Device and method for detecting and correcting thrust line of unmanned aerial vehicle

Abstract

The invention discloses a device and a method for detecting and correcting a thrust line of an unmanned aerial vehicle. A boosting spherical base is connected with a fuselage of the unmanned aerial vehicle, and the boosting spherical base is sleeved with a boosting conical head. The spherical end of the positioning rod sequentially penetrates through the boosting conical head and a center hole of the boosting spherical base. The polished rod end of the limiting shaft is inserted into the center hole of the positioning rod and screwed into the positioning rod, so that the spherical end of the positioning rod is tensioned; the pull rod penetrates through the axis of the boosting engine and is in threaded connection with the positioning rod; the pull rod is in threaded connection with the pull rod head, the shackle penetrates through the pull rod head, the linear ball bearing is installed in the adjusting taper sleeve, makes contact with the pull rod and can slide up and down, and the adjusting taper sleeve is in threaded connection with the pull rod head. The unmanned aerial vehicle is hoisted through the thrust line detection and correction device, the overlap ratio of the axis of the pull rod and the axis of the boosting engine is observed, and the thrust line of the unmanned aerial vehicle is detected and adjusted. The method is easy to operate, low in cost and high in efficiency, and has good innovativeness and practicability.

Description

Technical Field

[0001] The present invention belongs to the technical field of weapon measurement and testing, and in particular relates to a device and method for detecting and correcting the thrust line of an unmanned aerial vehicle (UAV). Background Art

[0002] With the widespread application of propeller drones in various technical fields such as logistics and transportation, military strikes, and environmental monitoring, the requirements for drone flight stability and energy efficiency have increased significantly. As a core parameter of the drone's power system, the drone's thrust line directly determines the drone's aerodynamic efficiency and operational precision. Due to factors such as machining errors, assembly errors, and structural deformation, the actual thrust line deviates from the theoretical calculated axis. Thrust direction deviations require additional attitude corrections, increasing the controller load and, in extreme cases, causing the drone to lose control. Ineffective thrust components increase power consumption and shorten the operating range. During precision operations, thrust direction deviations can cause positioning drift or even collisions.

[0003] Currently, drone thrust line detection utilizes high-resolution cameras or laser tracking systems to capture propeller motion and then calculate the thrust vector using image processing algorithms. However, this method is expensive, requires strict lighting conditions, and suffers from high data processing latency, making real-time output difficult. Bench force measurement requires a high-precision multi-axis force measurement platform, sensor calibration, and high equipment maintenance costs, making it difficult to apply to small and medium-sized drone companies and field operations. Furthermore, each test requires repeated installation and disassembly of the drone, making it difficult to meet the demands of batch testing and rapid iteration. Summary of the Invention

[0004] In response to the problems existing in the prior art, the present invention provides a device and method for detecting and correcting the thrust line of a UAV, which effectively solves the problems of difficulty, high cost and low efficiency in thrust line detection of medium and large UAVs.

[0005] In order to achieve the above object, the technical solution adopted in the present invention is: A thrust line detection and correction device for a UAV, comprising: a booster spherical base, a booster conical connector, a positioning rod, a limit shaft, a booster engine, a pull rod, a pull rod head and an adjustment cone sleeve; The spherical end of the positioning rod passes through the central hole of the boosting conical connector and the boosting spherical base in sequence; The booster spherical base is fixedly connected to the UAV fuselage, and the booster conical connector is sleeved on the booster spherical base; The smooth rod end of the limit shaft is inserted into the center hole of the positioning rod and connected through a thread, and after being tightened, the spherical end of the positioning rod is tightened in the booster spherical base; The pull rod passes through the axial channel of the booster engine and is threadedly connected to the positioning rod; the pull rod head is threadedly connected to the upper end of the pull rod, and a shackle is provided on the pull rod head; The adjusting cone sleeve is mounted on the top of the pull rod, and a linear ball bearing with a transition fit is provided between the conical end of the adjusting cone sleeve and the pull rod, and the other end is threadedly connected to the pull rod head; The booster engine is provided with a conical nozzle at the tail, and the inner conical surface of the nozzle is adapted to the adjustment cone sleeve.

[0006] Furthermore, the upper end of the positioning rod is provided with internal and external threads, and the lower end is a spherical surface. The spherical end of the positioning rod is equally divided into sixteen parts with the axis as the center. The inner surface of the booster spherical base is a spherical surface. The spherical end of the positioning rod penetrates into the booster spherical base and contacts the inner surface of the booster spherical base. A through hole is provided on the side of the positioning rod for observing the position of the limit shaft.

[0007] The lower end of the limit shaft is a polished rod, and the upper end is provided with an external thread. The polished rod end is inserted into the center hole of the positioning rod, and the threaded end is provided with an inner hexagonal slot. The limit shaft is screwed into the center hole of the positioning rod with an inner hexagonal wrench to tighten the spherical end of the positioning rod.

[0008] The lower end of the pull rod head is axially provided with a threaded hole, which is connected with the external thread of the pull rod. The other end of the pull rod head is provided with a boss, and a shackle is passed through the boss.

[0009] The present invention provides a method for detecting and correcting the thrust line of a UAV based on the above-mentioned device, comprising the following steps: a: Suspend the UAV thrust line detection and correction device on a gantry through a shackle, so that the UAV is in a vertical suspended state. Observe the horizontal state of the UAV's tail wings on both sides, add weights to the vertical tail of the UAV on both sides to level it, and then adjust the position of the booster engine; b: When adjusting the position of the booster engine, unscrew the adjustment drogue from the pull rod head so that the conical surface of the adjustment drogue contacts the inner conical surface of the booster engine tail nozzle. Press the adjustment drogue so that the booster engine and the pull rod axis coincide and the center of mass of the UAV is on the thrust line. c: After the booster engine is adjusted, the booster cone connector is fixed in position, and the booster cone connector is fixed to the booster spherical base. After the thrust line is adjusted, the adjustment cone sleeve is raised and threadedly connected to the pull rod head. The booster engine is lifted, the pull rod is removed, the limit shaft is rotated out in the opposite direction, and the positioning rod is pulled out to complete the quick disassembly of the device.

[0010] Compared with the prior art, the present invention has the following beneficial effects: Aiming at the problem that the thrust line detection of medium and large UAVs is difficult, costly, and inefficient in small and medium-sized UAV enterprises and on-site operation and maintenance, the present invention utilizes a pull rod and a positioning rod to form a linear structure. One end of the positioning rod has a spherical end. A limiting shaft is inserted into the positioning rod, and the limiting shaft is screwed in to tighten the spherical end of the positioning rod, making contact with the circular inner surface of the booster spherical base. It can rotate freely in all directions and will not fall off when pulled. When in use, the device is used to lift the UAV, and weights are added to both sides of the UAV for leveling to complete the correction. The position of the booster engine is adjusted to achieve the coincidence of the booster engine axis and the pull rod axis to test or correct the UAV thrust line. The device has a simple structure, low cost, simple use method, and convenient operation. It can intuitively display the installation accuracy of the booster engine. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a structural schematic diagram of a thrust line detection and correction device for a UAV according to the present invention; Figure 2 This is a schematic diagram of the connection between the pull rod, positioning rod, boosting conical connector, and boosting spherical base of the present invention; Figure 3 This is a schematic structural diagram of the positioning rod, boosting conical connector, and boosting spherical base of the present invention; Figure 4 This is a schematic diagram of the assembly of the limiting shaft, positioning rod, and booster spherical base of the present invention. DETAILED DESCRIPTION

[0012] The technical solution of the present invention is described clearly and completely below with reference to the accompanying drawings and specific embodiments.

[0013] See Figure 1-4 A thrust line detection and correction device for a UAV includes a booster spherical base 1, a booster conical connector 2, a positioning rod 4, a limit shaft 5, a booster engine 6, a pull rod 7, a pull rod head 10, and an adjustment cone sleeve 9. The spherical end of the positioning rod 4 passes through the center holes of the booster conical connector 2 and the booster spherical base 1, respectively. The booster spherical base 1 is fixedly connected to the UAV fuselage, and the booster conical connector 2 is mounted on the booster spherical base 1. The two are connected using hexagon socket head screws 3.

[0014] The smooth end of the limiter shaft 5 is inserted into the center hole of the positioning rod 4 and connected via a threaded connection. After tightening, the spherical end of the positioning rod 4 is tightened into the booster spherical base 1, allowing the booster conical connector 2 to rotate freely in all directions on the booster spherical base 1 and not fall off when pulled. For easy assembly, the threaded end of the limiter shaft is provided with a hexagonal socket, which is screwed in or out using an hexagonal wrench.

[0015] The tie rod 7 passes through the axial channel of the booster engine 6 and is threadedly connected to the positioning rod 4; the tie rod head 10 is threadedly connected to the upper end of the tie rod 7, and a shackle 11 is inserted on the tie rod head. A through hole is provided on the side of the tie rod 7, and a wrench can be inserted into the through hole to tighten the tie rod and fasten it to the positioning rod.

[0016] like Figure 1 As shown, the adjusting cone sleeve 9 is sleeved on the top of the pull rod 7, and a linear ball bearing 8 with a transition fit is provided between the conical end of the adjusting cone sleeve 9 and the pull rod 7, and the other end is threadedly connected to the pull rod head 10.

[0017] A conical nozzle is provided at the tail of the booster engine 6, and its inner conical surface is adapted to the adjustment cone sleeve 9.

[0018] Specifically, the upper end of the positioning rod 4 is provided with internal and external threads, and the lower end is a spherical surface. The spherical end of the positioning rod 4 is equally divided into sixteen parts with the axis as the center. The inner surface of the booster spherical base 1 is a spherical surface. The spherical end of the positioning rod 4 penetrates into the booster spherical base 1 and contacts the inner surface of the booster spherical base 1. A through hole is provided on the side of the positioning rod 4 for observing the position of the limit shaft 5.

[0019] like Figure 4 As shown, the lower end of the limiting shaft 5 is a polished rod, and the upper end is provided with an external thread. The polished rod end is inserted into the center hole of the positioning rod 4, and the threaded end is provided with an inner hexagonal slot. The limiting shaft is screwed into the center hole of the positioning rod 4 by using an inner hexagonal wrench to tighten the spherical end of the positioning rod 4.

[0020] A threaded hole is axially provided at the lower end of the pull rod head 10 and is connected to the pull rod 7 with an external thread. At the same time, a boss is provided at the other end of the pull rod head 10, and a shackle 11 is passed through the boss.

[0021] The present invention also provides a method for detecting and correcting the thrust line of a UAV based on the above device, comprising the following steps: a: Suspend the UAV thrust line detection and correction device on a gantry through a shackle, so that the UAV is in a vertical suspended state. Observe the horizontal state of the UAV's tail wings on both sides, add weights to the vertical tail of the UAV on both sides to level it, and then adjust the position of the booster engine; b: When adjusting the position of the booster engine, unscrew the adjustment drogue from the pull rod head so that the conical surface of the adjustment drogue contacts the inner conical surface of the booster engine tail nozzle. Press the adjustment drogue so that the booster engine and the pull rod axis coincide and the center of mass of the UAV is on the thrust line. c: After the booster engine is adjusted, the booster cone connector is fixed in position, and the booster cone connector is fixed to the booster spherical base. After the thrust line is adjusted, the adjustment cone sleeve is raised and threadedly connected to the pull rod head. The booster engine is lifted, the pull rod is removed, the limit shaft is rotated out in the opposite direction, and the positioning rod is pulled out to complete the quick disassembly of the device.

[0022] See Figure 3 and Figure 4 In this embodiment, the booster cone connector is secured to the booster spherical base by tightening the hexagonal screws 3 with an hexagonal wrench to secure the booster cone connector to the booster spherical base. The three screws are tightened in increments of 10%-30%-100%. This minimizes the impact of tightening the screws on the booster engine's mounting position.

Claims

1. A UAV thrust line detection and correction device, characterized in that: include: A booster spherical base (1), a booster conical connector (2), a positioning rod (4), a limit shaft (5), a booster engine (6), a pull rod (7), a pull rod head (10) and an adjusting cone sleeve (9); The spherical end of the positioning rod (4) passes through the center holes of the boosting conical connector (2) and the boosting spherical base (1) in sequence; The booster spherical base (1) is fixedly connected to the UAV fuselage, and the booster conical connector (2) is sleeved on the booster spherical base (1); The smooth rod end of the limit shaft (5) is inserted into the center hole of the positioning rod (4) and connected through a thread, and after being tightened, the spherical end of the positioning rod (4) is tightened in the booster spherical base (1); The pull rod (7) passes through the axial channel of the booster engine (6) and is threadedly connected to the positioning rod (4); the pull rod head (10) is threadedly connected to the upper end of the pull rod (7), and a shackle (11) is provided on the pull rod head; The adjusting cone sleeve (9) is sleeved on the top of the pull rod (7), and a linear ball bearing (8) with a transition fit is provided between the conical end of the adjusting cone sleeve (9) and the pull rod (7), and the other end is threadedly connected to the pull rod head (10); The booster engine (6) is provided with a conical nozzle at the tail, the inner conical surface of which is adapted to the adjustment cone sleeve (9).

2. The UAV thrust line detection and correction device according to claim 1, characterized in that: The upper end of the positioning rod (4) is provided with internal and external threads, and the lower end is a spherical surface. The spherical end of the positioning rod (4) is equally divided into sixteen parts with the axis as the center. The inner surface of the booster spherical base (1) is a spherical surface. The spherical end of the positioning rod (4) penetrates into the booster spherical base (1) and contacts the inner surface of the booster spherical base (1). A through hole is provided on the side of the positioning rod (4) for observing the position of the limit shaft (5).

3. The UAV thrust line detection and correction device according to claim 1, characterized in that: The lower end of the limit shaft (5) is a polished rod, and the upper end is provided with an external thread. The polished rod end is inserted into the center hole of the positioning rod (4), and the threaded end is provided with an inner hexagonal slot. The limit shaft is screwed into the center hole of the positioning rod (4) by an inner hexagonal wrench to tighten the spherical end of the positioning rod (4).

4. The UAV thrust line detection and correction device according to claim 1, characterized in that: The lower end of the pull rod head (10) is axially provided with a threaded hole, which is connected to the external thread of the pull rod (7). The other end of the pull rod head (10) is provided with a boss, and a shackle (11) is passed through the boss.

5. A method for detecting and correcting the thrust line of an unmanned aerial vehicle, using the device according to any one of claims 1 to 4, characterized in that: The following steps are involved: a: Suspend the UAV thrust line detection and correction device on a gantry through a shackle, so that the UAV is in a vertical suspended state. Observe the horizontal state of the UAV's tail wings on both sides, add weights to the vertical tail of the UAV on both sides to level it, and then adjust the position of the booster engine; b: When adjusting the position of the booster engine, unscrew the adjustment drogue from the pull rod head so that the conical surface of the adjustment drogue contacts the inner conical surface of the booster engine tail nozzle. Press the adjustment drogue so that the booster engine and the pull rod axis coincide and the center of mass of the UAV is on the thrust line. c: After the booster engine is adjusted, the booster cone connector is fixed in position, and the booster cone connector is fixed to the booster spherical base. After the thrust line is adjusted, the adjustment cone sleeve is raised and threadedly connected to the pull rod head. The booster engine is lifted, the pull rod is removed, the limit shaft is rotated out in the opposite direction, and the positioning rod is pulled out to complete the quick disassembly of the device.

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