CN111439378A - Aerocar and docking device - Google Patents
Aerocar and docking device Download PDFInfo
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- CN111439378A CN111439378A CN202010430880.1A CN202010430880A CN111439378A CN 111439378 A CN111439378 A CN 111439378A CN 202010430880 A CN202010430880 A CN 202010430880A CN 111439378 A CN111439378 A CN 111439378A
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- 238000003032 molecular docking Methods 0.000 title claims description 35
- 210000001503 joint Anatomy 0.000 claims abstract description 33
- 238000009434 installation Methods 0.000 description 10
- 238000013459 approach Methods 0.000 description 3
- 230000008602 contraction Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/06—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles
- B60P3/11—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles for carrying aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/20—Rotorcraft characterised by having shrouded rotors, e.g. flying platforms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Remote Sensing (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
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Abstract
The invention discloses a flying automobile and a butt joint device, wherein the butt joint device is used for the flying automobile and comprises a movable assembly and a locking structure, wherein the movable assembly is arranged below an aircraft module of the flying automobile and can swing relative to the aircraft module; the locking structure at least comprises a first upper locking module, and the first upper locking module is used for being installed at the bottom end of the movable support. The utility model provides a through the setting can for aircraft module wobbling movable assembly, and then when making upper end device and lower extreme device butt joint locking, reduce the last locking module that is located on movable assembly and receive aircraft module slope and then influence the condition of butt joint, and then be convenient for locking structure locking butt joint.
Description
Technical Field
The invention relates to the technical field of aircrafts, in particular to a docking device. The invention also relates to a flying automobile comprising the docking device.
Background
For a sectional type flying automobile, an aircraft module, a load cabin module and a ground driving module of the flying automobile are combined with the load cabin module through a locking structure when the aircraft module of the flying automobile is close to the load cabin module.
Traditional locking structure carries out the butt joint for grapple and draw-in groove, inserted bar and slot, pin and cotter way, lock core and locked groove, even under the equal static condition of aircraft and passenger cabin, receives air current and natural wind disturbance at the landing in-process, can not fix a position the butt joint fast.
Therefore, how to facilitate the docking of the locking structure of the hovercar is a technical problem to be solved urgently by those skilled in the art.
Disclosure of Invention
The invention aims to provide a butt joint device for facilitating butt joint of a locking structure of a flying car. Another object of the present invention is to provide a flying automobile comprising the docking device.
In order to achieve the above object, the present invention provides a docking device for an hovercar, comprising:
the movable component is arranged below an aircraft module of the flying automobile and can swing relative to the aircraft module;
the main locking device at least comprises a first upper locking module, and the first upper locking module is used for being installed at the bottom end of the movable assembly.
Preferably, the main locking device further comprises a first lower locking module which is used for being connected with the lower end device and can be locked with the first upper locking module in a clamping manner, and the first upper locking module and the first lower locking module are provided with magnetic attraction guide structures which can attract each other.
Preferably, the locking device further comprises an auxiliary locking device, the auxiliary locking device comprises a second upper locking module and a second lower locking module, the second upper locking module is used for being connected with the upper end device, the second lower locking module is used for being connected with the lower end device and can be locked and connected with the second upper locking module in a clamping mode, and the auxiliary locking device is arranged around the circumference of the main locking device.
Preferably, the movable assembly comprises a movable support and a telescopic assembly connected with the movable support, the telescopic end of the telescopic assembly is connected with the first upper locking module, the telescopic assembly is used for driving the first upper locking module to lift, the telescopic assembly comprises a plurality of X-shaped rod groups, a motor, a screw rod and a sliding block, the X-shaped rod groups are sequentially hinged to the sliding block, the sliding block is connected to the screw rod in a threaded manner, the motor drives the screw rod to rotate, a hinged rod at the top end of each X-shaped rod group is connected to the sliding block, and the sliding block can slide in the axial direction of the screw rod.
Preferably, the movable support is rotatably connected to a top end of the telescopic assembly, and a bottom end of the telescopic assembly is rotatably connected to the first upper locking module.
Preferably, the movable support includes first pivot, movable block and flexible subassembly installation piece, the movable block top through first pivot with aircraft module rotatable coupling, the movable block with flexible subassembly installation piece passes through second pivot rotatable coupling, flexible unit mount is in on the flexible subassembly installation piece, first pivot axis with the different face setting of second pivot axis.
Preferably, the first and second shaft axes are arranged perpendicularly.
Preferably, the locking mechanism further comprises a locking structure mounting block, a third rotating shaft and a fourth rotating shaft which are connected to the upper end and the lower end of the locking structure mounting block, the locking structure mounting block is rotatably connected with the X-shaped rod group at the bottommost end through the third rotating shaft, the fourth rotating shaft is rotatably connected with the first upper locking module, and the axis of the third rotating shaft and the axis of the fourth rotating shaft are arranged in a non-coplanar manner.
Preferably, the third shaft axis and the fourth shaft axis are arranged vertically.
Preferably, the telescopic component further comprises a controller, a first pressure sensor arranged at the position of the first upper locking module and the mounting surface of the magnetic attraction guide structure of the first upper locking module, and a second pressure sensor arranged at the position of the first upper locking module and the clamping connection position of the first upper locking module, when the guide surface of the first upper locking module and the magnetic attraction guide structure of the first upper locking module are attracted, the controller receives a pressure signal of the first pressure sensor, the controller controls the telescopic component to continue to extend until the first upper locking module and the first lower locking module are clamped and locked, the controller receives a pressure signal of the second pressure sensor, and the controller controls the telescopic component to retract.
A flying automobile comprises an aircraft module, a load cabin module, a ground driving module and a butt joint device, wherein the butt joint device is any one of the butt joint devices, and any two of the aircraft module, the load cabin module and the ground driving module can be connected through the butt joint device.
In the technical scheme, the butt joint device provided by the invention is used for a flying automobile and comprises a movable assembly and a locking structure, wherein the movable assembly is arranged below an aircraft module of the flying automobile and can swing relative to the aircraft module; the locking structure at least comprises a first upper locking module, and the first upper locking module is used for being installed at the bottom end of the movable support.
According to the above description, the movable assembly which can swing relative to the aircraft module is arranged, so that when the upper end device and the lower end device are in butt joint and locked, the situation that the upper locking module located on the movable assembly is inclined by the aircraft module to affect butt joint is reduced, and locking structure locking butt joint is facilitated.
Drawings
In order 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 described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic vertical view of an exemplary flying vehicle according to the present invention;
FIG. 2 is a schematic perspective view of a flying vehicle according to an embodiment of the present invention in a ground driving mode;
FIG. 3 is a schematic perspective view of an aircraft in an aerial flight mode according to an embodiment of the present invention;
FIG. 4 is a schematic perspective view of an aircraft module provided by an embodiment of the invention;
FIG. 5 is an enlarged, fragmentary perspective view of a retraction assembly on an aircraft module according to an embodiment of the present invention in a retracted state;
FIG. 6 is an enlarged, fragmentary perspective view of a telescoping assembly on an aircraft module according to an embodiment of the present invention in a retracted state;
fig. 7 is a perspective view of a telescopic assembly in an upper locking module according to an embodiment of the present invention in a retracted state;
fig. 8 is a perspective view of another locking module according to an embodiment of the present invention, in which a telescopic assembly of the locking module is in a retracted state;
fig. 9 is a perspective view of the upper locking module according to the embodiment of the present invention, wherein the telescopic assembly is in an extended state;
FIG. 10 is an enlarged, partial perspective view of a telescoping assembly on an aircraft module provided in accordance with an embodiment of the present invention in an extended position;
FIG. 11 is a schematic perspective view of a telescoping assembly operating in an aircraft with an aircraft module approaching a load compartment module according to an embodiment of the invention;
FIG. 12 is an enlarged, fragmentary, perspective view of the retraction assembly during actuation of the aircraft module in an aircraft approaching the load compartment module;
FIG. 13 is a schematic perspective view illustrating an actuation process of the telescopic assembly after being engaged with the load compartment according to the embodiment of the present invention;
FIG. 14 is a schematic perspective view of an aircraft module in accordance with an embodiment of the present invention shown after being snapped into engagement with a load compartment;
FIG. 15 is a schematic perspective view of an alternative perspective aircraft module in accordance with an embodiment of the invention shown after being snapped into engagement with a load bay;
FIG. 16 is a schematic perspective view of the aircraft module docking with the load compartment module disengaged from the ground travel module in accordance with an embodiment of the present invention;
FIG. 17 is a schematic perspective view of the alternative embodiment of the present invention showing the load compartment module disengaged from the ground travel module after docking of the aircraft module with the load compartment module;
FIG. 18 is a schematic perspective view of an aircraft module according to an embodiment of the present invention swaying in response to wind disturbances as the aircraft module approaches a load compartment module;
FIG. 19 is a schematic perspective view of an alternative embodiment of the invention showing the aircraft module swaying when disturbed by wind as it approaches the load bay module;
FIG. 20 is a schematic perspective view of an aircraft module after completing a docking state when the aircraft module is disturbed by wind in accordance with an embodiment of the present invention;
fig. 21 is a schematic structural diagram of a lower locking module according to an embodiment of the present invention.
Wherein in FIGS. 1-21:
1. an aircraft module; 1-1, an aircraft head; 1-2, an aircraft body; 1-3, aircraft supports;
2. a load compartment module; 3. a ground driving module;
4. a tip locking assembly; 4-1, a movable component; 4-1-1, a fourth rotating shaft;
4-1-2, a locking structure mounting block; 4-1-2-1, locking structure mounting legs;
4-1-3, a third rotating shaft; 4-1-4, a second rotating shaft; 4-1-5, an X-shaped rod group; 4-1-6, a screw rod; 4-1-7, a slide block;
4-1-8, movable block; 4-1-8-1, a telescopic component mounting leg;
4-1-9, a first rotating shaft; 4-1-10, motor; 4-1-11, a telescopic component mounting block;
4-2, a first upper locking module; 4-2-1, a first locking hook; 4-2-2, a first mating bevel; 4-2-3, a first magnetic member; 4-2-4, a first groove portion; 4-2-5, a connecting part; 4-2-6, a first guiding bevel;
4-3, a second upper locking module;
5. a bottom end locking assembly;
5-1, a second magnetic member; 5-2, a first lower locking module; 5-3 and a second lower locking module.
Detailed Description
The core of the invention is to provide a docking device to facilitate docking of a locking structure of a flying car. The invention further provides a flying automobile comprising the docking device.
In order to make the technical solutions of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings and embodiments.
Please refer to fig. 1 to fig. 21.
In a specific implementation manner, the docking device provided by the specific embodiment of the invention is used for a flying automobile and comprises a movable assembly 4-1 and a locking structure, wherein the movable assembly 4-1 is installed below an aircraft module 1 of the flying automobile and can swing relative to the aircraft module 1; the locking structure at least comprises a first upper locking module 4-2, and the first upper locking module 4-2 is used for being installed at the bottom end of the movable support.
When the aerocar needs to work in an air flight mode, the aircraft module 1 flies above a ground driving module 3 carrying the load cabin module 2 (the ground driving module 3 carrying the load cabin module 2 is shown in figure 2), hovers at a precise fixed point, is butted and locked with the load cabin module 2 through a butting device, the ground driving module 3 is unlocked with the load cabin module 2, the aircraft module 1 hangs the load cabin module 2 to take off vertically, and as shown in figure 3, the automatic flight task is completed in an unmanned mode.
When the aerocar needs to work in a ground driving mode, the aircraft module 1 (shown in figure 3) hangs the load cabin module 2 and flies above the ground driving module 3, the aerocar hovers at a precise fixed point, the load cabin module 2 is automatically placed on the ground driving module 3, the aircraft module 1 is unlocked with the load cabin module 2, the aircraft module 1 automatically vertically takes off and flies away from the load cabin module 2, the ground driving module 3 is automatically butted and locked with the load cabin module 2, the ground driving module 3 drives the load cabin module 2 to a target place needing to be driven in an automatic driving mode, and a ground driving task is completed.
According to the above description, the movable assembly 4-1 capable of swinging relative to the aircraft module 1 is arranged, so that when the upper end device and the lower end device are in butt joint and locked, the situation that the upper locking module on the movable assembly 4-1 is inclined by the aircraft module to affect butt joint is reduced, and locking and butt joint of the locking structure are facilitated.
Of course, in order to avoid the docking error, it is preferable that a magnetic member is provided between the first upper locking module 4-2 and the first lower locking module 5-2, and no magnetic member is provided between the second upper locking module 4-3 and the second lower locking module 5-3.
In a specific embodiment, the main locking device further comprises a first lower locking module 5-2 connected to the lower end device and capable of being locked by being connected to the first upper locking module 4-2, and the first upper locking module 4-2 and the first lower locking module 5-2 are provided with magnetic attraction guide structures capable of attracting each other.
Specifically, the first upper locking module 4-2 is a first upper locking hook, the first lower locking module 5-2 is a first lower locking hook, the first magnetic member 4-2-3 is installed at the lowermost end of the first upper locking hook, correspondingly, a locking structure capable of being matched with the first upper locking hook is arranged at the top of the first lower locking hook, and the second magnetic member 5-1 is installed at the locking structure. Preferably, the first magnetic member 4-2-3 and the second magnetic member 5-1 are both electromagnets, that is, the first magnetic member 4-2-3 is a first electromagnet, and the second magnetic member 5-1 is a second electromagnet.
When the electromagnetic switch works, after the first electromagnet and the second electromagnet are electrified, the magnetism of the two electromagnets is opposite. When the X-shaped rod group installed on the aircraft body extends to a certain position, the first electromagnet of the first locking hook and the second electromagnet at the top of the load cabin module 2 attract each other, and the magnetic fields interact with each other, so that the first upper locking hook and the locking structure attract each other.
In order to improve the connection stability, the docking device preferably further comprises an auxiliary locking device, the auxiliary locking device comprises a second upper locking module 4-3 connected with the upper end device and a second lower locking module 5-3 connected with the lower end device and capable of being locked with the second upper locking module 4-3 in a clamping mode, and the auxiliary locking device is circumferentially arranged around the main locking device. Specifically, the number of the auxiliary locking devices is multiple, and the auxiliary locking devices are symmetrically distributed on two opposite sides of the main locking device.
Or a plurality of auxiliary locking devices are uniformly distributed in the circumferential direction by taking the main locking device as a center.
Or a plurality of auxiliary locking devices are symmetrically distributed on two opposite sides of the main locking device, and auxiliary setting devices are distributed in front of the main locking device.
As shown in fig. 7 and 8, in a specific embodiment, the movable assembly 4-1 includes a movable bracket and a telescopic assembly connected to the movable bracket, and the telescopic end of the telescopic assembly is connected to the first upper locking module 4-2, the telescopic assembly is used to drive the first upper locking module 4-2 to ascend and descend, the telescopic assembly includes a plurality of X-shaped rod sets 4-1-5, motors 4-1-10, lead screws 4-1-6, and sliders 4-1-7 threaded onto the lead screws 4-1-6, the motors 4-1-10 drive the lead screws 4-1-6 to rotate, the hinged rod at the top end of the X-shaped rod set 4-1-5 is connected to the sliders 4-1-7, specifically, the hinged rod is fixedly connected to the sliders 4-1-7, the hinged rod is hinged with the X-shaped rod body of the X-shaped rod group 4-1-5. The sliding block 4-1-7 can slide relative to the axial direction of the screw rod 4-1-6. The motors 4-1-10 drive the sliding blocks 4-1-7 to slide on the lead screws 4-1-6, so that the X-shaped rod groups 4-1-5 are sequentially driven to move in an opening and closing mode, the expansion and contraction of the telescopic assemblies are achieved through the opening and closing motion, and the first upper locking hooks move downwards to be close to the load cabin modules 2. When the telescopic assembly is arranged below the load cabin module 2, the motor 4-1-10 drives the sliding block 4-1-7 to slide on the screw rod 4-1-6, so that the X-shaped rod group 4-1-5 is sequentially driven to move in an opening and closing mode, the opening and closing motion achieves extension and contraction of the telescopic assembly, and the first upper locking hook moves downwards to be close to the ground driving module 3.
In a specific embodiment, when a magnetic member is disposed between the first upper locking module 4-2 and the first lower locking module 5-2, and no magnetic member is disposed between the second upper locking module 4-3 and the second lower locking module 5-3 for specific docking, the first upper locking module 4-2 and the first lower locking module 5-2 are aligned to each other due to magnetic attraction, and then are driven by the telescopic assembly (specifically, the X-shaped rod set 4-1-5) to complete the docking first. And then the telescopic assembly drives the second upper locking module 4-3 to move downwards, and the second upper locking module 4-3 and the second lower locking module 5-3 are mutually closed to complete butt joint.
The telescopic assembly is in a contracted folded state when not in work, and the flying is convenient.
Preferably, the movable support is rotatably connected with the top end of the telescopic assembly, and the bottom end of the telescopic assembly is rotatably connected with the first upper locking module 4-2.
Specifically, the movable support comprises a first rotating shaft 4-1-9, a movable block 4-1-8 and a telescopic component mounting block 4-1-11, the top end of the movable block 4-1-8 is rotatably connected with the aircraft module 1 through the first rotating shaft 4-1-9, the movable block 4-1-8 and the telescopic component mounting block 4-1-11 are rotatably connected through a second rotating shaft 4-1-4, the telescopic component is mounted on the telescopic component mounting block 4-1-11, and the axis of the first rotating shaft 4-1-9 and the axis of the second rotating shaft 4-1-4 are arranged in a non-coplanar manner.
Preferably, the axis of the first rotating shaft 4-1-9 and the axis of the second rotating shaft 4-1-4 are vertically arranged. As shown in fig. 5 and 6, the telescopic assembly is connected to the bottom of the aircraft body of the aircraft module 1 through a movable bracket, the movable bracket is embedded inside the aircraft body 1-2, and the lower end of the telescopic assembly is connected with the first upper locking hook. The upper part of the movable support is provided with a first rotating shaft 4-1-9 along the front-back direction, the lower part of the movable support is provided with a second rotating shaft 4-1-4 along the left-right direction, the upper end of the telescopic assembly is movably connected to the lower end of the movable support, and the telescopic assembly can rotate around the front-back direction and the left-right direction relative to the movable support through the first rotating shaft 4-1-9 and the second rotating shaft 4-1-4.
In order to facilitate the installation of the second rotating shaft 4-1-4, the bottom end of the movable block 4-1-8 is provided with two telescopic assembly mounting legs 4-1-8-1, the two telescopic assembly mounting legs 4-1-8-1 are positioned at two opposite sides of the telescopic assembly mounting block 4-1-11, and each telescopic assembly mounting leg 4-1-8-1 is correspondingly provided with one second rotating shaft 4-1-4.
Specifically, the butt joint device further comprises a locking structure mounting block 4-1-2, a third rotating shaft 4-1-3 and a fourth rotating shaft 4-1-1 which are connected to the upper end and the lower end of the locking structure mounting block 4-1-2, the locking structure mounting block 4-1-2 is rotatably connected with the X-shaped rod group 4-1-5 at the bottommost end through the third rotating shaft 4-1-3, the fourth rotating shaft 4-1-1 is rotatably connected with the first upper locking module 4-2, and the axis of the third rotating shaft 4-1-3 and the axis of the fourth rotating shaft 4-1-1 are arranged in a non-coplanar mode.
Preferably, the axis of the third rotating shaft 4-1-3 and the axis of the fourth rotating shaft 4-1-1 are vertically arranged. A third rotating shaft 4-1-3 is arranged on the X-shaped rod group 4-1-5 at the lowest part of the telescopic assembly along the front-back direction, a fourth rotating shaft 4-1-1 is arranged along the left-right direction, the upper end of a first locking hook is movably connected to the lower end of the X-shaped rod group, and the first locking hook can rotate around the front-back direction and the left-right direction relative to the X-shaped rod group 4-1-5 through the third rotating shaft 4-1-3 and the fourth rotating shaft 4-1-1.
In order to facilitate installation of the fourth rotating shaft 4-1-1, the locking structure installation block 4-1-2 is provided with two locking structure installation legs 4-1-2-1, the two locking structure installation legs 4-1-2-1 are located on two opposite sides of the locking structure installation block 4-1-2, and each locking structure installation leg 4-1-2-1 is correspondingly provided with one fourth rotating shaft 4-1-1.
As shown in fig. 18 and 19, when the flying aircraft module 1 approaches the load compartment module 2, the aircraft module 1 is disturbed by wind and swings in a three-dimensional schematic view, and the attitude of the first upper locking hook can be flexibly adjusted along two directions at the upper end and the lower end of the telescopic assembly through the first rotating shaft 4-1-9, the second rotating shaft 4-1-4, the third rotating shaft 4-1-3 and the fourth rotating shaft 4-1-1, so as to be accurately butted with the locking structure of the lower load compartment module 2.
The first upper locking module 4-2 comprises a first locking hook 4-2-1, the first locking hook 4-2-1 comprises a connecting part 4-2-5, a first groove part 4-2-4 and a first guide part with the periphery size gradually reduced downwards, the connecting part 4-2-5, the first groove part 4-2-4 and the first guide part are sequentially arranged from top to bottom, a first guide inclined plane 4-2-6 and a first matching inclined plane 4-2-2 are arranged at the bottom end of the first guide part and are arranged on two opposite sides of the first guide inclined plane 4-2-6, and the edge of the first matching inclined plane is connected with the first guide inclined plane 4-2-6. The connecting part 4-2-5 is movably connected with the telescopic assembly, the first groove part 4-2-4 is provided with a groove arranged on the side surface, the lowest end of the first guide part forms a tip, the tip is in a frustum shape in the embodiment and comprises a first guide inclined surface 4-2-6 and three first matching inclined surfaces 4-2-2, and the first guide inclined surface 4-2-6 and the groove of the first groove part 4-2-4 are positioned on the same side of the first upper locking module 4-2.
As an implementation manner, the first upper locking module 4-2 and the second upper locking module 4-3 are locking hooks with the same structure, the first lower locking module 5-2 and the second lower locking module 5-3 are locking hooks with the same structure, the second upper locking module 4-3 may be specifically a second upper locking hook, the second lower locking module 5-3 is a second lower locking hook, and the second upper locking hook is rotatably connected to the top of the load compartment module 2. The second upper locking hook is provided with an electromagnet, the second lower locking hook is also provided with an electromagnet, and the electromagnets attract each other after being electrified. The electromagnets are mutually attracted to generate a guiding effect on the first upper locking module 4-2 and the second upper locking module 4-3, so that the first upper locking module 4-2 and the second upper locking module 4-3 can enter the corresponding clamping groove openings of the locking structure under the action of attraction until the first upper locking module 4-2 and the second upper locking module 4-3 completely fall into the corresponding clamping grooves and are completely matched and clamped with the first lower locking module 5-2 and the second lower locking module 5-3.
Specifically, the movable assembly 4-1, the first upper locking module 4-2 and the second upper locking module 4-3 are installed at the bottom end of the aircraft module 1 and the bottom end of the load compartment module 2 as the top end locking assembly 4, and the first lower locking module 5-2 and the second lower locking module 5-3 are installed at the top end of the load compartment module 2 and the top end of the ground driving module 3 as the bottom end locking assembly 5.
The docking device further comprises a controller, a first pressure sensor arranged at the position of the mounting surface of the magnetic attraction guide structure of the first upper locking module 4-2 and a second pressure sensor arranged at the position of the clamping connection of the first upper locking module 4-2 and the first upper locking module 4-2, when the guide surface of the first upper locking module 4-2 and the magnetic attraction guide structure of the first upper locking module 4-2 are attracted, the controller receives a pressure signal of the first pressure sensor, the controller controls the telescopic assembly to extend continuously until the first upper locking module 4-2 and the first lower locking module 5-2 are clamped and locked, the controller receives a pressure signal of the second pressure sensor, namely the controller receives a docking completion signal, and the controller controls the telescopic assembly to retract. Certainly, a second pressure sensor can be arranged at the locking position of the second upper locking module 4-3 and the second lower locking module 5-3, when the controller receives pressure signals of all the second pressure sensors, the locking is judged to be completed, and the controller controls the telescopic assembly to contract until the telescopic assembly contracts to the minimum size.
Specifically, the controller controls the motor 4-1-10 to rotate forwards and backwards to drive the sliding block 4-1-7 to reciprocate, so that the X-shaped rod group 4-1-5 extends and contracts.
Through setting up first pressure sensor, avoid the butt joint device to carry out the condition of joint under the butt joint error condition, and realize carrying out the subassembly shrink that stretches out and draws back after the butt joint device locks through second pressure sensor for butt joint device connection stability improves.
When the aircraft module 1 needs to be in butt joint with the load cabin module 2 in a ground running state and is converted into a flight mode, the aircraft firstly finds the distributed ground running module 3 (namely an unmanned vehicle) carrying the load cabin module 2 (a cabin) according to the scheduling information of the control system, and hovers above the static cabin in a safe area at a certain height which is in a reachable range after the telescopic assembly extends, and at the moment, the aircraft module 1 establishes communication with the load cabin module 2 and starts a butt joint program. The motors 4-1-10 drive the sliding blocks 4-1-7 to slide on the screw rods, in the embodiment, the motors 4-1-10 drive the screw rods to drive the sliding blocks 4-1-7 to move backwards, so that the X-shaped rod groups are pushed to gradually expand and gradually extend towards the cabin in the vertical direction, and subsequent butt joint is realized.
After the aircraft module 1 and the load cabin module 2 are in butt joint, the load cabin module 2 is separated from the ground running module 3, and the aerial flight mode is switched. Specifically, the lift force of different ducts or rotors can be changed by adjusting the rotating speeds of the duct propellers or the open rotors which are symmetrically distributed on the aircraft module 1 in the front-back and left-right directions, so that the attitude of the aircraft module 1 is controlled by matching with the docking device.
The application provides a flying automobile, including aircraft module 1, load cabin module 2, ground module 3 and interfacing apparatus that traveles, interfacing apparatus is any kind of interfacing apparatus of above-mentioned. The foregoing describes a specific structure of the docking device, and the present application includes the docking device described above, and also has the technical effects described above. Specifically, the aircraft module 1 is a multi-duct or multi-rotor distributed driving vertical take-off and landing aircraft, the load cabin module 2 can be a passenger or cargo cabin, and the ground driving module 3 is a wheeled unmanned chassis.
Any two of the aircraft module 1, the load cabin module 2 and the ground traveling module 3 can be connected through a butt joint device. In particular, the movable assembly 4-1 can be mounted below the aircraft module 1, and the movable assembly 4-1 can also be mounted below the load compartment module 2. Namely, a butt joint device is arranged between the aircraft module 1 and the load cabin module 2, and a butt joint device is arranged between the load cabin module 2 and the ground traveling module 3.
Specifically, the aircraft module 1 comprises an aircraft head 1-1, an aircraft body 1-2 and an aircraft support 1-3 arranged at the bottom end of the aircraft body, and when the aircraft module 1 lands on the ground, the aircraft module is supported by the aircraft support 1-3.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (11)
1. A docking device for a flying automobile, comprising:
a movable component (4-1) which is arranged below an aircraft module (1) of the flying automobile and can swing relative to the aircraft module (1);
the main locking device at least comprises a first upper locking module (4-2) which is used for being arranged at the bottom end of the movable assembly (4-1).
2. The docking device as claimed in claim 1, wherein the main locking device further comprises a first lower locking module (5-2) for connecting with a lower end device and being capable of being locked by being connected with the first upper locking module (4-2), and the first upper locking module (4-2) and the first lower locking module (5-2) are provided with magnetic attraction guide structures capable of attracting each other.
3. A docking device according to claim 2, further comprising an auxiliary locking device comprising a second upper locking module (4-3) for connecting with the upper end device and a second lower locking module (5-3) for connecting with the lower end device and being capable of snap locking with the second upper locking module (4-3), the auxiliary locking device being circumferentially arranged around the main locking device.
4. The butt joint device according to claim 2, wherein the movable assembly (4-1) comprises a movable support and a telescopic assembly connected with the movable support, the telescopic assembly is connected with the first upper locking module (4-2) at a telescopic end, the telescopic assembly is used for driving the first upper locking module (4-2) to ascend and descend, the telescopic assembly comprises a plurality of X-shaped rod sets (4-1-5), motors (4-1-10), screw rods (4-1-6) and sliding blocks (4-1-7) connected with the screw rods (4-1-6) in a threaded manner, the screws (4-1-6) are driven to rotate by the motors (4-1-10), the hinged rods at the top ends of the X-shaped rod sets (4-1-5) are connected with the sliding blocks (4-1-7), the sliding block (4-1-7) can slide relative to the axial direction of the screw rod (4-1-6).
5. Docking device according to claim 4, characterized in that the mobile support is rotatably connected to the top end of the telescopic assembly, and the bottom end of the telescopic assembly is rotatably connected to the first upper locking module (4-2).
6. Docking device according to claim 5, characterized in that the movable support comprises a first rotation shaft (4-1-9), a movable block (4-1-8) and a telescopic assembly mounting block (4-1-11), the top end of the movable block (4-1-8) is rotatably connected with the aircraft module (1) through a first rotating shaft (4-1-9), the movable block (4-1-8) and the telescopic component mounting block (4-1-11) are rotatably connected through a second rotating shaft (4-1-4), the telescopic component is arranged on the telescopic component mounting block (4-1-11), and the axes of the first rotating shaft (4-1-9) and the second rotating shaft (4-1-4) are arranged in different planes.
7. Docking device according to claim 6, characterized in that the first shaft (4-1-9) axis and the second shaft (4-1-4) axis are arranged perpendicularly.
8. The docking device as claimed in claim 6, further comprising a locking structure mounting block (4-1-2), a third rotating shaft (4-1-3) and a fourth rotating shaft (4-1-1) connected to the upper and lower ends of the locking structure mounting block (4-1-2), the locking structure mounting block (4-1-2) is rotatably connected with the X-shaped rod group (4-1-5) at the bottommost end through the third rotating shaft (4-1-3), the fourth rotating shaft (4-1-1) is rotatably connected with the first upper locking module (4-2), the axes of the third rotating shaft (4-1-3) and the fourth rotating shaft (4-1-1) are arranged in a non-planar mode.
9. Docking device according to claim 8, characterized in that the third shaft (4-1-3) axis and the fourth shaft (4-1-1) axis are arranged perpendicularly.
10. The docking device according to claim 4, further comprising a controller, a first pressure sensor disposed at a mounting surface position of the magnetic attraction guide structure of the first upper locking module (4-2) and the first upper locking module (4-2), and a second pressure sensor disposed at a clamping position of the first upper locking module (4-2) and the first upper locking module (4-2), wherein when the guide surface of the first upper locking module (4-2) and the magnetic attraction guide structure of the first upper locking module (4-2) are attracted, the controller receives a pressure signal of the first pressure sensor, the controller controls the telescopic assembly to extend continuously until the first upper locking module (4-2) is clamped and locked with the first lower locking module (5-2), the controller receives a second pressure sensor pressure signal and controls the retraction assembly to retract.
11. A flying automobile, characterized in that it comprises an aircraft module (1), a load compartment module (2), a ground travel module (3) and a docking device, wherein the docking device is as claimed in any one of claims 1-10, and any two of the aircraft module (1), the load compartment module (2) and the ground travel module (3) can be connected through the docking device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010430880.1A CN111439378A (en) | 2020-05-20 | 2020-05-20 | Aerocar and docking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010430880.1A CN111439378A (en) | 2020-05-20 | 2020-05-20 | Aerocar and docking device |
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| Publication Number | Publication Date |
|---|---|
| CN111439378A true CN111439378A (en) | 2020-07-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010430880.1A Pending CN111439378A (en) | 2020-05-20 | 2020-05-20 | Aerocar and docking device |
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| CN (1) | CN111439378A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113997737A (en) * | 2021-10-26 | 2022-02-01 | 南京壮大智能科技研究院有限公司 | Method for taking off and landing flying car parking lot |
| CN114347738A (en) * | 2022-01-12 | 2022-04-15 | 广东汇天航空航天科技有限公司 | Arm mechanism and flight device |
| CN114407595A (en) * | 2021-12-22 | 2022-04-29 | 苏州科赋来科技有限公司 | Unmanned aerial vehicle |
| CN115352645A (en) * | 2022-08-31 | 2022-11-18 | 西北工业大学 | Split type aircraft docking mechanism |
-
2020
- 2020-05-20 CN CN202010430880.1A patent/CN111439378A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113997737A (en) * | 2021-10-26 | 2022-02-01 | 南京壮大智能科技研究院有限公司 | Method for taking off and landing flying car parking lot |
| CN114407595A (en) * | 2021-12-22 | 2022-04-29 | 苏州科赋来科技有限公司 | Unmanned aerial vehicle |
| CN114347738A (en) * | 2022-01-12 | 2022-04-15 | 广东汇天航空航天科技有限公司 | Arm mechanism and flight device |
| CN114347738B (en) * | 2022-01-12 | 2023-06-02 | 广东汇天航空航天科技有限公司 | Arm mechanism and flight device |
| CN115352645A (en) * | 2022-08-31 | 2022-11-18 | 西北工业大学 | Split type aircraft docking mechanism |
| CN115352645B (en) * | 2022-08-31 | 2023-03-28 | 西北工业大学 | Split type aircraft docking mechanism |
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