed in the two ends, directly facing the through hole, of the first butt joint and the second butt joint correspondingly. The opening lining is suitable for being inserted into the through hole, the first butt joint through hole and the second butt joint through hole so as to connect the first butt joint and the second butt joint. The quick-release pin is suitable for being inserted into the opening of the opening lining. The invention further provides a locking method, and the disassembly and assembly time is shortened while quick butt joint is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a UAV quick docking and locking device and method based on an open bushing. Background Art

[0002] With the widespread application of small and medium-sized UAVs in military reconnaissance, emergency mapping, logistics delivery and other fields, the demand for rapid replacement of their mission payloads, power modules, sensor cabins and other components has become increasingly prominent.

[0003] Existing drones generally use traditional connection methods such as bolts and nuts, quick-release pins or slide rails to complete the docking and locking of each module with the fuselage.

[0004] However, these conventional technologies expose the following common problems in different scenarios: First, assembly and disassembly efficiency is low. Bolted connections require a wrench or screwdriver, and single-point tightening typically takes 30–60 seconds. While the snap-fit ​​mechanism can be operated manually, simultaneous unlocking at multiple points is difficult, and repeated insertion and removal can lead to wear and loosening. In certain scenarios, when resupplying, the cumulative reloading time directly impacts mission windows and operational sorties.

[0005] Second: Inadequate positioning accuracy and vibration resistance. The clearance between the quick-release pin and the mounting hole or the two side rails is difficult to control. Excessive clearance can cause significant movement at the far end of the component, leading to abnormal vibration under external excitation and even structural resonance, which can lead to structural damage. This can also cause the drone's appearance to be uneven and abrupt. If the clearance is too small, disassembly and installation become difficult, preventing rapid disassembly. Summary of the Invention

[0006] In view of this, in order to address the problems existing in the existing methods, the present invention provides a UAV quick docking and locking device and method based on an open bushing to solve the technical problems of low positioning accuracy and inability to achieve quick disassembly of the existing UAV quick docking and locking devices.

[0007] To solve the above problems, the first object of the present invention is to provide a UAV quick docking and locking device based on an open bushing, comprising: a butt joint comprising a first butt joint connected to a first component and a second butt joint connected to a second component, wherein the first butt joint and the second butt joint are adapted to be mated and butt-connected to limit the degree of freedom of the first butt joint and the second butt joint in a first direction; A butt joint reinforcement member, wherein a through hole is formed in the interior thereof in parallel with the first direction, and a first butt joint through hole and a second butt joint through hole are formed at two ends of the first butt joint and the second butt joint facing the through hole respectively; an open bushing adapted to be inserted into the through hole, the first butt through hole, and the second butt through hole to connect the first butt joint with the second butt joint; The quick-release pin is suitable for being inserted into the opening of the open bushing.

[0008] Preferably, the diameter of the quick release pin gradually decreases from the head to the shoulder, and the head of the quick release pin is provided with an unlocking mechanism, and the tip of the quick release pin is provided with a locking mechanism, and the unlocking mechanism is suitable for one-key unlocking to disengage from the open bushing.

[0009] Preferably, the opening width dimension B of the open bushing needs to meet the following limiting conditions:

[0010] Where: is the empirical coefficient, is the average diameter of the open bushing, , is the outer diameter of the bushing, is the inner diameter of the bushing; is the elastic modulus of the bushing material, is the minimum diameter difference of the split bushing, is the safety factor, μ is the Poisson’s ratio of the bushing material, is the elastic limit of the bushing material.

[0011] Preferably, the minimum diameter difference of the open bushing The calculation expression is:

[0012] In the formula, max(.) means taking the larger of the two differences; It is the inner diameter of the bushing when the opening is fully closed; The minimum working diameter of the quick release pin.

[0013] Preferably, the open bushing is an elastic structural component.

[0014] Preferably, the elastic structural member includes a cylinder and a flange plate that are coaxially connected in sequence, and the opening passes through a straight line along a generatrix of the cylinder and the flange plate.

[0015] Preferably, the wall thickness of the open bushing is 1.0 mm-1.5 mm, and the radial self-compensation tolerance is 0.78 mm-0.82 mm.

[0016] Preferably, the parts where the first butt joint and the second butt joint are connected to each other have a first connecting part and a second connecting part respectively, and a limiting hole perpendicular to the first direction is provided on the side wall of the first connecting part, and a protrusion is provided on the outer side wall of the second connecting part opposite to the limiting hole, and the protrusion is suitable for being inserted into the limiting hole.

[0017] Preferably, the butt reinforcement is adapted to be accommodated inside the second connecting portion.

[0018] A second object of the present invention is to provide a method for quickly docking and locking a UAV based on an open bushing, which is applied to the above-mentioned UAV quick docking and locking device based on an open bushing. The locking method comprises the following steps: Step S 100 : Matching and aligning the first butt through-hole of the first butt joint, the second butt through-hole of the second butt joint, and the through-hole of the butt reinforcement; Step S 200 : Installing open bushings into the first docking through hole, the second docking through hole and the through hole, and inserting quick-release pins into the openings of the open bushings for automatic locking; Step S 300 : When the first butt joint and the second butt joint are to be disassembled, the unlocking mechanism of the quick-release pin is pressed to retract the locking mechanism of the quick-release pin, the quick-release pin is pulled out, the opening bushing is removed, and the first butt joint and the second butt joint are separated.

[0019] Compared with the prior art, the present invention has the following beneficial effects: The UAV quick docking and locking device based on the open bushing in this application includes a docking joint, a docking reinforcement, an open bushing, and a quick-release pin. The docking joint consists of a first docking joint (fixed to the first component) and a second docking joint (fixed to the second component), which is used to achieve the initial positioning of the two components. The two components limit the freedom of the Z-axis direction (i.e., prevent axial separation) through matching docking, but may allow slight displacement or rotation in other directions; the docking reinforcement serves as an intermediate transition structure, and its through hole provides an installation channel for the open bushing, while enhancing the shear and torsion resistance of the docking area, preventing the joint from loosening due to stress deformation; after the open bushing is inserted into the through hole, it simultaneously penetrates the first and second docking through holes, rigidly connecting the two docking joints and the docking reinforcement, filling the fitting gap and improving coaxiality; the quick-release pin is inserted into the opening of the open bushing, expanding the inner wall of the bushing so that it has an interference fit with the through hole and the docking through hole, achieving rapid locking; pulling out the quick-release pin releases the elasticity of the open bushing, completing rapid disassembly. Compared with the traditional quick-disassembly docking form, the drone quick docking locking device in this embodiment can eliminate loose parts such as nuts and gaskets, reducing the number of parts by 50% and the weight by 20%, which meets the drone weight reduction requirements.

[0020] 2. The two-step "insertion-pin locking" operation replaces the traditional thread or bolt tightening process, reducing assembly time by more than 90%. The manual insertion and removal design of the quick-release pin is suitable for field or emergency scenarios and meets the modular maintenance needs of drones. The interference fit between the open bushing and the hole, combined with the radial expansion of the quick-release pin, forms a self-locking structure to resist loosening caused by vibration (such as high-frequency vibration during drone flight). The docking reinforcement and the open bushing jointly share shear force and bending moment, avoiding direct stress on the docking joint and improving the connection strength by more than 30% (traditional threaded connections are prone to failure due to stress concentration). BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 Schematic diagram of the three-dimensional structure of the UAV quick docking and locking device based on the open bushing in an embodiment of the present invention; Figure 2 This is a schematic cross-sectional view of the first connecting portion and the second connecting portion connected to each other in an embodiment of the present invention; Figure 3 Schematic diagram of the three-dimensional structure of the open bushing in an embodiment of the present invention; Figure 4 This is a schematic diagram of the main structure of the open bushing in an embodiment of the present invention; Figure 5 for Figure 4 Schematic diagram of the cross-sectional structure in the cc direction; Figure 6 Schematic diagram of the structure of the butt joint reinforcement member in an embodiment of the present invention; Figure 7 Schematic diagram of the three-dimensional structure of the quick-release pin in an embodiment of the present invention; Figure 8 The figure is a flow chart of a method for rapid docking and locking of a UAV based on an open bushing in an embodiment of the present invention.

[0022] Description of reference numerals: 1-Butt joint; 11-first docking joint; 111-first connecting portion; 1111-first docking through hole; 1112-limiting hole; 12-second docking joint; 121-second connecting portion; 1211-second docking through hole; 1212-convex column; 2- docking reinforcement; 21- through hole; 3-opening bushing; 31-cylinder; 32-shoulder plate; 33-opening; 4-quick release pin; 41-unlocking mechanism; 42-locking mechanism. DETAILED DESCRIPTION

[0023] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention. In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; internal connections between two components; wireless connections or wired connections. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0024] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0025] At present, the docking forms between UAV components / parts include: traditional bolt connection and quick release pin connection, among which: Traditional bolt connection methods generally use bolts + nuts to connect the main load-bearing structure, with more than or equal to 4 fastener groups. The bolt + nut fastener group also includes a cotter pin to lock the connection. In addition, in order to maintain the appearance of the drone, a cover is generally set in the docking area, and bolts + support nuts are used for installation. The number of fastener groups is greater than 10.

[0026] Therefore, during disassembly, tools are required to first remove the cover bolts, remove the cover, disassemble the cotter pin, remove the nuts and bolts, and separate the interconnected components; the installation process is the reverse. The entire process is time-consuming and inefficient, hindering the rapid deployment of drones under low-altitude economic conditions.

[0027] The quick-disassembly docking system on drones generally designs connecting joints between the components / parts that are docked with each other, and uses pins to penetrate from one side of the structure to the other side of the structure (for example, when docking the inner and outer wings, holes are made in the combined structure of the beams and skins of the inner and outer wings, and mounting pins are used to penetrate the entire structure).

[0028] However, in this docking form, if the clearance between the holes and pins is large, there will be a gap at the supporting end of the outer wing component after installation. Due to the influence of gravity, the outer wing structure will deform downward, especially the wingtip part, which can deform by more than 20mm, resulting in an uneven and sudden change in the appearance of the drone, which has an adverse effect on aerodynamics. Secondly, if the clearance between the holes and pins is too small, the appearance problem can be avoided, but disassembly and installation are difficult, and the purpose of quick disassembly cannot be achieved.

[0029] To solve the above technical problems, please refer to Figure 1-7 As shown, an embodiment of the present invention provides a UAV quick docking and locking device based on an open bushing, wherein the docking and locking device includes a docking joint 1, a docking reinforcement 2, an open bushing 3 and a quick-release pin 4, wherein: The butt joint 1 comprises a first butt joint 11 connected to a first component and a second butt joint 12 connected to a second component, wherein the first butt joint 11 and the second butt joint 12 are adapted to be matched and butt-connected to limit the first butt joint 11 and the second butt joint 12 from being in a first direction (i.e., attached to the first component). Figure 1 Degrees of freedom in the Z-axis direction (in the y-axis direction); A through hole 21 is provided inside the butt joint reinforcement 2 parallel to the first direction. A first butt joint through hole 1111 and a second butt joint through hole 1211 are provided at both ends of the first butt joint 11 and the second butt joint 12 facing the through hole 21, respectively. The open bushing 3 is adapted to be inserted into the through hole 21, the first butt joint through hole 1111, and the second butt joint through hole 1211 to connect the first butt joint 11 and the second butt joint 12. The quick-release pin 4 is adapted to be inserted into the opening of the open bushing 3 to form a coaxial connection. The quick-release pin 4 stretches the bushing so that it is pressed against the hole wall, eliminating gaps and transferring loads. When the quick-release pin 4 needs to be pulled out, the open bushing 3 elastically retracts, allowing the first component and the second component to be withdrawn.

[0030] Specifically, in this embodiment, the butt joint 1 comprises a first butt joint 11 (fixed to the first component) and a second butt joint 12 (fixed to the second component), which are used to achieve the initial positioning of the two components. The two components restrict the degree of freedom in the Z-axis direction (i.e., prevent axial separation) through matching butt joints (such as concave-convex structures or dovetail grooves), but may allow slight displacement or rotation in other directions. The butt joint reinforcement 2 serves as an intermediate transition structure, and its through hole 21 provides a mounting channel for the open bushing 3, while also enhancing the shear and torsion resistance of the butt joint area, preventing loosening of the joint due to stress deformation. After the open bushing 3 is inserted into the through hole 21, it simultaneously passes through the first and second butt joint through holes (111 / 121), rigidly connecting the two butt joints with the butt joint reinforcement 2, filling the fitting gap and improving coaxiality. A quick-release pin 4 is inserted into the opening of the open bushing 3, expanding the inner wall of the bushing so that it interferes with the through hole 21 and the butt joint through hole, achieving rapid locking. Removing the quick-release pin 4 releases the elasticity of the open bushing 3, completing rapid disassembly.

[0031] Compared with the traditional quick-disassembly docking form, the drone quick docking locking device in this embodiment can eliminate loose parts such as nuts and gaskets, reducing the number of parts by 50% and the weight by 20%, which meets the drone weight reduction requirements.

[0032] Therefore, through the two-step operation of "insertion-pin locking", the tightening process of traditional threads or bolts is replaced, reducing the assembly time by more than 90%. The manual plug-in and pull-out design of the quick-release pin 4 is suitable for field or emergency scenarios, meeting the modular maintenance needs of drones; the interference fit between the open bushing 3 and the hole, plus the radial expansion of the quick-release pin 4, forms a self-locking structure to resist loosening caused by vibration (such as high-frequency vibration during drone flight); the docking reinforcement 2 and the open bushing 3 jointly share shear force and bending moment, avoiding direct force on the docking joint 1, and improving the connection strength by more than 30% (traditional threaded connections are prone to failure due to stress concentration).

[0033] Specifically, see Figure 7 As shown, in some embodiments of the present invention, the diameter of the quick-release pin 4 gradually decreases from the head to the shoulder, and the head of the quick-release pin 4 is provided with an unlocking mechanism 41, and the tip of the quick-release pin 4 is provided with a locking mechanism 42, and the unlocking mechanism 41 is suitable for one-button unlocking to disengage from the open bushing 3.

[0034] During the locking process, the diameter of the quick-release pin 4 gradually decreases from its head to its shoulder (e.g., a taper of 1:50), creating a gradual expansion effect. During the initial insertion phase, the larger diameter of the quick-release pin 4's head initially opens the bushing opening, providing initial positioning force and preventing axial movement of the bushing. During the shoulder-positioning phase, when the smaller diameter shoulder reaches the bushing, the expansion decreases, preventing interference and excessive insertion and extraction forces while maintaining the elastic preload. When the quick-release pin 4 is fully inserted, the locking mechanism 42 (e.g., a resilient barb or ball-shaped catch) pops out and extends out of the through-hole 21 of the docking reinforcement 2, achieving mechanical locking and preventing the quick-release pin 4 from withdrawing in the opposite direction due to vibration.

[0035] During the unlocking process, the user presses the head button of the quick-release pin 4 to trigger the internal connecting rod mechanism (such as a cam or a slider), causing the locking mechanism 42 to retract synchronously (the barb is retracted or the ball is released); during the elastic retraction process, the bushing opening elastically contracts due to the loss of pin support, and the diameter returns to its original size. The friction force with the through hole 21 is suddenly reduced, and the pin can be pulled out without resistance, completing the quick disassembly.

[0036] Compared with traditional cotter pins or R-type pins, it has obvious advantages in reliability, efficiency and environmental adaptability.

[0037] This embodiment upgrades the pin from a simple fastener to a bidirectionally controllable locking system through the three-stage control of "progressive expansion of the taper - mechanical locking - trigger unlocking". The taper design converts the axial thrust into a radial locking force, and the force value decreases with the insertion depth to avoid stress concentration; the locking mechanism 42 is only activated after full insertion and can dynamically retract when unlocked, realizing "zero tool" operation.

[0038] Specifically, in some embodiments of the present invention, the opening width dimension B of the open bushing 3 must meet the following limiting conditions:

[0039] Where: is the empirical coefficient, is the average diameter of the open bushing, , is the outer diameter of the bushing, is the inner diameter of the bushing; is the elastic modulus of the bushing material, is the minimum diameter difference of the split bushing, is the safety factor, μ is the Poisson’s ratio of the bushing material, is the elastic limit of the bushing material.

[0040] As a result, after the quick-release pin 4 is inserted, the elastic deformation of the bushing opening is converted into radial pressure, converting the axial insertion and extraction force into a radial locking force, without the need for threads or tools. This allows the open bushing 3 to act as a positioning axis to ensure coaxiality and as an elastic locking element to achieve tightening through the expansion of the quick-release pin 4.

[0041] Specifically, in some embodiments of the present invention, the minimum diameter difference of the open bushing 3 is The calculation expression is:

[0042] Where max(.) represents the larger of the two differences; the maximum inner diameter D1 of the open bushing 3 is the inner diameter when the bushing opening is fully closed, corresponding to the state without a pin; the minimum working diameter D2 of the quick-release pin 4 is usually the diameter of the pin shoulder, that is, the effective diameter of the bushing actually expanded after insertion; It represents the minimum diameter of the through hole 21 of the docking reinforcement 2 (the lower limit of the hole diameter that the outer wall of the bushing needs to match with it); the maximum outer diameter D2 of the open bushing 3 is the original outer diameter of the bushing when it is not deformed.

[0043] Before the quick release pin 4 is inserted, This represents the initial clearance between the pin and the bushing's inner diameter. If this difference is too small (close to 0), the pin insertion resistance is high; if it is too large, the bushing will not expand enough after tightening, resulting in insufficient preload.

[0044] Indicates the minimum clearance between the bushing outer diameter and the through hole 21. If this difference is ≤ 0, the bushing will interfere with the through hole when expanded, resulting in inability to insert or plastic deformation.

[0045] Thus, by dynamically balancing the pin insertion force and the bushing expansion, "over-tightening" or "over-loosening" is avoided; ensuring neither jamming nor loosening.

[0046] Specifically, in some embodiments of the present invention, the open bushing 3 is an elastic structural member. The elasticity of the open bushing 3 can adapt to a processing error of ±0.1 mm, thereby avoiding assembly difficulties caused by hole position deviation.

[0047] Therefore, the elastic open bushing converts the processing error of ±0.1 mm into system redundancy through controllable radial deformation, achieving continuous compensation of wear by elastic preload and extending the connection life.

[0048] Specifically, see Figure 3 As shown, in some embodiments of the present invention, the elastic structural member includes a cylindrical body 31 and a flange 32 coaxially connected in sequence, with an opening 33 extending straight through the generatrix of the cylindrical body 31 and the flange 32. The cylindrical body 31 is constrained by the through hole 21 to produce an elliptical deformation. The compression in the major axis and the expansion in the minor axis automatically align the three holes. The end surface of the flange 32 abuts against the docking reinforcement 2, forming an axial hard limit to prevent over-insertion.

[0049] When the quick-release pin 4 enters the cylinder 31, the opening groove is expanded, and the cylinder 31 is restored from an ellipse to a nearly circular shape, and the inner wall generates uniform radial pressure on the pin; after the quick-release pin 4 is pulled out, the cylinder 31 rebounds instantly due to the opening 33, and the diameter is reduced and the gap with the through hole 21 is restored, and it can be pulled out with zero resistance.

[0050] Specifically, in some embodiments of the present invention, the wall thickness of the open bushing 3 is 1.0 mm-1.5 mm, and the radial self-compensation tolerance is 0.78 mm-0.82 mm.

[0051] Thus, the elastic deformation of the open bushing 3 can compensate for the micro-wear during long-term use and extend the service life to more than 5000 cycles (traditional threads may fail due to thread stripping).

[0052] Specifically, see Figure 2 As shown, in some embodiments of the present invention, the parts where the first butt joint 11 and the second butt joint 12 are connected to each other respectively have a first connecting portion 111 and a second connecting portion 121, and a limiting hole 1112 perpendicular to the first direction is provided on the side wall of the first connecting portion 111, and a boss 1212 is provided on the outer side wall of the second connecting portion 121 opposite the limiting hole 1112, and the boss 1212 is suitable for being inserted into the limiting hole 1112.

[0053] Specifically in the present technical solution, the main constraint is completed by the end face contact between the first butt joint 11 and the second butt joint 12 in the Z-axis direction (first direction); when the boss 1212 is inserted into the limiting hole 1112, a single point contact can be formed to eliminate the Y-direction translation; when the boss 1212 contacts both sides of the hole wall (the clearance fit is converted into interference fit), the X-direction translation is eliminated.

[0054] Specifically, referring to FIG. 2 , in some embodiments of the present invention, the butt reinforcement member 2 is adapted to be accommodated inside the second connecting portion 121 .

[0055] Therefore, by converting the traditional external reinforcement into a nested double-layer shear wall, without increasing the external dimensions, the inner cavity is used to guide the compression assembly error, and the double-layer wall is used for composite to improve the lateral stiffness and fatigue life.

[0056] See also Figure 8 As shown, some other embodiments of the present invention further provide a method for quickly docking and locking a UAV based on an open bushing, which is applied to the above-mentioned UAV quick docking and locking device based on an open bushing. The locking method includes the following steps: Step S 100 : Matching and aligning the first butt through-hole 1111 of the first butt joint 11, the second butt through-hole 1211 of the second butt joint 12, and the through-hole 21 of the butt reinforcement 2; In this step, the boss 1212 and the limiting hole 1112 are used, wherein an initial misalignment of ±0.2 mm is allowed between the boss 1212 and the limiting hole 1112 , thereby reducing the manual alignment time from 30 s to 5 s.

[0057] Step S 200 : Install the open bushing 3 into the first docking through hole 1111, the second docking through hole 1211 and the through hole 21, and insert the quick-release pin 4 into the opening 33 of the open bushing 3 to automatically lock; In this step, the pin taper converts the axial thrust into a radial locking force. No tools are required, and the single-step operation time is less than 3 seconds.

[0058] Step S 300 When the first butt joint 11 and the second butt joint 12 are to be disassembled, the unlocking mechanism 41 of the quick-release pin 4 is pressed to retract the locking mechanism 42 of the quick-release pin 4, the quick-release pin 4 is pulled out, the opening bushing 3 is removed, and the first butt joint 11 and the second butt joint 12 are separated.

[0059] In this step, due to the retraction and elastic rebound of the locking mechanism 42, the disassembly time is less than 2 s, which is ten times faster than that of traditional bolts.

[0060] Therefore, this method compresses the traditional multi-tool, multi-step disassembly and assembly of drone components into a quick three-step process with one hand through the four-state closed loop of "rough alignment → elastic adaptation → mechanical locking → one-button rebound", which has obvious time and reliability advantages in various scenarios.

[0061] Although the present invention is disclosed as above, the scope of protection disclosed by the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A UAV quick docking and locking device based on an open bushing, characterized in that: include: a butt joint comprising a first butt joint connected to a first component and a second butt joint connected to a second component, wherein the first butt joint and the second butt joint are adapted to be mated and butt-connected to limit the degree of freedom of the first butt joint and the second butt joint in a first direction; A butt joint reinforcement member, wherein a through hole is formed in the interior thereof in parallel with the first direction, and a first butt joint through hole and a second butt joint through hole are formed at two ends of the first butt joint and the second butt joint facing the through hole respectively; an open bushing adapted to be inserted into the through hole, the first butt through hole, and the second butt through hole to connect the first butt joint with the second butt joint; The quick-release pin is suitable for being inserted into the opening of the open bushing, and the quick-release pin.

2. The UAV quick docking and locking device based on an open bushing according to claim 1 is characterized in that: The diameter of the quick release pin gradually decreases from the head to the shoulder, and the head of the quick release pin is provided with an unlocking mechanism, and the tip of the quick release pin is provided with a locking mechanism, and the unlocking mechanism is suitable for one-key unlocking to disengage from the open bushing.

3. The UAV quick docking and locking device based on an open bushing according to claim 2 is characterized in that: The opening width dimension B of the open bushing must meet the following limiting conditions: Where: is the empirical coefficient, is the average diameter of the open bushing, , is the outer diameter of the bushing, is the inner diameter of the bushing; is the elastic modulus of the bushing material, is the minimum diameter difference of the split bushing, is the safety factor, μ is the Poisson’s ratio of the bushing material, is the elastic limit of the bushing material.

4. The UAV quick docking and locking device based on an open bushing according to claim 3 is characterized in that: The minimum diameter difference of the split bushing The calculation expression is: In the formula, max(.) means taking the larger of the two differences; It is the inner diameter of the bushing when the opening is fully closed; The minimum working diameter of the quick release pin.

5. The UAV quick docking and locking device based on an open bushing according to claim 1 is characterized in that: The open bushing is an elastic structural component.

6. The UAV quick docking and locking device based on an open bushing according to claim 5 is characterized in that: The elastic structural member includes a cylinder and a flange disk that are coaxially connected in sequence, and the opening passes through a straight line along a generatrix of the cylinder and the flange disk.

7. The UAV quick docking and locking device based on an open bushing according to claim 1 is characterized in that: The wall thickness of the open bushing is 1.0 mm to 1.5 mm, and the radial self-compensation tolerance is 0.78 mm to 0.82 mm.

8. The UAV quick docking and locking device based on an open bushing according to claim 6 is characterized in that: The parts where the first butt joint and the second butt joint are connected to each other have a first connecting part and a second connecting part respectively, and a limiting hole perpendicular to the first direction is provided on the side wall of the first connecting part, and a protrusion is provided on the outer side wall of the second connecting part opposite to the limiting hole, and the protrusion is suitable for being inserted into the limiting hole.

9. The UAV quick docking and locking device based on an open bushing according to claim 8, characterized in that: The butt reinforcement is adapted to be accommodated inside the second connecting portion.

10. A method for quickly docking and locking a UAV based on an open bushing, applied to the UAV quickly docking and locking device based on an open bushing according to any one of claims 1 to 9, characterized in that: The locking method comprises the steps of: Step S 100 : Matching and aligning the first butt through-hole of the first butt joint, the second butt through-hole of the second butt joint, and the through-hole of the butt reinforcement; Step S 200 : Installing open bushings into the first docking through hole, the second docking through hole and the through hole, and inserting quick-release pins into the openings of the open bushings for automatic locking; Step S 300 : When the first butt joint and the second butt joint are to be disassembled, the unlocking mechanism of the quick-release pin is pressed to retract the locking mechanism of the quick-release pin, the quick-release pin is pulled out, the opening bushing is removed, and the first butt joint and the second butt joint are separated.

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