Multi-stage composite damping system and method for unmanned aerial vehicle nest of vehicle-mounted mobile platform

Abstract

The invention discloses a multi-stage composite damping system and method for an unmanned aerial vehicle nest of a vehicle-mounted mobile platform, and relates to the technical field of vibration control technology and structural design in mechanical engineering, the multi-stage composite damping system adopts a composite damping structure of at least two stages (coarse vibration isolation and fine vibration isolation), and utilizes the characteristics of different damping elements to carry out frequency matching and step-by-step energy dissipation. According to the first stage, low-frequency and large-amplitude impact generated by a vehicle under severe road conditions is effectively restrained, and the overall structure is protected; and in the second stage, medium-high frequency vibration left after passing through the first stage and generated by the vehicle itself are attenuated in a targeted manner. Compared with a traditional single-stage or simple passive damping system, the design of frequency division and synergistic effect can significantly reduce the vibration transmissibility in a wider spectral range from low-frequency impact to high-frequency micro-vibration, and provides a far superior protection environment for precision equipment sensitive to vibration in a machine nest.

Description

Technical Field

[0001] The present invention relates to the fields of vibration control and structural design in mechanical engineering, and more specifically to a multi-stage composite shock absorption system and method for a vehicle-mounted mobile platform drone nest. In particular, the present invention relates to a system for protecting equipment mounted on a mobile platform (particularly an all-terrain vehicle or special operation vehicle) from the impact and vibration generated during travel, and in particular, a multi-stage, composite shock absorption system for a vehicle-mounted drone nest. The present invention also involves structural dynamics analysis and the selection, matching, and optimized layout of shock absorbing elements (such as elastic elements and damping elements). These techniques are designed to effectively isolate and attenuate the complex, broadband, multi-directional vibration inputs generated by the vehicle under various road conditions (including highways, unpaved roads, and tracked driving modes), thereby ensuring the structural integrity, operational stability, and measurement accuracy of the drone and its precision payloads (such as sensors and avionics equipment) within the nest. Background Art

[0002] With the advancement of automation and intelligent technologies, the use of precision equipment or operational units (such as mobile monitoring stations, communication relay equipment, and automated test systems) mounted on mobile platforms (particularly vehicles) to perform specific tasks is becoming increasingly widespread. Integrating drones and their automated roosting systems onto specialized vehicles (such as all-terrain vehicles, pickup trucks, and others) to create vehicle-mounted drone mobile operation platforms has shown great potential in areas such as power inspection, emergency mapping, environmental monitoring, and public safety. This mobile platform overcomes the limitations of fixed-wing drones, such as their limited takeoff and landing area requirements and the limited coverage of fixed roosting systems, extending the rapid response capabilities and aerial operations advantages of drones to wider and more complex areas.

[0003] However, vehicle-mounted mobile platforms, especially all-terrain vehicles that need to travel on unstructured roads, rough terrain, or even in tracked mode, inevitably generate complex and strong vibrations and shocks during travel. These vibration sources mainly come from: 1. Road roughness excitation: Random or periodic vertical, horizontal and torsional vibration inputs generated when a vehicle travels on different road surfaces such as road joints, potholes, gravel roads, grass, mud or snow.

[0004] 2. Engine and transmission system vibration: The vehicle's own power system generates periodic vibrations during operation, with a wide frequency range.

[0005] 3. Vehicle dynamic behavior: transient impacts and posture changes caused by operations such as acceleration, braking, steering, and going up and downhill.

[0006] 4. Driving mode switching: For vehicles with tire / track switching function, the vibration characteristics in different modes vary significantly, and the track mode usually introduces more complex high-frequency vibrations.

[0007] These vibrations and shocks transmitted through the vehicle chassis and body structure pose severe challenges to the drone nest installed on the vehicle and the precision equipment inside: 1. Risk of physical damage to equipment: Continuous vibration may cause fatigue, loosening, or even breakage of the drone's body structure and connectors. Vibration may cause solder joints to fall off, poor contact, or damage electronic components inside the drone's nest (such as control boards, sensors, and charging ports). Precision payloads carried by drones (such as high-resolution camera gimbals, infrared thermal imagers, and lidar scanners) are particularly sensitive to vibration and easily damaged.

[0008] 2. Degraded Equipment Performance: Vibration can affect the accuracy of a drone's inertial navigation system (INS / IMU), leading to cumulative positioning and attitude estimation errors. It can also impact camera image quality (image blur and jitter), reducing defect recognition rates. It can also interfere with the accuracy and stability of measurement equipment like LiDAR. Vibration can also affect the positioning accuracy and reliability of the drone's automatic takeoff and landing, alignment, and charging mechanisms.

[0009] 3. Shorten equipment life: Long-term exposure to vibration will accelerate the aging process of the equipment and reduce the reliability and service life of the overall system.

[0010] To alleviate the above problems, existing vehicle-mounted platforms usually adopt certain vibration reduction measures. However, the existing vibration reduction solutions for vehicle-mounted equipment (including some vehicle-mounted drone nests) often have the following limitations: 1. Inadequate or poorly targeted shock absorption: Many solutions utilize simple passive damping components, such as rubber isolators and standard metal springs. These components often only provide limited vibration isolation within a specific, narrow frequency range, making them ineffective against the complex, broadband vibration inputs generated by vehicles in motion (including both low-frequency, large shocks and high-frequency, micro-vibrations). This is particularly true in harsh off-road environments, where low-frequency shocks are significant and high-frequency vibrations are abundant, making it difficult for a single type of shock absorber to provide adequate protection.

[0011] 2. Inadequate consideration of multi-dimensional vibration isolation: Most traditional vibration damping designs primarily focus on isolating vibration in the vertical direction (Z axis), with insufficient consideration or ineffective effectiveness for vibration and impact in the horizontal direction (X axis, vehicle travel direction; Y axis, vehicle lateral direction). However, vehicle acceleration, deceleration, steering, and roll conditions generate significant horizontal excitation, which can also be destructive to equipment. The lack of effective three-dimensional (X, Y, Z) vibration isolation is a major shortcoming of existing solutions.

[0012] 3. Lack of adaptability to different operating conditions: Vehicle vibration characteristics (amplitude, frequency distribution) vary significantly under different road conditions and driving modes. Existing fixed-parameter damping systems are typically only optimized for a specific typical operating condition, and their damping effectiveness may be significantly reduced under other conditions, lacking adaptive adjustment capabilities.

[0013] 4. Inadequate protection against extreme impacts: In addition to constant vibration, vehicles may also experience unexpected, severe impacts (such as over bumps and collisions). Existing shock absorption systems with insufficient travel or lacking effective buffering and limiting mechanisms can cause a rigid collision ("bottoming out") under extreme impacts, causing even greater damage to the equipment.

[0014] 5. Potential problems with some existing solutions: Some solutions may use components such as airbags, but if they are only used as simple buffers or single-stage vibration isolation, they may still not be able to effectively solve the problem of broadband, multi-dimensional vibration isolation, especially in terms of high-frequency vibration attenuation and horizontal direction control.

[0015] Therefore, existing technologies still lack comprehensive, efficient, and reliable vibration and shock protection for vehicle-mounted drone nests, which must operate in complex and dynamic environments. There is an urgent need for an advanced shock absorption system that can effectively isolate broadband, multi-directional, complex vibrations from the vehicle, adapt to various driving conditions, and provide protection against extreme impacts. This will ensure the safe, stable operation and optimal performance of the drone nest and the high-value precision equipment within it. Summary of the Invention

[0016] To address the challenges of existing vehicle-mounted drone nest damping systems, which suffer from insufficient damping performance (especially for broadband, multi-directional vibrations), poor adaptability, and inadequate protection against extreme impacts, the present invention aims to provide a multi-stage composite damping system and method for a vehicle-mounted drone nest. This system aims to overcome the shortcomings described in the background art and specifically achieve the following objectives: (1) Effectively isolate broadband vibration input This invention addresses the difficulty faced by existing single-stage or simple damping structures in effectively suppressing both low-frequency, large impacts and high-frequency, micro-vibrations. By designing a multi-stage composite damping structure and combining and matching damping elements with different characteristics (for example, using long-stroke, low-stiffness elements in the first stage and high-damping, short-stroke elements in the second stage), this design effectively isolates and attenuates vibrations generated by the vehicle during driving, encompassing a wide spectrum from low to high frequencies. This significantly reduces the vibration energy transmitted to the engine cradle and its internal equipment.

[0017] (2) Provide comprehensive three-dimensional vibration isolation capabilities To address the problem that existing technologies mostly focus on vertical vibration reduction while ignoring horizontal effects, this invention aims to design a vibration reduction system with excellent vibration isolation performance in three dimensions: lateral (X-axis), longitudinal (Y-axis), and vertical (Z-axis). By rationally configuring and optimizing the design of elastic and damping elements in three dimensions, this system effectively suppresses the multi-directional coupled vibrations and impacts generated by vehicle acceleration, deceleration, steering, roll, and driving on uneven roads, providing a fully stable support environment for the engine nest.

[0018] (3) Enhance the system’s ability to protect against extreme shocks To prevent secondary damage to the equipment caused by shock absorption system failure or rigid collisions during severe impacts (such as crossing a ditch or an unexpected collision), this invention integrates a specific limiter and buffer structure. This structure provides reliable cushioning when the shock absorber reaches its maximum travel, absorbing impact energy and preventing hard contact between the engine cradle and the vehicle's load-bearing structure. This improves the system's survivability in harsh operating conditions and provides ultimate protection for internal equipment.

[0019] (4) Improve the system's adaptability to different driving conditions Taking into account the variability of vehicle driving conditions and modes (e.g., road, off-road, track), and the corresponding differences in vibration characteristics, a further objective of the present invention is to provide the shock absorption system with a degree of adaptive adjustment capability. For example, by utilizing shock absorption elements with adjustable stiffness and damping, combined with vehicle status sensors (e.g., speed and road condition sensors), the system can automatically or semi-automatically adjust its shock absorption parameters, ensuring optimal vibration isolation under various operating conditions, thereby achieving efficient shock absorption across a wider range of operating conditions.

[0020] In summary, the present invention aims to provide a vehicle-mounted UAV nest shock absorption solution with superior performance, high reliability and strong adaptability through innovative multi-level composite, three-dimensional space, integrated limit buffer and possible adaptive adjustment design, which significantly improves the working environment of the UAV and precision payload in the nest, ensures its structural safety, enhances its operational stability and performance (such as imaging quality, navigation accuracy), and extends the service life of the equipment, thereby improving the overall reliability and operational efficiency of the entire vehicle-mounted UAV mobile operation platform.

[0021] To achieve the aforementioned objectives, the present invention provides a multi-stage composite shock absorption system and method for a drone pod mounted on a mobile platform. This system utilizes a carefully designed at least two-stage shock absorption structure, an optimized three-dimensional spatial layout, and optional adaptive control and position-limiting buffering mechanisms to provide superior shock and vibration isolation for drone pods and their internal precision equipment mounted on mobile platforms subjected to complex vibration environments (such as those encountered by all-terrain vehicles).

[0022] In order to achieve the above objectives, the present invention adopts the following technical solutions: In a first aspect, the present invention provides a multi-stage composite shock absorption system for a drone nest on a vehicle-mounted mobile platform, comprising: The first-stage shock absorption subsystem is installed between the top of the vehicle's lifting platform and the base of the drone's nest. It is used to isolate and attenuate low-frequency, large-amplitude shocks and vibrations from the vehicle. The first-stage shock absorption subsystem is a three-dimensional shock absorption system with a limited position buffer structure on it; A second-stage shock absorption subsystem, located above the first-stage shock absorption subsystem and below or inside the drone nest, is used to absorb and attenuate the residual vibrations after passing through the first-stage shock absorption subsystem, as well as the medium and high-frequency vibrations generated by the vehicle itself and / or introduced by the track driving mode; The adaptive control subsystem is connected to the first-level shock absorption subsystem and the second-level shock absorption subsystem respectively, and is used to collect vehicle driving state information and vibration environment information, and dynamically adjust the stiffness and / or damping of the first-level shock absorption subsystem and / or the second-level shock absorption subsystem using the vehicle driving state information and vibration environment information.

[0023] 1. First-stage shock absorption subsystem Preferably, the first-stage shock absorption subsystem adopts a large-stroke, low-rigidity shock absorption element, including a wire rope shock absorber. The wire rope shock absorber is provided in plurality and symmetrically arranged on the base of the drone nest. An inclination angle is provided between the axis of the wire rope shock absorber and the Z axis. The wire rope shock absorber generates force components in the directions of the three coordinate axes of X, Y, and Z to perform three-dimensional shock absorption.

[0024] Preferably, the inclination angle between the axis of the wire rope shock absorber and the Z axis is 10°-15°. Specifically, by tilting the axis of the wire rope shock absorber to the Z axis (vertical), when the system is subjected to vibration or impact excitation from the X axis (for example, the direction of vehicle travel), the Y axis (the side of the vehicle), or the Z axis, the elastic restoring force and damping force generated by each tilted wire rope shock absorber will generate force components in the directions of the three coordinate axes of X, Y, and Z. By using four wire rope shock absorbers and arranging them symmetrically, for example, in two pairs, one pair of which has a projection on the horizontal plane mainly parallel to the X axis, and the other pair of which has a projection on the horizontal plane mainly parallel to the Y axis, these force components can form effective support stiffness and damping in three dimensions, thereby achieving the ability to isolate and attenuate the X, Y, and Z three-axis translational vibrations transmitted to the drone nest and the rocking vibrations around each axis, that is, achieving three-dimensional shock absorption.

[0025] Preferably, the first-stage shock absorption subsystem further comprises a spring and a hydraulic damper arranged in parallel with the wire rope shock absorber, and the wire rope shock absorber, the spring and the hydraulic damper together constitute a broadband vibration isolation network; The hydraulic damper is connected to a hydraulic damper adjustable damping valve to adjust the damping of the first-stage shock absorption subsystem. The spring is an air spring or a metal spring. The air spring is connected to an air spring air pressure regulating valve to adjust the stiffness of the first-stage shock absorption subsystem.

[0026] Preferably, the two ends of the wire rope shock absorber are respectively connected to the UAV nest base and the lifting platform leveling structure through joint bearings or flexible joints; an initial preload force is applied to the wire rope shock absorber during installation to balance the weight of the UAV nest and eliminate the gap, and the preload force is calibrated on-site by adjusting nuts or special tools.

[0027] Preferably, the wire rope shock absorber is provided with a progressive polyurethane limit buffer block at the maximum compression and / or tension stroke to form a limit buffer structure.

[0028] Preferably, the wire rope shock absorber has low stiffness within the deformation threshold range, effectively absorbing low-frequency, large-amplitude shocks and vibrations; when the deformation exceeds the threshold, the stiffness increases and is combined with a limiting buffer structure to prevent excessive compression or rigid collision caused by extreme impact; the inherent damping characteristics of the wire rope shock absorber dissipate vibration energy.

[0029] 2. Second-stage shock absorption subsystem Preferably, the second-stage shock absorption subsystem is installed between the intermediate support structure supported by the first-stage shock absorption subsystem and the connection interface of the drone nest body; or, the second-stage shock absorption subsystem is installed on a local precision vibration isolation platform inside the drone nest for directly supporting the drone or its critical load; The intermediate support structure serves as a rigid or semi-rigid platform connecting the first-stage shock absorption subsystem and the second-stage shock absorption subsystem, provides a relatively stable installation base for the second-stage shock absorption subsystem, and bears and transmits loads.

[0030] Preferably, the second-stage shock absorption subsystem adopts a shock absorption element with high damping and small stroke characteristics, including: viscoelastic damping material, metal rubber isolator, active vibration isolation element and / or semi-active vibration isolation element, the active vibration isolation element is connected to an active element driver to provide an active reverse force of vibration, and the semi-active vibration isolation element is connected to a semi-active element driver to adjust the stiffness and / or damping of the second-stage shock absorption subsystem.

[0031] 3. Adaptive Control Subsystem Preferably, the adaptive control subsystem includes a sensor layer, a controller layer, a working condition adaptation logic layer and an actuator layer; The sensor layer includes a plurality of sensors, which are mounted on the vehicle and the shock absorption system and are used to collect vehicle driving state information and vibration environment information and send the collected information to the controller layer; The controller layer is electrically connected to the sensor layer, the operating condition adaptation logic layer, and the actuator layer, respectively, and uses the collected information to identify vehicle operating condition information and send the vehicle operating condition information to the operating condition adaptation logic layer; based on the vehicle operating condition information, the preset control strategy and the shock absorption parameter recommendation, the controller layer calculates the optimal shock absorption parameters and generates control instructions, and sends the control instructions to the actuator layer; The working condition adaptation logic layer outputs shock absorption parameter suggestions for different working conditions based on vehicle working condition information and sends the shock absorption parameter suggestions to the controller layer; The actuator layer dynamically adjusts the stiffness and / or damping of the first-stage shock absorption subsystem and / or the second-stage shock absorption subsystem using an adjustment mechanism based on the control instruction.

[0032] In a second aspect, the present invention further provides a multi-stage composite shock absorption method for a drone nest on a vehicle-mounted mobile platform, comprising: utilizing a first-stage shock absorption subsystem and a second-stage shock absorption subsystem to perform multi-stage composite shock absorption on the drone nest; simultaneously, utilizing an adaptive control subsystem to dynamically adjust the stiffness and / or damping of the first-stage shock absorption subsystem and / or the second-stage shock absorption subsystem, wherein utilizing the adaptive control subsystem to dynamically adjust the stiffness and / or damping of the first-stage shock absorption subsystem and / or the second-stage shock absorption subsystem comprises the following steps: S1. Several sensors in the sensor layer collect vehicle driving status information and vibration environment information, and pre-process the collected information; Preferably, in step S1, the plurality of sensors include: Accelerometer for collecting vibration amplitude and frequency; A vehicle speed sensor for collecting the vehicle's speed; Driving mode sensors for collecting vehicle tire or track status; Road condition recognition sensor used to collect road condition levels.

[0033] S2, the state recognition module of the controller layer uses the pre-processed collected information to identify the vehicle operating condition information; S3, the operating condition adaptation logic layer outputs damping parameter recommendations for different operating conditions based on vehicle operating condition information; Preferably, in step S3, for high-speed driving on a balanced road, it is necessary to increase damping to improve stability, and the shock absorption parameters are recommended as follows: based on the standard values ​​of damping and stiffness, the damping is increased and the stiffness remains unchanged; For low-speed driving on rough roads, it is necessary to reduce stiffness and increase damping. The recommended shock absorption parameters are: based on the standard values ​​of damping and stiffness, increase damping and reduce stiffness; For medium-speed driving on general roads, a balanced setting is required. The recommended shock absorption parameters are: based on the standard values ​​of damping and stiffness, with unchanged damping and stiffness; For low-speed driving on bumpy roads, vibration isolation needs to be maximized. The recommended shock absorption parameters are: based on the standard values ​​of damping and stiffness, damping increases and stiffness decreases.

[0034] S4, the control strategy selector of the controller layer calculates the optimal damping parameters and generates control instructions based on the vehicle working condition information, the control strategy preset in the control strategy library and the damping parameter recommendations of the working condition adaptation logic layer; Preferably, in step S4, the preset control strategy includes a lookup table, fuzzy logic rules or a model-based control algorithm.

[0035] S5. The actuator layer dynamically adjusts the stiffness, damping and / or active force of the first-stage shock absorption subsystem and / or the second-stage shock absorption subsystem using the regulating mechanism according to the control instruction.

[0036] Preferably, in step S5, the first regulating mechanism of the actuator layer drives the air spring air pressure regulating valve to adjust the stiffness of the first-stage shock absorption subsystem and drives the adjustable damping valve of the hydraulic damper to adjust the damping of the first-stage shock absorption subsystem according to the control instruction; The second regulating mechanism of the actuator layer drives the semi-active element driver to adjust the stiffness and / or damping of the second-stage shock absorption subsystem according to the control instruction, and drives the active element driver to provide an active reverse force for the vibration.

[0037] Beneficial effects of the present invention: Compared with existing technologies, the multi-stage composite shock absorption system for a drone nest on a vehicle-mounted mobile platform provided by this invention, through its innovative multi-stage structural design, optimized three-dimensional spatial layout, and integrated protection mechanism (with optional adaptive capabilities), brings the following significant technological advancements and beneficial effects: (1) Achieved excellent broadband vibration isolation performance This invention utilizes a composite vibration-damping structure with at least two stages (coarse and fine isolation), leveraging the characteristics of different damping components for frequency matching and progressive energy dissipation. The first stage effectively suppresses low-frequency, high-amplitude impacts generated by the vehicle under adverse road conditions, protecting the overall structure. The second stage specifically attenuates residual vibrations after passing through the first stage, as well as those generated by the vehicle itself. This "frequency splitting" and synergistic design significantly reduces vibration transmissibility across a wider spectrum, from low-frequency impacts to high-frequency micro-vibrations, compared to traditional single-stage or simple passive damping systems. This provides a far superior protective environment for vibration-sensitive precision equipment within the engine nest, such as optical sensors, inertial navigation systems, and electronic components.

[0038] (2) Provides comprehensive three-dimensional dynamic stability This invention not only addresses vertical vibration but also effectively suppresses lateral, longitudinal, and torsional vibrations caused by acceleration, deceleration, steering, rolling, and driving on complex terrain through the careful layout and parameter optimization of damping elements in the three orthogonal directions of X, Y, and Z. This comprehensive, three-dimensional vibration isolation capability ensures greater stability during dynamic driving of the drone nest, which is crucial for ensuring the proper functioning of nest components (such as the charging docking mechanism and drone mounting system), improving drone safety during transportation, and enhancing the performance and accuracy of onboard sensors, particularly those operating while in motion.

[0039] By integrating the first-stage vibration reduction system directly between the base of the machine nest and the lifting platform leveling structure, the following advantages are achieved: 1) Shorten the vibration transmission path: reduce the risk of additional resonance introduced by the intermediate support structure; 2) Enhance the stability of the leveling process: The nonlinear stiffness characteristics of the wire rope shock absorber can suppress the high-frequency vibration generated by the leveling action of the lifting platform, avoiding shaking of the equipment inside the machine nest; 3) Compact design: The direct-coupled layout saves space and is suitable for the compact installation environment of the vehicle platform.

[0040] (3) Significantly enhanced the system's survivability and protection reliability under extreme shocks The integrated, dedicated stop and buffer structure is a key advantage of this invention. When the vehicle experiences extreme impacts, it effectively absorbs residual energy at the extremes of travel and provides gradual buffering, preventing rigid collisions ("hard impacts") within the damping system or between the cradle and the vehicle body. This significantly improves the shock absorption and survivability of the entire system (including the shock absorber itself and the protected equipment) under extreme conditions, providing a last resort of physical defense for high-value UAVs and their payloads, a level of performance unmatched by many existing systems that lack effective stop and buffer designs.

[0041] (4) Adaptive design improves adaptability to variable working conditions and comprehensive shock absorption performance In the preferred embodiment that includes an adaptive control subsystem, the present invention dynamically adjusts the stiffness or damping parameters of the shock absorption system based on real-time monitoring of the vehicle's driving state (speed, mode) and vibration environment. This intelligent adjustment capability enables the shock absorption system to automatically optimize its operating point under varying road conditions (e.g., smooth road vs. rugged off-road) and driving modes (tire vs. track), maintaining consistently high vibration isolation efficiency. This overcomes the limitations of traditional fixed-parameter shock absorption systems, which optimize at the "design point" and suffer performance degradation at off-design points, significantly improving the system's overall shock absorption performance and robustness in complex and changing operating scenarios.

[0042] (5) Directly improve the reliability, performance and life of the UAV and its payload By effectively reducing the vibration and shock levels transmitted to the machine nest, the present invention directly brings the following benefits: it reduces the risks of fatigue of the UAV body structure, loose connections, and failure of electronic components, thereby improving the overall reliability of the system; it improves the camera imaging quality (clearer and more stable), the accuracy of the inertial navigation system, and the stability of measurement equipment such as lidar, thereby enhancing operational performance and data quality; it reduces the cumulative damage caused by vibration to various components, extends the service life of the UAV, precision payload and the machine nest itself, and reduces the maintenance cost throughout the entire life cycle.

[0043] To sum up, the present invention successfully solves the many shortcomings of the existing vehicle-mounted UAV nest shock absorption system in coping with complex and harsh vibration environments through innovative technical means such as multi-level composite, three-dimensional isolation, limit buffering and optional adaptive control, and provides a shock absorption solution with superior performance, comprehensive protection, strong adaptability and high reliability. It has important technical value and practical significance for improving the practicality, operating efficiency and promotion and application of vehicle-mounted UAV mobile operation platforms. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 Schematic diagram of the multi-stage composite shock absorption system of the present invention; Figure 2 This is a schematic diagram of the lifting platform, drone nest, and first-stage shock absorption subsystem of the present invention; Figure 3 This is a schematic diagram of the assembly of the wire rope shock absorber of the present invention; Figure 4 Schematic diagram of the wire rope shock absorber of the present invention; Figure 5 This is a cross-sectional view of the wire rope shock absorber of the present invention; Figure 6 This is the control logic diagram of the adaptive damping system of the present invention; Reference numerals: 1. Lifting platform; 2. UAV nest; 3. First-stage shock absorption subsystem; 4. Second-stage shock absorption subsystem; 5. Adaptive control subsystem.

[0045] Figure 4 and Figure 5 In the figure, L is the length, A is the hole distance, W is the width, H is the height, and M is the aperture. DETAILED DESCRIPTION

[0046] The following will provide a clear and complete description of the concept, specific structure and technical effects of the present invention in conjunction with the embodiments and drawings, so as to fully understand the purpose, features and effects of the present invention.

[0047] Example 1 A multi-stage composite shock absorption system for a drone nest on a vehicle-mounted mobile platform, such as Figure 1-Figure 3 Shown, including: The first-stage shock absorption subsystem 3 is installed between the top of the vehicle's lifting platform 1 and the base of the drone's nest 2, and is used to isolate and attenuate low-frequency, large-amplitude shocks and vibrations from the vehicle. The first-stage shock absorption subsystem 3 is a three-dimensional shock absorption system with a limited position buffer structure provided thereon; The second-stage damping subsystem 4 is located above the first-stage damping subsystem 3 and below or inside the drone nest 2, and is used to absorb and attenuate the residual vibrations after passing through the first-stage damping subsystem 3, as well as the medium and high-frequency vibrations generated by the vehicle itself and / or introduced by the track driving mode; The adaptive control subsystem 5 is connected to the first-level shock absorption subsystem 3 and the second-level shock absorption subsystem 4 respectively, and is used to collect vehicle driving state information and vibration environment information, and use the vehicle driving state information and vibration environment information to dynamically adjust the stiffness and / or damping of the first-level shock absorption subsystem 3 and / or the second-level shock absorption subsystem 4.

[0048] The multi-stage composite shock absorption system proposed in the present invention is typically installed between a mobile platform (such as a chassis, a truck bed or a specially designed load-bearing structure of a special vehicle) and a drone nest.

[0049] Example 2 This embodiment further explains the first-stage shock absorption subsystem 3 based on the embodiment 1.

[0050] 1) Installation location: The core shock absorption structure of this embodiment is installed between the drone nest base and the lifting platform leveling structure, forming a direct-coupled shock absorption layout. The specific installation method is as follows: Vertical direction: through 4 wire rope shock absorbers (such as Figure 2 and 3 As shown) are symmetrically arranged on the four sides of the machine nest base and connected to the installation nodes of the lifting platform leveling structure; Horizontal constraint: The axis of the wire rope shock absorber is inclined at a 12° angle to the Z axis, and its lateral stiffness characteristics are used to suppress horizontal vibration; Synergistic element (optional): Configured in parallel with air springs / metal springs and hydraulic dampers to form a broadband vibration isolation network.

[0051] Wire rope vibration isolator: symmetrical pressed wire rope vibration isolator is used, and the key parameters are as follows: ① Maximum static load: 512N (meeting the weight requirement of the machine nest); ② Maximum dynamic deformation: 46mm (adapting to high-frequency micro-vibration attenuation and extreme impact buffering during vehicle driving); ③ Overall dimensions: L=127mm, A=114mm, H=41mm, W=46mm, threaded hole specification M8×1.25, such as Figure 4 and 5 As shown; ④Installation method: Use M8 bolts to fix it to the corresponding mounting seats of the four flanges of the machine nest base and the leveling structure of the lifting platform, with an inclination angle of 10°~15° to form a three-dimensional constraint network.

[0052] 2) Primary Function: Targetedly isolates and attenuates low-frequency, high-amplitude shocks and vibrations from the vehicle. These vibrations are typically caused by passing over large potholes, road joints, off-road terrain (such as rocks and gullies), or transient impacts during vehicle starting / braking.

[0053] 3) Installation details of steel wire shock absorber Installation node design: ① Reinforced flanges (thickness ≥ 12mm) are set at the four corners of the machine nest base and connected to the corresponding mounting seats of the lifting platform leveling structure through M8 bolts; ② Joint bearings or flexible joints are used at both ends of the shock absorber to allow a certain angle of deflection to adapt to multi-directional displacement under complex working conditions.

[0054] Preload control: ① Apply initial preload force (about 200N) during installation to balance the weight of the machine nest and eliminate gaps to improve dynamic response accuracy; ②The preload force can be calibrated on site by adjusting the nut or using special tools.

[0055] Travel limit design (optional): A progressive polyurethane buffer block is set at the maximum compression / extension stroke of the shock absorber to prevent over-travel damage under extreme impact.

[0056] 4) Static load-deformation characteristics analysis Analysis of the static load-deformation characteristics of wire rope shock absorbers demonstrates their relatively low stiffness within the operating deformation range (e.g., 0-46 mm). This helps keep the natural frequency of the entire shock absorption system low, effectively isolating low-frequency, high-amplitude shocks and vibrations from the vehicle (such as those generated by traversing uneven roads). Furthermore, their nonlinear characteristic—increasing stiffness with deformation (i.e., a rapid increase in stiffness after deformation exceeds a certain threshold)—combined with a limited buffer structure, effectively prevents excessive compression or rigid collisions during extreme impacts, thus protecting the engine nest structure. Furthermore, their inherent damping properties help dissipate vibration energy.

[0057] Example 3 This embodiment further explains the second-stage shock absorption subsystem 4 based on the embodiment 2.

[0058] In the basic implementation, this system uses a single-stage vibration reduction design to meet the requirements of most operating conditions. However, in scenarios where higher vibration isolation requirements are required for precision equipment (such as high-precision sensors), a second-stage vibration reduction subsystem can be added. The technical solution is as follows: 1) Installation Location: This stage of the vibration reduction system is installed between the intermediate support structure supported by the first-stage vibration reduction system (or directly on the first-stage base) and the connection interface of the drone nest body. In some embodiments, the second-stage vibration reduction system can also be designed as a localized precision vibration isolation platform within the nest to directly support the drone or its critical payload (such as a camera gimbal).

[0059] 2) Primary Function: Targetedly absorbs and attenuates medium- and high-frequency vibrations remaining after passing through the first stage, as well as those generated by the vehicle itself (e.g., engine, drivetrain), or introduced by tracked driving. These vibrations are high in frequency and relatively small in amplitude, but can significantly impact the fatigue life of precision electronic equipment, optical sensors, and structures.

[0060] 3) Typical component composition and characteristics: In order to achieve effective energy dissipation and vibration isolation in the high-frequency band, the second stage usually uses a shock-absorbing element with high damping and small stroke characteristics, such as: ①Viscoelastic damping materials: These materials, such as special damping rubbers and polyurethane elastomers, are made into vibration isolation pads, bushings, or sandwich structures. These materials have frequency- and temperature-dependent damping properties and can provide significant energy dissipation at high frequencies.

[0061] ②Metal rubber vibration isolator: It is made of pressed metal wire and has elasticity and damping similar to rubber. It is also resistant to high and low temperatures, corrosion, long life, and can provide multi-directional vibration isolation capabilities.

[0062] ③ Active / semi-active vibration isolation elements: such as piezoelectric ceramic actuators, magnetorheological / electrorheological dampers, etc., combined with sensors and control algorithms, can actively generate reverse force or adjust damping in real time based on real-time vibration feedback to achieve better broadband vibration isolation performance.

[0063] The intermediate support structure serves as a rigid or semi-rigid platform connecting the primary and secondary damping systems. It provides a relatively stable mounting surface for the secondary damping system and bears and transmits loads. Its own stiffness and mass distribution also require consideration to avoid introducing adverse resonances.

[0064] Example 3 This embodiment further explains the adaptive control subsystem 5 based on the embodiment 2.

[0065] 1) Composition ① Sensors: including acceleration sensors (used to measure vibration intensity), vehicle speed sensors, driving mode sensors (tire / track), and possible road condition recognition sensors (such as vision or radar based) installed on the vehicle chassis, intermediate support structure and / or engine nest body.

[0066] ②Controller: A dedicated microprocessor or control module integrated into the vehicle's main control unit that runs the adaptive control algorithm.

[0067] ③ Adjustable actuator: such as the air pressure regulating valve of the first-stage air spring, the adjustable damping valve of the hydraulic damper, or the driver of the semi-active / active element used in the second stage.

[0068] 2) Working Logic Based on real-time sensor data on the vehicle's driving state (speed, mode) and vibration environment (vibration amplitude, frequency characteristics, or identified road condition level), the controller dynamically adjusts the stiffness or damping parameters of the first- and / or second-stage damping elements according to a pre-set control strategy (such as a lookup table, fuzzy logic rules, or a model-based control algorithm). This ensures that the entire damping system always operates in the optimal vibration isolation state for the current operating conditions. For example, during high-speed driving on smooth roads, damping can be appropriately increased to improve stability, while during low-speed driving on rough roads, stiffness can be reduced and damping increased to maximize the vibration isolation effect.

[0069] The multi-stage composite shock absorption system of the present invention utilizes the principles of "frequency division" and "energy dissipation step by step".

[0070] (1) When the vehicle is moving, the low-frequency and large impact from the road is mainly borne by the first-stage shock absorption subsystem. Its large-stroke, low-stiffness elastic element allows a large relative displacement to absorb the impact energy, while the large damping element quickly converts kinetic energy into heat energy and dissipates it, preventing excessive vibration from being transmitted to the intermediate support structure.

[0071] (2) The residual vibration after passing through the first stage, as well as the medium and high frequency vibrations generated by the vehicle itself, are processed by the second stage shock absorption subsystem. Its high damping characteristics (especially viscoelastic materials or metal rubber, etc.) can effectively absorb and attenuate these high frequency and small amplitude vibration energies, providing a more stable environment for the engine nest.

[0072] (3) The two-stage shock absorption system works together through series connection or a specific composite connection method, so that the entire system can provide effective vibration isolation in a wide frequency spectrum from low frequency to high frequency.

[0073] (4) Under extreme impact, the limiting and buffering structures intervene to provide the ultimate protective barrier.

[0074] (5) If an adaptive control subsystem is configured, the system can dynamically optimize its shock absorption characteristics according to the real-time working conditions to achieve better comprehensive shock absorption performance and adaptability.

[0075] Example 4 A multi-stage composite shock absorption method for a drone nest on a vehicle-mounted mobile platform comprises: utilizing a first-stage shock absorption subsystem and a second-stage shock absorption subsystem to perform multi-stage composite shock absorption on the drone nest; simultaneously, utilizing an adaptive control subsystem to dynamically adjust the stiffness and / or damping of the first-stage shock absorption subsystem and / or the second-stage shock absorption subsystem, such as Figure 6 As shown, the method of dynamically adjusting the stiffness and / or damping of the first-stage shock absorption subsystem and / or the second-stage shock absorption subsystem by using the adaptive control subsystem includes the following steps: S1. Several sensors in the sensor layer collect vehicle driving status information and vibration environment information, and pre-process the collected information; In step S1, the plurality of sensors include: Accelerometer for collecting vibration amplitude and frequency; A vehicle speed sensor for collecting the vehicle's speed; Driving mode sensors for collecting vehicle tire or track status; Road condition recognition sensor used to collect road condition levels.

[0076] S2, the state recognition module of the controller layer uses the pre-processed collected information to identify the vehicle operating condition information; S3, the operating condition adaptation logic layer outputs damping parameter recommendations for different operating conditions based on vehicle operating condition information; In step S3, for high-speed driving on a balanced road, damping needs to be increased to improve stability. The recommended damping parameters are: based on the standard values ​​of damping and stiffness, damping is increased and stiffness remains unchanged; For low-speed driving on rough roads, it is necessary to reduce stiffness and increase damping. The recommended shock absorption parameters are: based on the standard values ​​of damping and stiffness, increase damping and reduce stiffness; For medium-speed driving on general roads, a balanced setting is required. The recommended shock absorption parameters are: based on the standard values ​​of damping and stiffness, with unchanged damping and stiffness; For low-speed driving on bumpy roads, vibration isolation needs to be maximized. The recommended shock absorption parameters are: based on the standard values ​​of damping and stiffness, damping increases and stiffness decreases.

[0077] S4, the control strategy selector of the controller layer calculates the optimal damping parameters and generates control instructions based on the vehicle working condition information, the control strategy preset in the control strategy library and the damping parameter recommendations of the working condition adaptation logic layer; In step S4, the preset control strategy includes a lookup table, fuzzy logic rules or a model-based control algorithm.

[0078] S5. The actuator layer dynamically adjusts the stiffness, damping and / or active force of the first-stage shock absorption subsystem and / or the second-stage shock absorption subsystem using the regulating mechanism according to the control instruction.

[0079] In step S5, the first regulating mechanism of the actuator layer drives the air spring pressure regulating valve to adjust the stiffness of the first-stage shock absorption subsystem and drives the adjustable damping valve of the hydraulic damper to adjust the damping of the first-stage shock absorption subsystem according to the control instruction; The second regulating mechanism of the actuator layer drives the semi-active element driver to adjust the stiffness and / or damping of the second-stage shock absorption subsystem according to the control instruction, and drives the active element driver to provide an active reverse force for the vibration.

[0080] The key points of the present invention are as follows: (1) Multi-stage composite vibration isolation structure: It contains at least one level of coarse vibration isolation (low frequency and large stroke) and one level of fine vibration isolation (high frequency and high damping) in series or in a composite layout, which work together to effectively isolate wide-band vibration.

[0081] (2) Integrated limit and buffer mechanism: Contains specific structures to limit displacement under extreme impact and provide nonlinear buffering to prevent rigid collision and enhance system survivability.

[0082] (3) Adaptive adjustment capability: The system can dynamically adjust the stiffness or damping parameters according to the driving conditions (road conditions, speed, mode) to optimize the shock absorption performance under all working conditions.

[0083] The technical advantages of the present invention are as follows: 1.Excellent broadband vibration isolation performance Through the multi-stage composite structure, "frequency division" and collaborative filtering are achieved, effectively covering a wide spectrum from low-frequency impact to high-frequency vibration, and the vibration isolation effect is far superior to that of traditional single-stage systems.

[0084] 2. Comprehensive three-dimensional protection capabilities In view of the multi-directional excitation characteristics of the vehicle environment, the optimized three-dimensional spatial layout provides comprehensive isolation from vertical, lateral and longitudinal vibrations and shocks, significantly improving the dynamic stability of the equipment.

[0085] 3. Enhanced reliability against extreme shocks The integrated limit and buffer structure can effectively absorb energy under severe impact and prevent rigid collision, greatly improving the survivability of the system and protected equipment under harsh working conditions.

[0086] 4. The adaptive function significantly improves the adaptability of working conditions The system with adaptive adjustment capabilities can optimize the shock absorption parameters according to the real-time operating conditions, maintaining efficient vibration isolation under changing road conditions and driving modes, overcoming the limitations of fixed parameter systems.

[0087] 5. The structural design is highly targeted and optimized The system is specially designed for the vibration sensitivity of vehicle-mounted drone nests and the precision equipment inside them, as well as the complex dynamic operating environment of vehicles. The component selection and matching are more targeted, and the overall solution is better.

[0088] The above is a detailed description of the embodiments of the present invention, but the present invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without departing from the spirit of the present invention. These equivalents or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A multi-stage composite shock absorption system for a drone nest on a vehicle-mounted mobile platform, characterized in that: include: The first-stage shock absorption subsystem is installed between the top of the vehicle's lifting platform and the base of the drone's nest. It is used to isolate and attenuate low-frequency, large-amplitude shocks and vibrations from the vehicle. The first-stage shock absorption subsystem is a three-dimensional shock absorption system with a limited position buffer structure on it; A second-stage shock absorption subsystem, located above the first-stage shock absorption subsystem and below or inside the drone nest, is used to absorb and attenuate the residual vibrations after passing through the first-stage shock absorption subsystem, as well as the medium and high-frequency vibrations generated by the vehicle itself and / or introduced by the track driving mode; The adaptive control subsystem is connected to the first-level shock absorption subsystem and the second-level shock absorption subsystem respectively, and is used to collect vehicle driving state information and vibration environment information, and dynamically adjust the stiffness and / or damping of the first-level shock absorption subsystem and / or the second-level shock absorption subsystem using the vehicle driving state information and vibration environment information.

2. The multi-stage composite shock absorption system for a drone nest on a vehicle-mounted mobile platform according to claim 1, characterized in that: The first-stage shock absorption subsystem adopts a large-stroke, low-rigidity shock absorption element, including a wire rope shock absorber. The wire rope shock absorber is provided in multiple and symmetrical arrangements on the base of the drone nest. An inclination angle is provided between the axis of the wire rope shock absorber and the Z axis. The wire rope shock absorber generates force components in the directions of the three coordinate axes of X, Y, and Z for three-dimensional shock absorption.

3. The multi-stage composite shock absorption system for a drone nest on a vehicle-mounted mobile platform according to claim 1, characterized in that: The first-stage shock absorption subsystem further includes a spring and a hydraulic damper arranged in parallel with the wire rope shock absorber, wherein the wire rope shock absorber, the spring and the hydraulic damper together constitute a broadband vibration isolation network; The hydraulic damper is connected to a hydraulic damper adjustable damping valve to adjust the damping of the first-stage shock absorption subsystem. The spring is an air spring or a metal spring. The air spring is connected to an air spring air pressure regulating valve to adjust the stiffness of the first-stage shock absorption subsystem.

4. The multi-stage composite shock absorption system for a drone nest on a vehicle-mounted mobile platform according to claim 1, characterized in that: The wire rope shock absorber is provided with a progressive polyurethane limiting buffer block at the maximum compression and / or tension stroke to form a limiting buffer structure.

5. The multi-stage composite shock absorption system for a drone nest on a vehicle-mounted mobile platform according to claim 1, characterized in that: The second-stage shock absorption subsystem is installed between the connection interface of the intermediate support structure supported by the first-stage shock absorption subsystem and the drone nest body; or, the second-stage shock absorption subsystem is installed on a local precision vibration isolation platform inside the drone nest for directly supporting the drone or its critical load; The intermediate support structure serves as a rigid or semi-rigid platform connecting the first-stage shock absorption subsystem and the second-stage shock absorption subsystem, provides a relatively stable installation base for the second-stage shock absorption subsystem, and bears and transmits loads.

6. The multi-stage composite shock absorption system for a drone nest on a vehicle-mounted mobile platform according to claim 1, characterized in that: The second-stage shock absorption subsystem adopts a shock absorption element with high damping and small stroke characteristics, including: viscoelastic damping material, metal rubber vibration isolator, active vibration isolation element and / or semi-active vibration isolation element. The active vibration isolation element is connected to an active element driver to provide an active reverse force of vibration, and the semi-active vibration isolation element is connected to a semi-active element driver to adjust the stiffness and / or damping of the second-stage shock absorption subsystem.

7. The multi-stage composite shock absorption system for a drone nest on a vehicle-mounted mobile platform as claimed in claim 1, characterized in that: The adaptive control subsystem includes a sensor layer, a controller layer, a working condition adaptation logic layer and an actuator layer; The sensor layer includes a plurality of sensors, which are mounted on the vehicle and the shock absorption system and are used to collect vehicle driving state information and vibration environment information and send the collected information to the controller layer; The controller layer is electrically connected to the sensor layer, the operating condition adaptation logic layer, and the actuator layer respectively, uses the collected information to identify vehicle operating condition information, and sends the vehicle operating condition information to the operating condition adaptation logic layer; Based on vehicle operating condition information, preset control strategies and damping parameter recommendations, it calculates optimal damping parameters and generates control instructions, which are then sent to the actuator layer. The working condition adaptation logic layer outputs shock absorption parameter suggestions for different working conditions based on vehicle working condition information and sends the shock absorption parameter suggestions to the controller layer; The actuator layer dynamically adjusts the stiffness and / or damping of the first-stage shock absorption subsystem and / or the second-stage shock absorption subsystem using an adjustment mechanism based on the control instruction.

8. A multi-stage composite shock absorption method for a drone nest on a vehicle-mounted mobile platform, characterized in that: include: The first-stage shock absorption subsystem and the second-stage shock absorption subsystem are used to perform multi-stage composite shock absorption on the UAV nest; At the same time, the adaptive control subsystem is used to dynamically adjust the stiffness and / or damping of the first-stage shock absorption subsystem and / or the second-stage shock absorption subsystem. The method of dynamically adjusting the stiffness and / or damping of the first-stage shock absorption subsystem and / or the second-stage shock absorption subsystem by the adaptive control subsystem includes the following steps: S1. Several sensors in the sensor layer collect vehicle driving status information and vibration environment information, and pre-process the collected information; S2, the state recognition module of the controller layer uses the pre-processed collected information to identify the vehicle operating condition information; S3, the operating condition adaptation logic layer outputs damping parameter recommendations for different operating conditions based on vehicle operating condition information; S4, the control strategy selector of the controller layer calculates the optimal damping parameters and generates control instructions based on the vehicle working condition information, the control strategy preset in the control strategy library and the damping parameter recommendations of the working condition adaptation logic layer; S5. The actuator layer dynamically adjusts the stiffness, damping and / or active force of the first-stage shock absorption subsystem and / or the second-stage shock absorption subsystem using the regulating mechanism according to the control instruction.

9. The multi-stage composite shock absorption method for a drone nest on a vehicle-mounted mobile platform as claimed in claim 8, characterized in that: In step S1, the plurality of sensors include: Accelerometer for collecting vibration amplitude and frequency; A vehicle speed sensor for collecting the vehicle's speed; Driving mode sensors for collecting vehicle tire or track status; Road condition recognition sensor for collecting road condition levels; In step S4, the preset control strategy includes a lookup table, fuzzy logic rules or a model-based control algorithm; In step S5, the first regulating mechanism of the actuator layer drives the air spring pressure regulating valve to adjust the stiffness of the first-stage shock absorption subsystem and drives the adjustable damping valve of the hydraulic damper to adjust the damping of the first-stage shock absorption subsystem according to the control instruction; The second regulating mechanism of the actuator layer drives the semi-active element driver to adjust the stiffness and / or damping of the second-stage shock absorption subsystem according to the control instruction, and drives the active element driver to provide an active reverse force for the vibration.

10. The multi-stage composite shock absorption method for a drone nest on a vehicle-mounted mobile platform as claimed in claim 8, characterized in that: In step S3, for high-speed driving on a balanced road, damping needs to be increased to improve stability. The recommended damping parameters are: based on the standard values ​​of damping and stiffness, damping is increased and stiffness remains unchanged; For low-speed driving on rough roads, it is necessary to reduce stiffness and increase damping. The recommended shock absorption parameters are: based on the standard values ​​of damping and stiffness, increase damping and reduce stiffness; For medium-speed driving on general roads, a balanced setting is required. The recommended shock absorption parameters are: based on the standard values ​​of damping and stiffness, with unchanged damping and stiffness; For low-speed driving on bumpy roads, vibration isolation needs to be maximized. The recommended shock absorption parameters are: based on the standard values ​​of damping and stiffness, damping increases and stiffness decreases.

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