Automatic docking and locking mechanism and method for mooring unmanned aerial vehicle

Abstract

The invention discloses an automatic docking and locking mechanism and method for a mooring unmanned aerial vehicle in the technical field of mooring unmanned aerial vehicles, and the mechanism comprises a magnetic attraction power supply assembly, a machine leg frame, a connecting rod assembly and an elastic reset piece, and the magnetic attraction power supply assembly comprises a male end and a female end; the connecting rod assembly comprises a first connecting rod sliding along the axis of the supporting rod, a second connecting rod slidably connected to the bottom of the unmanned aerial vehicle and a linkage mechanism connecting the first connecting rod and the second connecting rod, the first connecting rod is provided with a passive stress part protruding downwards, and the second connecting rod is provided with a blocking part matched with the male end locking part. The connecting rod mechanism is driven to achieve automatic unlocking through ground contact pressure generated when the unmanned aerial vehicle lands, normalized mechanical locking is achieved through elastic reset generated when the unmanned aerial vehicle takes off, and through cooperation of mechanical locking and magnetic attraction guiding, the problems that traditional manual inserting connection is low in efficiency and connection is prone to loosening and falling off under wind pulling are effectively solved; and the reliability of the mooring unmanned aerial vehicle system and the possibility of automatic deployment are improved.

Description

Technical Field

[0001] This invention relates to the field of tethered unmanned aerial vehicles (UAVs), and specifically to an automatic docking and locking mechanism and method for tethered UAVs. Background Technology

[0002] Tethered drones obtain power through tethered power lines and have extremely long endurance, making them key equipment for carrying out long-term monitoring and communication support missions.

[0003] However, existing tethered power supply connections mostly rely on manual plugging, which not only leads to long preparation times and high labor costs, but also severely limits the level of automated deployment of tethered drone systems.

[0004] In actual operating environments, since manually plugged interfaces rely mainly on friction or simple clips for fixation, the joints are prone to loosening, poor contact, or even complete detachment due to the high-frequency vibration generated by the drone rotor and the continuous pulling force generated by the tethered cable swinging in the wind. This greatly threatens the stability of power transmission and the flight safety of the drone. At the same time, the traditional manual connection method has the disadvantage of low efficiency and is not conducive to achieving automated deployment strategies. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic docking and locking mechanism and method for tethered drones, so as to solve the problems of low operation efficiency, unstable connection and difficulty in automated deployment caused by manual insertion.

[0006] To solve the above-mentioned technical problems, the present invention specifically provides the following technical solution: An automatic docking and locking mechanism for tethered unmanned aerial vehicles (UAVs) includes: The magnetic power supply assembly includes a female end fixed to the bottom of the drone and a male end fixed to the free end of the tethered power supply line. The male end and the female end are magnetically engaged, and the outer periphery of the male end is provided with a locking part. The tripod is fixed to the bottom of the drone and includes at least one support rod. A linkage assembly is disposed on a support rod, and the linkage assembly has a first link, a second link, and a linkage mechanism connecting the first link and the second link; The first link is slidably connected to the footplate along the axis of the support rod. The first link has a passive force-bearing part, which is configured to contact the docking plane before the footplate, so as to bear the upward force during the docking of the UAV. The second link is slidably connected to the bottom of the drone, and one end of it is provided with a blocking part that matches the locking part; The linkage mechanism is configured such that during the drone docking process, the passive force-bearing part is driven by a force pointing towards the bottom of the drone to slide the first link along the support rod, and the linkage mechanism drives the second link to slide away from the male end, so that the blocking part and the locking part are separated. The elastic reset component is used to provide an elastic preload force to restore the first link and / or the second link to their original positions during the process of the UAV flying away from the docking plane, so as to lock the blocking part and the locking part together.

[0007] Furthermore, the machine feet include: There are two support rods, which are symmetrically distributed about the longitudinal center plane of the drone. The two support rods are arranged in a figure-eight shape, and the upper end of the support rods is fixedly connected to the bottom of the drone. There are two bottom beams, each of which is horizontally positioned, and the lower end of the support rod is fixedly connected to the bottom beam. The first connecting rod is parallel to the support rod, and the lower end of the passive force-bearing part protrudes downward from the bottom beam by a preset distance. The preset distance is configured to allow the blocking part and the locking part to be completely separated under the drive of the linkage mechanism.

[0008] Furthermore, the linkage mechanism is a rocker arm, with the first link located below the second link, and the two ends of the rocker arm hinged to the upper end of the first link and the end of the second link furthest from the male end, respectively. When the first link is not subjected to an upward force from the docking plane, under the action of the elastic reset member, the first link and the second link remain in the initial locked position. At this time, an acute angle is formed between the longitudinal axis of the swing arm and the horizontal sliding axis of the second link, and the opening of the acute angle is set towards the female end. As the first link slides upward under force, the upward thrust is converted into a horizontal pull through the swing arm, driving the second link to slide away from the male end.

[0009] Furthermore, each bottom beam has a first permanent magnet fixedly installed at both ends, and four first electromagnets are arranged in a rectangular pattern on the docking plane. The envelope area formed by the four first electromagnets is configured as the docking station. When the drone docks at the docking station, the first permanent magnet and the first electromagnet are set up to guide the male and female ends to be coaxially aligned in the axial direction.

[0010] Furthermore, within the docking station, the combined magnetic attraction force between all the first electromagnets and the first permanent magnet is greater than the combined elastic preload force of all the elastic reset components.

[0011] Furthermore, the drone is equipped with a second permanent magnet distributed around the female end at its bottom, and a second electromagnet corresponding to the second permanent magnet is provided on the side wall of the male end. The docking plane is provided with a clearance hole for the extension of the mooring power supply line. The docking plane is provided with a wire end initial fixing area in the area around the clearance hole. The wire end initial fixing area is provided with a third permanent magnet for magnetically engaging the second electromagnet. In this configuration, the second and third permanent magnets have the same magnetism on opposite sides. The second electromagnet is configured to switch its magnetic poles by changing the direction of the current. The second electromagnet is configured in docking mode and separation mode according to different magnetic pole directions. In docking mode, the second electromagnet switches to the first magnetic pole direction so that the second permanent magnet generates a magnetic attraction force that works with the second electromagnet, thereby driving the male end to move towards the female end to achieve docking. In the separation mode, the second electromagnet switches to the second magnetic pole direction so that the second permanent magnet generates a magnetic attraction force that cooperates with the third permanent magnet, thereby driving the male end to move towards the initial fixed area of ​​the wire end to achieve reset.

[0012] Furthermore, a lifting mechanism is provided below the parking plane. The lifting mechanism has a wire end support frame that can lift and lower through the clearance hole. The diameter of the male end is larger than the inner diameter of the wire end support frame, and the diameter of the tethered power supply wire is smaller than the inner diameter of the wire end support frame. The lifting mechanism is configured to have a preset upper limit position and a preset lower limit position; At the upper limit position, the second permanent magnet at the bottom of the docked drone enters the effective magnetic attraction range of the second electromagnet; When at the lower limit position, the third permanent magnet enters the effective magnetic attraction range of the second electromagnet.

[0013] Furthermore, the bottom of the drone is equipped with a guide groove for the second link to slide laterally; The support rod has a hollow structure, and its upper end is fixed to the bottom of the drone through a V-shaped connecting bracket; The first connecting rod is coaxially inserted into the support rod, and graphite guide bushings are fixed at both ends of the inner cavity of the support rod. The upper and lower ends of the first connecting rod slide through the corresponding graphite guide bushings respectively.

[0014] Furthermore, the elastic reset element is a spring, which is located in the guide groove on the side away from the male end. The spring keeps in contact with the second link so that the second link always tends to move closer to the male end.

[0015] A docking and locking method for a tethered unmanned aerial vehicle (UAV), the method comprising the following steps: S1, the lifting mechanism rises from the preset lower limit position, and at the same time the second electromagnet switches from the separation mode to the docking mode, lifting the male end through the wire end support frame until the male end and the female end are attracted to complete the power supply connection. S2, the drone takes off and operates. During the drone's ascent, the unwinding mechanism in the ground power supply box performs the wire unwinding operation synchronously with the drone's ascent. After the drone separates from the docking plane, the first and second links are mechanically locked by the elastic reset component. S3, during the automatic landing of the drone, the first electromagnet is activated to generate magnetic force to magnetically capture and center the bottom of the drone that is about to come to a stop, so that the drone is finally attracted and fixed at the docking station. S4, during the descent and magnetic capture of the drone, the unwinding mechanism performs the winding operation, while the lifting mechanism drives the line end support frame to descend; when the drone comes to a stop, the passive force-bearing part touches the ground and triggers the unlocking action, and the second electromagnet switches to the separation mode, so that the male end is fixed to the docking plane.

[0016] The beneficial effects of this invention are: This invention utilizes the displacement of the first link during the ground contact process to drive the second link to perform the unlocking action through a linkage mechanism, and combines the elastic reset component to drive the blocking part and the locking part to reset during the take-off process, thereby realizing the switching of the mechanical lock state by synchronously controlling the take-off and landing action of the UAV. While retaining the automatic alignment and convenient docking characteristics of magnetic connection, this solution replaces the traditional inefficient manual plugging with mechanical interference, providing reliable actuator support for the automated deployment of tethered UAV systems, and effectively solves the potential problem of loose connection of power connectors during flight by using physical constraints. Attached Figure Description

[0017] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the planar structure of the automatic docking and locking mechanism according to an embodiment of the present invention; Figure 2 This is a schematic diagram illustrating the cooperation principle of the linkage mechanism in an embodiment of the present invention; Figure 3 This is a schematic diagram showing the positional relationship between the second link and the mother end of the UAV in an embodiment of the present invention; Figure 4 This is a schematic diagram showing the cooperation between the blocking part and the locking part of the male end of the second connecting rod in an embodiment of the present invention; Figure 5 This is a schematic diagram illustrating the cooperation between the lifting mechanism and the tethered power supply line in an embodiment of the present invention; Figure 6This is a side view of the drone according to an embodiment of the present invention; The labels in the diagram represent the following: 1-UAV; 1a-Guide groove; 1b-Female end; 1c-Second permanent magnet; 1d-Legs; 1d1-Support rod; 1d2-V-shaped connecting frame; 1d3-Graphite guide bushing; 1e-Bottom beam; 1e1-First permanent magnet; 2-Ground power supply box; 2a-Docking plane; 2a2-Allowing hole; 2a3-Initial fixing area for wire end; 2b-Third permanent magnet; 2c-First electromagnet; 2d-Tethered power supply line; 2d1-Male end; 2d2-Locking part; 2e-Second electromagnet; 3-First connecting rod; 3a-Passive force-bearing part; 4-Second connecting rod; 4a-Blocking part; 5-Swing rod; 6-Spring; 7-Lifting mechanism; 7a-Wire end support frame. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] This embodiment provides an automatic docking and locking mechanism for tethered drones, which aims to solve the problems of low operational efficiency, unstable connection, and difficulty in automated deployment caused by manual insertion.

[0021] Specifically, refer to Figures 1 to 6 The automatic docking and locking mechanism of this tethered UAV 1 includes a magnetic power supply component, a footrest 1d, a connecting rod assembly, and an elastic reset component.

[0022] The magnetic power supply assembly includes a female end 1b fixed to the bottom of the UAV 1 and a male end 2d1 fixed to the free end of the tethered power supply line 2d. The male end 2d1 and the female end 1b are magnetically attached to each other, and a locking part 2d2 is provided on the outer periphery of the male end 2d1.

[0023] A landing gear 1d is fixed to the bottom of the UAV 1, and the landing gear 1d includes at least one support rod 1d1. A linkage assembly is disposed on the support rod 1d1, and the linkage assembly has a first link 3, a second link 4, and a linkage mechanism connecting the first link 3 and the second link 4. The first link 3 is slidably connected to the landing gear 1d along the axis of the support rod 1d1. The first link 3 has a passive force-bearing part 3a, which is configured to contact the docking plane 2a before the landing gear 1d, so as to bear the upward force during the docking of the UAV 1.

[0024] The second link 4 is slidably connected to the bottom of the drone 1, and one end of it is provided with a blocking part 4a that matches the locking part 2d2. The linkage mechanism is configured such that during the docking of the drone 1, the passive force-bearing part 3a is driven by a force pointing towards the bottom of the drone 1 to slide the first link 3 along the support rod 1d1, and the linkage mechanism drives the second link 4 to slide away from the male end 2d1, so that the blocking part 4a separates from the locking part 2d2.

[0025] The elastic reset member is used to provide an elastic preload force to restore the first link 3 and / or the second link 4 to their original positions during the process of the UAV 1 flying away from the docking plane 2a, so that the blocking part 4a and the locking part 2d2 lock each other.

[0026] Furthermore, in this embodiment, the locking part 2d2 includes, but is not limited to, the form of a socket, an annular groove, etc., to provide a defined physical limiting space on the outer periphery of the male end 2d1.

[0027] Accordingly, in order to achieve precise geometric coupling with the above structure, the blocking part 4a includes, but is not limited to, the form of a pin or a fork that cooperates with it. For example, when the locking part 2d2 adopts an annular groove design, the blocking part 4a adopts the form of a fork to achieve envelope locking of the male end 2d1 in the circumferential direction.

[0028] This complementary structural design ensures that when the second link 4 is reset by the elastic reset member, the blocking part 4a can smoothly cut into the locking part 2d2 from the radial or axial direction, forming a stable physical interference constraint, thereby building reliable mechanical protection in addition to magnetic attraction.

[0029] Considering that UAV 1 is extremely sensitive to load and that the center of gravity distribution directly affects the stability of flight attitude, the footplate 1d includes two support rods 1d1, which are symmetrically distributed about the longitudinal center plane of UAV 1. The two support rods 1d1 are arranged in a figure-eight shape, and both footplates 1d are made of hollow carbon tubing. By using hollow carbon tubing, the weight of the fuselage is reduced while ensuring structural strength.

[0030] Furthermore, the upper end of the support rod 1d1 is fixed to the bottom of the UAV 1 via a V-shaped connecting bracket 1d2, and the lower end of the support rod 1d1 is fixedly connected to the bottom beam 1e, with the lower end located in the middle of the bottom beam 1e. This design of the V-shaped connecting bracket 1d2, which branches off at the upper end of the support rod 1d1, allows the second connecting rod 4, the guide groove 1a, and the male end 2d1 and female end 1b to be arranged at the center of the bottom of the UAV 1, ensuring that the overall weight of the footrest 1d and the connecting rod assembly is concentrated at the center of the UAV 1, thus avoiding eccentric loads interfering with the flight control of the UAV 1.

[0031] The first link 3 is parallel to the support rod 1d1, and the lower end of the passive force-bearing part 3a protrudes downward from the bottom beam 1e by a preset distance. This preset distance is configured to completely separate the blocking part 4a from the locking part 2d2 under the drive of the linkage mechanism.

[0032] When the motion transitions between the first link 3 and the second link 4, the complex transmission process is prone to mechanical friction loss. The linkage mechanism is a rocker arm 5, with the first link 3 located below the second link 4. The two ends of the rocker arm 5 are hinged to the upper end of the first link 3 and the end of the second link 4 furthest from the male end 2d1, respectively.

[0033] When the first link 3 is not subjected to an upward force from the resting plane 2a, under the action of the elastic reset member, the first link 3 and the second link 4 are maintained in the initial locked position. At this time, an acute angle α is formed between the longitudinal axis of the swing arm 5 and the horizontal sliding axis of the second link 4, and the opening of the acute angle α is set towards the female end 1b.

[0034] When the first link 3 slides upward under force, the upward thrust is converted into a horizontal pull through the swing arm 5, so as to drive the second link 4 to slide away from the male end 2d1.

[0035] To further reduce transmission resistance and cope with harsh outdoor environments, the bottom of the drone 1 is provided with a guide groove 1a for the second link 4 to slide laterally. Both the second link 4 and the guide groove 1a are coated with Teflon. The introduction of the Teflon coating reduces the coefficient of friction of the sliding interface, prevents sticking and jamming during long-term operation or in high-dust environments, and ensures that the link can be driven by a small triggering force.

[0036] The support rod 1d1 has a hollow structure, and graphite guide bushings 1d3 are fixed at both ends of its inner cavity. The first connecting rod 3 is coaxially inserted into the support rod 1d1 and slides through the corresponding graphite guide bushings 1d3. The graphite guide bushings 1d3 and the Teflon coating together form a self-lubricating transmission chain.

[0037] The elastic reset component is a spring 6. The spring 6 is located in the guide groove 1a on the side away from the male end 2d1 and keeps in contact with the second link 4, so that the second link 4 always tends to move closer to the male end 2d1.

[0038] During the descent of UAV 1 from the air to the docking plane 2a, due to the influence of airflow, UAV 1 and the ground cable may experience horizontal displacement deviation. Each bottom beam 1e has a first permanent magnet 1e1 fixedly installed at both ends. The docking plane 2a has four first electromagnets 2c arranged in a rectangular pattern. The envelope area formed by the four first electromagnets 2c is configured as the docking station.

[0039] When the UAV 1 docks at the docking station, the first permanent magnet 1e1 and the first electromagnet 2c are positioned correspondingly to guide the male end 2d1 and the female end 1b to be coaxially aligned in the axial direction. In order to ensure that the gravity during landing can overcome the resistance of the spring 6 to complete the unlocking, within the docking station, the resultant magnetic attraction force between all the first electromagnets 2c and the first permanent magnet 1e1 is greater than the resultant elastic preload force of all the elastic reset components.

[0040] After axial alignment, to facilitate automatic cable docking and resetting, the bottom of the UAV 1 is equipped with a second permanent magnet 1c distributed around the female end 1b, and a second electromagnet 2e corresponding to the second permanent magnet 1c is provided on the side wall of the male end 2d1. A clearance hole 2a2 is provided on the docking plane 2a for the extension of the tethered power supply line 2d. A wire end initial fixing area 2a3 is provided on the docking plane 2a around the clearance hole 2a2, and a third permanent magnet 2b is provided in the wire end initial fixing area 2a3 for magnetically engaging the second electromagnet 2e.

[0041] Among them, the second permanent magnet 1c and the third permanent magnet 2b have the same magnetism on the opposite side, and the second electromagnet 2e is configured to switch magnetic poles by changing the direction of the current.

[0042] In docking mode, the second electromagnet 2e switches to the first magnetic pole direction, driving the male end 2d1 to move towards the female end 1b to achieve docking.

[0043] In the separation mode, the second electromagnet 2e switches to the second magnetic pole direction, driving the male terminal 2d1 to move towards the initial fixed area 2a3 of the wire end to achieve a reset, thereby realizing the controlled switching of the male terminal 2d1 between the UAV 1 end and the ground end by using electromagnetic commutation.

[0044] Since the magnetic attraction decreases with increasing distance, a lifting mechanism 7 is provided below the docking plane 2a. The lifting mechanism 7 has a wire end support frame 7a that can be lifted and lowered through the clearance hole 2a2. The diameter of the male end 2d1 is larger than the inner diameter of the wire end support frame 7a, and the diameter of the tethered power supply line 2d is smaller than the inner diameter of the wire end support frame 7a.

[0045] The lifting mechanism 7 is configured to have a preset upper limit position and a preset lower limit position. At the upper limit position, the second permanent magnet 1c at the bottom of the docked drone 1 enters the effective magnetic attraction range of the second electromagnet 2e; at the lower limit position, the third permanent magnet 2b enters the effective magnetic attraction range of the second electromagnet 2e. This structure compensates for the initial docking distance through the lifting mechanism 7, ensuring the effectiveness of magnetic guidance.

[0046] This solution achieves fully automated docking and locking during the takeoff and landing of the tethered UAV 1 through the coordinated use of gravity sensing, directional control of the swing arm 5, and bidirectional electromagnetic control. The hollow carbon tubes, Teflon coating, and graphite bushings used in the design collectively improve the mechanism's load ratio, response speed, and operational reliability.

[0047] This embodiment provides a docking and locking method for a tethered drone, aiming to solve the problems of automated matching, dynamic cable management, and stable anchoring of the connector during the take-off and landing of the drone 1. Specifically, the docking and locking method for the tethered drone 1 includes the following steps: During the pre-takeoff docking phase, in order to achieve non-contact recharging preparation between the UAV 1 and the ground before takeoff, the lifting mechanism 7 rises from the preset lower limit position, and at the same time, the second electromagnet 2e switches from the separation mode to the docking mode.

[0048] The male end 2d1 is lifted by the wire end support frame 7a of the lifting mechanism 7, so that the male end 2d1 enters the magnetic attraction range of the female end 1b, until the male end 2d1 attracts the female end 1b to complete the power supply connection. This process uses the lifting motion to make up for the initial spatial gap, ensuring that the magnetic attraction force can effectively drive the docking action.

[0049] After the power connection is completed, UAV 1 executes the takeoff command and enters the takeoff phase. During the ascent of UAV 1, the unwinding mechanism in the ground power supply box 2 performs a cable unwinding operation synchronously with the ascent of UAV 1 to prevent excessive tension in the tether cable from interfering with the flight attitude or causing mechanical damage.

[0050] Simultaneously, as the UAV 1 separates from the docking plane 2a, the passively supported part 3a loses ground support. The first link 3 and the second link 4, under the action of the elastic reset member, mechanically lock, causing the blocking part 4a to engage with the locking part 2d2. This synchronous cooperation ensures that the UAV 1 enters a highly reliable mechanical locking state the instant it leaves the ground, effectively preventing the risk of the connector falling off due to high-frequency vibrations during flight.

[0051] When the UAV1 performs automatic landing in the field, the fuselage axis may deviate from the ideal docking position due to the influence of environmental airflow and positioning accuracy deviation, which may cause the docking mechanism to fail to align.

[0052] Therefore, during the automatic landing process of UAV 1 controlled by the flight control system, the first electromagnet 2c is activated to generate magnetic force to magnetically capture and center the bottom of UAV 1, which is about to come to a stop.

[0053] The strong magnetic attraction between the first electromagnet 2c and the first permanent magnet 1e1 corrects the positional deviation of the UAV 1, so that the UAV 1 is finally fixed and attracted to the docking station, creating a precise spatial position for subsequent mechanical unlocking and connector retrieval.

[0054] During the descent and magnetic capture of the UAV 1, in order to prevent the tethered power supply line 2d from accumulating or tangling, the unwinding mechanism simultaneously performs the winding operation, while the lifting mechanism 7 drives the line head support frame 7a to descend synchronously.

[0055] Once the UAV 1 finally comes to a stop at the docking station, the passive force-bearing part 3a is once again squeezed by the docking plane 2a and slides upward, triggering the unlocking action and separating the blocking part 4a from the locking part 2d2. At this time, the second electromagnet 2e switches from docking mode to separation mode, using the magnetic attraction force generated by the magnetic pole reversal to drive the male end 2d1 towards the initial fixing area 2a3 of the wire end, thereby fixing the male end 2d1 firmly on the docking plane 2a, completing a complete docking, unwinding and retrieval cycle, and preparing for the next automated docking operation.

[0056] The above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the present invention. The scope of protection of the present invention is defined by the claims. Those skilled in the art can make various modifications or equivalent substitutions to the present invention within its spirit and scope of protection, and such modifications or equivalent substitutions should also be considered as falling within the scope of protection of the embodiments of the present invention.

Claims

1. An automatic docking and locking mechanism for tethered unmanned aerial vehicles (UAVs), characterized in that, include: The magnetic power supply assembly includes a female end (1b) fixed to the bottom of the UAV (1) and a male end (2d1) fixed to the free end of the tethered power supply line (2d). The male end (2d1) and the female end (1b) are magnetically engaged. The male end (2d1) has a locking part (2d2) on its outer periphery. A footrest (1d) is fixed to the bottom of the UAV (1), and the footrest (1d) includes at least one support rod (1d1). A linkage assembly is disposed on the support rod (1d1). The linkage assembly has a first link (3), a second link (4), and a linkage mechanism connecting the first link (3) and the second link (4). The first link (3) is slidably connected to the footplate (1d) along the axial direction of the support rod (1d1). The first link (3) has a passive force-bearing part (3a). The passive force-bearing part (3a) is configured to contact the docking plane (2a) before the footplate (1d) to bear the upward force during the docking of the UAV (1). The second link (4) is slidably connected to the bottom of the drone (1), and one end of it is provided with a blocking part (4a) that matches the locking part (2d2). The linkage mechanism is configured such that during the docking of the UAV (1), the passive force-bearing part (3a) is driven by a force pointing towards the bottom of the UAV (1) to slide the first link (3) along the support rod (1d1), and the second link (4) is driven by the linkage mechanism to slide away from the male end (2d1) so that the blocking part (4a) is separated from the locking part (2d2); An elastic reset member is provided to provide an elastic preload force to restore the first link (3) and / or the second link (4) to their original positions during the process of the UAV (1) flying away from the docking plane (2a), so that the blocking part (4a) and the locking part (2d2) lock each other.

2. The automatic docking and locking mechanism for a tethered unmanned aerial vehicle according to claim 1, characterized in that, The machine frame (1d) includes: The number of the support rods (1d1) is two, and the two are symmetrically distributed about the longitudinal center plane of the UAV (1). The two support rods (1d1) are distributed in a figure-eight shape, and the upper end of the support rod (1d1) is fixedly connected to the bottom of the UAV (1). There are two bottom beams (1e), each of which is horizontally arranged, and the lower end of the support rod (1d1) is fixedly connected to the bottom beam (1e). The first connecting rod (3) is parallel to the support rod (1d1), and the lower end of the passive force-bearing part (3a) protrudes downward from the bottom beam (1e) by a preset distance. The preset distance is configured to allow the blocking part (4a) to completely separate from the locking part (2d2) under the drive of the linkage mechanism.

3. The automatic docking and locking mechanism for a tethered unmanned aerial vehicle according to claim 2, characterized in that, The linkage mechanism is a swing arm (5), the first connecting rod (3) is located below the second connecting rod (4), and the two ends of the swing arm (5) are respectively hinged to the upper end of the first connecting rod (3) and the end of the second connecting rod (4) away from the male end (2d1). When the first link (3) is not subjected to an upward force from the stop plane (2a), the first link (3) and the second link (4) remain in the initial locked position under the action of the elastic reset member. At this time, the longitudinal axis of the swing arm (5) and the horizontal sliding axis of the second link (4) form an acute angle, and the opening of the acute angle is set towards the female end (1b). When the first link (3) slides upward under force, the upward thrust is converted into a horizontal pull through the swing arm (5) to drive the second link (4) to slide away from the male end (2d1).

4. The automatic docking and locking mechanism for a tethered unmanned aerial vehicle according to claim 2, characterized in that, Each bottom beam (1e) is fixedly provided with a first permanent magnet (1e1) at both ends. The docking plane (2a) is provided with four first electromagnets (2c) arranged in a rectangular shape. The envelope area formed by the four first electromagnets (2c) is configured as a docking station. When the UAV (1) docks at the docking station, the first permanent magnet (1e1) and the first electromagnet (2c) are respectively set to guide the male end (2d1) and the female end (1b) to be coaxially aligned in the axial direction.

5. The automatic docking and locking mechanism for a tethered unmanned aerial vehicle according to claim 4, characterized in that, Within the docking station, the combined magnetic attraction force between all the first electromagnets (2c) and the first permanent magnet (1e1) is greater than the combined elastic preload force of all the elastic reset members.

6. The automatic docking and locking mechanism for a tethered unmanned aerial vehicle according to claim 1, characterized in that, The UAV (1) has a second permanent magnet (1c) distributed around the female end (1b) at its bottom, and a second electromagnet (2e) corresponding to the second permanent magnet (1c) is provided on the side wall of the male end (2d1). The docking plane (2a) is provided with a clearance hole (2a2) for the extension of the mooring power supply line (2d). The docking plane (2a) is provided with a wire end initial fixing area (2a3) in the peripheral area of ​​the clearance hole (2a2). The wire end initial fixing area (2a3) is provided with a third permanent magnet (2b) for magnetically cooperating with the second electromagnet (2e). The second permanent magnet (1c) and the third permanent magnet (2b) have the same magnetism on opposite sides. The second electromagnet (2e) is configured to switch magnetic poles by changing the direction of the current. The second electromagnet (2e) is configured in docking mode and separation mode according to different magnetic pole directions. In the docking mode, the second electromagnet (2e) switches to the first magnetic pole direction so that the second permanent magnet (1c) generates a magnetic attraction force that cooperates with the second electromagnet (2e), thereby driving the male end (2d1) to move towards the female end (1b) to achieve docking; In the separation mode, the second electromagnet (2e) switches to the second magnetic pole direction so that the second permanent magnet (1c) generates a magnetic attraction force that cooperates with the third permanent magnet (2b), thereby driving the male end (2d1) to move towards the initial fixing area (2a3) of the wire end to achieve reset.

7. The automatic docking and locking mechanism for a tethered unmanned aerial vehicle according to claim 6, characterized in that, A lifting mechanism (7) is provided below the parking plane (2a). The lifting mechanism (7) has a wire end support frame (7a) that can lift and lower through the clearance hole (2a2). The diameter of the male end (2d1) is larger than the inner diameter of the wire end support frame (7a), and the wire diameter of the tethered power supply line (2d) is smaller than the inner diameter of the wire end support frame (7a). The lifting mechanism (7) is configured to have a preset upper limit position and a preset lower limit position; At the upper limit position, the second permanent magnet (1c) at the bottom of the UAV (1) in the docked state enters the effective magnetic attraction range of the second electromagnet (2e); At the lower limit position, the third permanent magnet (2b) enters the effective magnetic attraction range of the second electromagnet (2e).

8. The automatic docking and locking mechanism for a tethered unmanned aerial vehicle according to claim 3, characterized in that, The bottom of the drone (1) is provided with a guide groove (1a) for the second link (4) to slide laterally. The support rod (1d1) is a hollow structure, and its upper end is fixed to the bottom of the UAV (1) by a V-shaped connecting frame (1d2); The first connecting rod (3) is coaxially inserted into the support rod (1d1), and graphite guide bushings (1d3) are fixedly provided at both ends of the inner cavity of the support rod (1d1). The upper and lower ends of the first connecting rod (3) slide through the corresponding graphite guide bushings (1d3).

9. The automatic docking and locking mechanism for a tethered unmanned aerial vehicle according to claim 8, characterized in that, The elastic reset component is a spring (6), which is located in the guide groove (1a) on the side away from the male end (2d1). The spring (6) keeps in contact with the second connecting rod (4) so ​​that the second connecting rod (4) always tends to move closer to the male end (2d1).

10. A docking and locking method for a tethered unmanned aerial vehicle, comprising the mechanism as described in any one of claims 4 to 7, characterized in that, The method includes the following steps: S1, the lifting mechanism (7) rises from the preset lower limit position, and at the same time the second electromagnet (2e) switches from the separation mode to the docking mode, and lifts the male end (2d1) through the wire end support frame (7a) until the male end (2d1) and the female end (1b) are attracted to complete the power supply connection; S2, the drone (1) takes off and works. During the ascent of the drone (1), the unwinding mechanism in the ground power supply box (2) performs the wire unwinding operation synchronously with the ascent of the drone (1). After the drone (1) separates from the docking plane (2a), the first link (3) and the second link (4) are mechanically locked under the action of the elastic reset member. S3, during the automatic landing of the UAV (1), the first electromagnet (2c) is activated to generate magnetic force to magnetically capture and center the bottom of the UAV (1) that is about to stop, so that the UAV (1) is finally attracted and fixed at the docking station. S4, during the descent and magnetic capture of the drone (1), the unwinding mechanism performs the winding operation, and at the same time the lifting mechanism (7) drives the wire end support frame (7a) to descend; when the drone (1) stops, the passive force-bearing part (3a) touches the ground and triggers the unlocking action, and the second electromagnet (2e) switches to the separation mode, so that the male end (2d1) is fixed to the docking plane (2a).

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