Magnetic clamping jaw type load connecting and releasing device for unmanned aerial vehicle

Abstract

The invention discloses a magnetic clamping jaw type load connecting and releasing device for an unmanned aerial vehicle. The device comprises a device female head mounted at the bottom of the unmanned aerial vehicle and a device male head mounted at the top of a load. The device female head is integrated with a magnetic attraction unit and a mechanical locking unit; the device male head comprises a sucked unit. The device further comprises a control unit which is configured to execute connection operation: firstly, the magnetic attraction unit is electrified, and the device male head is quickly attracted and temporarily fixed; then, the mechanical locking unit acts, and the device male head is mechanically locked through a clamping jaw; and finally, the magnetic attraction unit is powered off, and the mechanical locking unit with the self-locking characteristic independently bears the load. And during releasing, the mechanical locking unit is unlocked. By means of the time-sharing cooperative working mode of magnetic attraction temporary fixing and mechanical self-locking bearing, rapid and high-fault-tolerance butt joint and reliable release of large-mass loads in the hovering state of the unmanned aerial vehicle are achieved, and the device has the advantages of being reliable in connection, safe in release and compact in structure.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) payload mounting technology, and more specifically to a payload connection and release device for UAVs that enables rapid alignment, reliable locking, and release. Background Technology

[0002] When drones perform tasks such as material delivery, equipment mounting, and special operations, they need to quickly and reliably connect and release payloads. Existing payload connection methods have the following main shortcomings: Mechanical thread / clamp connection: High docking accuracy is required. Manual or automatic docking is difficult when the drone is hovering. The operation is cumbersome and time-consuming. Pure electromagnetic adsorption connection: Although docking is fast, the holding force depends entirely on continuous power supply, which poses a risk of the load falling due to accidental power failure, resulting in poor safety and unsuitability for heavy loads. Purely mechanical hook type: The release action is not flexible enough and usually does not have a high tolerance for error alignment, requiring precise position control.

[0003] Therefore, there is an urgent need for a dedicated connection device for drones that can achieve rapid alignment, reliable connection, and flexible release, especially suitable for large-mass payloads. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a magnetic claw-type load connection and release device for unmanned aerial vehicles (UAVs). This device utilizes magnetic attraction to achieve rapid initial alignment and temporary fixation, and then uses mechanical claws to achieve final reliable locking and self-locking load-bearing. It has the advantages of rapid alignment, reliable connection, and controllable release, and is particularly suitable for the rapid mounting and deployment of heavy-mass loads.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A magnetic claw-type load connection and release device for unmanned aerial vehicles, comprising: The female connector is used for mounting to the bottom of the drone; Male connector for mounting to the top of a load; The female head of the device includes a magnetic suction unit and a mechanical locking unit; The male connector of the device includes a receiving unit for magnetically engaging with the magnetic attraction unit; The device also includes a control unit configured to perform a connection operation; The connection operation includes: first, controlling the magnetic suction unit to be powered on, and using magnetic force to pull the male connector of the device together and maintain it in a temporary locked position; then controlling the mechanical locking unit to operate, and switching the male connector of the device to a mechanical locking state; finally, controlling the magnetic suction unit to be powered off.

[0006] Preferably, a mechanical guiding mechanism is provided between the female connector and the male connector of the device to provide initial guidance for the male connector of the device before the magnetic attraction unit generates an effective magnetic attraction force.

[0007] Preferably, the mechanical guiding mechanism includes a guide cone surface disposed on the female head of the device.

[0008] Preferably, the magnetic attraction unit is an electromagnet, and the attraction receiving unit is a magnetic conductor. Further, the electromagnet is a ring-shaped electromagnet.

[0009] Preferably, the guide cone component has a through hole, which forms a clearance space for the claw of the mechanical locking unit to move radially.

[0010] Preferably, the mechanical locking unit includes an openable and closable claw assembly and a drive mechanism for switching the claw assembly between a locked position and an unlocked position.

[0011] Preferably, the driving mechanism includes a power source, a motion conversion mechanism, and a self-locking mechanism; the motion conversion mechanism is used to convert the rotational motion of the power source into linear motion that drives the claw assembly to move radially; the self-locking mechanism is used to maintain the claw assembly in a locked position when the power source stops working.

[0012] Preferably, the motion conversion mechanism and the self-locking mechanism are worm gear mechanisms, which have self-locking characteristics.

[0013] Preferably, the end of the claw has a hook-shaped portion for hooking and locking, and the inner working surface of the hook-shaped portion is a plane.

[0014] Preferably, the male head of the device includes a hemispherical head and a cylindrical suction part connected sequentially from top to bottom, and the lower end face of the cylindrical suction part forms an axial limiting plane for mechanical locking.

[0015] Preferably, the claws of the mechanical locking unit are used to grip the axial limiting plane; the inner plane of the hook-shaped portion at the end of the claw is used to fit against the axial limiting plane.

[0016] Preferably, one specific implementation of the drive mechanism is as follows: it includes a worm gear driven by a power source, a worm wheel meshing with the worm gear, a crank coaxially connected to the worm wheel, and multiple sets of connecting rods and a slider mechanism connected between the crank and each pawl.

[0017] The control unit is also configured to perform a release operation; the release operation includes controlling the mechanical locking unit to unlock.

[0018] The present invention also provides an unmanned aerial vehicle (UAV) system, including a UAV and a magnetic claw-type load connection and release device as described above. Attached Figure Description

[0019] Figure 1 This is a three-dimensional schematic diagram of the UAV and its payload being separated in the present invention; Figure 2 This is a schematic diagram of the device head of the present invention in the released state; Figure 3 This is a three-dimensional structural diagram of the male connector of the device of the present invention; Figure 4 This is a schematic diagram of the device head of the present invention in the grasping state; Figure 5 This is a cross-sectional view of the device of the present invention with the female and male heads in a connected and locked state; Figure 6 This is a control logic block diagram of the connection and release operation of the control unit of the present invention; Figure 7 This is an exploded disassembly diagram of the core component of the device head of the present invention.

[0020] Explanation of reference numerals in the attached figures: 1: Device female connector; 111: Circular electromagnet; 112: Clearance space; 121: Claw; 1211: Hook-like part; 122a: Worm gear; 122b: Worm gear; 122c: Linkage rod; 122d: Slider; 122e: Crank; 2: Male connector; 23: Hemispherical head; 24: Cylindrical suction receiving part; 25: Axial limiting plane; 3: Mechanical guiding mechanism; 31: Guide cone surface. Detailed Implementation

[0021] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention. Example 1: Preferred structural scheme

[0022] like Figures 1 to 5As shown, the present invention provides a magnetic claw-type load connection and release device for unmanned aerial vehicles, which mainly consists of two parts: a female device head 1 and a male device head 2.

[0023] The female head 1 of the device is fixedly installed on the bottom of the drone. It integrates a magnetic suction unit 11 and a mechanical locking unit 12. In this embodiment, the magnetic suction unit 11 is a circular electromagnet 111. The circular electromagnet 111 can generate a strong axial magnetic attraction force when energized. On the guide cone surface 31 below the circular electromagnet 111, there is an opening that corresponds to the movement path of the claw, and this opening forms a clearance space 112.

[0024] The guide cone surface 31 is part of the mechanical guide mechanism 3, with its large opening facing downwards, and is fixed below the annular electromagnet 111. When the male head 2 approaches, the guide cone surface 31 can provide preliminary physical guidance and alignment to the hemispherical head 23 of the male head 2.

[0025] The mechanical locking unit 12 includes a plurality (e.g., four) radially movable claws 121 evenly distributed circumferentially, a drive mechanism for driving the claws 121, and a power source.

[0026] In this embodiment, the drive mechanism 122 is specifically a worm-worm wheel-crank-connecting rod-slider mechanism. Specifically, it includes a worm 122a driven by a power source; the worm 122a meshes with a worm wheel 122b; a crank 122e is coaxially connected to the shaft of the worm wheel 122b; the crank 122e extends radially and has multiple hinge points (e.g., four) on it. These hinge points are preferably axially or centrally symmetrically distributed on the crank 122e to ensure that each pawl 121 can achieve synchronous and consistent radial movement; each hinge point is hinged to a slider 122d through an independent connecting rod 122c, and the slider 122d is slidably disposed on the radial guide rail of the female head body; the root of each pawl 121 is fixedly connected to the lower part of the corresponding slider 122d.

[0027] When the power source drives the worm gear 122a to rotate, it drives the worm wheel 122b to rotate synchronously. The rotation of the worm wheel 122b drives the crank to rotate. The rotation of the crank is converted into linear motion of the corresponding slider 122d on the radial guide rail through multiple connecting rods 122c, thereby driving the pawl 121 fixed on it to perform synchronous radial opening and closing motion.

[0028] The worm gear-worm wheel-crank-connecting rod-slider mechanism has a self-locking characteristic due to its worm gear transmission pair. That is, when the power source stops driving, the mechanism cannot reverse the transmission, the position of the pawl 121 can be reliably locked, and it cannot open on its own under the action of load gravity, thus ensuring the absolute reliability of locking.

[0029] Each chuck 121 has a hook-shaped portion 1211 machined at its end, the inner side of which is a flat surface (see...). Figure 7 ).

[0030] like Figure 3 As shown, the male connector 2 of the device is fixedly mounted on top of a standardized load (not shown in the figure). Its structure, from top to bottom, consists of a hemispherical head 23 and a cylindrical receiving portion 24. The hemispherical head 23 mates with the guide cone surface 31 to achieve guidance. The cylindrical receiving portion 24 is made of magnetically conductive steel and constitutes the receiving unit 21, used to be attracted by the annular electromagnet 111 of the female connector. At the lower end of the cylindrical receiving portion 24, a flat annular end face is machined, which serves as the axial limiting plane 25.

[0031] Figure 3 In the diagram, the portion below the axial limiting plane 25 illustrates one possible connection method between the male connector and the load, but its specific structure is not within the scope of this invention.

[0032] To further clearly demonstrate the core mechanism of this invention, Figure 7 The key components of the female head are shown in an exploded view. As shown, the core of the drive mechanism includes a worm gear 122a, a worm wheel 122b, and a crank 122e connected in sequence; the motion conversion mechanism includes multiple connecting rods 122c and a slider 122d; the locking actuator includes a pawl 121 with a hook-shaped part 1211; and the magnetic alignment mechanism includes a guide cone surface 31 with a clearance space 112 and a ring electromagnet 111.

[0033] Combination Figure 5 and Figure 6 The working principle and control process of the device of the present invention are as follows: Connection process: The drone flew over the load and roughly aimed at it; The control unit first controls the circular electromagnet 111 to be energized, generating a magnetic attraction force; The cylindrical attracting part 24 of the male connector 2 engages with the female connector under magnetic attraction. During this process, the hemispherical head 23 of the male connector contacts the guide cone surface 31 of the female connector, completing precise mechanical guidance and alignment, ultimately causing the male connector 2 to be attracted to the predetermined position within the female connector (i.e., Figure 5 (as shown in the figure) At this time, the cylindrical attracting part 24 is in contact with the electromagnet 111, and the axial limiting plane 25 is exactly located on the movement path of the hook-shaped part 1211 of the chuck 121; After the control unit detects that the male end is in place, it issues a command to start the power source, which drives each claw 121 to move radially inward synchronously through the drive mechanism; The hook-shaped part 1211 of the chuck 121 moves inward, and its inner plane finally fits tightly against the axial limiting plane 25 of the male head 2, achieving mechanical clamping and locking. After mechanical locking is completed, the control unit de-energizes the annular electromagnet 111 to save energy. At this point, the weight of the load is entirely borne by the self-locking mechanical jaws 121, ensuring an extremely reliable connection. Release process: The drone arrived over the target area; The control unit can optionally first control the magnetic attraction unit 11 to perform a short-term reverse power supply or demagnetization operation to weaken or eliminate the residual magnetic attraction between the female and male connectors; The control unit controls the power source to reverse, and drives the pawl 121 to move radially outward synchronously through the drive mechanism until the hook 1211 is completely disengaged from the axial limiting plane 25 of the male head 2; After the claw 121 is unlocked, the load separates from the mother head under the action of gravity, completing the deployment.

[0034] The male connector 2 of the device of the present invention is a standard interface and can be pre-installed on various types of loads to realize rapid task switching of the UAV platform. Example 2: Variations of the drive mechanism

[0035] Although the foregoing embodiments preferably employ a worm gear mechanism to achieve self-locking, the drive mechanism 122 of the present invention is not limited thereto.

[0036] Variation Example 2.1: Gear and rack mechanism with brake The drive mechanism includes a motor, a gear connected to the motor output shaft, and a rack meshing with the gear. The rack is fixedly connected to the pawl 121 or connected via a transmission component. The motor drives the gear to rotate, and the rack drives the pawl 121 to move radially in a linear motion. When the pawl 121 moves to the locked position, the control unit controls the electromagnetic brake to lock the motor shaft, achieving position self-locking. When unlocking, the brake is released, and the motor reverses direction.

[0037] Variation Example 2.2: Screw and Nut Mechanism The drive mechanism includes a motor, a lead screw connected to the motor's output shaft, and a nut threadedly engaged with the lead screw. The nut is connected to the chuck 121 via a connecting rod or directly. The rotation of the lead screw drives the nut to move linearly, thereby causing the chuck 121 to open and close. The self-locking of the locked state is achieved by utilizing the non-reverse driving characteristic of the lead screw and nut pair itself (i.e., self-locking when the lead screw lead angle is less than the equivalent friction angle), or by using an additional electromagnetic brake.

[0038] Variation Example 2.3: Direct Drive of Linear Motor The drive mechanism includes a linear motor, whose mover is directly connected to the gripper 121. The opening and closing of the gripper 121 is achieved by controlling the energizing direction of the linear motor. The self-locking function can be achieved by integrating a power-off brake inside the linear motor. Example 3: Variation of the guiding mechanism

[0039] Although the foregoing embodiment places the guide cone surface 31 on the device head 1, the present invention is not limited thereto. As an equivalent alternative: The guide cone surface can also be provided on the male head 2 of the device, while a corresponding guide concave surface or guide hole can be provided on the female head 1 of the device.

[0040] Alternatively, mutually cooperating conical structures can be provided on both the female connector 1 and the male connector 2 of the device to form a double-conical guide. Example 4: Variation of the magnetic suction unit

[0041] Although the foregoing embodiments preferably use an electromagnet as the magnetic attraction unit 11, in some low-load, short-distance applications with extremely high energy-saving requirements: The magnetic attraction unit 11 can be a permanent magnet, which, in conjunction with a push-pull electromagnet or a mechanical push rod mechanism, is used for forced demagnetization and separation. When connected, the permanent magnet provides the attraction force; when released, the magnetic circuit between the permanent magnet and the attraction unit 21 is broken or forcibly pushed open by the push-pull electromagnet. Example 5: Variation regarding the number of chucks

[0042] While the foregoing embodiments preferably employ four locking claws 121, the present invention is not limited thereto. Depending on the load weight, installation space, and force balance requirements, the number of locking claws 121 can be two, three, or more, as long as they are evenly distributed circumferentially to achieve the locking function.

[0043] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A magnetic claw-type load connection and release device for unmanned aerial vehicles, characterized in that, include: Device head (1), used for installation onto the UAV; Device male connector (2), used for mounting to the load; The device head (1) includes a magnetic suction unit (11) and a mechanical locking unit (12). The male connector (2) of the device includes a receiving unit (21) for magnetically engaging with the magnetic attraction unit (11). The device also includes a control unit configured to perform a connection operation; The connection operation includes: first, controlling the magnetic suction unit (11) to be powered on, and using magnetic force to pull the male connector (2) of the device together and maintain it in a temporary locked position; then controlling the mechanical locking unit (12) to operate, and switching the male connector (2) of the device to the mechanical locking state; finally, controlling the magnetic suction unit (11) to be powered off.

2. The apparatus according to claim 1, characterized in that, The female connector (1) and the male connector (2) of the device are provided with a mechanical guiding mechanism (3) that cooperates with each other, which is used to initially guide the male connector (2) of the device before the magnetic attraction unit (11) generates an effective magnetic attraction force.

3. The apparatus according to claim 2, characterized in that, The mechanical guiding mechanism (3) includes a guide cone surface (31) disposed on the female head (1) of the device.

4. The apparatus according to claim 1, characterized in that, The magnetic attraction unit (11) is an electromagnet, and the attraction receiving unit (21) is a magnetic conductor.

5. The apparatus according to claim 4, characterized in that, The electromagnet is a ring electromagnet (111).

6. The apparatus according to claim 3, characterized in that, The guide cone surface (31) component has a through hole, which forms a clearance space (112) for the claw (121) of the mechanical locking unit (12) to move radially.

7. The apparatus according to claim 1, characterized in that, The mechanical locking unit (12) includes an openable and closable claw assembly and a drive mechanism (122) for switching the claw assembly between a locked position and an unlocked position.

8. The apparatus according to claim 7, characterized in that, The drive mechanism (122) includes a power source, a motion conversion mechanism, and a self-locking mechanism; The motion conversion mechanism is used to convert the rotational motion of the power source into linear motion that drives the claw assembly to move radially. The self-locking mechanism is used to maintain the claw assembly in the locked position when the power source stops working.

9. The apparatus according to claim 8, characterized in that, The motion conversion mechanism and the self-locking mechanism are worm gear mechanisms, which have self-locking characteristics.

10. The apparatus according to claim 9, characterized in that, The drive mechanism (122) includes a worm gear (122a) driven by a power source, a worm wheel (122b) meshing with the worm gear (122a), a crank (122e) coaxially connected to the worm wheel (122b), multiple sets of connecting rods (122c) and a slider (122d) mechanism connecting the crank (122e) and each pawl (121).

11. The apparatus according to claim 7, characterized in that, The end of the claw (121) has a hook-shaped part (1211) for hooking and locking, and the inner working surface of the hook-shaped part (1211) is a plane.

12. The apparatus according to claim 1, characterized in that, The male head (2) of the device includes a hemispherical head (23) and a cylindrical suction part (24) connected from top to bottom. The lower end face of the cylindrical suction part (24) forms an axial limiting plane (25) for mechanical locking.

13. The apparatus according to claim 12, characterized in that, The claw (121) of the mechanical locking unit (12) is used to hold the axial limiting plane (25); the inner plane of the hook-shaped part (1211) at the end of the claw (121) is used to fit with the axial limiting plane (25).

14. The apparatus according to claim 1, characterized in that, The control unit is also configured to perform a release operation, which includes controlling the mechanical locking unit (12) to unlock.

15. A male connector for a drone payload connection and release device, characterized in that, It includes a hemispherical head (23) for engaging with a guide cone surface and a cylindrical suction part (24) connected to the hemispherical head (23). The cylindrical suction part (24) is made of a magnetic material and its lower end face forms an axial limiting plane (25) for engaging with a hook-shaped part of a locking claw.

16. An unmanned aerial vehicle (UAV) system, characterized in that, Including drones and magnetic claw-type load connection and release devices as described in any one of claims 1 to 14.

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