COUPLING DEVICE FOR COUPLING MODULES WITH EACH OTHER, AIRCRAFT COMPRISING THE COUPLING DEVICE, METHOD FOR THE COUPLING AND DECOUPLING OF MODULES

Abstract

A coupling device for coupling modules with each other, comprising: a coupling surface, a primary coupling member and at least two secondary coupling members. The primary coupling member is disposed on the coupling surface. A coupling axis disposed parallel to a direction of action of earth's gravitational acceleration extends through the primary coupling member. The at least two secondary coupling members are configured to be complementary to each other and are disposed on the coupling face, and respectively have a predetermined distance from the coupling axis.

Claims

1. A coupling device for coupling two modules with each other, comprising: a coupling surface, a primary coupling member disposed on the coupling surface, wherein a coupling axis is disposed parallel to a direction of action of earth's gravitational acceleration and extends through the primary coupling member, at least two secondary coupling members which are configured to be complementary to each other and are disposed on the coupling surface and respectively have a predetermined distance from the coupling axis.

2. The coupling device according to claim 1, in which the primary coupling member is configured in an androgynous configuration.

3. The coupling device according to claim 1, wherein a first selection of the secondary coupling members is disposed on one side of the coupling axis and a second selection of the secondary coupling members is disposed on an other side of the coupling axis.

4. The coupling device according to claim 3, wherein the respective secondary coupling member is configured to attract, in a first control, another secondary coupling member configured so as to be complementary thereto, or to repel it in a second control.

5. The coupling device according to claim 4, wherein at least one secondary coupling member of the first selection comprises at least one electromagnet.

6. The coupling device according to claim 4, wherein at least one secondary coupling member of the second selection comprises at least one permanent magnet.

7. The coupling device according to claim 1, wherein the primary coupling member is configured to substantially absorb forces in a first direction of action, and the secondary coupling members are configured to absorb forces in a second direction of action.

8. The coupling device according to claim 1, wherein the coupling axis is disposed parallel to the coupling surface.

9. The coupling device according to claim 1, wherein the coupling axis is offset from a center plane of the coupling surface.

10. A coupling arrangement for coupling modules with each other, the coupling arrangement comprising a plurality of coupling devices according to claim 1, wherein, when the coupling devices are coupled to each other, their respective primary and secondary coupling members are in engagement with each other to prevent decoupling.

11. The coupling arrangement according to claim 10, wherein the coupling devices are configured such that, when the coupling devices are coupled to each other, a first coupling axis of a first coupling device and a second coupling axis of a second coupling device are offset along a direction parallel to the coupling surface and orthogonal to the respective coupling axis.

12. An aircraft comprising at least one coupling device according to claim 1.

13. A method for coupling two modules with each other, wherein each module has a coupling device according to claim 1, comprising the steps: detecting a distance of the two modules relative to each other, depending on the detected distance, activating at least one controllable secondary coupling member of a first selection of the respective modules in accordance with a first control, depending on the detected distance, coupling the primary coupling member of the first module to the primary coupling member of the second module, depending on the coupling of the primary coupling members, deactivating the at least one secondary coupling member of the first selection of the respective modules.

14. A method for decoupling two modules from each other, wherein each module has a coupling device according to claim 1, comprising the steps: decoupling the primary coupling member of the first module from the primary coupling member of the second module, depending on the decoupling of the primary coupling members, activating the at least one secondary coupling member of the first selection of the respective module in accordance with a second control, detecting a distance of the two modules relative to each other, depending on the detected distance, deactivating the control of the at least one secondary coupling member of the first selection of the respective module.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The aspects described above and further aspects, features and advantages of the invention may also be gathered from the examples of the embodiments, which will be described below with reference to the attached drawings.

[0029] FIG. 1 shows a schematic illustration of a coupling device,

[0030] FIG. 2 shows a coupling of two modules,

[0031] FIG. 3 shows two modules in a coupled state,

[0032] FIG. 4 shows examples for a secondary coupling member,

[0033] FIGS. 5, 6 show the steps in methods for coupling and decoupling modules.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0034] Identical reference numerals are used in the Figures for identical or at least similar elements, components or aspects. It is noted that embodiments are described in detail hereinbelow which are merely illustrative and non-limiting.

[0035] FIG. 1 shows a schematic illustration of a coupling device 2. It may be a part of a module (not shown in FIG. 1) for coupling to other modules therewith. A module may be configured, for example, as an aircraft such as a drone.

[0036] The coupling device 2 comprises a coupling surface 3 on which a primary coupling member 6 is disposed. The primary coupling member 6 is preferably configured so as to be genderless or androgynous. This means that such a coupling member can be coupled to an identically configured coupling member without its coupling profile having to be altered.

[0037] A coupling axis 4 extends through the primary coupling member 6. The former is configured to be parallel to an applicate axis 5 that is independent of a vehicle or module. The applicate axis 5 is orientated parallel to a direction of action of earth's gravitational acceleration, and thus not necessarily parallel to a vehicle- or module-bound vertical or yaw axis.

[0038] The coupling device 2 further comprises several secondary coupling members 8a, 8b that are also disposed on the coupling surface 3. A first and a second secondary coupling member 8a, 8b is respectively positioned on the coupling surface 3 at a predetermined distance from the coupling axis 4. The first and second secondary coupling members 8a, 8b are configured so as to be complementary to each other. Thus, the first secondary coupling member 8a comprises a coupling profile, for example, which would engage a coupling profile of the second secondary coupling member 8b in such a manner that a mechanical coupling would be formed between the two members. In this context, the first and second coupling members 8a, 8b thus form a complementary coupling pair 10.

[0039] FIG. 2 schematically shows a first module 1a and a second module 1b with the respectively assigned coupling devices 2, 2 in a non-coupled state. The coupling devices 2, 2 are each shown in a top view.

[0040] The respective module 1, 1 includes a coupling surface 3, 3, on which the primary coupling member 6, 6 and two secondary coupling members 8a, 8b, 8a, 8b are arranged. The primary coupling member 6 of the first module 1 is configured to be identical to the primary coupling member 6 of the second module 1. Thus, the respective primary coupling member 6, 6 is configured in an androgynous manner.

[0041] A coupling axis 4, 4 extends through the respective primary coupling member 6, 6, which extends parallel to an applicate axis that is independent of a vehicle or module.

[0042] Each module 1, 1 further comprises a secondary coupling pair 10 comprising a first secondary coupling member 8a, 8a and a second secondary coupling member 8b, 8b. The respective first secondary coupling member 8a, 8a is formed so as to be complementary to the assigned second secondary coupling member 8b, 8b. Thus, the first secondary coupling member 8a, 8a is configured as a mandrel, for example, such as an annular mandrel, and the second secondary coupling member 8b, 8b, which is configured to be complementary thereto, is configured as a matching bushing, e.g., an annular bushing. For example, FIG. 4 shows two different mandrel arrangements and the matching bushing arrangement as secondary coupling members 8a, 8b (the primary coupling member is not shown here).

[0043] Preferably, the respective first secondary coupling member 8a, 8a includes an electromagnet (not shown), which is designed to be attractive in a first control and repulsive in a second control. The respective second secondary coupling member 8b, 8b member is preferably configured to be passive and includes a permanent magnet (not shown), for example.

[0044] If two coupling devices 2, 2 oppose each other, as shown in FIG. 2, and if the respective first secondary coupling member 8a, 8a is electrically connected in accordance with the first control, it acts in a magnetically attractive manner on the permanent magnet of the opposite second secondary coupling member 8b, 8b. The two modules 1, 1 attract each other.

[0045] If the respective first secondary coupling member 8a, 8a is electrically connected in accordance with the second control, it acts in a magnetically repulsive manner on the permanent magnet of the opposite second secondary coupling member 8b, 8b. The two modules 1, 1 repel each other.

[0046] If the electromagnet of the respective first secondary coupling member 8a, 8a is deactivated, it acts neither in an attractive nor repulsive manner on the opposite second secondary coupling member 8b, 8b.

[0047] Alternatively, the second secondary coupling member 8b, 8b may respectively have an electromagnet, and the first secondary coupling member 8a, 8a may respectively have the permanent magnet. In principle, it is also possible that both the first and the second secondary coupling member 8a, 8a, 8b, 8b have a controllable electromagnet.

[0048] An exact parallel alignment of the two modules 1, 1 to be coupled relative to each other (as shown in FIG. 2) prior to coupling is not absolutely necessary.

[0049] FIG. 3 shows the first and second module 1, 1 in a coupled state. In this state, both the primary and the secondary coupling members engage the assigned opposite coupling members, so that the two modules 1, 1 are reliably coupled with each other. Here, the electromagnet of the respective first secondary coupling member 8a, 8a is deactivated. An adherence of the two modules 1, 1 to each other is ensured only by the primary coupling members 6, 6 in this state. Here, the primary coupling members 6, 6 preferably absorb forces in the longitudinal direction, and the secondary coupling members 8a, 8a, 8b, 8b in the transverse direction, relative to a common direction 14 of movement.

[0050] In addition to the primary and secondary coupling members, other components may also be disposed on the coupling surface 3, 3. For example, one proximity or distance sensor 12, 12 may respectively be arranged there, which detects a distance to a module to be coupled and makes it available to a corresponding control or regulating unit of the module. Depending on the distance value detected by the proximity or distance sensor 12, 12, the electromagnets in the first secondary coupling members 8a, 8a, for example, may be activated or deactivated in accordance with the first or the second control.

[0051] Furthermore, data and/or supply interfaces may also be provided, which enable a data and/or power exchange between the modules in the coupled state.

[0052] FIG. 5 shows a process sequence for coupling two modules 1, 1 with each other. The modules 1, 1 to be coupled each comprise a coupling device 2, 2. The method may be executed by a control and regulating unit of the respective module 1, 1, for example.

[0053] The method is started in a step S0. In a step S2, a distance to a module to be coupled is detected by means of a proximity or distance sensor 12, 12. Depending on the detected distance, the first secondary coupling member is activated in accordance with the first control in a step S4. Here, the electromagnet of the first secondary coupling member 8a, 8a is electrically controlled in such a way that the latter acts in an attractive manner on the module to be coupled. For example, the electromagnets may be activated in accordance with the first control if the distance of the two modules 1, 1 from each other is less than 20 mm.

[0054] If the modules 1, 1 to be coupled are each configured as aircraft, and if the two modules are to be coupled during flight, then an at least rough alignment of the two modules 1, 1 relative to each other in a total of 6 degrees of freedom must take place prior to the actual coupling. The activated electromagnets may provide support in this required alignment.

[0055] In a step S4, the distance between the first and second modules 1, 1 is detected. If this distance is at minimum or ideally equal to zero, the opposite secondary coupling members 8a, 8b, 8a, 8b are already coupled to each other in such a way that transverse forces can already be absorbed in this state. If the distance is at minimum or equal to zero, the two modules 1, 1 are coupled to each other with the respective primary coupling members 6, 6. Thus, forces in the longitudinal direction may then also be absorbed, so that the two modules 1, 1 are reliably mechanically coupled to each other already in this step.

[0056] In addition, the coupling of data and supply interfaces may take place in this step S4, parallel or subsequent to the mechanical coupling, so that the two modules 1, 1 are able to exchange data and electrical power, for example.

[0057] In a step S6, with the mechanical coupling having been completed by means of the primary coupling members 6, 6, the deactivation of the control of the electromagnets of the secondary coupling members 8a, 8a may also take place.

[0058] In a step S8, the method for coupling two modules 1, 1 can then be terminated.

[0059] FIG. 6 shows a process sequence for decoupling two modules 1, 1 from each other. The modules 1, 1 to be decoupled each comprise a coupling device 2, 2. Like the coupling method, the method may also be executed by the control and regulating unit of the respective module 1, 1.

[0060] The decoupling method is started in a step S10.

[0061] In a step S12, the primary coupling member 6 of the first module 1 is decoupled from the primary coupling member 6 of the second module 1. In this step, the two modules 1, 1 are still in contact with each other. In this context, decoupling the primary coupling member 6, 6 primarily means that the primary coupling members 6, 6 are no longer able to absorb forces in the longitudinal direction. Depending on the design of the primary coupling members 6, 6, however, in addition to the secondary coupling members 8a, 8a, 8b, 8b, they are still able to absorb forces in the transverse direction.

[0062] If the primary coupling members 6, 6 are decoupled, the electromagnets of the secondary coupling members are activated in accordance with the second control in a step S14. According to the second control of the electromagnets, opposite secondary coupling members of the modules 1, 1 to be decoupled repel each other. A sufficient distance between the two modules can thus be obtained as quickly as possible, so that a mutual endangerment of the modules due to their continued movement is reduced as far as possible.

[0063] With the activation of the electromagnets of the secondary coupling members in accordance with the second control, a distance of the modules 1, 1 relative to each other is detected, preferably continuously detected, in a step S16.

[0064] Then, in a step S18, the control of the electromagnets of the secondary coupling members is deactivated depending on the detected distance, so that no further repulsion occurs. Preferably, the required distance at which the deactivation starts to take place is selected such that a repulsive effect of the opposing magnets is substantially no longer provided. This distance, from which the repulsion substantially no longer has any effect, may be 3 cm, for example, in the case of drones. From this step on, the decoupling of the modules 1, 1 is completed, and the method may be terminated in a step S20.

[0065] While the invention was illustrated and described in detail in the drawings and the preceding description, such illustrations and descriptions are intended to be illustrative or exemplary only, and not restrictive, so that the invention is not limited by the embodiments disclosed. In the claims, the word having does not exclude other elements, and the indefinite article a does not exclude a plurality. The fact alone that certain features are mentioned in different dependent claims does not limit the subject matter of the invention. Combinations of these features may also be advantageously used.

[0066] While at least one exemplary embodiment of the present invention(s) is disclosed herein, it should be understood that modifications, substitutions and alternatives may be apparent to one of ordinary skill in the art and can be made without departing from the scope of this disclosure. This disclosure is intended to cover any adaptations or variations of the exemplary embodiment(s). In addition, in this disclosure, the terms comprise or comprising do not exclude other elements or steps, the terms a or one do not exclude a plural number, and the term or means either or both. Furthermore, characteristics or steps which have been described may also be used in combination with other characteristics or steps and in any order unless the disclosure or context suggests otherwise. This disclosure hereby incorporates by reference the complete disclosure of any patent or application from which it claims benefit or priority.