Multi-copter aircraft mounting device

Abstract

The application discloses a multi-rotor aircraft mounting device. The multi-rotor aircraft mounting device comprises a mounting mechanism and a task cabin. The mounting mechanism is provided with a mounting table, a movable bolt, a bolt motor and a segmented force control locking controller. The task cabin is provided with a locking docking portion. The mounting table is connected with the body of the multi-rotor aircraft and cooperates with the locking docking portion. The movable bolt is provided with a locking positioning assembly, a locking movable assembly and an unlocking assembly. The locking positioning assembly is connected with the mounting table, the locking movable assembly and the unlocking assembly. The locking movable assembly cooperates with the unlocking assembly, the locking positioning assembly and the locking docking portion to lock the mounting table and the locking docking portion. The unlocking assembly is used for unlocking the mutual locking of the mounting table and the locking docking portion by the locking movable assembly. The segmented force control locking controller cooperates with the bolt motor to control the locking movement. The application is used for realizing the quick multi-task switching of the multi-rotor aircraft.

Description

Technical Field

[0001] This application belongs to the technical field of aircraft, specifically a multi-rotor aircraft mounting device. Background Technology

[0002] Currently, multi-rotor aircraft generally suffer from problems such as limited functionality and poor mission adaptability. For example, different missions such as firefighting, rescue, and reconnaissance require different dedicated aircraft, resulting in high equipment procurement and maintenance costs. Furthermore, they cannot quickly switch functions and respond slowly when faced with complex and ever-changing on-site missions.

[0003] In existing technologies, solutions for expanding functionality through external devices generally suffer from problems such as non-standardized interfaces, cumbersome switching processes, and high difficulty for professional personnel to operate manually. The entire task module replacement process is often too time-consuming, failing to meet the timeliness requirements of emergency response. Furthermore, the mounting and docking mechanisms in existing technologies are often unstable during the replacement process, requiring additional manual straightening or complex temporary fixation, which is inconvenient and poses safety risks. After final mounting, the modular approach may also lead to insufficient connection rigidity, resulting in slight vibrations or swaying under dynamic loads, affecting task accuracy and equipment lifespan. Summary of the Invention

[0004] To address one or more technical problems in the prior art, this application provides a multi-rotor aircraft mounting device for realizing functions such as rapid multi-task switching of multi-rotor aircraft.

[0005] The technical solution of this application is as follows.

[0006] A multi-rotor aircraft mounting device includes a mounting mechanism and a mission compartment. The mounting mechanism is equipped with a lifter, a mounting platform, a movable pin, a pin motor, and a segmented force control locking controller. The mission compartment is equipped with a locking docking part.

[0007] The elevators are connected to the fuselage and mounting platform of the multirotor aircraft, respectively.

[0008] The lift is used to raise and lower the mounting platform relative to the fuselage of the multirotor aircraft.

[0009] One side of the mounting platform is connected to the lifting device, and the other side is engaged with the locking docking part;

[0010] The movable pin is equipped with a locking positioning component, a locking movable component, and an unlocking component;

[0011] The locking and positioning component is connected to the mounting platform, the locking and positioning component is movably connected to the locking and moving component, and the locking and positioning component is connected to the unlocking component.

[0012] The locking and unlocking components, locking and positioning components, and locking docking parts cooperate to lock the mounting platform and the locking docking parts together.

[0013] The unlocking component is used to release the mutual locking of the locking active component to the mounting platform and the locking dock;

[0014] The pin motor is connected to the locking movable component and is used to drive the locking movable component to lock the mounting platform and the locking docking part together, and / or to drive the locking movable component to cooperate with the unlocking component to release the mutual locking between the mounting platform and the locking docking part.

[0015] The segmented force-controlled locking controller is electrically connected to the pin motor;

[0016] The segmented force-controlled locking controller is used to control the locking process of the locking mechanism in the movable pin driven by the pin motor. The steps for controlling the locking process include:

[0017] The preset travel of the movable pin includes the free travel section, guide section, contact section, locking section, and fine-tuning section;

[0018] Based on the resistance characteristics of the idle travel section, guide section, contact section, locking section, and fine adjustment section, the corresponding speed and torque are calibrated for the pin motor. Specifically, the idle travel section is set to high speed and low torque, the guide section is set to medium speed and medium torque, the contact section is set to low speed and low torque, the locking section is set to low speed and high torque, and the fine adjustment section is set to micro speed and variable torque.

[0019] The real-time position of the locking component in the movable pin is collected and compared with the preset threshold values ​​for each segment. When the locking component enters the corresponding stroke segment, the corresponding speed and torque of the pin motor are automatically switched, and the pin motor is kept at a low torque after the fine-tuning segment.

[0020] Preferably, the mounting platform has a protrusion and a platform, and the protrusion and the platform form a shape that matches the locking docking part;

[0021] The locking positioning component is connected to the protrusion.

[0022] Preferably, the lifting device includes a body connecting seat, an internal threaded sleeve, a threaded rod, a lifting motor, and a mounting platform connecting seat;

[0023] The fuselage connector is connected to the fuselage and internal threaded sleeve of the multirotor aircraft, respectively.

[0024] The threaded rod is threadedly connected to the internally threaded sleeve;

[0025] The lifting motor is connected to the end of the threaded rod that is furthest from the internal threaded sleeve.

[0026] The mounting platform connecting seat is connected to the lifting motor and the mounting platform respectively.

[0027] Preferably, the locking docking part is provided with a locking channel;

[0028] The locking channel is used in conjunction with the locking movable component to lock the mounting platform and the locking docking part together.

[0029] Preferably, the pin motor is a geared pin motor, and the locking movable component is provided with a pin rack that meshes with the geared pin motor;

[0030] The pin rack is used to drive the locking movable component to lock the mounting platform and the locking docking part together under the drive of the geared pin motor, and / or to drive the locking movable component to cooperate with the unlocking component to release the mutual locking between the mounting platform and the locking docking part.

[0031] Preferably, the locking and positioning assembly includes a positioning seat and a positioning outer sleeve;

[0032] The positioning seat is connected to the mounting platform and is used to install the movable pin as a whole onto the mounting platform;

[0033] The positioning outer sleeve is fixedly connected to the positioning seat and movably connected to the locking movable component, which is used to move the locking movable component along the axial direction of the positioning outer sleeve.

[0034] Preferably, the locking mechanism includes a movable sleeve, a locking beam, and a locking spring.

[0035] The side wall of the movable sleeve is movably connected to the locking and positioning assembly;

[0036] The locking beam and locking spring are located inside the movable sleeve;

[0037] The locking latch is equipped with a tension spring, a locking part, and a compression part;

[0038] The movable sleeve is provided with an opening that mates with the locking part, and the opening is used to provide space for the locking part to move radially to the outside of the movable sleeve;

[0039] The locking beam is connected to the movable sleeve;

[0040] One end of the tension spring is connected to the locking beam, and the other end is connected to the locking part;

[0041] The compression part is connected to the locking part;

[0042] The compression part is used in conjunction with the unlocking component and the spring to drive the locking part to move radially between the inside and outside of the movable sleeve;

[0043] The unlocking component applies tension to the tension spring when it abuts against the compression part, causing the locking part to move radially between the inside and outside of the movable sleeve.

[0044] Furthermore, the unlocking component includes an unlocking button, a compression spring, an unlocking lever, and an unlocking lever end block;

[0045] One end of the compression spring is connected to the locking and positioning assembly, and the other end is connected to the unlocking button;

[0046] The unlock button is connected to one end of the unlock lever, and the other end of the unlock lever is connected to the unlock lever end block.

[0047] The unlocking rod end block is used to abut against the compression part, and together with the compression part, it applies tension to the tension spring, so that the locking part moves radially between the inside and outside of the movable sleeve;

[0048] The unlock button is used to release the unlock lever from contact with the compression part by moving the unlock lever end block.

[0049] Furthermore, the locking beam is provided with a locking beam connecting shaft;

[0050] The locking part of the locking tongue has a cavity, the length of which in the radial direction matches the connecting shaft of the tension spring and the locking beam, and is used to accommodate the tension spring and the connecting shaft of the locking beam.

[0051] One end of the tension spring is connected to the locking beam connecting shaft, and the other end is connected to the side of the cavity that is closer to the side wall of the movable sleeve.

[0052] The compression part of the locking spring is provided with a first end face and a second end face;

[0053] The first and second end faces are respectively used to abut against the unlocking rod end block, and together with the unlocking rod end block, apply tension to the tension spring, so that the locking part moves radially between the inside and outside of the movable sleeve.

[0054] Preferably, the segmented force-controlled locking controller includes a control processing unit and a position sensor;

[0055] The control processing unit is electrically connected to the position sensor and the pin motor;

[0056] The control processing unit is used to execute steps to control and lock the activity process;

[0057] The position sensor is used to collect the real-time position of the locking mechanism in the movable pin.

[0058] Compared with the prior art, the advantages of this application are as follows:

[0059] By employing a mounting platform and movable pins in conjunction with a locking docking mechanism, the modular configuration of the mission compartment via the mounting platform is achieved. This provides broad adaptability to various scenarios, reduces equipment procurement and maintenance costs, and allows for rapid switching between mission compartments with different functions when facing complex and ever-changing field tasks, significantly improving the speed of task response. It can adapt to various electrical interface settings, the mission compartment switching process is simple, the personnel operation difficulty is low, and the replacement process is short, meeting the timeliness requirements of emergency response. In addition, the mounting and switching process is highly automated. By using a lifting device, there is no need for additional manual straightening or complex temporary fixing, making operation simple and reducing safety risks. At the same time, the introduction of segmented force-controlled locking control enhances the structural stability after mounting, and the connection rigidity is maintained after final mounting to avoid slight vibrations or swaying, thus not affecting mission accuracy and equipment lifespan. Attached Figure Description

[0060] Figure 1 This is a schematic diagram of the overall shape of a multi-rotor aircraft mounting device installed on a multi-rotor aircraft according to this application.

[0061] Figure 2 A side view of the multirotor aircraft after the mounting mechanism and mission module have been separated.

[0062] Figure 3 This is a schematic diagram of the mounting platform.

[0063] Figure 4 This diagram illustrates the positional relationship between the movable pin and the locking channel, and the positional relationship between the movable pin and the geared pin motor.

[0064] Figure 5 This is a schematic diagram showing the positions of the movable pin and the lifting device on the mounting platform.

[0065] Figure 6 This is a schematic diagram of the internal structure of the movable latch.

[0066] Figure 7 This is a schematic diagram of the locking spring mechanism.

[0067] Figure 8 This is a schematic diagram of the elevator structure.

[0068] Figure 9 This is a partial schematic diagram of the mission module's external shape.

[0069] Figure 10 This is a schematic diagram showing the connection relationship between the elongated guide rail and the internally threaded sleeve.

[0070] Figure 11 This is a schematic diagram of the frame structure of a segmented force-controlled locking controller.

[0071] Figure 12This is a flowchart illustrating the control and locking process of a segmented force-controlled locking controller.

[0072] In the diagram: 1. Multirotor aircraft fuselage; 2. Mounting mechanism; 21. Lifter; 211. Fuselage connecting seat; 212. Threaded sleeve; 213. Long guide rail; 2131. Threaded rod; 214. Connecting bearing; 215. Lifting motor; 216. Mounting platform connecting seat; 217. Mounting platform; 22. Protrusion; 221. Platform section; 222. Movable pin; 23. Unlocking assembly; 231. Unlocking button; 2311. Compression spring; 2312. Unlocking rod; 2313. Unlocking rod end block; 2314. Locking and positioning assembly; 232. Positioning outer sleeve; 2321. Positioning seat; 2322. Positioning inner sleeve 2323; movable guide rail 2324; locking movable assembly 233; movable sleeve 2331; upper wall of movable sleeve 2332; sliding block 2333; limiting block 2334; locking beam 2335; locking beam connecting shaft 23351; locking spring 2336; tension spring 23361; locking part 23362; compression part 23363; first end face 23364; second end face 23365; pin rack 234; geared pin motor 24; mission compartment 3; locking docking part 31; locking channel 311; electrical channel 312; compartment 32. Detailed Implementation

[0073] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. Furthermore, the technical features involved in the various embodiments described below can be combined with each other as long as they do not conflict with each other.

[0074] Combination Figure 1 , Figure 2 As shown in the figure. This application discloses an embodiment of a multi-rotor aircraft mounting device, installed on the multi-rotor aircraft fuselage 1, used to configure a mechanism with universal mounting functions for different missions such as firefighting, rescue, and reconnaissance. Preferably, in this embodiment, the multi-rotor aircraft mounting device is installed at the center directly below the multi-rotor aircraft fuselage 1, with its center of mass located within the vertical projection range of the overall center of gravity of the multi-rotor aircraft fuselage 1 and coinciding with the overall thrust centerline of the multi-rotor aircraft fuselage 1, to ensure flight attitude stability and control efficiency. An example of the multi-rotor aircraft fuselage 1 is shown below. Figure 1As shown, this is a single-seat multirotor configuration. The top of the multirotor aircraft fuselage 1 uses a six-axis, twelve-propeller propulsion system. The middle of the multirotor aircraft fuselage 1 is a single-seat cockpit. Landing gears are located on both sides of the fuselage. In this embodiment, the multirotor aircraft's mounting devices are located between the landing gears. In other embodiments, the multirotor aircraft fuselage 1 may also be unmanned and / or have other configurations with different numbers of shafts and / or propellers.

[0075] One embodiment of this application discloses a multi-rotor aircraft mounting device comprising a mounting mechanism 2 and a mission bay 3. Preferably, one side of the mounting mechanism 2 is connected to the belly of the multi-rotor aircraft fuselage 1, and the opposite side of the mounting mechanism 2 is detachably connected to the mission bay 3. Preferably, after assembly, the mounting mechanism 2 and the mission bay 3 are installed at the center directly below the multi-rotor aircraft fuselage 1, with their center of mass located within the vertical projection range of the overall center of gravity of the multi-rotor aircraft fuselage 1 and coinciding with the overall thrust centerline of the multi-rotor aircraft fuselage 1.

[0076] Combination Figure 1 , Figure 2 , Figure 4 , Figure 9 As shown. In one embodiment of this application, the mission compartment 3 includes a locking docking part 31 and a compartment 32. The locking docking part 31 is provided with a locking channel 311 and an electrical channel 312. The locking channel 311 is provided on one or more sides of the locking docking part 31, and is used for a detachable connection with the mounting mechanism 2, specifically a detachable locking connection. The electrical channel 312 is located on the upper and / or lower surface of the locking docking part 31. The electrical channel 312 is a channel and / or opening for passing electrical cables, thereby facilitating electrical wiring connections to components in the mission compartment 3 and / or mounting mechanism 2 that require power supply and signal control. The lower surface of the locking docking part 31 is connected to the top of the compartment 32.

[0077] In this preferred embodiment, the locking channel 311 is a straight channel with a certain depth. One end face of the straight channel is located on the side of the locking docking part 31, and the opposite end face of the straight channel is located inside the locking docking part 31. The interior of the locking docking part 31 is a cavity shape after the other end face of the straight channel. The radial cross-section of the straight channel matches the shape of the component of the mounting mechanism 2 used for detachable locking connection, thereby facilitating detachable locking connection with the mounting mechanism 2.

[0078] In a further preferred embodiment, the locking docking part 31 is symmetrically provided with three locking channels 311 on one side of the landing gear of the multi-rotor aircraft body 1. The straight channel of the locking channel 311 located in the middle has a relatively long radial dimension, while the straight channel of the locking channels 311 located on the two symmetrical sides has a relatively short radial dimension. The radial cross-section of the straight channel is a circle and two polygons symmetrically circumscribed around the center, which cooperate with the components that are detachably locked and connected to the mounting mechanism 2.

[0079] In this preferred embodiment, the connection between the locking docking part 31 and the cabin 32 is a fixed connection, and the electrical channel 312 is located at the geometric center of the locking docking part 31.

[0080] In other embodiments of this application, the cabin 32 of the mission compartment 3 can be configured with different structures according to mission requirements, and the top of the cabin 32 must be connected to the locking docking part 31. The shape of the locking docking part 31 and the shape of the locking channel 311 can be designed according to the matching requirements with the mounting mechanism 2, so as to realize the effect of using the locking docking part 31 to detachably lock the mounting mechanism 2 through the locking channel 311, adapting to the load switching requirements of different missions while having universal mounting capabilities.

[0081] Combination Figures 2 to 5 As shown. One embodiment of the mounting mechanism 2 of this application includes a lifter 21, a mounting platform 22, a movable pin 23, and a geared pin motor 24.

[0082] Combination Figure 3 , Figure 5As shown. In one embodiment of this application, the mounting platform 22 has a hollow shape inside. The mounting platform 22 includes a protrusion 221 and a platform 222. The protrusion 221 and the platform 222 are interconnected. The protrusion 221 is used to install the movable pin 23 and the geared pin motor 24. The platform 222 is used to install the lifting device 21. The protrusion 221 and the platform 222 are connected to form a concave shape. The recess of the concave shape cooperates with the locking docking part 31. In this preferred embodiment, the mounting platform 22 has three protrusions 221 on the side near the landing gear of the multirotor aircraft fuselage 1. Each protrusion 221 is internally connected to one or more geared pin motors 24. Each protrusion 221 has a movable pin 23 at the position corresponding to the geared pin motor 24. Each movable pin 23 starts from one side of the protrusion 221 facing the landing gear of the multirotor aircraft fuselage 1, passes through the other side of the protrusion 221 and the platform 222, forming an enclosure. This allows the end of the movable pin 23 used for locking to cooperate with the locking channel 311 of the locking docking part 31. The shape of the two sides of the protrusion 221 through which the pins are passed matches the shape of the movable pin 23. The other end of the movable pin 23 used for unlocking is located on the side of the protrusion 221 facing the landing gear of the multirotor aircraft fuselage 1. In this preferred embodiment, the inner wall of the platform portion 222 is connected to the elevator 21 on the side closer to the concave-shaped notch, and the other side of the platform portion 222, which is away from the concave-shaped notch, is provided with an opening of a size that is matched with some movable parts in the elevator 21.

[0083] In this embodiment, one end of the elevator 21 is connected to the belly of the multirotor aircraft body 1, and the other end of the elevator 21 is fixedly connected to the inner wall of the platform portion 222 of the mounting platform 22, which is closer to the concave-shaped notch. The elevator 21 is used to enable the mounting mechanism 2 and / or the mission cabin 3 to perform lifting and lowering activities relative to the multirotor aircraft body 1.

[0084] Combination Figure 3 , Figure 5 , Figure 8 , Figure 10 As shown. In one embodiment of this application, the lifting device 21 includes a body connecting seat 211, an internal threaded sleeve 212, a long strip guide rail 213, a threaded rod 214, a connecting bearing 215, a lifting motor 216, and a mounting platform connecting seat 217.

[0085] In this embodiment, the fuselage connecting seat 211 is a square workpiece. One side of the fuselage connecting seat 211 is fixedly connected to the multi-rotor aircraft fuselage 1, and the opposite side of the fuselage connecting seat 211 is fixedly connected to one end of the internal threaded sleeve 212. The geometric center of the opposite side of the fuselage connecting seat 211 coincides with the geometric center of the end of the internal threaded sleeve 212 connected thereto. The inner wall of the internal threaded sleeve 212 is provided with a thread that mates with the outer side of the threaded rod 214. The inner wall of the internal threaded sleeve 212 is threadedly connected to the outer side of the threaded rod 214, and the length of the internal threaded sleeve 212 matches the length of the threaded rod 214. The outer wall of the other end of the internal threaded sleeve 212 away from the fuselage connecting seat 211 is provided with a groove that mates with the sliding connection of the elongated guide rail 213. The end of the threaded rod 214 away from the internal threaded sleeve 212 is fitted and connected to the inner side of the connecting bearing 215. The length of the elongated guide rail 213 matches the length of the threaded rod 214. The elongated guide rail 213 has an elongated protrusion 2131 along its length, serving as a guide rail. One end of the elongated guide rail 213 near the connecting bearing 215 is fixedly connected to the outer side of the connecting bearing 215. The elongated protrusion 2131 is limited by the connecting bearing 215 at this location. The elongated protrusion 2131 engages with a groove on the outer wall of the other end of the internal threaded sleeve 212 for sliding connection. The inner side of the connecting bearing 215 is also fitted with the motor shaft of the lifting motor 216. The mounting platform connecting seat 217 is a square workpiece. The lifting motor 216 is connected to one side of the mounting platform connecting seat 217, and the opposite side of the mounting platform connecting seat 217 is connected to the inner wall of the platform portion 222, which is closer to the concave recess. In this preferred embodiment, four elevators 21 are symmetrically arranged relative to the multi-rotor aircraft body 1. In other embodiments, the elongated guide rail 213 may be provided in one or more elevators 21.

[0086] In this embodiment, when the lifting motor 216 is working, it rotates around the motor shaft and drives the threaded rod 214 to rotate synchronously through the connecting bearing 215. Under the drive of the threaded connection, the internal threaded sleeve 212 performs lifting and lowering movements. Under the guidance of the long strip guide rail 213, radial offset is avoided, thereby driving the multi-rotor aircraft body 1 and the mounting platform 22 to move closer and / or further apart, thus realizing the lifting and lowering function of the multi-rotor aircraft mounting device relative to the ground.

[0087] Combination Figures 1 to 7 As shown. In one embodiment of this application, the movable pin 23 includes an unlocking component 231, a locking positioning component 232, a locking movable component 233, and a pin rack 234.

[0088] Combination Figure 4 , Figure 5 , Figure 6As shown. In this embodiment, the geared pin motor 24 cooperates with the pin rack 234, and the geared pin motor 24 is used to drive the pin rack 234 to move. The power receiving end of the geared pin motor 24 is fixedly connected to the inner wall of the mounting platform 22 near the movable pin 23, and the gear driven by the motor shaft of the geared pin motor 24 meshes with the pin rack 234. The geared pin motor 24 drives the pin rack 234 to move, thereby driving the locking movable component 233 to move relative to the locking positioning component 232 to achieve the locking function. The unlocking component 231 is used to release the locking state of the locking movable component 233. Specifically, the power receiving end of the geared pin motor 24 is fixedly connected to the inner wall of the bottom surface of the protrusion 221 of the mounting platform 22, which is away from the multi-rotor aircraft body 1. The locking and positioning assembly 232 is detachably connected to the side of the protrusion 221 facing the landing gear of the multi-rotor aircraft body 1 by screws. The locking movable assembly 233 passes through the protrusion 221 and cooperates with the locking channel 311. Optionally, in this embodiment, the geared pin motor 24 is a motor with a braking structure. When the motor stops moving, the braking structure is activated to clamp the motor rotor and prevent the motor from rotating.

[0089] Combination Figure 5 , Figure 6 , Figure 7 As shown. In one embodiment of this application, the locking and positioning assembly 232 includes a positioning outer sleeve 2321, a positioning seat 2322, a positioning inner sleeve 2323, and a movable guide rail 2324.

[0090] In this embodiment, the positioning seat 2322 is detachably connected to the protrusion 221 by screws on one side that is relatively far from the platform portion 222 and forms a concave shape. In other embodiments, the positioning seat 2322 may not be detachably connected to the protrusion 221 but may be directly inserted. The positioning outer sleeve 2321 is located inside the protrusion 221 and is a hollow tube with openings at both ends. One bottom surface of the positioning outer sleeve 2321 is connected to the side of the positioning seat 2322 facing the inside of the protrusion 221. The positioning inner sleeve 2323 is located inside the positioning outer sleeve 2321 and is a hollow tube with a large opening at one end and a small opening at the other end. The end face of the large opening of the positioning inner sleeve 2323 is connected to the side of the positioning seat 2322 facing the inside of the protrusion 221, and the other end face of the small opening is connected to the unlocking component 231. The movable guide rail 2324 is a rectangular hollow shape located on the positioning outer sleeve 2321. The movable guide rail 2324 is used to cooperate with the pin rack 234, so that the pin rack 234 has space to move along the axial direction.

[0091] Combination Figure 5 , Figure 6 , Figure 7As shown. In one embodiment of this application, the locking movable component 233 includes a movable sleeve 2331, a movable sleeve upper wall 2332, a sliding block 2333, a limiting block 2334, a locking beam 2335, and a locking spring 2336. The locking beam 2335 is provided with a locking beam connecting shaft 23351, and the locking spring 2336 is provided with a tension spring 23361, a locking part 23362, a compression part 23363, a first end face 23364, and a second end face 23365.

[0092] In this embodiment, the movable sleeve 2331 is nested within the inner wall of the positioning outer sleeve 2321. The movable sleeve 2331 can move axially relative to the positioning seat 2322. The movable sleeve 2331 has an opening that mates with the locking part 23362 of the locking spring 2336. This opening provides space for the locking part 23362 to move radially out of the side wall of the movable sleeve 2331. The pin rack 234 is fixedly or detachably connected to the side wall of the movable sleeve 2331. In this embodiment, the pin rack 234 and the side wall of the movable sleeve 2331 can be integrally formed. The upper wall 2332 of the movable sleeve has an opening in the middle that mates with the unlocking component. The size of this opening is used to mate with the positioning inner sleeve 2323, so that the upper wall 2332 of the movable sleeve can abut against the positioning seat 2322 when it moves axially.

[0093] A sliding block 2333 is located at the bottom of the movable sleeve 2331, relatively away from the upper wall 2332 of the movable sleeve. A limiting block 2334 is located at one end of the sliding block 2333, relatively close to the upper wall 2332 and the central axis of the movable sleeve 2331. The sliding block 2333 has a groove on one side relative to the central axis of the movable sleeve 2331 for axial movement in conjunction with the unlocking assembly 231. The limiting block 2334 is used to lock the unlocking assembly 231 and the locking spring 2336, and functions to limit the movement of the unlocking assembly 231.

[0094] The locking beam 2335 is a U-shaped workpiece located at the position that mates with the opening of the locking part 23362 of the movable sleeve 2331. The two protrusions of the locking beam 2335 are fixedly connected to the inner side wall of the movable sleeve 2331 and / or the inner side of the pin rack 234. The middle crossbeam of the locking beam 2335 is elastically connected to the locking spring tongue 2336. Specifically, the middle crossbeam of the locking beam 2335 is provided with a locking beam connecting shaft 23351 to connect the two protrusions of the locking beam 2335. The locking beam connecting shaft 23351 is connected to one end of the tension spring 23361.

[0095] The locking portion 23362 of the locking spring 2336 has a cavity for elastic connection with the locking beam 2335. The radial length of this cavity matches that of the tension spring 23361 and the locking beam connecting shaft 23351. This cavity accommodates the tension spring 23361 and the locking beam connecting shaft 23351. The other end of the tension spring 23361, which is relatively away from the locking beam connecting shaft 23351, is connected to the side of the cavity in the locking portion 23362 that is relatively close to the side wall of the movable sleeve 2331. The elastic coefficient of the tension spring 23361 is matched to the locking and unlocking requirements. The locking portion 23362 is used to engage with the locking channel 311 when the tension spring 23361 is stretched to a certain length, locking the mounting platform 22 and the locking docking portion 31 to prevent relative movement.

[0096] The compression portion 23363 of the locking spring 2336 is connected to the end of the locking portion 23362 that is relatively close to the central axis of the movable sleeve 2331. The compression portion 23363 has a first end face 23364 at the end relatively away from the locking portion 23362 and a second end face 23365 at the end relatively close to the locking portion 23362. One side of the first end face 23364 and one side of the second end face 23365 are connected to form a protruding shape. The top of the protruding shape, which is relatively close to the central axis of the movable sleeve 2331, cooperates with the unlocking component 231. The first end face 23364 and the second end face 23365 are respectively used to cooperate with the unlocking component 231 to drive the locking portion 23362 to lock and unlock.

[0097] Combination Figure 5 , Figure 6 , Figure 7 As shown. An unlocking component 231 of one embodiment of this application includes an unlocking button 2311, a compression spring 2312, an unlocking lever 2313, and an unlocking lever end block 2314.

[0098] In this embodiment, the compression spring 2312 and the unlocking rod 2313 are sleeved on the outer wall of one end of the positioning seat 2322. The end face of the unlocking rod 2313 on one side of the positioning seat 2322 is connected to the bottom of the unlocking button 2311. The middle part of the unlocking rod 2313 extends through the inner positioning sleeve 2323 to the bottom of the movable sleeve 2331. The end face of the unlocking rod 2313 on the inner side of the movable sleeve 2331 is fixedly connected to the unlocking rod end block 2314. One end of the compression spring 2312 is connected to the bottom of the unlocking button 2311, and the other end is connected to the other end face of the movable sleeve 2331 with a small opening. The elastic coefficient of the compression spring 2312 matches the locking and unlocking requirements. The unlocking rod end block 2314 is used to cooperate with the limiting block 2334 and the compression part 23363 to realize the locking and unlocking functions. The unlocking lever end block 2314 has a beveled shape on one side relative to the first end face 23364 and / or the second end face 23365, which matches the first end face 23364 and / or the second end face 23365; the unlocking lever end block 2314 has a sliding connection with the groove on the sliding block 2333 on one side relative to the limiting block 2334, and the limiting block 2334 matches the groove on the sliding block 2333 to limit the unlocking lever end block 2314.

[0099] The mechanism of locking and unlocking the mounting platform 22 and the locking docking part 31, based on the combination of the aforementioned embodiments, is explained as follows: when the default mounting mechanism 2 aligns the movable pin 23 with the locking channel 311 in both the horizontal and vertical directions, the principle of this application is as follows:

[0100] (a) Initial state: The movable pin 23 is installed on the protrusion 221 of the mounting platform 22, and the movable sleeve 2331 of the movable pin 23 is fully retracted to a position where it does not interfere with the movement of the locking docking part 31. At this time, under the action of the tension spring 23361, the locking part 23362 retracts into the movable sleeve 2331, and the compression part 23363 and the limiting block 2334 do not abut against the unlocking rod end block 2314.

[0101] (b) Locking: The geared pin motor 24 rotates in one direction, causing the pin rack 234 to drive the movable sleeve 2331 to move continuously towards the inside of the locking docking part 31 through the locking channel 311; during this process:

[0102] The movable sleeve 2331 first moves to the side of the second end face 23365 opposite to the unlocking rod end block 2314 and abuts against the stretching spring 23361. At this time, the locking tongue 2336 is located in the cavity shape inside the locking docking part 31, passing through the locking channel 311. During the process of abutting against the second end face 23365, the stretching spring 23361 is continuously stretched, so that the locking part 23362 passes through the movable sleeve 2331 and enters the interior of the locking docking part 31.

[0103] Next, the movable sleeve 2331 moves to the top of the protruding shape formed by the first end face 23364 and the second end face 23365 and abuts against the side opposite to the unlocking rod end block 2314, and the tension spring 23361 is pulled to its maximum length.

[0104] Then, the movable sleeve 2331 continues to move to the side of the first end face 23364 that is opposite to the unlocking rod end block 2314 and abuts. The tension spring 23361 begins to shorten its length. At the very end of the process of abutting the first end face 23364, the side of the unlocking rod end block 2314 that is opposite to the limiting block 2334 abuts against the limiting block 2334. The unlocking rod end block 2314 and the limiting block 2334 mutually restrict each other to achieve the limiting. At this time, the movable sleeve 2331 no longer moves, the geared pin motor 24 temporarily stops, the compression spring 2312 is compressed to a certain amount and is no longer easily compressed. The locking part 23362 is also located in the internal cavity of the locking docking part 31 to achieve the locking function.

[0105] (c) Fine adjustment of locking degree: The geared pin motor 24 rotates in the opposite direction of (b), causing the pin rack 234 to drive the movable sleeve 2331 to move toward the outer side of the locking docking part 31, but keeping the locking part 23362 always in the internal cavity of the locking docking part 31; during this process, the first end face 23364 abuts against the side opposite to the unlocking rod end block 2314, and keeps the unlocking rod end block 2314 from going beyond the top of the convex shape formed by the first end face 23364 and the second end face 23365, so that the locking part 23362 will never retract into the movable sleeve 23. Inside 31, the unlocking rod end block 2314 abuts against the limiting block 2334 on one side. The tension spring 23361 begins to shorten its length until the locking part 23362 abuts against the outer edge of the other end face of the locking channel 311. Then the geared pin motor 24 stops. At this time, the locking part 23362 prevents the movable sleeve 2331 from moving further toward the outer side of the locking docking part 31, thus achieving stable locking. The compression amount of the compression spring 2312 is reduced by a small value, thus having the effect of continuing to apply greater pressure for compression, thereby providing space for unlocking.

[0106] (d) Unlocking: In the locked state, manually press the unlocking button 2311, thereby pushing the unlocking rod end block 2314 toward the side of the compression part 23363 to successively abut and slide past the first end face 23364 and the second end face 23365. Then push the unlocking rod end block 2314 to disengage from the second end face 23365. At this time, the tension spring 23361 returns to its original length and retracts into the movable sleeve 2331. At the same time, the geared pin motor 24 rotates in the opposite direction of (b), causing the pin rack 234 to drive the movable sleeve 2331 to move toward the outside of the locking docking part 31 through the locking channel 311 until the movable sleeve 2331 retracts completely and disengages from the locking docking part 31. Thus, the locking docking part 31 is unlocked and can be disengaged from the mounting table 22 for movement.

[0107] Combination Figure 11 and Figure 12 As shown. The multi-rotor aircraft mounting device in this embodiment is also equipped with a segmented force-controlled locking controller. The segmented force-controlled locking controller includes a control processing unit and a position sensor; the control processing unit is electrically connected to the position sensor and to the geared pin motor 24; the control processing unit is used to execute the steps of controlling the locking activity process; the position sensor is used to collect the real-time position of the locking active component 233 in the active pin 23.

[0108] In this embodiment, the control processing unit can achieve segmented force-controlled locking control of the geared pin motor 24 by setting a circuit board for the motor wireless communication control circuit at the bottom of the geared pin motor 24, flexibly setting a circuit board block integrating the main control wireless communication circuit and the control processing circuit at a corresponding position inside the mounting platform 22, wirelessly communicating between the control processing circuit and the motor wireless communication control circuit, and wiredly connecting the motor wireless communication control circuit and the geared pin motor 24. The position sensor is preferably a laser displacement sensor set inside the locking docking part 31 and facing the locking channel 311. The laser displacement sensor communicates wirelessly with the main control wireless communication circuit of the processing unit. The laser displacement sensor is used to align with the side of the movable sleeve 2331 in the locking movable component 233 facing the inside of the locking docking part 31, and calculates the real-time position of the locking movable component by collecting the distance between it and the side of the movable sleeve 2331 facing the inside of the locking docking part 31. In other embodiments, other types of sensors can also be used and corresponding acquisition methods can be set to collect the real-time position.

[0109] The segmented force-controlled locking controller is used to control the locking process of the locking mechanism 233 in the movable pin 23 driven by the geared pin motor 24; in this embodiment, the steps of controlling the locking process include:

[0110] S1. Preset the travel of the movable pin in the control processing unit;

[0111] In this preferred embodiment, the travel of the movable pin is preset to include an idle travel segment, a guide segment, a contact segment, a locking segment, and a fine-tuning segment, and the segment threshold corresponding to the real-time position of each travel segment is preset simultaneously; in this embodiment, the segment threshold is obtained through multiple tests;

[0112] S2. For the resistance characteristics of the idle travel section, guide section, contact section, locking section and fine adjustment section, respectively calibrate the corresponding speed and torque of the geared pin motor 24;

[0113] The idle travel section is set to high speed and low torque, the guide section to medium speed and medium torque, the contact section to low speed and low torque, the locking section to low speed and high torque, and the fine-tuning section to micro speed and variable torque. In this embodiment, the terms "high," "medium," "low," and "micro" for the speed and torque parameters of the geared pin motor 24 are relative concepts. "Variable torque" means that the torque is variable according to the requirements. The specific range and distribution are determined based on the specific performance parameters of the geared pin motor 24. The resistance characteristics of each travel segment are collected through multiple tests. For example, when the geared pin motor 24 has high torque and high speed, the range of speed and torque values ​​corresponding to different travel segments can be adjusted to be wider than that of motors with low torque and low speed.

[0114] S3. The position sensor collects the real-time position of the movable sleeve 2331 in the locking movable assembly 233 facing the inside of the locking docking part 31.

[0115] S4. After the position sensor transmits the real-time position to the control processing unit, the control processing unit compares the real-time position with the preset segment thresholds to determine which segment of travel the locking active component 233 is in.

[0116] S5. Based on the judgment result of the stroke of the locking movable component 233, the geared pin motor 24 is automatically switched to the corresponding speed and torque parameters set in step S2. After the fine adjustment section is completed when the locking part 23362 of the locking movable component 233 is pressed against the inside of the locking docking part 31, the torque of the geared pin motor 24 is kept at a micro torque and the speed is zero, so as to realize the mutual locking of the mounting platform 22 and the locking docking part 31 by the movable pin 23.

[0117] In this embodiment, the locking and unlocking process involves very little human intervention, making it highly convenient.

[0118] Compared with the prior art, the advantages of this application are as follows: By using the mounting platform 22 and the movable pin 23 in conjunction with the locking docking part 31, the modular configuration of the task compartment 3 through the mounting platform 22 is achieved, which has a wide range of scene adaptability, reduces equipment procurement and maintenance costs, and can quickly switch between different functions of the task compartment 3 when facing complex and ever-changing field tasks, greatly improving the speed of task response; it can adapt to various electrical interface setting requirements, the task compartment 3 switching process is simple, the personnel operation difficulty is low, and the replacement process is short, meeting the timeliness requirements of emergency response; in addition, the mounting and switching process is highly automated. By using the lifting device 21, there is no need for additional manual straightening or complex temporary fixing, which simplifies operation and reduces safety risks. At the same time, the introduction of segmented force-controlled locking control enhances the structural stability after mounting, and the connection rigidity can be met after final mounting to avoid micro-vibration or swaying, thereby not affecting the mission accuracy and equipment life.

[0119] It should be noted that some embodiments of this disclosure have been described above. Other embodiments are within the scope of the appended claims. The above are merely preferred embodiments of this application and the technical principles employed. This application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions that can be made by those skilled in the art will not depart from the protection scope of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of this application, and the scope of this application is determined by the scope of the claims.

Claims

1. A multi-rotor aircraft mounting device, characterized in that, It includes a mounting mechanism and a mission compartment. The mounting mechanism is equipped with a lifter, a mounting platform, a movable pin, a pin motor, and a segmented force-controlled locking controller. The mission compartment is equipped with a locking docking part. The elevator is connected to the fuselage of the multi-rotor aircraft and the mounting platform, respectively. The lift is used to raise and lower the mounting platform relative to the fuselage of the multirotor aircraft. One side of the mounting platform is connected to the lifting device, and the other side is engaged with the locking docking part; The movable pin is equipped with a locking positioning component, a locking movable component, and an unlocking component; The locking and positioning component is connected to the mounting platform, the locking and positioning component is movably connected to the locking movable component, and the locking and positioning component is connected to the unlocking component. The locking and unlocking components, locking and positioning components, and locking docking parts cooperate to lock the mounting platform and the locking docking parts together. The unlocking component is used to release the mutual locking of the locking active component to the mounting platform and the locking dock; The pin motor is connected to the locking movable component and is used to drive the locking movable component to lock the mounting platform and the locking docking part together, and / or to drive the locking movable component to cooperate with the unlocking component to release the mutual locking between the mounting platform and the locking docking part. The locking and positioning assembly includes a positioning base and a positioning outer sleeve; The positioning seat is connected to the mounting platform and is used to install the movable pin as a whole onto the mounting platform; The positioning outer sleeve is fixedly connected to the positioning seat and movably connected to the locking movable component, which is used to move the locking movable component along the axial direction of the positioning outer sleeve. The locking mechanism includes a movable sleeve, a locking beam, and a locking spring. The side wall of the movable sleeve is movably connected to the locking and positioning assembly; The locking beam and the locking spring are located inside the movable sleeve; The locking latch is equipped with a tension spring, a locking part, and a compression part; The movable sleeve is provided with an opening that mates with the locking part, the opening being used to provide space for the locking part to move radially out of the movable sleeve; The locking beam is connected to the movable sleeve; One end of the tension spring is connected to the locking beam, and the other end is connected to the locking part; The compression part is connected to the locking part; The compression part is used in conjunction with the unlocking component and the spring to drive the locking part to move radially between the inside and outside of the movable sleeve; The unlocking component applies tension to the tension spring when it abuts against the compression part, causing the locking part to move radially between the inside and outside of the movable sleeve; The segmented force-controlled locking controller is electrically connected to the pin motor; The segmented force-controlled locking controller is used to control the locking process of the locking component in the movable pin driven by the pin motor. The steps of controlling the locking process include: preset the stroke of the movable pin, including the free stroke segment, the guide segment, the contact segment, the locking segment, and the fine adjustment segment. Based on the resistance characteristics of the idle travel section, the guide section, the contact section, the locking section, and the fine-tuning section, the corresponding speed and torque are calibrated for the pin motor; wherein, the idle travel section is set to high speed and low torque, the guide section is set to medium speed and medium torque, the contact section is set to low speed and low torque, the locking section is set to low speed and high torque, and the fine-tuning section is set to micro speed and variable torque. The real-time position of the locking component in the movable pin is collected and compared with the preset threshold values ​​for each segment. When the locking component enters the corresponding stroke segment, the corresponding speed and torque of the pin motor are automatically switched, and the pin motor is kept at a low torque after the fine-tuning segment.

2. The multi-rotor aircraft mounting device as described in claim 1, characterized in that, The mounting platform has a protrusion and a platform, the protrusion and the platform forming a shape that mates with the locking docking part; The locking positioning component is connected to the protrusion.

3. The multi-rotor aircraft mounting device as described in claim 1, characterized in that, The lifting device includes a body connecting seat, an internal threaded sleeve, a threaded rod, a lifting motor, and a mounting platform connecting seat; The fuselage connecting seat is connected to the fuselage of the multirotor aircraft and the internal threaded sleeve, respectively. The threaded rod is threadedly connected to the internally threaded sleeve. The lifting motor is connected to the end of the threaded rod that is furthest from the internal threaded sleeve. The mounting platform connecting seat is connected to the lifting motor and the mounting platform respectively.

4. The multi-rotor aircraft mounting device as described in claim 1, characterized in that, The locking docking part is equipped with a locking channel; The locking channel is used in conjunction with the locking movable component to lock the mounting platform and the locking docking part together.

5. The multi-rotor aircraft mounting device as described in claim 1, characterized in that, The pin motor is a geared pin motor, and the locking movable component is provided with a pin rack that meshes with the geared pin motor; The pin rack is used to drive the locking movable component to lock the mounting platform and the locking docking part together under the drive of the geared pin motor, and / or to drive the locking movable component to cooperate with the unlocking component to release the mutual locking between the mounting platform and the locking docking part.

6. The multi-rotor aircraft mounting device as described in claim 1, characterized in that, The unlocking components include an unlock button, a compression spring, an unlock lever, and an unlock lever end block; One end of the compression spring is connected to the locking and positioning assembly, and the other end is connected to the unlocking button; The unlock button is connected to one end of the unlock lever, and the other end of the unlock lever is connected to the unlock lever end block. The unlocking rod end block is used to abut against the compression part, and together with the compression part, it applies tension to the tension spring, so that the locking part moves radially between the inside and outside of the movable sleeve; The unlock button is used to release the unlock lever from contact with the compression part by moving the unlock lever end block.

7. The multi-rotor aircraft mounting device as described in claim 1, characterized in that, The locking beam is equipped with a locking beam connecting shaft; The locking part of the locking tongue has a cavity, the length of which in the radial direction is matched with the tension spring and the connecting shaft of the locking beam, and is used to accommodate the tension spring and the connecting shaft of the locking beam; One end of the tension spring is connected to the locking beam connecting shaft, and the other end is connected to the side of the cavity that is closer to the side wall of the movable sleeve. The compression part of the locking spring is provided with a first end face and a second end face; The first end face and the second end face are respectively used to abut against the unlocking rod end block, and together with the unlocking rod end block, apply tension to the tension spring, so that the locking part moves radially between the inside and outside of the movable sleeve.

8. The multi-rotor aircraft mounting device as described in claim 1, characterized in that, The segmented force-controlled locking controller includes a control processing unit and a position sensor; The control processing unit is electrically connected to the position sensor and to the pin motor; The control processing unit is used to execute steps to control and lock the activity process; The position sensor is used to collect the real-time position of the locking mechanism in the movable pin.

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