A thrust line eccentricity measuring and adjusting device based on the hanging method and a method of using the same

Abstract

This invention discloses a thrust line eccentricity measurement and adjustment device based on a suspension method, comprising a measurement unit and an adjustment unit. The measurement unit includes a suspension assembly, a measuring disk, and a guide cylinder. The adjustment unit includes an adjustable linkage assembly. The measuring disk is mounted at one end of the guide cylinder, and the other end is connected to the adjustment unit. One end of the suspension assembly is fixed to a suspension device, and the other end passes through the measuring disk and is fixed inside the guide cylinder. The measuring disk is used to measure the thrust line eccentricity distance. One end of the adjustment unit is detachably connected to the guide cylinder, and the other end is detachably connected to the UAV under test. The adjustable linkage assembly of the adjustment unit is used to adjust the thrust line eccentricity distance. The measurement unit can be replaced in situ as a booster for launching the UAV under test. This invention aims to overcome the problems of complex operation, insufficient measurement accuracy, and easy displacement of the thrust line during boosting after adjustment in existing thrust line measurement and adjustment methods.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a thrust line eccentricity measurement and adjustment device based on the suspension method and its usage method. Background Technology

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

[0003] Currently, widely researched vertical takeoff and landing (VTOL) technologies include tiltrotor technology and tail-seat VTOL technology. In VTOL technology, the matching relationship between the center of gravity and the thrust line is crucial for stability. If the center of gravity and thrust line are mismatched, the UAV may experience instability during VTOL. To determine the UAV's center of gravity position, thrust line measurement is necessary. Accurate thrust line measurement allows for optimization of the UAV's control system, improving its control precision during VTOL. This is of great significance for achieving high-precision trajectory tracking and pinpoint takeoff and landing.

[0004] Among existing thrust line measurement methods, traditional caliper or tape measure methods are simple and intuitive to operate, but they are not very safe and pose difficulties for measuring conductors at high altitudes or inaccessible locations. Furthermore, traditional caliper or tape measure methods require multiple measurements at multiple locations, followed by manual readings, which introduces a certain degree of random and gross errors. Existing thrust line measurement methods face challenges in optimizing space requirements, operator skill levels, data reading methods, and applicability. Additionally, traditional measuring devices require complete removal after thrust line adjustment before installing the booster device, which is cumbersome and prone to structural displacement during operation, potentially altering the direction of the adjusted thrust line. Summary of the Invention

[0005] This invention discloses a thrust line eccentricity measurement and adjustment device and its usage method based on the suspension method, which aims to overcome the problems of complex operation, insufficient measurement accuracy, and easy displacement of the thrust line during the boost process after adjustment in existing thrust line measurement and adjustment methods.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A thrust line eccentricity measurement and adjustment device based on a suspension method includes a measurement unit and an adjustment unit. The measurement unit includes a suspension assembly, a measuring disk, and a guide cylinder. The adjustment unit includes an adjustable linkage assembly. The measuring disk is mounted at one end of the guide cylinder, and the other end is connected to the adjustment unit. One end of the suspension assembly is fixed to a suspension device, and the other end passes through the measuring disk and is fixed inside the guide cylinder. The measuring disk is used to measure the thrust line eccentricity distance. One end of the adjustment unit is detachably connected to the guide cylinder, and the other end is detachably connected to the UAV under test. The adjustable linkage assembly of the adjustment unit is used to adjust the thrust line eccentricity distance. The measurement unit can be replaced in situ as a booster for launching the UAV under test.

[0007] Furthermore, one end of the adjustment unit is detachably connected to the guide cylinder via a measuring unit connecting flange, and the other end is detachably connected to the drone under test via a drone connecting flange. The adjustable linkage assembly is located between the measuring unit connecting flange and the drone connecting flange.

[0008] Furthermore, the guide cylinder includes a housing and a front end cap. The front end cap has a conical countersunk hole at its center for fixing the hanging assembly. The front end cap has threaded holes evenly spaced around its circumference for connecting the guide cylinder to the measuring unit connecting flange.

[0009] Furthermore, the measuring disk has 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 disk is embedded into one end of the guide cylinder to achieve connection.

[0010] Furthermore, the suspension assembly includes a suspension rope, a tapered fastener, and a suspension rope lock head. The tapered fastener is a tapered platform with an opening at the top and a threaded hole at the bottom. The tapered platform has the same taper as the tapered countersunk hole of the front end cap. The suspension rope is provided with a suspension rope lock head at its end. The suspension rope lock head is threaded and connected to the threaded hole at the bottom of the tapered fastener. The suspension rope lock head also includes a four-lobed elastic structure that fits into the inner cavity of the tapered platform of the tapered fastener for locking the suspension rope.

[0011] Furthermore, the adjustable linkage assembly includes an adjusting bolt, an adjusting nut, a connecting rod, and an explosion bolt. The adjusting bolt passes through a circumferentially arranged through hole in the connecting flange of the measuring unit, and the explosion bolt passes through a circumferentially arranged through hole in the connecting flange of the UAV. The connecting rod has threaded holes at both ends, one end of which is connected to the adjusting bolt, and the other end of which is connected to the explosion bolt.

[0012] Furthermore, each adjusting bolt is provided with two adjusting nuts, one for fastening the measuring unit connecting flange to 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 explosion 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 suspension method, comprising the following steps: S1, Assemble the thrust line eccentricity measurement and adjustment device; S2, fix the thrust line eccentricity measuring and adjusting device to the UAV under test; S3, measures the thrust line eccentricity; S4, adjust the thrust line eccentricity value to ensure that the suspension rope coincides with the center of mass of the UAV under test.

[0015] Furthermore, the method of use also includes the following steps: S5, replace the measurement unit in situ with a launch booster; S6, launch the drone under test; S7, detonating the explosive bolt causes the thrust line eccentricity measurement and adjustment device to separate from the UAV under test.

[0016] The advantages of this invention are as follows: The thrust line eccentricity measurement and adjustment device and its usage method based on the suspension method disclosed in this invention have the advantages of simple operation and reduced cumulative error. Moreover, after the thrust line is adjusted, the guide cylinder can be replaced with the booster in place to reduce operation steps and reduce the possibility of thrust line direction change caused by operation. At the same time, this method can also realize the automatic separation of the booster and the UAV after the UAV is launched, eliminating the influence of the booster on the center of gravity and mass of the UAV during flight, improving the overall measurement accuracy and simplifying the operation process. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the structure of the measuring unit of the present invention; Figure 3 This is a schematic diagram of the measuring unit of the present invention from another direction; Figure 4 This is a schematic diagram of the structure of the adjustment unit of the present invention; Figure 5 This is a schematic diagram of the adjustment unit of the present invention from another direction.

[0018] Meaning of the reference numerals in the diagram: 1-Measuring unit; 11-Hanging assembly; 111-Hanging rope; 112-Conical fastener; 113-Hanging rope lock head; 12-Measuring disc; 13-Guide cylinder; 131-Housing; 132-Front end cap; 2-Adjusting unit; 21-Measuring unit connecting flange; 22-Adjustable connecting rod assembly; 221-Adjusting bolt; 222-Adjusting nut; 223-Connecting rod; 224-Explosion bolt; 23-UAV connecting flange. Detailed Implementation

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

[0020] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the 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] Combination Figures 1 to 5 As shown, this invention discloses a thrust line eccentricity measurement and adjustment device based on the suspension method, including a measurement unit 1 and an adjustment unit 2. The measurement unit 1 includes a suspension assembly 11, a measuring disk 12, and a guide cylinder 13. The adjustment unit 2 includes an adjustable connecting rod assembly 22. The measuring disk 12 is mounted on one end of the guide cylinder 13, and the other end is connected to the adjustment unit 2. One end of the suspension assembly 11 is fixed to the suspension device, and the other end passes through the measuring disk 12 and is fixed inside the guide cylinder 13. The measuring disk 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 under test. The adjustable connecting rod assembly 22 of the adjustment unit 2 is used to adjust the thrust line eccentricity distance. The measurement unit 1 can be replaced in situ as a booster for launching the UAV under test.

[0022] In one embodiment, 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 under test via a drone connecting flange 23. The adjustable connecting rod assembly 22 is located between the measuring unit connecting flange 21 and the drone connecting flange 23. The connection method between the adjustment unit 2 and the measuring unit 1 and the drone under test is not limited to this; any method that facilitates disassembly and separation is acceptable.

[0023] In one embodiment, the guide cylinder 13 includes a housing 131 and a front end cap 132. The front end cap 132 has a conical countersunk hole at its center for fixing the hanging assembly 11. The front end cap 132 has threaded holes evenly spaced around its circumference for connecting the guide cylinder 13 to the measuring unit connecting flange 21. The guide cylinder 13 can be manufactured by secondary machining of the booster housing to precisely control the direction of the steel wire exit. The outer contour dimensions of the front end cap 132 are consistent with the dimensions of the booster, facilitating in-situ replacement of the booster.

[0024] In one embodiment, the measuring disk 12 has a cross-shaped opening with scale lines on both sides. Lateral and normal eccentricity distances are read through these scale lines. The measuring disk 12 is embedded into one end of the guide cylinder 13 for connection. Specifically, the measuring disk 12 forms a conical surface along its thickness direction. An annular conical stop is provided on the side of the housing 131 away from the front end cap 132. The conical surface of the measuring disk 12 is embedded in the annular conical 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 via threads for a fixed connection. The scale line design of the cross-shaped opening of the measuring disk allows for quick and intuitive reading of eccentricity data.

[0025] In one embodiment, the suspension assembly 11 includes a suspension rope 111, a tapered fastener 112, and a suspension rope lock head 113. The tapered fastener 112 is a tapered platform with an opening at the top and a threaded hole at the bottom. The tapered platform has the same taper as the tapered countersunk hole of the front end cap 132. The suspension rope 111 is provided with a suspension rope lock head 113 at its end. The suspension rope lock head 113 is threaded and connected to the threaded hole at the bottom of the tapered fastener 112. The suspension rope lock head 113 also includes a four-lobed elastic structure that is adapted to the inner cavity of the tapered platform of the tapered fastener 112 for locking the suspension rope 111. Specifically, one end of the suspension rope 111 is fixed to the suspension equipment, and the other end passes sequentially through the measuring disc 12, the guide cylinder 13, and the conical fastener 112, and is inserted into the suspension rope lock head 113 with a four-lobed elastic structure. The four-lobed elastic structure has an opening with threads at the bottom, which engage with the threaded hole at the bottom of the conical fastener 112. The conical platform of the conical fastener 112 accommodates the four-lobed elastic structure. After tightening, the inner diameter of the four-lobed elastic structure is smaller than the diameter of the suspension rope 113, thus locking the suspension rope 113. The four-lobed elastic structure ensures that the suspension rope 111 remains stable under high tension. After locking the suspension rope 113, the suspension rope 113 is pulled up, and the conical platform of the conical fastener 112 sinks into the conical countersunk hole at the bottom of the guide cylinder 13. The guide cylinder 13 is connected to the UAV under test through the adjustment unit 2. After suspending and tightening the suspension rope 111, the UAV under test can be lifted. The UAV under test can be lifted by connecting the guide cylinder 13 and the adjustment unit 2. The tapered countersunk hole of the guide cylinder 13 and the tapered fastener 112 only need to be coaxial and do not need to be fixedly connected. The non-fixed connection method makes it convenient to replace the lifting rope 111.

[0026] In one embodiment, the adjustable linkage assembly 22 includes an adjusting bolt 221, an adjusting nut 222, a connecting rod 223, and an expansion bolt 224. The adjusting bolt 221 passes through a circumferentially arranged through hole in the measuring unit connecting flange 21, and the expansion bolt 224 passes through a circumferentially arranged through hole in the UAV connecting flange 23. The connecting rod 223 has threaded holes at both ends, one end of which is connected to the adjusting bolt 221, and the other end of which is connected to the expansion bolt 224. In a preferred embodiment, each adjusting bolt 221 is provided with two adjusting nuts 222, one for fastening the measuring unit connecting flange 21 to the adjusting bolt 221, and the other for adjusting the length of the connecting rod 223. By adjusting the length of the adjusting bolt 221, the length of the connecting rod 223 is increased or decreased, thereby adjusting the displacement of the suspension rope 111 on the measuring disk 11, so that the thrust line coincides with the center of mass of the UAV under test.

[0027] In one embodiment, the UAV connecting flange 23 is provided with a circumferential threaded hole, and one end of the explosion bolt 224 is connected to the connecting rod 223, and the other end is connected to the UAV connecting flange 23. The explosion bolt 224 is used to achieve a detachable connection between the adjustment unit 2 and the UAV under test.

[0028] This invention also discloses a method for using a thrust line eccentricity measurement and adjustment device based on the suspension method, comprising the following steps: S1, Assemble the thrust line eccentricity measurement and adjustment device. Assemble the components of the measuring unit 1 and the adjustment unit 2 respectively, ensuring that the suspension rope 111 passes accurately through the measuring disc 12, the housing 131, and the front end cap 132, and is fixed to the tapered fastener 112.

[0029] S2, fix the thrust line eccentricity measurement and adjustment device to the UAV under test. Connect the adjustment device 2 to the UAV under test through the UAV connection flange 232 to ensure that the suspension rope 111 remains perpendicular to the central axis of the measuring disk 11 under the action of the weight of the UAV under test, thereby achieving stability and accuracy in the measurement and adjustment process.

[0030] S3, Measure the thrust line eccentricity. After suspending the UAV under test, the suspension rope 111 is straightened under the action of gravity. At this time, the eccentricity distances relative to the UAV under test in the lateral and normal directions will be displayed on the measuring disk 11. Based on the eccentricity distances, the distance from the measuring disk 11 to the fixed position of the suspension rope 111, and the distance from the center of mass of the UAV under test to the fixed position of the suspension rope 111, the distances that the suspension rope 111 needs to move in the lateral and normal directions are calculated.

[0031] S4, adjust the thrust line eccentricity value to ensure that the suspension rope coincides with the center of mass of the UAV under test. Adjusting the position of the adjusting nut 222 and the length of the adjusting bolt 221 on the adjusting device 12 can lengthen or shorten the connecting rod 223, thereby moving the offset of the suspension rope 111 towards the calculated target offset. Through adjusting the adjusting nut 222 and the adjusting bolt 221, the suspension rope 111 is ultimately positioned so that the scale value on the measuring dial 11 corresponds to the desired offset value.

[0032] After achieving precise alignment between the thrust line and the center of mass of the UAV under test, the following steps are also included: S5, replace the measurement unit 1 in situ with the launch booster; S6, launch the drone under test; S7, the detonation bolt 231 causes the thrust line eccentricity measurement and adjustment device to separate from the UAV under test.

[0033] This invention discloses a thrust line eccentricity measurement and adjustment device based on a suspension method. Through modular design, it organically combines thrust line eccentricity measurement and adjustment functions, achieving integrated operation. The device boasts advantages such as high strength, lightweight, convenient assembly, high measurement accuracy, and small operational error. It is widely applicable to thrust line adjustment needs in UAV vertical takeoff and landing stability optimization and complex mission operations. After completing eccentricity measurement and adjustment, the modular design allows for rapid disassembly and in-situ replacement with a launch booster. The booster is separated using explosive bolts, enhancing the UAV's flight control capabilities and safety performance, and providing crucial technical support for future high-precision trajectory tracking and pinpoint takeoff and landing.

[0034] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0035] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions 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 one or more embodiments or examples.

[0036] The foregoing has shown and described 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 way, and all technical solutions obtained by equivalent substitution or equivalent transformation fall within the protection scope of the present invention.

Claims

1. A thrust line eccentricity measurement and adjustment device based on the suspension method, characterized in that, The device includes a measuring unit (1) and an adjusting unit (2). The measuring unit (1) includes a hanging assembly (11), a measuring disk (12), and a guide cylinder (13). The adjusting unit (2) includes an adjustable linkage assembly (22). The measuring disk (12) is installed 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 disk (12) and is fixed inside the guide cylinder (13). The measuring disk (12) is used to measure the thrust line eccentricity. One end of the adjusting unit (2) is detachably connected to the guide cylinder (13), and the other end is detachably connected to the UAV under test. The adjustable linkage assembly (22) of the adjusting unit (2) is used to adjust the thrust line eccentricity. The measuring unit (1) can be replaced in situ with a booster for launching the UAV under test. One end of the adjustment unit (2) is detachably connected to the guide cylinder (13) via the measuring unit connecting flange (21), and the other end is detachably connected to the drone under test via the drone connecting flange (23). The adjustable linkage assembly (22) is located between the measuring unit connecting flange (21) and the drone connecting flange (23). The adjustable linkage assembly (22) includes an adjusting bolt (221), an adjusting nut (222), a connecting rod (223), and an explosion bolt (224). The adjusting bolt (221) passes through a circumferentially arranged through hole in the measuring unit connecting flange (21), and the explosion bolt (224) passes through a circumferentially arranged through hole in the UAV connecting flange (23). The connecting rod (223) has threaded holes at both ends, one end of which is connected to the adjusting bolt (221), and the other end of which is connected to the explosion bolt (224).

2. The thrust line eccentricity measurement and adjustment device based on the suspension method according to claim 1, characterized in that, The guide cylinder (13) includes a housing (131) and a front end cap (132). The front end cap (132) has a conical countersunk hole at its center for fixing the hanging assembly (11). The front end cap (132) has threaded holes evenly spaced around its circumference for connecting the guide cylinder (13) to the measuring unit connecting flange (21).

3. The thrust line eccentricity measurement and adjustment device based on the suspension method according to claim 1, characterized in that, The measuring disk (12) has 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 disk (12) is embedded into one end of the guide cylinder (13) to achieve connection.

4. The thrust line eccentricity measurement and adjustment device based on the suspension method according to claim 2, characterized in that, The suspension assembly (11) includes a suspension rope (111), a tapered fastener (112), and a suspension rope lock head (113). The tapered fastener (112) is a tapered platform with an opening at the top and a threaded hole at the bottom. The tapered platform has the same taper as the tapered countersunk hole of the front end cap (132). The suspension rope (111) is provided with a suspension rope lock head (113) at its end. The suspension rope lock head (113) is threaded and connected to the threaded hole at the bottom of the tapered fastener (112). The suspension rope lock head (113) also includes a four-lobed elastic structure that is adapted to the inner cavity of the tapered platform of the tapered fastener (112) for locking the suspension rope (111).

5. The thrust line eccentricity measurement and adjustment device based on the suspension method according to claim 1, characterized in that, Each of the adjusting bolts (221) is provided with two adjusting nuts (222), one for fastening the measuring unit connecting flange (21) to the adjusting bolt (221), and the other for adjusting the length of the connecting rod (223).

6. The thrust line eccentricity measurement and adjustment device based on the suspension method according to claim 1, characterized in that, The UAV connecting flange (23) is provided with a circumferential threaded hole. One end of the explosion bolt (224) is connected to the connecting rod (223), and the other end is connected to the UAV connecting flange (23).

7. A method of using a thrust line eccentricity measurement and adjustment device based on the suspension method according to any one of claims 1-6, characterized in that, Includes the following steps: S1, Assemble the thrust line eccentricity measurement and adjustment device; S2, fix the thrust line eccentricity measuring and adjusting device to the UAV under test; S3, measures the thrust line eccentricity; S4, adjust the thrust line eccentricity value to ensure that the suspension rope coincides with the center of mass of the UAV under test.

8. A method for using the thrust line eccentricity measurement and adjustment device based on the suspension method according to claim 7, characterized in that, It also includes the following steps: S5, replace the measurement unit in situ with a launch booster; S6, launch the drone under test; S7, detonating the explosive bolt (231) causes the thrust line eccentricity measurement and adjustment device to separate from the UAV under test.

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