An unmanned aerial vehicle sub-machine locking and releasing device and method thereof

Abstract

The application discloses a UAV sub-machine locking and releasing device and method, and belongs to the technical field of UAV cooperative operation, which comprises a mounting module, two double-locking modules and a locking driving module. Each double-locking module comprises a main locking part and an auxiliary locking part. The main locking part is driven to slide left and right along the length direction of the base plate by a driving mechanism, so as to drive the auxiliary locking part to slide up and down synchronously. The main locking part and the auxiliary locking part are locked by locking blocks. The locking blocks are locked by the locking driving module, and the connecting seat and the sub-machine are driven to move upwards. The two locking blocks are locked by the two double-locking modules on both sides. The main locking part locks the locking blocks in the left and right directions, and the auxiliary locking part locks the locking blocks in the up and down directions. The locking blocks are more stably locked by the double-locking modules. The risk of falling and deviation of the sub-machine after locking is avoided.

Description

Technical Field

[0001] This invention relates to the field of drone collaborative operation technology, and more specifically, to a drone slave unit locking and releasing device and method thereof. Background Technology

[0002] With the rapid development of UAV technology, the collaborative operation mode of mother-daughter UAVs has been widely applied in many fields such as disaster relief, emergency inspection, logistics distribution, geographic surveying, and airspace monitoring due to its advantages such as wide operating range, high mission flexibility, and strong functional expandability. The UAV slave locking and releasing device, as a core component of mother-daughter UAV collaborative operation, is installed on the mother UAV's mounting point. It is used to achieve precise docking, reliable locking, and rapid release of the slave and mother UAVs as needed. The rationality of its structural design, the reliability of locking, and the timeliness of release directly determine the operational safety, mission execution efficiency, and swarm collaboration capability of the mother-daughter UAVs, and is the foundation for ensuring that mother-daughter UAVs complete their missions in complex high-altitude environments.

[0003] Existing UAV slave unit locking and releasing devices mostly adopt a single-direction single-latch, snap-on, or spring-loaded locking structure, which can only achieve locking and limiting in one direction. There is no spatial two-way linkage locking design, and the locking contact is mostly planar hard contact, resulting in generally low locking force. Under high-altitude aerodynamic vibration, airflow disturbance, and impact from the slave unit's own load, problems such as loosening of the locking surface, slave unit displacement, or even falling may occur.

[0004] In view of this, the present invention is proposed to solve the above-mentioned technical problems. Summary of the Invention

[0005] The purpose of this invention is to provide a locking and releasing device and method for unmanned aerial vehicles (UAVs) slave units, in order to solve the technical problems in existing UAV slave unit locking and releasing devices that are prone to loosening of the locking surface, slave unit displacement, or even falling.

[0006] To achieve the above objectives, the present invention provides the following technical solution: The first objective of this invention is to provide a locking and releasing device for a drone slave unit, comprising: The mounting module includes a base plate mounted on the lower frame of the mother machine and a connecting seat mounted on the top of the daughter machine. The base plate and the connecting seat are detachably connected by a positioning component. Two double-locking modules are symmetrically arranged on both sides of the substrate width direction. Each double-locking module includes a main locking part and a secondary locking part. The main locking part is driven by a driving mechanism to slide left and right along the length direction of the substrate, so as to drive the secondary locking part to slide up and down synchronously. Both the main locking part and the secondary locking part are locked by locking blocks. The two locking blocks are respectively arranged on both sides of the connecting seat width direction. The locking drive module is located between the base plate and the connector and includes a horizontal bar that can slide up and down. The bottom sides of the horizontal bar are symmetrically provided with locking mechanisms, and each locking mechanism is detachably connected to the corresponding locking block.

[0007] Furthermore, it also includes an L-shaped locking tongue seat, which includes a vertical section fixedly connected in the width direction of the connecting seat and a horizontal section connected to the bottom of the vertical section; A main sliding cavity is provided on the side of the horizontal section near the connecting seat. A slidable main locking tongue is provided in the main sliding cavity. The main locking tongue includes a wedge-shaped locking head. A connecting block is connected to the end of the wedge-shaped locking head away from the connecting seat. A connecting shaft is connected to the end of the connecting block away from the wedge-shaped locking head. The connecting shaft is slidably disposed on the inner wall of the main sliding cavity. A main spring is provided between the inner wall of the main sliding cavity and the connecting block. The connecting block has a secondary sliding cavity from top to bottom. A vertical guide shaft is installed in the secondary sliding cavity. Both ends of the guide shaft extend through horizontal sections. An arc-shaped locking head is connected to the lower end of the guide shaft. A secondary spring is sleeved on the guide shaft between the arc-shaped locking head and the horizontal section.

[0008] Furthermore, a synchronizing block is provided at the bottom of the connecting block, and a detachable mating block is provided on the side of the synchronizing block away from the wedge-shaped locking head. The mating block is set on the guide shaft, and the side of the mating block near the synchronizing block is an inclined surface that slopes upward from left to right. The side of the synchronizing block near the mating block is an inclined surface that slopes upward from left to right.

[0009] Furthermore, a limiting ring is fitted on the upper end of the guide shaft, and the guide shaft is vertically slidably mounted on the horizontal section.

[0010] Furthermore, pull shafts are provided on both sides of the connecting block, and sliding grooves that cooperate with the pull shafts are opened on both sides of the horizontal section. The pull shaft extends out of the sliding groove from one end away from the connecting block, and the two extended ends are connected to the same pull rod, which is slidably set on the horizontal section.

[0011] Furthermore, the drive mechanism includes a first micro cylinder disposed on the horizontal section. The output end of the first micro cylinder is coaxially fixedly connected to a screw rod. The end of the screw rod away from the first micro cylinder is connected to the pull rod through a connecting seat. A screw tube is screwed onto the screw rod at the end of the connecting seat near the first micro cylinder.

[0012] Furthermore, the positioning component includes a positioning sleeve vertically disposed at the center of the bottom of the substrate, and four positioning pins are evenly disposed around the circumference of the positioning sleeve. The center of the connecting seat is provided with a positioning post coaxial with the positioning sleeve, and the positioning post is detachably connected to the lower end of the positioning sleeve; The connector also has four pin holes that mate with four positioning pins, and the four positioning pins are detachably connected to the four pin holes respectively.

[0013] Furthermore, the upper end of the locking block near the wedge-shaped locking head has a wedge-shaped structure that slopes upward from left to right; The lower end of the locking block near the wedge-shaped locking head has a concave arc-shaped surface that mates with the arc-shaped locking head, and an arc-shaped groove is provided along the arc-shaped surface. The arc-shaped locking head has an arc-shaped protrusion near the concave arc-shaped surface, and the arc-shaped protrusion and the arc-shaped groove are detachably connected. A card interface is provided on the upper end of the locking block, on the side opposite to the wedge-shaped locking head.

[0014] Furthermore, the positioning sleeve is symmetrically provided with vertical grooves that slide with the crossbar, and a partition is also provided inside the positioning sleeve, with two vertical grooves extending from both ends of the crossbar respectively. The snap-fit ​​mechanism includes a lead screw that is rotatably mounted on the partition plate. The upper end of the lead screw passes through the substrate and is driven by a micro motor. The lead screw is screwed to the center of the crossbar. Both ends of the crossbar are hinged to L-shaped clips at the bottom. The L-shaped clips engage with the clip interface. A second micro cylinder is hinged to the side of the L-shaped clip near the positioning sleeve. The end of the second micro cylinder opposite to the L-shaped clip is hinged to the bottom of the crossbar.

[0015] The second objective of this invention is to provide a method for locking and releasing a drone slave unit, applicable to any of the aforementioned drone slave unit locking and releasing devices, comprising the following steps: S1. Sub-machine docking: The mother machine uses a visual positioning system to position the sub-machine and the mother machine using positioning components. S2. The slave machine locks. The master machine connects to the slave machine through the locking drive module and drives the slave machine to move upward, so that the locking block squeezes the main locking tongue to retract horizontally. The main locking tongue converts the horizontal force into a vertical upward component force through the inclined pressing surface, driving the secondary locking tongue to retract vertically upward in sync. After the locking block reaches the preset locking position, the preload of the return spring pushes the main locking tongue and the secondary locking tongue to reset, forming a double locking structure in which the main locking tongue is horizontally wedge-tightened and the secondary locking tongue is vertically engaged, thus achieving rigid locking of the slave machine. S3. The slave unit is released. The drive mechanism is triggered by the flight control system of the mother unit. High-pressure air drives the main locking tongue and the auxiliary locking tongue to retract synchronously to release the double locking structure. The slave unit separates from the mother unit under its own gravity. Then the main locking tongue and the auxiliary locking tongue automatically reset to the initial standby state.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: The slave unit is positioned and connected to the master unit by the positioning component. Then, the locking drive module locks the locking blocks and drives the connecting seat and slave unit to move upward. During the upward movement, the two locking blocks lock with the two double locking modules on both sides, so that the main locking part locks the locking blocks in the left and right direction, and the secondary locking part locks the locking blocks in the up and down direction. The weight of the slave unit is converted into a downward wedging force, which makes the locking blocks and double locking modules lock more stably, preventing the slave unit from swinging or shifting under high aerodynamic loads and vibrations, thereby avoiding the risk of the slave unit falling off or shifting after locking. Attached Figure Description

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention, but do not constitute an undue limitation of the invention. Obviously, the drawings described below are merely some embodiments, and those skilled in the art can obtain other drawings based on these drawings without creative effort. In the drawings: Figure 1 This is a structural schematic diagram of the locking process of the UAV slave unit locking and releasing device provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of the UAV slave locking and releasing device after release, provided in an embodiment of this application. Figure 3 This is a schematic diagram of the structure of the double-locking module of the UAV slave unit locking and releasing device provided in the embodiments of this application; Figure 4 for Figure 3 Another structural diagram from a different perspective; Figure 5 for Figure 3 A schematic diagram of the structure after removing the L-shaped locking tongue seat; Figure 6 for Figure 4 A schematic diagram of the structure after removing the L-shaped locking tongue seat; Figure 7 A schematic diagram of the locking drive module of the UAV slave unit locking and releasing device provided in the embodiments of this application; Figure 8 A schematic diagram of the positioning sleeve of the UAV slave unit locking and releasing device provided in the embodiments of this application.

[0018] Reference numerals: 1. Base plate; 2. Connecting seat; 3. Double locking module; 4. Locking block; 5. Locking drive module; 6. Positioning post; 7. Positioning pin; 8. Positioning sleeve; 9. Fixing screw; 10. Pin hole; 11. First micro cylinder; 12. Screw; 13. Screw tube; 14. Partition plate; 15. Vertical groove; 301. L-shaped locking tongue seat; 302. Main locking tongue; 303. Guide shaft; 304. Arc-shaped locking head; 305. Pull rod; 306. Main spring; 307. Secondary spring; 308. Pull shaft; 309. Limiting ring; 310. Synchronizing block; 311. Mating block; 501. Crossbar; 502. L-shaped locking connector; 503. Second micro cylinder; 504. Micro motor. Detailed Implementation

[0019] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0020] See Figures 1 to 8 As shown, a locking and releasing device for a drone slave unit includes an installation module, two double-locking locking modules 3, and a locking drive module 5. The installation module includes a base plate 1 mounted on the lower bracket of the main unit and a connecting seat 2 fixedly mounted on the top of the slave unit. The four corners of the base plate 1 are fixed to the lower bracket of the main unit by fixing screws 9. The base plate 1 and the connecting seat 2 are detachably connected by a positioning component. The two double-locking locking modules 3 are symmetrically arranged on both sides of the width direction of the base plate 1. Each double-locking locking module 3 includes a main locking part and a secondary locking part. The main locking part is driven by a drive mechanism to slide left and right along the length direction of the base plate 1, so as to drive the secondary locking part to slide up and down synchronously. The main locking part and the secondary locking part are locked by locking blocks 4. The two locking blocks 4 are respectively arranged on both sides of the width direction of the connecting seat 2. The locking drive module 5 is arranged between the base plate 1 and the connecting seat 2 and includes a horizontal bar 501 that can slide up and down. The bottom sides of the horizontal bar 501 are symmetrically arranged with locking mechanisms. Each locking mechanism is detachably connected to the corresponding locking block 4.

[0021] In the above scheme, the slave unit and the master unit are first positioned and connected by the positioning component. Then, the locking drive module 5 locks the locking block 4 and drives the connecting seat 2 and the slave unit to move upward. During the upward movement, the two locking blocks 4 are locked with the two double locking modules 3 on both sides, so that the main locking part locks the locking block 4 in the left and right direction, and the secondary locking part locks the locking block 4 in the up and down direction. The weight of the slave unit is converted into a downward wedge force, which makes the locking block 4 and the double locking module 3 more stable, preventing the slave unit from swinging and shifting under high aerodynamic load and vibration, thereby avoiding the risk of the slave unit falling off or shifting after locking.

[0022] See some possible implementations. Figures 3 to 6 As shown, the double-locking module 3 provided in this application embodiment also includes an L-shaped locking tongue seat 301. The L-shaped locking tongue seat 301 includes a vertical section fixedly connected to the width direction of the connecting seat 2 and a horizontal section connected to the bottom of the vertical section. A main sliding cavity is opened on the side of the horizontal section near the connecting seat 2. A slidable main locking tongue 302 is provided in the main sliding cavity. The main locking tongue 302 includes a wedge-shaped locking head. A connecting block is connected to the end of the wedge-shaped locking head away from the connecting seat 2. A connecting block is connected to the end of the connecting block away from the wedge-shaped locking head. A connecting shaft is slidably mounted on the inner wall of the main sliding cavity. A main spring 306 is installed between the inner wall of the main sliding cavity and the connecting block. The connecting block has a secondary sliding cavity extending from top to bottom. A vertical guide shaft 303 is installed in the secondary sliding cavity. Both ends of the guide shaft 303 extend through horizontal sections and are slidably mounted on the horizontal sections. An arc-shaped locking head 304 is connected to the lower end of the guide shaft 303. A secondary spring 307 is sleeved on the guide shaft 303 between the arc-shaped locking head 304 and the horizontal section. A synchronizing block 310 is installed at the bottom of the connecting block. A detachable mating block 311 is installed on the side of the synchronizing block 310 away from the wedge-shaped locking head. The mating block 311 is mounted on the guide shaft 303. The side of the mating block 311 closest to the synchronizing block 310 is an upward-sloping surface from left to right. The side of the synchronizing block 310 closest to the mating block 311 is also an upward-sloping surface from left to right.

[0023] In the above scheme, the connecting shaft is slidably disposed on the inner wall of the main sliding cavity away from the wedge-shaped locking head. When the wedge-shaped locking head is pressed towards the inside of the main sliding cavity, the connecting shaft extends into the inner wall of the main sliding cavity and compresses the main spring 306. Upon reset, under the action of the elastic potential energy of the main spring 306, the wedge-shaped locking head pops outward. During the process of the main locking tongue 302 sliding into the main sliding cavity, it engages with the wedge-shaped mating block 311 on the synchronizing block 310 at its bottom. The horizontal force of the sliding main locking tongue 302 is decomposed and converted into a vertically upward force, which drives the arc-shaped locking head 304 to move upward and compress the secondary spring 307. When the compression of the main locking tongue 302 by the locking block 4 disappears, the main spring 306 and the secondary spring 307 reset. Under the action of elastic potential energy, they respectively push the main locking tongue 302 and the secondary locking tongue (composed of the guide shaft 303 and the arc-shaped locking head 304) to pop out, respectively locking the locking block 4 in the left-right direction and the up-down direction.

[0024] See some possible implementations. Figure 3 and Figure 5 As shown, a limiting ring 309 is sleeved on the upper end of the guide shaft 303, and the guide shaft 303 is vertically slidably mounted on the horizontal section. The limiting ring 309 is used to prevent the guide shaft 303 from sliding out of the secondary sliding cavity.

[0025] See some possible implementations. Figures 3 to 6As shown, pull shafts 308 are provided on both sides of the connecting block. Slide grooves that cooperate with the pull shafts 308 are opened on both sides of the horizontal section. The pull shafts 308 extend out of the slide grooves from the end opposite to the connecting block, and the two extended ends are connected to the same pull rod 305. The pull rod 305 is slidably disposed on the horizontal section. The drive mechanism includes a first micro cylinder 11 disposed on the horizontal section. The first micro cylinder 11 is connected to a first electromagnetic reversing valve through a pneumatic pipe. The air inlet of the first electromagnetic reversing valve is connected to a micro air tank (disposed at the bottom of the base plate 1). The first electromagnetic reversing valve is electrically connected to the flight control system of the mother machine. A screw 12 is coaxially fixedly connected to the output end of the first micro cylinder 11. The end of the screw 12 opposite to the first micro cylinder 11 is connected to the pull rod 305 through a connecting seat. A screw tube 13 is screwed onto the screw 12 near the end of the connecting seat close to the first micro cylinder 11.

[0026] In the above scheme, when the submachine is released, the first micro cylinder 11 is pneumatically controlled, so that the output end of the first micro cylinder 11 drives the pull rod 305 to slide in the vertical direction. The sliding of the pull rod 305 drives the main locking tongue 302 to slide to the left, thereby causing the wedge-shaped locking head of the main locking tongue 302 and the arc-shaped locking head 304 of the secondary locking tongue to disengage from the locking block 4. When the wedge-shaped locking head is fully retracted into the main sliding cavity, the submachine slides down under its own gravity, completing the disengagement of the submachine from the mother machine.

[0027] When the main machine's power system fails (the solenoid reversing valve is not powered) or the pneumatic system fails (the air tank pressure is insufficient or the air pressure pipe is damaged), the slave unit cannot be released normally. During maintenance, the screw tube 13 can be rotated so that it moves closer to the first micro cylinder 11. Then, the pull rod 305 can be manually pushed to remove the slave unit for subsequent maintenance.

[0028] See some possible implementations. Figure 1 and Figure 2 As shown, the positioning assembly includes a positioning sleeve 8 vertically disposed at the bottom center of the substrate 1. Four positioning pins 7 are evenly disposed around the circumference of the positioning sleeve 8. A positioning post 6 coaxial with the positioning sleeve 8 is disposed at the center of the connecting seat 2. The positioning post 6 is detachably connected to the lower end of the positioning sleeve 8. The connecting seat 2 is also provided with four pin holes 10 that cooperate with the four positioning pins 7. The four positioning pins 7 are detachably connected to the four pin holes 10 respectively.

[0029] In the above scheme, when positioning the slave machine, the mother machine moves down from directly above the slave machine, so that the positioning sleeve 8 at the bottom of the mother machine is fitted onto the positioning post 6 on the slave machine. At the same time, the four positioning pins 7 at the bottom of the mother machine are respectively inserted into the four pin holes 10 of the connecting seat 2, thus completing the positioning of the slave machine and the mother machine.

[0030] See some possible implementations. Figure 1 and Figure 2As shown, the upper end of the locking block 4, near the wedge-shaped locking head, is a wedge-shaped structure that slopes upward from left to right. The lower end of the locking block 4, near the wedge-shaped locking head, is a concave arc-shaped surface that cooperates with the arc-shaped locking head 304. An arc-shaped groove is formed along the arc-shaped surface of the concave arc-shaped surface. The arc-shaped locking head 304 has an arc-shaped protrusion near the concave arc-shaped surface. The arc-shaped protrusion and the arc-shaped groove are detachably connected. A locking interface is formed on the upper end of the locking block 4 away from the wedge-shaped locking head.

[0031] In the above scheme, when the connecting seat 2 moves upward, the wedge-shaped structure at the upper end of the locking block 4 can squeeze the wedge-shaped locking head of the main locking tongue 302 back into the main sliding cavity. When the squeezing of the wedge-shaped structure by the locking block 4 disappears, the main spring 306 and the auxiliary spring 307 reset. Under the action of elastic potential energy, they respectively push the main locking tongue 302 and the auxiliary locking tongue to pop out. The main locking tongue 302 is located at the bottom of the wedge-shaped structure of the locking block 4, locking in the left and right directions. At the same time, the arc-shaped protrusion of the arc-shaped locking head 304 moves downward and gets into the arc-shaped slot of the concave arc surface, locking in the up and down directions. The locking force can be adjusted by setting the main spring 306 and the auxiliary spring 307 with different elastic values.

[0032] See some possible implementations. Figure 2 , Figure 7 and Figure 8 As shown, the positioning sleeve 8 has symmetrically opened vertical grooves 15 that slide and connect with the crossbar 501. The positioning sleeve 8 also has a partition 14. Two vertical grooves 15 extend from both ends of the crossbar 501. The locking mechanism includes a lead screw that is rotatably set on the partition 14. The upper end of the lead screw passes through the base plate 1 and is driven by a micro motor 504. The micro motor 504 is electrically connected to the flight control system of the mother machine. The lead screw is screwed to the center of the crossbar 501. L-shaped locking connectors 502 are hinged to the bottom of both ends of the crossbar 501. The L-shaped locking connectors 502 are locked to the locking interface. A second micro cylinder 503 is hinged to the side of the L-shaped locking connector 502 near the positioning sleeve 8. The end of the second micro cylinder 503 away from the L-shaped locking connector 502 is hinged to the bottom of the crossbar 501. The second micro cylinder 503 is connected to a second electromagnetic reversing valve through a pneumatic pipe. The air inlet of the second electromagnetic valve is connected to a micro air tank. The second electromagnetic reversing valve is electrically connected to the flight control system of the mother machine.

[0033] In the above scheme, when the slave machine and the master machine are positioned, the second micro cylinder 503 is started. The start of the second micro cylinder 503 drives the L-shaped connector 502 to rotate clockwise through its output end. When the output end of the second micro cylinder 503 extends to its maximum stroke, the L-shaped connector 502 engages with the card interface, and the rotation of the L-shaped connector 502 does not interfere with the card interface. The micro motor 504 is started, so that the output end of the micro motor 504 rotates, driving the lead screw to rotate. The lead screw rotates and the crossbar 501 moves upward. Through the L-shaped connector 502 and the connecting seat 2, the slave machine is moved upward, completing the locking of the slave machine.

[0034] A method for locking and releasing a drone slave unit, applied to any of the aforementioned drone slave unit locking and releasing devices, includes the following steps: S1. Submachine docking: The mother machine uses a visual positioning system to position the submachine and the mother machine using positioning components. First, the mother machine flies directly above the submachine and then moves down so that the positioning sleeve 8 at the bottom of the mother machine fits onto the positioning post 6 on the submachine. At the same time, the four positioning pins 7 at the bottom of the mother machine are inserted into the four pin holes 10 of the connecting seat 2, completing the positioning of the submachine and the mother machine.

[0035] S2. The slave machine is locked. The master machine is connected to the slave machine through the locking drive module 5 and drives the slave machine to move upward, so that the locking block 4 presses the main locking tongue 302 to retract horizontally. The main locking tongue 302 converts the horizontal force into a vertical upward component force through the inclined pressing surface, driving the auxiliary locking tongue to retract vertically upward in sync. After the locking block 4 reaches the preset locking position, the preload of the return spring (main spring 306 and auxiliary spring 307) pushes the main locking tongue 302 and the auxiliary locking tongue to reset, forming a double locking structure in which the main locking tongue 302 is horizontally wedge-tightened and the auxiliary locking tongue is vertically engaged, so as to realize the rigid locking of the slave machine. S3. The slave unit is released. The drive mechanism is triggered by the flight control system of the mother unit. The main locking tongue 302 and the auxiliary locking tongue are driven to retract synchronously by high-pressure air to release the double locking structure. The slave unit separates from the mother unit under its own gravity. Then the main locking tongue 302 and the auxiliary locking tongue automatically reset to the initial standby state.

[0036] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A locking and releasing device for a drone sub-unit, characterized in that, include: The mounting module includes a base plate (1) mounted on the lower frame of the mother machine and a connecting seat (2) mounted on the top of the daughter machine. The base plate (1) and the connecting seat (2) are detachably connected by a positioning component. Two double-locking modules (3) are symmetrically arranged on both sides of the width direction of the substrate (1). Each double-locking module (3) includes a main locking part and a secondary locking part. The main locking part is driven by a driving mechanism to slide left and right along the length direction of the substrate (1) so as to drive the secondary locking part to slide up and down synchronously. The main locking part and the secondary locking part are locked by locking blocks (4). The two locking blocks (4) are respectively arranged on both sides of the width direction of the connecting seat (2). The locking drive module (5) is located between the base plate (1) and the connecting seat (2) and includes a horizontal bar (501) that can slide up and down. The bottom sides of the horizontal bar (501) are symmetrically provided with locking mechanisms, and each locking mechanism is detachably connected to the corresponding locking block (4).

2. The UAV slave unit locking and releasing device according to claim 1, characterized in that, It also includes an L-shaped locking tongue seat (301), which includes a vertical section fixedly connected to the width direction of the connecting seat (2) and a horizontal section connected to the bottom of the vertical section; The horizontal section has a main sliding cavity on the side near the connecting seat (2). A slidable main locking tongue (302) is provided in the main sliding cavity. The main locking tongue (302) includes a wedge-shaped locking head. A connecting block is connected to the end of the wedge-shaped locking head away from the connecting seat (2). A connecting shaft is connected to the end of the connecting block away from the wedge-shaped locking head. The connecting shaft is slidably disposed on the inner wall of the main sliding cavity. A main spring (306) is provided between the inner wall of the main sliding cavity and the connecting block. The connecting block has a secondary sliding cavity from top to bottom. A vertical guide shaft (303) is provided in the secondary sliding cavity. Both ends of the guide shaft (303) extend into horizontal sections. An arc-shaped locking head (304) is connected to the lower end of the guide shaft (303). A secondary spring (307) is sleeved on the guide shaft (303) between the arc-shaped locking head (304) and the horizontal section.

3. The UAV slave unit locking and releasing device according to claim 2, characterized in that, A synchronizing block (310) is provided at the bottom of the connecting block. A detachable mating block (311) is provided on the side of the synchronizing block (310) away from the wedge-shaped locking head. The mating block (311) is provided on the guide shaft (303). The side of the mating block (311) near the synchronizing block (310) is an inclined surface that slopes upward from left to right. The side of the synchronizing block (310) near the mating block (311) is an inclined surface that slopes upward from left to right.

4. The UAV slave unit locking and releasing device according to claim 3, characterized in that, The upper end of the guide shaft (303) is fitted with a limiting ring (309), and the guide shaft (303) is vertically slidably arranged on the horizontal section.

5. The UAV slave unit locking and releasing device according to claim 4, characterized in that, Pull shafts (308) are provided on both sides of the connecting block. Slide grooves that cooperate with the pull shafts (308) are opened on both sides of the horizontal section. The pull shafts (308) extend out of the slide grooves from one end away from the connecting block, and the two extended ends are connected to the same pull rod (305). The pull rod (305) is slidably arranged on the horizontal section.

6. The UAV slave unit locking and releasing device according to claim 5, characterized in that, The drive mechanism includes a first micro cylinder (11) set on a horizontal section. The output end of the first micro cylinder (11) is coaxially fixedly connected to a screw (12). The end of the screw (12) away from the first micro cylinder (11) is connected to the pull rod (305) through a connecting seat. A screw tube (13) is screwed onto the screw (12) near the end of the connecting seat close to the first micro cylinder (11).

7. The UAV slave unit locking and releasing device according to claim 1, characterized in that, The positioning component includes a positioning sleeve (8) vertically disposed at the center of the bottom of the substrate (1), and four positioning pins (7) are evenly disposed in the circumferential direction of the positioning sleeve (8). The center of the connecting seat (2) is provided with a positioning post (6) coaxial with the positioning sleeve (8), and the positioning post (6) is detachably connected to the lower end of the positioning sleeve (8). The connecting seat (2) is also provided with four pin holes (10) that cooperate with four positioning pins (7), and the four positioning pins (7) are detachably connected to the four pin holes (10) respectively.

8. The UAV slave unit locking and releasing device according to claim 6, characterized in that, The upper end of the locking block (4) near the wedge-shaped locking head is a wedge-shaped structure that slopes upward from left to right; The lower end of the locking block (4) near the wedge-shaped locking head is a concave arc-shaped surface that cooperates with the arc-shaped locking head (304), and an arc-shaped groove is provided along the arc-shaped surface. The arc-shaped locking head (304) near the concave arc-shaped surface has an arc-shaped protrusion, and the arc-shaped protrusion and the arc-shaped groove are detachably connected. The upper end of the locking block (4) has a locking interface on the side opposite to the wedge-shaped locking head.

9. The UAV slave unit locking and releasing device according to claim 7, characterized in that, The positioning sleeve (8) is symmetrically provided with vertical grooves (15) that are slidably connected to the crossbar (501). The positioning sleeve (8) is also provided with a partition (14). Two vertical grooves (15) extend from both ends of the crossbar (501). The snap-fit ​​mechanism includes a lead screw rotatably mounted on the partition (14), the upper end of the lead screw passing through the substrate (1) and driven by a micro motor (504), and the lead screw being screwed to the center of the crossbar (501); Both ends of the crossbar (501) are hinged with L-shaped connectors (502), which are engaged with the card interface. A second micro cylinder (503) is hinged to the side of the L-shaped connector (502) near the positioning sleeve (8). The end of the second micro cylinder (503) away from the L-shaped connector (502) is hinged to the bottom of the crossbar (501).

10. A method for locking and releasing a drone sub-unit, applied to the drone sub-unit locking and releasing device according to any one of claims 1-9, characterized in that, Includes the following steps: S1. Sub-machine docking: The mother machine uses a visual positioning system to position the sub-machine and the mother machine using positioning components. S2, the slave machine is locked. The master machine connects to the slave machine through the locking drive module (5) and drives the slave machine to move upward, so that the locking block (4) squeezes the main locking tongue (302) to retract horizontally. The main locking tongue (302) converts the horizontal force into a vertical upward component force through the inclined pressing surface to drive the secondary locking tongue to retract vertically upward in sync. After the locking block (4) reaches the preset locking position, the preload of the reset spring is used to push the main locking tongue (302) and the secondary locking tongue to reset, forming a double locking structure in which the main locking tongue (302) is horizontally wedge-tightened and the secondary locking tongue is vertically locked, so as to realize the rigid locking of the slave machine. S3. The slave unit is released. The drive mechanism is triggered by the flight control system of the mother unit. The main locking tongue (302) and the auxiliary locking tongue are retracted synchronously by high-pressure air to release the double locking structure. The slave unit separates from the mother unit under its own gravity. Then the main locking tongue (302) and the auxiliary locking tongue automatically reset to the initial standby state.

Images