Quick docking and locking device and method for unmanned aerial vehicle based on open bushing

Abstract

The application discloses an unmanned aerial vehicle rapid docking locking device and method based on an open bushing, and relates to the technical field of unmanned aerial vehicles.The device comprises a docking joint, a docking reinforcement, an open bushing and a quick-release pin.The docking joint comprises a first docking joint connected to a first component and a second docking joint connected to a second component, and the first docking joint and the second docking joint are adapted to be matched and connected.The inside of the docking reinforcement is provided with a through hole parallel to a first direction, and the first docking joint and the second docking joint are respectively provided with a first docking through hole and a second docking through hole at two ends of the through hole.The open bushing is adapted to be inserted into the through hole, the first docking through hole and the second docking through hole to connect the first docking joint and the second docking joint.The quick-release pin is adapted to be inserted into an opening of the open bushing.The application also provides a locking method, which can realize rapid docking and shorten the disassembly and assembly time.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and more specifically, to a quick docking and locking device and method for UAVs based on an open bushing. Background Technology

[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 components such as mission payloads, power modules, and sensor cabins is becoming increasingly prominent.

[0003] Existing drones generally use traditional connection methods such as bolts-nuts, quick-release pins, or slide rails to connect and lock the various modules to the fuselage.

[0004] However, these conventional technologies reveal the following common problems in different scenarios:

[0005] First, assembly / disassembly efficiency is low. Bolted connections require a wrench or screwdriver, and single-point tightening time is typically 30–60 seconds; while snap-fit ​​structures can be operated by hand, simultaneous unlocking at multiple points is difficult, and they are prone to wear and loosening after repeated insertion and removal. In certain application scenarios, the cumulative resupply time directly affects the mission window and sortie count during resupply.

[0006] Second: Insufficient positioning accuracy and vibration resistance. The gap between the quick-release pin and the mounting hole or the slide rails on both sides is difficult to control. If the gap is too large, it will cause a large amount of movement at the far end of the component, which will cause abnormal vibration of the component under external excitation and even cause structural resonance, resulting in the risk of structural damage. At the same time, it will also cause the UAV to have an uneven shape and abrupt changes in shape. If the gap is too small, disassembly and installation will be difficult and the purpose of quick disassembly cannot be achieved. Summary of the Invention

[0007] In view of this, and in view of 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, so as to solve the technical problems of low positioning accuracy and inability to achieve quick disassembly in existing UAV quick docking and locking devices.

[0008] To address the aforementioned problems, the first objective of this invention is to provide a quick docking and locking device for unmanned aerial vehicles (UAVs) based on an open bushing, comprising:

[0009] The mating joint includes a first mating joint connected to a first component and a second mating joint connected to a second component, wherein the first mating joint and the second mating joint are adapted to be mated and connected to restrict the degree of freedom of the first mating joint and the second mating joint in a first direction;

[0010] The mating reinforcement has a through hole inside that is parallel to the first direction. The first mating joint and the second mating joint have a first mating through hole and a second mating through hole respectively at the two ends opposite to the through hole.

[0011] An open bushing is adapted to be inserted into the through hole, the first mating through hole, and the second mating through hole to connect the first mating joint and the second mating joint;

[0012] Quick-release pins are adapted to be inserted into the opening of the open bushing.

[0013] 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. The unlocking mechanism is adapted to unlock with one key to disengage from the opening bushing.

[0014] Preferably, the opening width dimension B of the open bushing must meet the following limiting conditions:

[0015]

[0016] In the formula: This is an empirical coefficient. The average diameter of the open bushing. , For the outer diameter of the bushing, The inner diameter of the bushing; The elastic modulus of the bushing material. This represents the minimum diameter difference for open bushings. For safety factor, μ is the Poisson's ratio of the bushing material. This represents the elastic limit of the bushing material.

[0017] Preferably, the minimum diameter difference of the open bushing The calculation expression is:

[0018]

[0019] In the formula, max(.) means taking the larger of the two differences; This is the inner diameter when the bushing opening is fully closed; This is the minimum working diameter of the quick-release pin.

[0020] Preferably, the opening bushing is an elastic structural component.

[0021] Preferably, the elastic structural member includes a cylindrical body and a shoulder plate connected coaxially in sequence, and the opening extends straight through the generatrix of the cylindrical body and the shoulder plate.

[0022] Preferably, the wall thickness of the open bushing is 1.0mm-1.5mm, and the radial self-compensating tolerance is 0.78-0.82mm.

[0023] Preferably, the portions of the first and second mating joints that are connected to each other have a first connecting portion and a second connecting portion, and a limiting hole perpendicular to the first direction is provided on the side wall of the first connecting portion, and a protruding post is provided on the outer side wall of the second connecting portion opposite to the limiting hole, and the protruding post is adapted to be inserted into the limiting hole.

[0024] Preferably, the docking reinforcement is adapted to be accommodated inside the second connecting portion.

[0025] The second objective of this invention is to provide a quick docking and locking method for unmanned aerial vehicles (UAVs) based on an open bushing, applicable to the aforementioned quick docking and locking device for UAVs based on an open bushing. The locking method includes the following steps:

[0026] Step S 100 : Match and align the first through hole of the first mating joint, the second through hole of the second mating joint, and the through hole of the mating reinforcement;

[0027] Step S 200 An open bushing is installed in the first mating through hole, the second mating through hole and the through hole, and a quick-release pin is inserted into the opening of the open bushing for automatic locking.

[0028] Step S 300 When it is necessary to disassemble the first and second mating joints, press the unlocking mechanism of the quick-release pin to retract the locking mechanism of the quick-release pin, pull out the quick-release pin, remove the opening bushing, and separate the first and second mating joints.

[0029] Compared with the prior art, the present invention has the following advantages:

[0030] The UAV quick docking and locking device based on an 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 a first component) and a second docking joint (fixed to a second component), used to achieve 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 mating, but may allow slight displacement or rotation in other directions. The docking reinforcement serves as an intermediate transition structure; its through-hole provides an installation channel for the open bushing, while simultaneously enhancing the shear and torsional resistance of the docking area, preventing loosening due to deformation under stress. After the open bushing is inserted into the through-hole, it simultaneously penetrates the first / second docking through-hole, rigidly connecting the two docking joints to the docking reinforcement, filling the fit gap, and improving coaxiality. The quick-release pin is inserted into the opening of the open bushing, expanding the inner wall of the bushing to achieve an interference fit with the through-hole and the docking through-hole, realizing quick locking. Pulling out the quick-release pin releases the elasticity of the open bushing, completing quick disassembly. Compared to traditional quick disassembly and docking methods, the drone quick docking and locking device in this embodiment can eliminate loose parts such as nuts and washers, reducing the number of parts by 50% and the weight by 20%, which meets the requirements for drone weight reduction.

[0031] 2. By using a two-step "insertion-pin locking" operation, the traditional threaded or bolt tightening process is replaced, 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, meeting the modular maintenance needs of UAVs. The interference fit between the open bushing and the hole, along 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 UAV flight). The butt joint reinforcement and the open bushing share the shear force and bending moment, avoiding direct stress on the butt joint and increasing the connection strength by more than 30% (traditional threaded connections are prone to failure due to stress concentration). Attached Figure Description

[0032] Figure 1 This is a three-dimensional structural schematic diagram of the UAV quick docking and locking device based on an open bushing in an embodiment of the present invention;

[0033] Figure 2 This is a schematic cross-sectional view of the structure after the first connecting part and the second connecting part are connected to each other in an embodiment of the present invention;

[0034] Figure 3 This is a three-dimensional structural schematic diagram of the open bushing in an embodiment of the present invention;

[0035] Figure 4 This is a schematic diagram of the main structure of the open bushing in an embodiment of the present invention;

[0036] Figure 5 for Figure 4 A schematic diagram of the cross-sectional structure in the cc direction;

[0037] Figure 6 This is a schematic diagram of the structure of the docking reinforcement in an embodiment of the present invention;

[0038] Figure 7 This is a three-dimensional structural diagram of the quick-release pin in an embodiment of the present invention;

[0039] Figure 8 This is a flowchart illustrating the rapid docking and locking method for UAVs based on an open bushing, as described in an embodiment of the present invention.

[0040] Explanation of reference numerals in the attached figures:

[0041] 1-Matching joint;

[0042] 11-First mating joint; 111-First connecting part; 1111-First mating through hole; 1112-Limiting hole;

[0043] 12-Second mating joint; 121-Second connecting part; 1211-Second mating through hole; 1212-Protruding post;

[0044] 2-Butt reinforcement; 21-Through hole;

[0045] 3-Open bushing; 31-Cylinder body; 32-Protruding shoulder plate; 33-Opening;

[0046] 4-Quick release pin; 41-Unlocking mechanism; 42-Locking mechanism. Detailed Implementation

[0047] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can also refer to the internal connection of two components; and they can refer to a wireless connection or a wired connection. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0049] Furthermore, 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.

[0050] Currently, the docking methods between drone components / parts include: traditional bolt connections and quick-release pin connections, among which:

[0051] Traditional bolted connections typically involve connecting bolts and nuts on the main load-bearing structure, with at least four fastener groups. These bolt and nut fastener groups also include cotter pins to lock the connection. In addition, to maintain the shape of the drone, a cover is usually installed in the docking area, which is then installed using bolts and a support plate nut, resulting in more than ten fastener groups.

[0052] Therefore, during disassembly, tools are needed to first remove the bolts on the cap, remove the cap, 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, which is not conducive to the rapid deployment of UAVs under low-altitude economic conditions.

[0053] The quick disassembly and docking method on drones generally involves designing connecting joints between the components / parts to be docked, and using pins to pass through from one side of the structure to the other (such as the docking of inner and outer wings, holes are made in the beam and skin combination structure of the inner and outer wings, and mounting pins are used to pass through the entire structure).

[0054] However, with this type of docking, if the gap between the hole and the pin is too large, there will be a gap at the support end of the outer wing component after installation. Due to the influence of gravity, the outer wing structure will deform downward, especially at the wingtip, where the deformation can reach more than 20mm. This will result in an uneven shape and abrupt changes in the shape of the drone, which will have an adverse effect on aerodynamics. Secondly, if the gap between the hole and the pin is too small, the shape problem can be avoided, but the disassembly and installation will be difficult, and the purpose of quick disassembly cannot be achieved.

[0055] To resolve the above technical issues, please refer to [link / reference]. Figure 1-7 As shown, this embodiment of the invention provides a quick docking and locking device for unmanned aerial vehicles (UAVs) based on an open bushing. 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:

[0056] The mating joint 1 includes a first mating joint 11 connected to a first component and a second mating joint 12 connected to a second component. The first mating joint 11 and the second mating joint 12 are adapted to mate and connect, thereby limiting the first mating joint 11 and the second mating joint 12 in a first direction (i.e., in the attached direction). Figure 1 Degrees of freedom in the Z-axis direction;

[0057] The internal part of the reinforcing member 2 has a through hole 21 parallel to the first direction. The first mating joint 11 and the second mating joint 12 have first mating through holes 1111 and second mating through holes 1211 respectively at their ends opposite the through hole 21. An open bushing 3 is adapted to be inserted into the through hole 21, the first mating through hole 1111, and the second mating through hole 1211 to connect the first mating joint 11 and the second mating joint 12. A 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 expands the bushing to press it tightly against the hole wall, eliminating gaps and transmitting load. When it is necessary to remove the quick-release pin 4, the elastic retraction of the open bushing 3 allows the first and second components to be pulled out.

[0058] Specifically, in this embodiment, the mating joint 1 consists of a first mating joint 11 (fixed to the first component) and a second mating joint 12 (fixed to the second component), used to achieve 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 and mating (such as a concave-convex structure or dovetail groove), but may allow slight displacement or rotation in other directions. The mating reinforcement 2 serves as an intermediate transition structure, with its through hole 21 providing an installation channel for the open bushing 3, while simultaneously enhancing the shear and torsional resistance of the mating area, preventing loosening of the joint due to deformation under stress. After the open bushing 3 is inserted into the through hole 21, it simultaneously penetrates the first / second mating through holes (111 / 121), rigidly connecting the two mating joints to the mating reinforcement 2, filling the fitting gap, and improving coaxiality. The quick-release pin 4 is inserted into the opening of the open bushing 3, expanding the inner wall of the bushing to achieve an interference fit with the through hole 21 and the mating through hole, realizing rapid locking. Pulling out the quick-release pin 4 releases the elasticity of the open bushing 3, completing rapid disassembly.

[0059] Compared to traditional quick disassembly and docking methods, the drone quick docking and locking device in this embodiment can eliminate loose parts such as nuts and washers, reducing the number of parts by 50% and the weight by 20%, which meets the requirements for drone weight reduction.

[0060] Therefore, by using a two-step "insertion-pin locking" operation, the traditional thread or bolt tightening process is replaced, reducing assembly time by more than 90%. The manual insertion and removal design of the quick-release pin 4 is suitable for field or emergency scenarios, meeting the modular maintenance needs of UAVs. The interference fit between the open bushing 3 and the hole, along with 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 UAV flight). The butt joint reinforcement 2 and the open bushing 3 share the shear force and bending moment, avoiding direct stress on the butt joint 1 and increasing the connection strength by more than 30% (traditional threaded connections are prone to failure due to stress concentration).

[0061] Specifically, please refer to Figure 7As 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. The unlocking mechanism 41 is adapted to unlock with one key to disengage from the opening bushing 3.

[0062] During the locking process, the diameter of the quick-release pin 4 gradually decreases from the head to the shoulder (e.g., a taper of 1:50), creating a progressive expansion effect. In the initial insertion stage, the larger diameter of the quick-release pin 4 head first opens the bushing opening, providing initial positioning force and preventing axial movement of the bushing. In the shoulder positioning stage, the smaller diameter shoulder reaches the bushing position, reducing the expansion amount to avoid excessive interference and thus excessive insertion / extraction force, while maintaining elastic preload. Once the quick-release pin 4 is fully inserted, the locking mechanism 42 (e.g., an elastic barb or ball joint latch) pops out, extending outside the through hole 21 of the mating reinforcement 2, achieving mechanical locking and preventing the quick-release pin 4 from retracting due to vibration.

[0063] During the unlocking process, the user presses the head button of the quick-release pin 4 to trigger the internal linkage mechanism (such as a cam or slider), causing the synchronous retraction locking mechanism 42 (the barb retracts or the ball releases); 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 with the through hole 21 is reduced sharply, and the pin can be pulled out without resistance, completing the quick disassembly.

[0064] Compared to traditional cotter pins or R-type pins, it has significant advantages in reliability, efficiency, and environmental adaptability.

[0065] This embodiment upgrades the pin from a simple fastener to a bidirectional controllable locking system through a three-stage control of "tapered progressive expansion - mechanical locking - trigger unlocking". The tapered design converts axial thrust into radial locking force, and the force value decreases with the insertion depth to avoid stress concentration. The locking mechanism 42 is activated only after full insertion and can dynamically retract during unlocking to achieve "tool-free" operation.

[0066] Specifically, in some embodiments of the present invention, the opening width dimension B of the open bushing 3 must meet the following limiting conditions:

[0067]

[0068] In the formula: This is an empirical coefficient. The average diameter of the open bushing. , For the outer diameter of the bushing, The inner diameter of the bushing; The elastic modulus of the bushing material. This represents the minimum diameter difference for open bushings. For safety factor, μ is the Poisson's ratio of the bushing material. This represents the elastic limit of the bushing material.

[0069] Therefore, after the quick-release pin 4 is inserted, the elastic deformation of the bushing opening is converted into radial pressure, transforming the axial insertion and extraction force into a radial locking force, which can be operated without threads or tools. In this way, the open bushing 3 can both serve as a positioning shaft to ensure coaxiality and as an elastic locking element to achieve fastening through the expansion of the quick-release pin 4.

[0070] Specifically, in some embodiments of the present invention, the minimum diameter difference of the open bushing 3 The calculation expression is:

[0071]

[0072] In the formula, max(.) means taking 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 completely closed, corresponding to the pinless state; 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 after insertion. The minimum diameter of the through hole 21 of the mating reinforcement 2 (the lower limit of the hole diameter that the outer wall of the bushing needs to match); the maximum outer diameter D2 of the open bushing 3 is the original outer diameter of the bushing when it is in a state of no deformation.

[0073] Before inserting quick-release pin 4 This indicates the initial clearance between the pin and the inner diameter of the bushing. If this difference is too small (close to 0), the pin insertion resistance will be high; if it is too large, the bushing will not expand sufficiently after locking, resulting in insufficient preload.

[0074] This indicates the minimum clearance between the bushing's outer diameter and the through hole 21. If this difference is ≤0, the bushing will interfere with the through hole during expansion, resulting in inability to insert or plastic deformation.

[0075] Therefore, by dynamically balancing the pin insertion force and the bushing expansion, it avoids being "too tight" or "too loose," ensuring that it neither jams nor comes loose.

[0076] Specifically, in some embodiments of the present invention, the open bushing 3 is an elastic structural component. The elasticity of the open bushing 3 can accommodate machining errors of ±0.1mm, avoiding assembly difficulties caused by hole position deviations.

[0077] Therefore, the elastic open bushing transforms the ±0.1 mm machining error into system redundancy through controllable radial deformation, enabling the elastic preload to continuously compensate for wear and extend the connection life.

[0078] Specifically, please refer to Figure 3As shown, in some embodiments of the present invention, the elastic structural member includes a cylindrical body 31 and a shoulder plate 32 connected coaxially in sequence, and the opening 33 extends straight through the generatrix of the cylindrical body 31 and the shoulder plate 32. The cylindrical body 31 undergoes elliptical deformation due to the constraint of the through hole 21. The compression along the major axis and the expansion along the minor axis cause it to automatically align with the center of the three holes. The end face of the shoulder plate 32 fits against the mating reinforcement 2, forming an axial hard limit to prevent over-insertion.

[0079] When the quick-release pin 4 enters the cylinder 31, it opens the slot and the cylinder 31 returns from an ellipse to a near circle. The inner wall generates uniform radial pressure on the pin. After the quick-release pin 4 is pulled out, the cylinder 31 shrinks in diameter and the gap between the opening 33 and the through hole 21 is restored due to the instantaneous rebound of the opening 33. It is then pulled out with zero resistance.

[0080] Specifically, in some embodiments of the present invention, the wall thickness of the open bushing 3 is 1.0mm-1.5mm, and the radial self-compensating tolerance is 0.78-0.82mm.

[0081] Therefore, the elastic deformation of the open bushing 3 can compensate for micro-wear during long-term use and extend its service life to more than 5,000 cycles (traditional threads may fail due to stripping).

[0082] Specifically, please refer to Figure 2 As shown, in some embodiments of the present invention, the portions of the first mating joint 11 and the second mating joint 12 that 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 protrusion 1212 is provided on the outer side wall of the second connecting portion 121 opposite to the limiting hole 1112, and the protrusion 1212 is adapted to be inserted into the limiting hole 1112.

[0083] Specifically, in this technical solution, the main constraint is achieved by the end face contact between the first mating joint 11 and the second mating joint 12 in the Z-axis direction (first direction); when the protrusion 1212 is inserted into the limiting hole 1112, a single point contact can be formed to eliminate the Y-axis translation; when the protrusion 1212 contacts both sides of the hole wall (the clearance fit is converted into an interference fit), the X-axis translation is eliminated.

[0084] Specifically, please refer to Figure 2 As shown, in some embodiments of the present invention, the docking reinforcement 2 is adapted to be accommodated inside the second connecting portion 121.

[0085] Therefore, by transforming traditional external reinforcement components into nested double-layer shear walls, without increasing the external dimensions, the internal cavity is used to guide and compress assembly errors, and the double-layer wall composite is used to improve lateral stiffness and fatigue life.

[0086] Please see Figure 8As shown, some other embodiments of the present invention also provide a method for quick docking and locking of unmanned aerial vehicles (UAVs) based on an open bushing, applied to the aforementioned quick docking and locking device for UAVs based on an open bushing. The locking method includes the following steps:

[0087] Step S 100 : Match and align the first mating through hole 1111 of the first mating joint 11, the second mating through hole 1211 of the second mating joint 12, and the through hole 21 of the mating reinforcement 2;

[0088] In this step, the protruding post 1212 and the limiting hole 1112 are used, with an initial misalignment of ±0.2 mm allowed between the protruding post 1212 and the limiting hole 1112, so that the manual alignment time is reduced from 30 s to 5 s.

[0089] Step S 200 An open bushing 3 is installed in the first mating through hole 1111, the second mating through hole 1211 and the through hole 21, and a quick-release pin 4 is inserted into the opening 33 of the open bushing 3 to automatically lock it.

[0090] In this step, the pin taper converts the axial thrust into radial locking force, requiring no tools and with a single-step operation time of less than 3 seconds.

[0091] Step S 300 When it is necessary to disassemble the first docking joint 11 and the second docking joint 12, press the unlocking mechanism 41 of the quick-release pin 4 to retract the locking mechanism 42 of the quick-release pin 4, pull out the quick-release pin 4, remove the opening bushing 3, and separate the first docking joint 11 and the second docking joint 12.

[0092] In this step, the disassembly time is less than 2 seconds due to the retraction and elastic rebound of the locking mechanism 42, which is ten times faster than traditional bolts.

[0093] Therefore, this method, through a four-state closed loop of "coarse alignment → elastic adaptation → mechanical locking → one-click rebound", compresses the traditional multi-tool, multi-step disassembly and assembly of drone components into a rapid three-step process with one hand, which has obvious time and reliability advantages in various scenarios.

[0094] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of this disclosure, and all such changes and modifications will fall within the scope of protection of this invention.

Claims

1. A quick docking and locking device for unmanned aerial vehicles based on an open bushing, characterized in that, include: The mating joint includes a first mating joint connected to a first component and a second mating joint connected to a second component, wherein the first mating joint and the second mating joint are adapted to be mated and connected to restrict the degree of freedom of the first mating joint and the second mating joint in a first direction; The mating reinforcement has a through hole inside that is parallel to the first direction. The first mating joint and the second mating joint have a first mating through hole and a second mating through hole respectively at the two ends opposite to the through hole. An open bushing is adapted to be inserted into the through hole, the first mating through hole, and the second mating through hole to connect the first mating joint and the second mating joint; the open bushing is an elastic structural member, and the elastic structural member is interference-fitted with the through hole of the mating reinforcement; A quick-release pin is adapted to be inserted into the opening of the open bushing. The diameter of the quick-release pin gradually decreases from the head to the shoulder. 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. The unlocking mechanism is adapted to unlock with one click to achieve tool-free disassembly and removal from the open bushing. The opening width dimension B of the open bushing must meet the following constraints: In the formula: This is an empirical coefficient. The average diameter of the open bushing. , For the outer diameter of the bushing, The inner diameter of the bushing; The elastic modulus of the bushing material. This represents the minimum diameter difference for open bushings. For safety factor, μ is the Poisson's ratio of the bushing material. The elastic limit of the bushing material; The minimum diameter difference of the open bushing The calculation expression is: The ΔD min Used to ensure that the open bushing undergoes only elastic deformation under drone vibration; In the formula, max(.) means taking the larger of the two differences; This is the inner diameter when the bushing opening is fully closed; This is the minimum working diameter of the quick-release pin.

2. The UAV quick docking and locking device based on an open bushing according to claim 1, characterized in that, The elastic structural member includes a cylindrical body and a convex shoulder plate connected coaxially in sequence, and the opening extends straight through the generatrix of the cylindrical body and the convex shoulder plate.

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

4. The UAV quick docking and locking device based on an open bushing according to claim 2, characterized in that, The first and second mating joints are connected to each other by having a first connecting part and a second connecting part, respectively. A limiting hole perpendicular to the first direction is provided on the side wall of the first connecting part. A protruding post is provided on the outer side wall of the second connecting part opposite to the limiting hole, and the protruding post is adapted to be inserted into the limiting hole.

5. The UAV quick docking and locking device based on an open bushing according to claim 4, characterized in that, The docking reinforcement is adapted to be accommodated inside the second connecting portion.

6. A method for rapid docking and locking of unmanned aerial vehicles (UAVs) based on an open bushing, applied to the rapid docking and locking device for UAVs based on an open bushing as described in any one of claims 1-5, characterized in that, The locking method includes the following steps: Step S 100 : Match and align the first through hole of the first mating joint, the second through hole of the second mating joint, and the through hole of the mating reinforcement; Step S 200 An open bushing is installed in the first mating through hole, the second mating through hole and the through hole, and a quick-release pin is inserted into the opening of the open bushing for automatic locking. Step S 300 When it is necessary to disassemble the first and second mating joints, press the unlocking mechanism of the quick-release pin to retract the locking mechanism of the quick-release pin, pull out the quick-release pin, remove the opening bushing, and separate the first and second mating joints.

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