Connector and separable air-land amphibious robot

Abstract

The invention discloses a connector and a separable air-land amphibious robot, the connector comprises a first mounting seat and a second mounting seat, the first mounting seat is provided with a guide rail, and the second mounting seat is provided with a guide block matched with the guide rail; the device further comprises a rotating disc, the rotating disc is rotationally arranged at the top end of the first mounting base, a plurality of stop blocks are arranged on the rotating disc, a gap is formed between every two adjacent stop blocks, and the stop blocks are used for preventing the guide blocks from being disengaged from the top ends of the guide rails. Wherein the rotating disc is used for being pressed to rotate to a first pose and a second pose when the second mounting seat moves up and down relative to the first mounting seat, and the guide block is matched with or separated from the guide rail through the gap under the first pose; and in the second pose, the stop block correspondingly stops the guide block from being separated from the guide rail.

Description

Technical Field

[0001] This invention relates to the field of robot auxiliary accessories technology, and in particular to a connector and a detachable amphibious robot. Background Technology

[0002] Currently, detachable amphibious robots combine the wide-area perception capabilities of aerial drones with the complex operational advantages of ground robots. They have become an important development direction for cross-domain operation robots, solving the problems of insufficient wide-area field of vision perception and weak cross-domain mobility of single ground robots, while also making up for the shortcomings of aerial drones such as short endurance, inability to perform complex operations, and low safety in narrow space operations.

[0003] Currently, in the field of detachable amphibious robots, connectors are the core components inside the robot. They enable the rapid connection and reliable separation of the robot with various functional modules and can be widely used in various scenarios where drones and other modules automatically dock. Therefore, the connection stability, response speed and environmental adaptability of the connector directly determine the operational reliability of the robot.

[0004] Currently, the mainstream connectors in the industry are mainly magnetic adsorption type and plug-in type electrical connection. However, both have significant technical limitations. Magnetic adsorption type connectors are susceptible to interference from external environments such as strong magnetic fields and lack mechanical rigidity. These connectors have weak resistance to lateral shear force and torsional torque, resulting in poor structural stability when connected. Plug-in type electrical connectors, on the other hand, have strict requirements for docking accuracy and low fault tolerance. Forced insertion with slight deviations can easily cause permanent failures such as pin bending and shell damage. In addition, the docking response speed is slow, which cannot meet the needs of robots for rapid assembly and disassembly. Summary of the Invention

[0005] The technical problem to be solved by the present invention is that the present invention discloses a connector and a detachable amphibious robot, so as to solve the problems of poor environmental adaptability, insufficient structural rigidity, low docking fault tolerance and slow response speed of the connectors used in the existing detachable amphibious robots.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a connector, comprising: a first mounting base and a second mounting base, wherein the first mounting base is provided with a guide rail, and the second mounting base is provided with a guide block that matches the guide rail; further comprising a rotating disk, the rotating disk being rotatably disposed at the top end of the first mounting base, and the rotating disk being provided with a plurality of stop blocks, wherein there is a gap between two adjacent stop blocks, and the stop blocks are used to prevent the guide block from disengaging from the top end of the guide rail; wherein, the rotating disk is used to rotate under pressure to a first position and a second position when the second mounting base moves up and down relative to the first mounting base, and in the first position, the guide block matches or disengages from the guide rail through the gap, and in the second position, the stop blocks correspondingly prevent the guide block from disengaging from the guide rail.

[0007] To address the problems of existing connectors in terms of environmental adaptability, structural stability, response efficiency, and adaptation flexibility, this invention designs a new connector that does not require active response but is a purely mechanical structure design, achieving rapid and efficient separation and connection. It has low cost, high stability, strong adaptability, excellent structural rigidity, high mating fault tolerance, and high response speed, and has good prospects for promotion and application value.

[0008] Furthermore, in the connector described in this invention, both the first mounting base and the second mounting base are annular seats. The outer annular wall of the first mounting base is provided with multiple guide rails, and the inner annular wall of the second mounting base is provided with guide blocks that match the multiple guide rails.

[0009] Furthermore, in the connector described in this invention, the rotating disk includes an annular disk body, the first mounting base is provided with a guide post, the guide post extends in a vertical direction, and the annular disk body is rotatably sleeved on the guide post; wherein, a plurality of stop blocks are connected to the annular disk body, and the plurality of stop blocks are evenly arranged on the periphery of the annular disk body.

[0010] Furthermore, in the connector described in this invention, the stop block includes a first stop portion and a second stop portion. One end of the first stop portion is connected to the second stop portion, and a stop groove is formed by the side of one end of the first stop portion and the bottom surface of the second stop portion. When the rotating disk rotates to a second position relative to the first mounting base, one end of the guide block abuts against the stop groove and prevents the guide block from dislodging from the top of the guide rail.

[0011] Furthermore, in the connector described in this invention, the top surfaces of the first stop portion and the second stop portion are both inclined in the vertical direction and are arranged at an inverted V-shaped angle to each other; the bottom surfaces of the first stop portion and the second stop portion are both inclined in the vertical direction and extend in the same direction to abut against the top of the first mounting base.

[0012] Furthermore, in the connector described in this invention, the top end of the first mounting base is provided with a plurality of contact portions, each contact portion including a first contact surface and a second contact surface extending at an inverted V-shaped angle to each other, and the first contact surface and the second contact surface are used to abut against the bottom surfaces of the first stop portion and the second stop portion; wherein, when the rotating disk rotates relative to the first mounting base, the first stop portion and the second stop portion slide along the extending direction of the first contact surface and the second contact surface, and move up and down synchronously along the extending direction of the guide post.

[0013] Furthermore, the connector described in this invention also includes a locking device, which is disposed on the second mounting base and includes a control mechanism and a fixing hook. The fixing hook includes a connecting portion and a bent hook portion, and the connecting portion is rotatably connected to the second mounting base. The control mechanism is used to control the bent hook portion to hook onto the first mounting base or to control the bent hook portion to release and unlock from the first mounting base.

[0014] Furthermore, in the connector described in this invention, the control mechanism includes a first shape memory spring, a second shape memory spring, a compression spring, a thin rope, at least two pillars, and at least two support rods; wherein, the pillars are fixed to the second mounting base, and the support rods are sleeved on the pillars to rotate around the pillars; a compression spring is provided between two adjacent pillars, and the left and right ends of the compression spring are respectively connected to the support rods on the two adjacent pillars, so that the compression spring is always in a bent and compressed state; the first shape memory spring and the second shape memory spring are respectively provided on the front and rear sides of the compression spring, and one end of the first shape memory spring and the second shape memory spring are connected to the compression spring through the thin rope, and the other end is connected to the second mounting base.

[0015] Furthermore, in the connector described in this invention, the control mechanism further includes a tension spring and a pull rope. One end of the tension spring is connected to the second mounting base, and the other end is connected to the connecting portion of the fixing hook, and is always in a stretched state. The hook portion of the fixing hook is connected to the compression spring of the control mechanism via the pull rope. When unlocking, the second shape memory spring of the control mechanism pulls the compression spring outwards, and the pull rope pulls up the hook portion of the fixing hook to unlock it from the first mounting base. When locking, the first shape memory spring pulls the compression spring inwards, the pull rope relaxes, and the tension spring contracts, causing the hook portion of the fixing hook to hook onto the first mounting base to lock it.

[0016] Therefore, addressing the problems of traditional connectors using bistable beam structures—namely, their large size, difficulty in adapting to small actuators such as shape memory alloys, complex structural design and modeling, and difficulty in flexibly adjusting the locking force—this invention employs a newly designed locking device. This locking device incorporates a newly designed control mechanism that utilizes a first and a second shape memory spring as driving elements to push the compression spring inwards or outwards. This, in conjunction with a tension spring or pull rope, pulls the connecting part or hook of the fixing hook. As the fixing hook rotates relative to the second mounting base, the hook of the fixing hook locks or unlocks the first mounting base.

[0017] Furthermore, another objective of this invention is to disclose a detachable amphibious robot, comprising a drone, a target module to be coupled, and the connector described above; wherein, a first mounting base of the connector is disposed on the top of the target module to be coupled, and a second mounting base is disposed on the bottom of the drone.

[0018] The beneficial effects of this invention are as follows: The connector designed in this invention effectively solves the problems of poor environmental adaptability, insufficient structural rigidity, low docking fault tolerance, and slow response speed of existing connectors by optimizing its own structure; the optimized design of the connector, with the rotating disk installed on the top of the first mounting base, can rotate under pressure to the first position and the second position when the second mounting base moves up and down relative to the first mounting base. In the first position, the guide block matches or disengages from the guide rail through the gap, and in the second position, the stop block correspondingly stops the guide block from disengaging from the guide rail; this connector does not require active response, but utilizes the pure mechanical structure design between the first mounting base, the rotating disk, and the second mounting base to achieve fast and efficient separation and connection. It has low cost, high stability, strong adaptability, excellent structural rigidity, and high docking fault tolerance and response speed.

[0019] In summary, this invention relates to a connector for unmanned aerial vehicles (UAVs) and a detachable amphibious robot, belonging to the field of key components for low-altitude economic development. This connector enables rapid assembly and reliable disassembly of UAVs with various functional modules, and can achieve engagement locking. It can be widely applied in various scenarios where UAVs automatically dock with other modules, such as: in the logistics and transportation field, facilitating rapid loading and unloading of UAVs and goods; in aerial-ground robot collaborative tasks, where the connector's extremely fast response speed supports efficient combination and disassembly of aerial and ground units, enabling the smooth and rapid completion of complex tasks; in UAVs carrying ground quadruped robots, achieving land-air collaborative operations, fully leveraging the complementary capabilities of both in terms of mobility and adaptability, and allowing for the temporary matching of different functional units according to real-time task requirements; and in the multi-functional operation of aerial robots, switching between different operating tools while providing stable supporting torque. It has excellent prospects for promotion and application value. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the connector according to one embodiment of the present invention; Figure 2 This is a top view of the connector according to one embodiment of the present invention; Figure 3 This is a bottom view of the connector according to one embodiment of the present invention; Figure 4 This is a side view of the connector according to one embodiment of the present invention; Figure 5 This is an exploded view of the connector described in one embodiment of the present invention; Figure 6 The diagram schematically illustrates the structure of the connector according to the present invention assembled in one state under one embodiment; Figure 7 The diagram schematically illustrates a structural schematic of the connector described in this invention assembled in another state under one embodiment; Figure 8 The diagram schematically illustrates a structural schematic of the connector described in this invention assembled in another state under one embodiment; Figure 9 The diagram schematically illustrates a structural configuration of the connector described in this invention in another state under one embodiment. Figure 10 A schematic diagram of the locking device of the connector according to one embodiment of the present invention is shown.

[0021] Label Explanation: 1. First mounting base; 11. Guide rail; 12. Guide post; 13. Contact part; 131. First contact surface; 132. Second contact surface; 2. Second mounting base; 21. Guide block; 3. Rotating disk; 31. Stop block; 311. First stop part; 312. Second stop part; 313. Stop groove; 32. Annular disk body; 4. Locking device; 41. Control mechanism; 411. First shape memory spring; 412. Second shape memory spring; 413. Compression spring; 414. String; 415. Support column; 416. Support rod; 417. Tension spring; 418. Pull rope; 42. Fixing hook; 421. Connecting part; 422. Hook part. Detailed Implementation

[0022] To explain the technical content, objectives, and effects of the present invention in detail, the following description is provided in conjunction with the embodiments and accompanying drawings.

[0023] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, this invention designs a novel connector, comprising a first mounting base 1 and a second mounting base 2. The first mounting base 1 is provided with a guide rail 11, and the second mounting base 2 is provided with a guide block 21 that matches the guide rail 11. It also includes a rotating disk 3, which is rotatably disposed at the top of the first mounting base 1. The rotating disk 3 is provided with multiple stop blocks 31, with a gap between adjacent stop blocks 31. The stop blocks 31 are used to prevent the guide block 21 from disengaging from the top of the guide rail 11. A key feature of this invention is that the rotating disk 3 is used to rotate under pressure to a first position and a second position when the second mounting base 2 moves vertically relative to the first mounting base 1. In the first position, the guide block 21 matches or disengages from the guide rail 11 through the gap. In the second position, the stop blocks 31 correspondingly prevent the guide block 21 from disengaging from the guide rail 11, thereby achieving a purely mechanical matching connection or dismatch between the first mounting base 1 and the second mounting base 2.

[0024] Therefore, the connector designed in this invention can be effectively applied in the field of unmanned aerial vehicles and is suitable for various tasks that require connection and separation. It has good versatility. The purely mechanical structure design of the first mounting base 1, the second mounting base 2 and the rotating disk 3 makes it respond quickly and control simple and reliable. Moreover, the matching design of the guide rail 11 and the guide block 21 can provide strong torsional force. In practical applications, the guide rail 11 can be a physical track or a guide groove, both of which can play a guiding role.

[0025] In practical applications, this connector can be widely used in various scenarios where drones automatically dock with other modules. For example, it can be used for multi-site cargo delivery by drones, enabling efficient adaptation between drones and modular cargo compartments in logistics transportation. It can also be used for air-to-ground robot collaborative tasks, allowing a small number of drones to swarm and transfer a large number of ground robots thanks to its extremely fast response speed. Furthermore, it can also be used to mount ground quadruped robots on drones, achieving land-air collaborative operations and fully leveraging the complementary mobility and adaptability of both. In addition, it can be used in aerial operations to switch drones between different operating tools while providing stable support torque.

[0026] Based on this, and in response to the needs of different application scenarios, the present invention also discloses a detachable amphibious robot, which may include a drone, a target module to be combined, and the connector described above; wherein, the first mounting base 1 of the connector is located on the top of the target module to be combined, and the second mounting base 2 is located on the bottom of the drone.

[0027] It should be noted that, in the actual application of the connector designed by this invention, it forms a rotary connection structure through the first mounting base 1, the rotating disk 3, and the second mounting base 2. This rotary connection structure can achieve the following effects: when the second mounting base 2 is pressed down once, the rotating disk 3 rotates to the first position, and the second mounting base 2 is engaged with the first mounting base 1; after engagement, the rotating disk 3 rotates to the second position, and the guide block 21 of the second mounting base 2 moves to the top of the guide rail 11 and is blocked by the stop block 31 of the rotating disk 3; at this time, when the second mounting base 2 is pressed down a second time, the rotating disk 3 rotates from the second position to the first position, so that the guide block 21 of the second mounting base 2 can be separated from the guide rail 11 of the first mounting base 1.

[0028] like Figure 5 As shown, in order to achieve the above-mentioned functional effects, in practical applications, the first mounting base 1 and the second mounting base 2 can be specifically set to be annular seats. The outer annular wall of the first mounting base 1 is provided with multiple guide rails 11, and the inner annular wall of the second mounting base 2 is provided with guide blocks 21 that match the multiple guide rails 11. In this embodiment, each stop block 31 corresponds to two guide rails 11.

[0029] For example: see Figure 2 , Figure 3 and Figure 5In the embodiment shown, the first mounting base 1 is specifically provided with six guide rails 11, the second mounting base 2 is specifically provided with three guide blocks 21, and the rotating disk 3 is specifically provided with three stop blocks 31. The stop blocks 31 on the rotating disk 3 are arranged in a one-to-one correspondence with the two adjacent guide rails 11 on the first mounting base 1.

[0030] It should be noted that, in practical applications, to facilitate the rotation of the rotating disk 3 relative to the first mounting base 1, the rotating disk 3 is specifically configured to include an annular disk body 32. The first mounting base 1 is provided with a guide post 12, which extends vertically. The annular disk body 32 is rotatably fitted onto the guide post 12. Multiple stop blocks 31 are connected to the annular disk body 32 and are evenly distributed around the periphery of the annular disk body 32. In this case, these stop blocks 31 located around the periphery of the annular disk body 32 can rotate together with the annular disk body 32 relative to the guide post 12 on the first mounting base 1, thereby facilitating the switching of the rotating disk 3's position to meet practical usage requirements.

[0031] Accordingly, see further Figure 5 As shown, in the connector designed in this invention, the design of the rotating disk 3 in the above-mentioned rotary connection structure, which is subject to pressure, is crucial compared to the passive rotation of the first mounting base 1. Therefore, the cooperation between the stop block 31 on the rotating disk 3 and the first mounting base 1 directly affects the realization of the function of the connector of this invention. For ease of understanding, this invention further designs the stop block 31 and the first mounting base 1 as follows: In practical applications, the stop block 31 installed on the rotating disk 3 in the connector can specifically include a first stop part 311 and a second stop part 312. One end of the first stop part 311 is connected to the second stop part 312, and the side of one end of the first stop part 311 and the bottom surface of the second stop part 312 together form a stop groove 313. When the rotating disk 3 rotates to a second position relative to the first mounting base 1, one end of the guide block 21 abuts against the stop groove 313, preventing the guide block 21 from dislodging from the top of the guide rail 11. At this time, the rotating disk 3 is restricted on the first mounting base 1, and can rotate freely while sliding vertically within a predetermined range.

[0032] Accordingly, in this invention, the top surfaces of the first stop portion 311 and the second stop portion 312 are both inclined in the vertical direction and are arranged at an inverted V-shaped angle to each other; the bottom surfaces of the first stop portion 311 and the second stop portion 312 are both inclined in the vertical direction and extend in the same direction to abut against the top of the first mounting base 1.

[0033] In this connector designed according to the present invention, the top end of the first mounting base 1 is provided with a plurality of contact portions 13. The contact portions 13 include a first contact surface 131 and a second contact surface 132 extending at an inverted V-shaped angle to each other, and the first contact surface 131 and the second contact surface 132 are used to abut against the bottom surfaces of the first stop portion 311 and the second stop portion 312. When the rotating disk 3 rotates relative to the first mounting base 1, the first stop portion 311 and the second stop portion 312 slide along the extending direction of the first contact surface 131 and the second contact surface 132, and move up and down synchronously along the extending direction of the guide post 12.

[0034] In other words, such as Figures 6-9 As shown, based on this configuration, the first mounting base 1, the rotating disk 3, and the second mounting base 2 in the connector of the present invention can be in the following specific states: State 1: such as Figure 6 As shown, the second mounting base 2 approaches the first mounting base 1. The guide block 21 of the second mounting base 2 first contacts the second stop portion 312 of the stop block 31 and abuts against the top surface of the second stop portion 312. As the second mounting base 2 continues to approach the first mounting base 1, the top surface of the second stop portion 312 is subjected to pressure, and the second stop portion 312 moves along the extending direction of the second contact surface 132 of the first mounting base 1 it abuts against, causing the entire rotating disk 3 to rotate clockwise and the vertical position of the entire rotating disk 3 to rise. Finally, it rotates to the first position; at the same time, the guide block 21 is guided by the top surface of the second contact surface 132. At this time, the gap between two adjacent stop blocks 31, that is, the gap between the second stop part 312 of one stop block 31 and the first stop part 311 of the adjacent stop block 31, is exactly the opening at the top of the guide rail 11 on the first mounting base 1. At this time, the guide block 21 on the second mounting base 2 no longer abuts against the stop block 31, and it directly enters the guide rail 11 on the first mounting base 1 from the gap to match the guide rail 11.

[0035] State 2: such as Figure 7 As shown, after the guide block 21 on the second mounting base 2 is matched with the guide rail 11 on the first mounting base 1, it can move up and down along the extension direction of the guide rail 11. At this time, the rotating disk 3 is no longer affected by external pressure, and is affected by gravity. The first stop 311 and the second stop 312, which are used to abut against the first contact surface 131 and the second contact surface 132, slide down along the extension direction of the second contact surface 132, so that the second stop 312 can block the top of the guide rail 11 again.

[0036] State 3: such as Figure 8As shown, when the guide block 21 on the second mounting base 2 moves up and down along the extension direction of the guide rail 11, once at least part of the guide block 21 is dislodged from the top of the guide rail 11, the guide block 21 will abut against the bottom surface of the second stop portion 312 of the stop block 31 in the rotating disk 3 corresponding to the guide rail 11, so that when the guide block 21 continues to move from bottom to top, its top end will continuously slide on the bottom surface of the second stop portion 312, and drive the rotating disk 3 to rotate counterclockwise, so that the top end of the guide block 21 finally moves into the stop groove 313 formed by the side of one end of the first stop portion 311 and the bottom surface of the second stop portion 312. At this time, the rotating disk 3 rotates to the second position. State 4: such as Figure 9 As shown, after the second mounting base 2 is lowered, the guide block 21 of the second mounting base 2 returns to the guide rail 11. The rotating disk 3, which has been rotated to the second position, will fall due to gravity. At this time, since the rotating disk 3 has already rotated, the stop block 31, which is blocking the top end of the guide rail 11, is no longer the original second stop 312, but the first stop 311, that is, the first stop 311 blocks the top end of the guide rail 11. At this time, when the guide block 21 on the second mounting base 2 disengages from the top end of the guide rail 11 again, the guide block 21 It will abut against the bottom surface of the first stop portion 311 of the stop block 31 corresponding to the guide rail 11 in the rotating disk 3, so that when the guide block 21 continues to move from bottom to top, its top end will continuously slide on the bottom surface of the first stop portion 311, and drive the rotating disk 3 to continue to rotate counterclockwise until it rotates to the first position. At this time, the gap between the first stop portion 311 of the stop block 31 and the second stop portion 312 of the adjacent stop block 31 is directly opposite the top of the guide block 21, and the guide block 21 and the second mounting seat 2 can be directly dislodged from the first mounting seat 1.

[0037] When the second mounting base 2 is disengaged from the first mounting base 1, the rotating disk 3 will fall under gravity and move from top to bottom along the extension direction of the second contact surface 132. While moving, it will rotate counterclockwise, so that the second stop part 312 of the new stop block 31 will stop again at the top of the guide rail 11. This cycle repeats, so that the second mounting base 2 can alternately separate and reconnect with the first mounting base 1 each time it is pressed down.

[0038] In addition, to enhance the reliability of the connector and enrich its working modes, the present invention also provides a locking device 4 on the connector, so as to lock or unlock the matching between the first mounting seat 1 and the second mounting seat 2 by using the fixing hook 42 on the locking device 4, thereby effectively replacing the bistable beam structure used in traditional connectors and avoiding the problems of large volume, poor applicability, complex structural design and modeling, and difficulty in flexibly adjusting the locking tension of the existing bistable beam structure.

[0039] like Figure 1 , Figure 5 As shown, and in conjunction with references Figure 10 In the connector designed in this invention, the locking device 4 is specifically disposed on the second mounting base 2, and the locking device 4 includes a control mechanism 41 and a fixing hook 42. The fixing hook 42 includes a connecting part 421 and a bent hook part 422. The connecting part 421 is rotatably connected to the second mounting base 2. The control mechanism 41 is used to control the bent hook part 422 to hook onto the first mounting base 1 or to control the bent hook part 422 to release and unlock from the first mounting base 1.

[0040] At the same time, such as Figure 10 As shown, in practical applications, the control mechanism 41 used in the locking device 4 includes a first shape memory spring 411, a second shape memory spring 412, a compression spring 413, a thin rope 414, at least two pillars 415, and at least two support rods 416. The pillars 415 are fixed to the second mounting base 2, and the support rods 416 are sleeved on the pillars 415 to rotate around them. A compression spring 413 is provided between two adjacent pillars 415, and the left and right ends of the compression spring 413 are respectively connected to the support rods 416 on the two adjacent pillars 415, so that the compression spring 413 is always in a bent and compressed state. The first shape memory spring 411 and the second shape memory spring 412 are respectively located on the front and rear sides of the compression spring 413, and one end of the first shape memory spring 411 and the second shape memory spring 412 is connected to the compression spring 413 through the thin rope 414, and the other end is connected to the second mounting base 2.

[0041] Furthermore, for ease of control, the control mechanism 41 further includes a tension spring 417 and a pull rope 418. One end of the tension spring 417 is connected to the second mounting base 2, and the other end is connected to the connecting portion 421 of the fixing hook 42, and is always in a stretched state. The hook portion 422 of the fixing hook 42 is connected to the compression spring 413 of the control mechanism 41 via the pull rope 418. When unlocking, the second shape memory spring 412 of the control mechanism 41 pulls the compression spring 413 outward, and the pull rope 418 pulls up the hook portion 422 of the fixing hook 42 to unlock it from the first mounting base 1. When locking, the first shape memory spring 411 pulls the compression spring 413 inward, the pull rope 418 relaxes, and the tension spring 417 contracts to hook the hook portion 422 of the fixing hook 42 onto the first mounting base 1 to lock it.

[0042] Therefore, the connector designed in this invention adopts a newly designed locking device 4. The locking device 4 has a newly designed control mechanism 41, which uses the first shape memory spring 411 and the second shape memory spring 412 in the control mechanism 41 as driving members to drive the compression spring 413 to push inward or outward, thereby cooperating with the tension spring 417 or the pull rope 418 to pull the connecting part 421 or the hook part 422 of the fixing hook 42, so that when the fixing hook 42 rotates relative to the second mounting base 2, the hook part 422 of the fixing hook 42 can be locked or unlocked with the first mounting base 1.

[0043] It should be noted that, in practical applications, the first shape memory spring 411 and the second shape memory spring 412 used in this invention are made of a material that generates stress and deformation based on a high-temperature phase transition. This material has strong tensile and deformation capabilities, serving as a locking and unlocking traction device, thereby enabling it to pull the compression spring 413 in the two support rods 416 when excited. In practical applications, the left and right ends of the compression spring 413 can be connected to the two support rods 416 respectively using adhesives, such as UV electronic adhesive, which provides strong adhesion after bonding, ensuring the stability of the device.

[0044] Furthermore, in this invention, the tension spring 417 and compression spring 413 used need to have stable elastic modulus, so that they can withstand the instantaneous tension generated when the shape memory alloy is triggered, and can maintain elastic deformation capability after multiple tension and reset cycles, so as to avoid the stability of tension transmission due to fatigue failure.

[0045] In practical applications, the aforementioned first shape memory spring 411 and second shape memory spring 412 employ shape memory alloy (SMA) as the core driving element's execution module. This module can generate motion through circuitry, making it a novel type of power element. Therefore, to facilitate driving, a hardware circuit can be set up. This circuit can consist of an embedded microcontroller control board, a power supply module, a PWM generation module, a power management module, a drive module, a switching power supply, and wiring, forming a control loop. This loop can control the operation of the first shape memory spring 411 and the second shape memory spring 412.

[0046] Based on this, it can be seen that the working process of the connector described in this invention includes the following steps: Step 1: The drone equipped with the second mounting base 2 flies directly above the target module to be joined, which is equipped with the first mounting base 1 and the rotating disk 3; Step 2: The UAV carrying the second mounting base 2 descends and makes contact with the rotating disk 3 and the target module to be combined with the first mounting base 1. The rotating disk 3 is triggered by gravity to rotate, so that the guide block 21 of the second mounting base 2 enters the guide track 11 of the first mounting base 1, thereby combining the UAV and the target module to be combined.

[0047] Step 3: Different controls are implemented according to the different needs of the operator. For example, if a simple deployment operation is required, the drone will land after reaching the designated location. After touching the ground, gravity will trigger the rotating connection device constructed by the first mounting base 1, the rotating disk 3, and the second mounting base 2 to make the rotating disk 3 rotate, thereby separating the drone from the target module to be combined.

[0048] Step 4: If aerial operations or resting functions are required, control the locking device 4 to lock, so that the UAV and the target module to be combined are completely locked. After the operation is completed, control the locking device 4 to unlock, and then separate them through step 3.

[0049] In summary, the connector designed in this invention effectively overcomes the limitations of traditional connection schemes by optimizing its own structure, significantly improving connection stability and reliability. Compared with traditional magnetic adsorption and plug-in electrical connection schemes, this connector, through a purely mechanical structure matching method of the first mounting base 1, the rotating disk 3, and the second mounting base 2, can get rid of its dependence on magnetic force and can work stably in complex environments such as strong magnetic fields and high voltages, unaffected by external environmental interference. At the same time, it effectively avoids the problems of weak resistance to lateral shear force and torsional torque and poor structural stability of magnetic adsorption connectors. Furthermore, this connector can significantly reduce the requirements for mating accuracy, significantly improve fault tolerance, and ensure long-term stable operation of the connector.

[0050] Meanwhile, the connector designed in this invention enables ultra-fast response and meets the requirements for high-frequency connection and disconnection. It employs a purely passive press-triggered design, relying solely on the drone's own gravity to complete the triggering operation. This feature effectively solves the technical bottlenecks of traditional connectors, such as slow response speed and inability to achieve high-frequency connection and disconnection, significantly improving the operational efficiency of drones.

[0051] The connector control logic designed in this invention is simple, significantly enhancing the connector's versatility and adaptability. Through simpler and more reliable control logic, the circuit adaptation requirements for different usage scenarios are reduced, allowing for broad compatibility with various types of drones and functional modules, greatly improving versatility. Furthermore, compared to traditional bistable beam structures using metallic materials, the optimized locking device 4 of this invention is smaller in size, more easily adaptable to small actuators such as those made of shape memory alloys, and has reduced structural modeling difficulty. It can be flexibly adjusted and switched according to actual needs, solving the problems of large size, difficult driving, and complex parameter adjustment inherent in traditional bistable beam structures.

[0052] As can be seen from this, the connector designed in this invention has excellent shear strength and torsional strength, which can provide reliable structural support for UAVs to perform a series of actions such as aerial operation and resting, and ensure stability and safety during the execution of the actions.

[0053] Meanwhile, the connector supports the adaptation and switching of various operating tools, enabling a single drone to change different types of operating tools as needed during intermittent or continuous operations, thereby achieving flexible execution of various tasks and significantly improving the drone's operational adaptability and overall operational efficiency. It has good prospects for promotion and application value.

[0054] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent modifications made based on the content of the present invention specification and drawings, or direct or indirect applications in related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A connector, characterized in that, include: A first mounting base and a second mounting base are included. The first mounting base has a guide rail, and the second mounting base has a guide block that matches the guide rail. A rotating disk is also included, rotatably mounted on the top of the first mounting base. The rotating disk has multiple stop blocks with gaps between adjacent stop blocks, and the stop blocks prevent the guide block from disengaging from the top of the guide rail. The rotating disk is used to rotate under pressure to a first position and a second position when the second mounting base moves vertically relative to the first mounting base. In the first position, the guide block matches or disengages from the guide rail through the gaps. In the second position, the stop blocks correspondingly prevent the guide block from disengaging from the guide rail.

2. The connector according to claim 1, characterized in that, Both the first mounting base and the second mounting base are annular seats. The outer annular wall of the first mounting base is provided with multiple guide rails, and the inner annular wall of the second mounting base is provided with guide blocks that match the multiple guide rails.

3. The connector according to claim 2, characterized in that, The rotating disk includes an annular disk body, and the first mounting base is provided with a guide post. The guide post extends in a vertical direction, and the annular disk body is rotatably sleeved on the guide post. A plurality of stop blocks are connected to the annular disk body, and the plurality of stop blocks are evenly arranged on the periphery of the annular disk body.

4. The connector according to claim 3, characterized in that, The stop block includes a first stop portion and a second stop portion. One end of the first stop portion is connected to the second stop portion, and the side of one end of the first stop portion and the bottom surface of the second stop portion together form a stop groove, so that when the rotating disk rotates to the second position relative to the first mounting base, one end of the guide block abuts against the stop groove and prevents the guide block from falling off the top of the guide rail.

5. The connector according to claim 4, characterized in that, The top surfaces of the first stop and the second stop are both inclined in the vertical direction and are arranged at an inverted V-shaped angle to each other; the bottom surfaces of the first stop and the second stop are both inclined in the vertical direction and extend to abut against the top of the first mounting base.

6. The connector according to claim 5, characterized in that, The top of the first mounting base is provided with multiple contact portions, each contact portion including a first contact surface and a second contact surface that extend at an inverted V-shaped angle to each other, and the first contact surface and the second contact surface are used to abut against the bottom surfaces of the first stop portion and the second stop portion; wherein, when the rotating disk rotates relative to the first mounting base, the first stop portion and the second stop portion slide along the extending direction of the first contact surface and the second contact surface, and move up and down synchronously along the extending direction of the guide post.

7. The connector according to claim 1, characterized in that, It also includes a locking device, which is disposed on the second mounting base and includes a control mechanism and a fixing hook. The fixing hook includes a connecting part and a bent hook part, and the connecting part is rotatably connected to the second mounting base. The control mechanism is used to control the bent hook part to hook onto the first mounting base or to control the bent hook part to release and unlock from the first mounting base.

8. The connector according to claim 7, characterized in that, The control mechanism includes a first shape memory spring, a second shape memory spring, a compression spring, a thin rope, at least two pillars, and at least two support rods. The pillars are fixed to the second mounting base, and the support rods are sleeved on the pillars to rotate around them. A compression spring is provided between two adjacent pillars, with its left and right ends connected to the support rods on the two adjacent pillars, ensuring that the compression spring is always in a bent and compressed state. The first and second shape memory springs are respectively located on the front and rear sides of the compression spring, with one end of each spring connected to the compression spring via the thin rope, and the other end connected to the second mounting base.

9. The connector according to claim 8, characterized in that, The control mechanism further includes a tension spring and a pull rope. One end of the tension spring is connected to the second mounting base, and the other end is connected to the connecting part of the fixing hook, and is always in a stretched state. The hook part of the fixing hook is connected to the compression spring of the control mechanism through the pull rope. When unlocking, the second shape memory spring of the control mechanism pulls the compression spring outward and pulls the hook part of the fixing hook up through the pull rope to unlock it from the first mounting base. When locking, the first shape memory spring pulls the compression spring inward, the pull rope loosens, and the tension spring contracts to hook the hook part of the fixing hook onto the first mounting base to lock it.

10. A detachable amphibious robot, characterized in that, The device includes a drone, a target module to be coupled, and a connector as described in any one of claims 1-9; wherein a first mounting base of the connector is disposed on the top of the target module to be coupled, and a second mounting base is disposed on the bottom of the drone.

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