Thrust line eccentricity measuring and adjusting device based on hanging method and using method of thrust line eccentricity measuring and adjusting device

Abstract

The invention discloses a thrust line eccentricity measuring and adjusting device based on a hanging method, which comprises a measuring unit and an adjusting unit, and is characterized in that the measuring unit comprises a hanging assembly, a measuring disc and a guide cylinder, and the adjusting unit comprises an adjustable connecting rod assembly; one end of the guide cylinder is provided with the measuring disc, the other end of the guide cylinder is connected with the adjusting unit, one end of the hanging assembly is fixed on hanging equipment, the other end of the hanging assembly penetrates through the measuring disc and is fixed in the guide cylinder, and the measuring disc is used for measuring the eccentric distance of a thrust line; one end of the adjusting unit is detachably connected with the guide cylinder, the other end of the adjusting unit is detachably connected with the to-be-tested unmanned aerial vehicle, and an adjustable connecting rod assembly of the adjusting unit is used for adjusting the eccentric distance of a thrust line; and the measuring unit can be replaced by a booster for launching the unmanned aerial vehicle to be measured in situ. The invention aims to overcome the problems of complicated operation, insufficient measurement precision, easy displacement of the thrust line in the boosting process after adjustment and the like existing in the conventional thrust line measurement and adjustment method.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a thrust line eccentricity measuring and adjusting device based on a hanging method and a use method thereof. Background Art

[0002] In recent years, with the rapid development of science and technology, drone technology has made significant progress. Drones are gradually replacing manual labor in outdoor tasks such as infrastructure planning, line inspections, and emergency response. Their application areas are constantly expanding, and the operating environments and tasks are becoming increasingly complex, requiring drones to provide greater convenience and safety during flight.

[0003] Currently, widely researched vertical take-off and landing technologies include tiltrotor technology and tailseat vertical take-off and landing technology. The matching relationship between the center of gravity and the thrust line is crucial for vertical take-off and landing stability. A mismatch between the center of gravity and the thrust line can cause instability during vertical take-off and landing. To determine the center of gravity of a drone, thrust line measurement is necessary. Accurately measuring the thrust line can optimize the drone's control system and improve control accuracy during vertical take-off and landing. This is crucial for achieving high-precision trajectory tracking and fixed-point take-off and landing.

[0004] Among the existing thrust line measurement methods, the traditional caliper or tape measure measurement method is simple and intuitive to operate, but it is not very safe and has difficulties in measuring conductors at high altitudes or inaccessible places. Moreover, the traditional caliper or tape measure measurement method requires multiple measurements at multiple locations, and manual readings after measurement will result in a certain degree of random error and gross error. The existing thrust line measurement method has certain challenges in optimizing space requirements, operator technical requirements, data reading methods, and applicability. In addition, after adjusting the thrust line, the traditional measuring device needs to be completely removed and the booster device installed. The operation is cumbersome and it is easy for structural parts to shift during operation, causing the adjusted thrust line direction to change. Summary of the Invention

[0005] The present invention discloses a thrust line eccentricity measurement and adjustment device based on a hanging method and a method for using the same, aiming to overcome the problems of existing thrust line measurement and adjustment methods, such as complex operation, insufficient measurement accuracy, and easy displacement of the thrust line during the thrust assist process after adjustment is completed.

[0006] In order to achieve the above objectives, the present invention adopts the following technical solutions: A thrust line eccentricity measurement and adjustment device based on a hanging method comprises a measuring unit and an adjustment unit, wherein the measuring unit comprises a hanging assembly, a measuring disc and a guide cylinder, and the adjustment unit comprises an adjustable connecting rod assembly; a measuring disc is provided at one end of the guide cylinder, and the other end is connected to the adjustment unit; one end of the hanging assembly is fixed to the hanging device, and the other end passes through the measuring disc and is fixed in the guide cylinder; the measuring disc is used to measure the eccentricity distance of the thrust line; one end of the adjustment unit is detachably connected to the guide cylinder, and the other end is detachably connected to the UAV to be tested; the adjustable connecting rod assembly of the adjustment unit is used to adjust the eccentricity distance of the thrust line; the measuring unit can be replaced in situ with a booster for launching the UAV to be tested.

[0007] Furthermore, one end of the adjustment unit is detachably connected to the guide cylinder through a measuring unit connecting flange, and the other end is detachably connected to the drone to be tested through a drone connecting flange, and the adjustable connecting rod assembly is located between the measuring unit connecting flange and the drone connecting flange.

[0008] Furthermore, the guide cylinder includes a shell and a front head, a conical countersunk hole is provided in the center of the front head for fixing the hanging assembly, and threaded holes are evenly spaced around the front head for connecting the guide cylinder to the measuring unit connecting flange.

[0009] Furthermore, a cross opening is provided on the measuring disk, and scale lines are provided on both sides of the cross opening. The lateral and normal eccentric distances are read through the scale lines of the cross opening, and the measuring disk is embedded in one end of the guide cylinder to achieve connection.

[0010] Furthermore, the hanging assembly includes a hanging rope, a conical fastener and a hanging rope lock. The conical fastener is a conical platform with an open hole at the top and a threaded hole at the bottom. The conical platform has the same taper as the conical countersunk hole of the front head. A hanging rope lock is provided at the end of the hanging rope. The hanging rope lock is provided with threads connected to the threaded hole at the bottom of the conical fastener. The hanging rope lock also includes a four-petal elastic structure, which is adapted to the inner cavity of the conical platform of the conical fastener for locking the hanging rope.

[0011] Furthermore, the adjustable connecting rod assembly includes an adjusting bolt, an adjusting nut, a connecting rod and an explosive bolt. The adjusting bolt passes through a through hole arranged circumferentially on the connecting flange of the measuring unit, and the explosive bolt passes through a through hole arranged circumferentially on the connecting flange of the drone. Threaded holes are arranged at both ends of the connecting rod, one end is connected to the adjusting bolt, and the other end is connected to the explosive bolt.

[0012] Furthermore, two adjusting nuts are provided on each adjusting bolt, one for fastening the measuring unit connecting flange and the adjusting bolt, and the other for adjusting the length of the connecting rod.

[0013] Furthermore, the UAV connecting flange is provided with a circumferential threaded hole, one end of the explosive bolt is connected to the connecting rod, and the other end is connected to the UAV connecting flange.

[0014] The present invention also discloses a method for using the aforementioned thrust line eccentricity measurement and adjustment device based on the hanging method, comprising the following steps: S1, assemble the thrust line eccentricity measuring and adjusting device; S2, fixing the thrust line eccentricity measuring and adjusting device to the UAV to be tested; S3, measure the eccentricity of the thrust line; S4, adjusting the eccentricity of the thrust line to ensure that the hanging rope coincides with the center of mass of the UAV to be tested.

[0015] Furthermore, the method of use further comprises the following steps: S5, replace the measurement unit in situ with the launch booster; S6, launch the UAV to be tested; S7, detonating the explosive bolt to separate the thrust line eccentricity measuring and adjusting device from the UAV to be tested.

[0016] The benefits of the present invention lie in that the thrust line eccentricity measurement and adjustment device based on the hanging method disclosed in the present invention and the method of use thereof have the advantages of simple operation and reduced cumulative error. After the thrust line is adjusted, the guide tube can be replaced in situ with the booster to reduce the operating steps and reduce the possibility of changes in the thrust line direction due to operation. At the same time, the method can also realize the automatic separation of the booster and the drone after the drone is launched, eliminating the influence of the booster on the center of mass and mass of the drone during flight, thereby improving the overall measurement accuracy and simplifying the operating process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 It is a structural schematic diagram of the measuring unit of the present invention; Figure 3 This is a schematic structural diagram of the measuring unit of the present invention in another direction; Figure 4 It is a structural schematic diagram of the regulating unit of the present invention; Figure 5 It is a structural schematic diagram of the regulating unit of the present invention in another direction.

[0018] The meaning of the reference numerals in the figures: 1-Measuring unit; 11-Suspension assembly; 111-Lifting rope; 112-Conical fastener; 113-Lifting rope lock; 12-Measuring plate; 13-Guide cylinder; 131-Casing; 132-Front head; 2-Adjustment unit; 21-Measuring unit connecting flange; 22-Adjustable connecting rod assembly; 221-Adjusting bolt; 222-Adjusting nut; 223-Connecting rod; 224-Explosive bolt; 23-UAV connecting flange. DETAILED DESCRIPTION

[0019] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0020] In the description of the present invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate description and simplify the description of the present invention. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0021] Combine Figures 1 to 5 As shown, the present invention discloses a thrust line eccentricity measurement and adjustment device based on the hanging method, comprising a measuring unit 1 and an adjustment unit 2, wherein the measuring unit 1 comprises a hanging assembly 11, a measuring disc 12 and a guide cylinder 13, and the adjustment unit 2 comprises an adjustable connecting rod assembly 22; the guide cylinder 13 is provided with a measuring disc 12 at one end, and the other end is connected to the adjustment unit 2, the hanging assembly 11 is fixed to the hanging device at one end, and the other end passes through the measuring disc 12 and is fixed in the guide cylinder 13, and the measuring disc 12 is used to measure the thrust line eccentricity distance; one end of the adjustment unit 2 is detachably connected to the guide cylinder 13, and the other end is detachably connected to the UAV to be tested, and the adjustable connecting rod assembly 22 of the adjustment unit 2 is used to adjust the thrust line eccentricity distance; the measuring unit 1 can be replaced in situ with a booster for launching the UAV to be tested.

[0022] In one embodiment, one end of the adjustment unit 2 is detachably connected to the guide cylinder 13 via a measuring unit connection flange 21, and the other end is detachably connected to the drone under test via a drone connection flange 23. The adjustable link assembly 22 is located between the measuring unit connection flange 21 and the drone connection flange 23. The connection method of the adjustment unit 2 to the measuring unit 1 and the drone under test is not limited to this, and can be used to facilitate disassembly and separation.

[0023] In one embodiment, the guide cylinder 13 comprises a housing 131 and a front head 132. The front head 132 is centrally provided with a tapered countersunk hole for securing the hanger assembly 11. The front head 132 is also circumferentially provided with threaded holes evenly spaced apart for connecting the guide cylinder 13 to the measuring unit connection flange 21. The guide cylinder 13 can be fabricated from a secondary process of the booster housing to precisely control the direction of wire threading. The outer dimensions of the front head 132 are consistent with those of the booster, facilitating in-situ replacement of the booster.

[0024] In one embodiment, the measuring disk 12 is provided with a cross opening, and scale lines are provided on both sides of the cross opening. The lateral and normal eccentric distances are read through the scale lines of the cross opening, and the measuring disk 12 is embedded in one end of the guide cylinder 13 to achieve connection. Specifically, the measuring disk 12 forms a conical surface along the thickness direction, and the side port of the shell 131 away from the front head 132 is provided with an annular conical surface stop. The conical surface of the measuring disk 12 is embedded in the annular conical surface stop to complete the connection between the measuring disk 12 and the guide cylinder 13. The measuring disk 12 can also be connected to the guide cylinder 13 by a thread to achieve a fixed connection. The scale line design of the cross opening of the measuring disk allows the eccentricity data to be read quickly and intuitively.

[0025] In one embodiment, the hanging assembly 11 comprises a hanging rope 111, a conical fastener 112 and a hanging rope lock head 113, the conical fastener 112 is a conical platform with a hole at the top and a threaded hole at the bottom, the conical platform is consistent with the taper of the conical counterbore of the front head 132; the hanging rope 111 is provided with a hanging rope lock head 113 at the end, the hanging rope lock head 113 is provided with a thread to connect with the threaded hole at the bottom of the conical fastener 112, and the hanging rope lock head 113 further comprises a four-petal elastic structure which is adapted to the inner cavity of the conical platform of the conical fastener 112 and used to lock the hanging rope 111. Specifically, one end of the hanging rope 111 is fixed on the hanging equipment, and the other end is inserted into the hanging rope lock head 113 with a four-petal elastic structure in sequence through the measuring disc 12, the guide cylinder 13 and the conical fastener 112, the four-petal elastic structure is provided with a thread at the opening bottom to cooperate with the threaded hole at the bottom of the conical fastener 112, the conical platform of the conical fastener 112 is used to accommodate the four-petal elastic structure, and the inner diameter of the four-petal elastic structure after being tightened is smaller than the diameter of the hanging rope 113, so as to lock the hanging rope 113, and the four-petal elastic structure ensures that the hanging rope 111 remains stable under the action of large tension. After locking the hanging rope 113, the conical platform of the conical fastener 112 is sunk into the conical counterbore at the bottom of the guide cylinder 13, the guide cylinder 13 is connected to the unmanned aerial vehicle to be measured through the adjusting unit 2, and the unmanned aerial vehicle to be measured can be hung up after the hanging rope 111 is suspended and tensioned. The unmanned aerial vehicle to be measured can be hung up through the guide cylinder 13 and the adjusting unit 2. The conical counterbore of the guide cylinder 13 and the conical fastener 112 only need to be coaxial, and do not need to be fixedly connected, and the non-fixed connection mode facilitates replacement of the hanging rope 111.

[0026] In one embodiment, the adjustable connecting rod assembly 22 comprises an adjusting bolt 221, an adjusting nut 222, a connecting rod 223 and an explosive bolt 224, the adjusting bolt 221 passes through the through hole arranged circumferentially on the measuring unit connecting flange plate 21, the explosive bolt 224 passes through the through hole arranged circumferentially on the unmanned aerial vehicle connecting flange plate 23, and the connecting rod 223 is provided with threaded holes at both ends, one end is connected with the adjusting bolt 221, and the other end is connected with the explosive bolt 224. In a preferred embodiment, two adjusting nuts 222 are arranged on each adjusting bolt 221, one is used to fasten the measuring unit connecting flange plate 21 and the adjusting bolt 221, and the other is used to adjust the length of the connecting rod 223. By adjusting the length of the adjusting bolt 221 to increase or shorten the length of the connecting rod 223, the displacement of the hanging rope 111 on the measuring disc 11 is adjusted, so that the thrust line coincides with the center of mass of the unmanned aerial vehicle to be measured.

[0027] In one embodiment, the unmanned aerial vehicle connecting flange plate 23 is provided with a circumferential threaded hole, and the explosion bolt 224 is connected at one end with the connecting rod 223 and at the other end with the unmanned aerial vehicle connecting flange plate 23. The explosion bolt 224 is used to realize the separable connection between the adjusting unit 2 and the unmanned aerial vehicle to be measured.

[0028] The application also discloses a use method of the thrust line eccentricity measuring and adjusting device based on the hanging method, which comprises the following steps: S1, assembling the thrust line eccentricity measuring and adjusting device. The components of the measuring unit 1 and the adjusting unit 2 are assembled respectively, and the hanging rope 111 is accurately threaded through the measuring disc 12, the shell 131 and the front head 132 and fixed on the conical fastener 112.

[0029] S2, fixing the thrust line eccentricity measuring and adjusting device to the unmanned aerial vehicle to be measured. The adjusting device 2 is connected to the unmanned aerial vehicle to be measured through the unmanned aerial vehicle connecting flange plate 232, and the hanging rope 111 is ensured to always keep vertical to the central axis of the measuring disc 11 under the action of the gravity of the unmanned aerial vehicle to be measured, so that the stability and accuracy in the measuring and adjusting process are realized.

[0030] S3, measuring the thrust line eccentricity value. After the unmanned aerial vehicle to be measured is hung, the hanging rope 111 is straightened under the action of the gravity, and at this time, the eccentric distance relative to the lateral and normal of the unmanned aerial vehicle to be measured is displayed on the measuring disc 11. According to the eccentric distance, the distance from the measuring disc 11 to the fixed position of the hanging rope 111 and the distance from the mass center position of the unmanned aerial vehicle to be measured to the fixed position of the hanging rope 111, the distance that the hanging rope 111 needs to move in the lateral and normal directions is calculated.

[0031] S4, adjusting the thrust line eccentricity value to ensure that the hanging rope coincides with the mass center of the unmanned aerial vehicle to be measured. The position of the adjusting nut 222 and the length of the adjusting bolt 221 on the adjusting device 12 are adjusted, the length of the connecting rod 223 is increased or shortened, so that the offset amount of the hanging rope 111 moves towards the calculated target offset amount. Through the adjustment of the adjusting nut 222 and the adjusting bolt 221, the hanging rope 111 finally corresponds to the desired offset amount value on the scale value of the measuring disc 11.

[0032] After the accurate alignment of the thrust line and the mass center position of the unmanned aerial vehicle to be measured is realized, the following steps are further included: S5, replacing the measuring unit 1 in situ with a launch booster; S6, launching the unmanned aerial vehicle to be measured; S7, detonating the explosion bolt 231 to separate the thrust line eccentricity measuring and adjusting device from the unmanned aerial vehicle to be measured.

[0033] The present invention's thrust line eccentricity measurement and adjustment device, based on a hanging method, utilizes a modular design to organically combine thrust line eccentricity measurement and adjustment functions, achieving integrated operation. The device boasts advantages such as high strength, lightweight, easy assembly, high measurement accuracy, and minimal operational error. It is widely applicable to the stability optimization of vertical takeoff and landing (VTOL) drones and the thrust line adjustment requirements for complex mission operations. After eccentricity measurement and adjustment, the device can be quickly disassembled through a modular design and replaced in situ with a launch booster. Explosive bolts are used to separate the booster, enhancing the drone's flight control capabilities and safety performance, providing important technical support for future high-precision trajectory tracking and fixed-point takeoff and landing.

[0034] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0035] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0036] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the above embodiments do not limit the present invention in any form, and any technical solutions obtained by equivalent replacement or equivalent transformation fall within the scope of protection of the present invention.

Claims

1. A thrust line eccentricity measurement and adjustment device based on the hanging method, characterized in that: The invention comprises a measuring unit (1) and an adjusting unit (2), wherein the measuring unit (1) comprises a hanging assembly (11), a measuring disc (12) and a guide cylinder (13), and the adjusting unit (2) comprises an adjustable connecting rod assembly (22); a measuring disc (12) is provided at one end of the guide cylinder (13), and the other end is connected to the adjusting unit (2); one end of the hanging assembly (11) is fixed to the hanging device, and the other end passes through the measuring disc (12) and is fixed in the guide cylinder (13); the measuring disc (12) is used to measure the eccentric distance of the thrust line; one end of the adjusting unit (2) is detachably connected to the guide cylinder (13), and the other end is detachably connected to the unmanned aerial vehicle to be tested; the adjustable connecting rod assembly (22) of the adjusting unit (2) is used to adjust the eccentric distance of the thrust line; the measuring unit (1) can be replaced in situ with a booster for launching the unmanned aerial vehicle to be tested.

2. The device for measuring and adjusting thrust line eccentricity based on the hanging method according to claim 1, characterized in that: One end of the adjustment unit (2) is detachably connected to the guide cylinder (13) via a measuring unit connecting flange (21), and the other end is detachably connected to the drone to be tested via a drone connecting flange (23), and the adjustable connecting rod assembly (22) is located between the measuring unit connecting flange (21) and the drone connecting flange (23).

3. A thrust line eccentricity measurement and adjustment device based on the hanging method according to claim 2, characterized in that: The guide cylinder (13) includes a shell (131) and a front head (132). A conical countersunk hole is provided at the center of the front head (132) for fixing the hanging assembly (11). The front head (132) is provided with threaded holes at even intervals in the circumference for connecting the guide cylinder (13) to the measuring unit connecting flange (21).

4. The device for measuring and adjusting thrust line eccentricity based on the hanging method according to claim 1, characterized in that: The measuring disc (12) is provided with a cross opening, and scale lines are provided on both sides of the cross opening. The lateral and normal eccentric distances are read through the scale lines of the cross opening. The measuring disc (12) is embedded in one end of the guide cylinder (13) to achieve connection.

5. The device for measuring and adjusting thrust line eccentricity based on the hanging method according to claim 3, characterized in that: The hanging assembly (11) includes a hanging rope (111), a conical fastener (112) and a hanging rope lock (113), wherein the conical fastener (112) is a conical platform with an opening at the top and a threaded hole at the bottom, and the conical platform has the same taper as the conical countersunk hole of the front head (132); a hanging rope lock (113) is provided at the end of the hanging rope (111), and the hanging rope lock (113) is provided with a thread connected to the threaded hole at the bottom of the conical fastener (112), and the hanging rope lock (113) also includes a four-petal elastic structure adapted to the inner cavity of the conical platform of the conical fastener (112) for locking the hanging rope (111).

6. The device for measuring and adjusting thrust line eccentricity based on the hanging method according to claim 2, characterized in that: The adjustable connecting rod assembly (22) comprises an adjusting bolt (221), an adjusting nut (222), a connecting rod (223) and an explosive bolt (224), wherein the adjusting bolt (221) passes through a through hole arranged circumferentially on the measuring unit connecting flange (21), and the explosive bolt (224) passes through a through hole arranged circumferentially on the drone connecting flange (23). Threaded holes are arranged at both ends of the connecting rod (223), one end of which is connected to the adjusting bolt (221), and the other end of which is connected to the explosive bolt (224).

7. The device for measuring and adjusting thrust line eccentricity based on the hanging method according to claim 6, characterized in that: Two adjusting nuts (222) are provided on each adjusting bolt (221), one for fastening the measuring unit connecting flange (21) and the adjusting bolt (221), and the other for adjusting the length of the connecting rod (223).

8. The device for measuring and adjusting thrust line eccentricity based on the hanging method according to claim 6, characterized in that: The UAV connection flange (23) is provided with a circumferential threaded hole, and one end of the explosive bolt (224) is connected to the connecting rod (223), and the other end is connected to the UAV connection flange (23).

9. A method for using a thrust line eccentricity measurement and adjustment device based on a hanging method according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1, assemble the thrust line eccentricity measuring and adjusting device; S2, fixing the thrust line eccentricity measuring and adjusting device to the UAV to be tested; S3, measure the eccentricity of the thrust line; S4, adjusting the eccentricity of the thrust line to ensure that the hanging rope coincides with the center of mass of the UAV to be tested.

10. A method for using the thrust line eccentricity measurement and adjustment device based on the hanging method according to any one of claim 9, characterized in that: The following steps are also included: S5, replace the measurement unit in situ with the launch booster; S6, launching the UAV to be tested; S7, detonating the explosive bolt (231) to separate the thrust line eccentricity measuring and adjusting device from the UAV to be tested.

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