Modularized self-adaptive vibration reduction separation structure and electric aircraft

Abstract

The invention discloses a modular self-adaptive vibration reduction separation structure and an electric aircraft, and belongs to the technical field of electric aircrafts, and the modular self-adaptive vibration reduction separation structure comprises an electric aircraft connecting plate assembly used for being connected with an electric aircraft body; the electric buffering assembly is arranged below the electric aircraft connecting plate assembly, and one end of the electric buffering assembly is movably connected with the electric aircraft connecting plate assembly; the driving assembly is arranged below the electric aircraft connecting plate assembly, and the driving assembly is connected with one end of the electric buffering assembly; and the separating assembly is arranged below the electric aircraft connecting plate assembly, the separating assembly and the electric aircraft connecting plate assembly are arranged in a spaced mode, the separating assembly is movably connected with the electric buffering assembly, and the separating assembly is connected with the execution end of the driving assembly. According to the invention, the problems of overlarge impact load, poor separation adaptability and insufficient control precision caused by fixed buffer performance of a traditional device are solved.

Description

TECHNICAL FIELD

[0001] The application discloses a modular adaptive damping separation structure and an electric aircraft, and belongs to the technical field of electric aircrafts. BACKGROUND

[0002] The existing electric aircraft suspension separation device mostly adopts a passive mechanical fixed buffering structure, parameters of a buffering element (such as a rubber pad and a spring) of which are fixed after design and manufacturing, and cannot be dynamically adjusted. The rigid design causes the buffering structure to lack effective adaptive capacity when facing suspensions with different masses, different aerodynamic shapes or different release requirements. At the separation moment, the fixed buffering system cannot respond to the change of impact energy, and often causes excessive impact load to be directly transmitted to the body connection structure of the electric aircraft, which may cause structural fatigue damage, interface loosening and even failure of key components, and seriously threatens flight safety. In addition, the traditional structure completely relies on pre-pressed mechanical force to realize connection and separation, lacks intelligent buffering and active control capacity based on sensor feedback, and makes it difficult to guarantee the reliability and consistency of the separation process, which greatly limits the efficiency of the electric aircraft in multi-task and multi-load application scenarios. SUMMARY

[0003] The application aims to solve the problems of excessive impact load, poor separation adaptability and insufficient control precision caused by the fixed buffering performance of the traditional device, and provides a modular adaptive damping separation structure and an electric aircraft.

[0004] The technical scheme of the application is as follows: According to a first aspect of the embodiment of the application, a modular adaptive damping separation structure is provided, comprising: An electric aircraft connecting plate assembly is used to be connected with the body of the electric aircraft; An electric buffering assembly is arranged below the electric aircraft connecting plate assembly, one end of the electric buffering assembly is movably connected with the electric aircraft connecting plate assembly; A driving assembly is arranged below the electric aircraft connecting plate assembly, and the driving assembly is connected with one end of the electric buffering assembly; A separation assembly is arranged below the electric aircraft connecting plate assembly, the separation assembly is arranged at intervals with the electric aircraft connecting plate assembly, the separation assembly is movably connected with the electric buffering assembly, the separation assembly is connected with the execution end of the driving assembly, the separation assembly has a working position matched with the suspension, and the separation assembly has a separation position separated from the suspension.

[0005] Further, the modular adaptive damping separation structure further comprises: A position sensor is arranged below the electric aircraft connecting plate assembly, the position sensor is connected with at least one of the actuating end of the driving assembly and the separation assembly, the position sensor is arranged apart from the electric buffer assembly, and the position sensor is used to acquire position data of the separation assembly.

[0006] Further, the electric buffer assembly comprises: A buffer plate assembly is movably connected with the electric aircraft connecting plate assembly, and the fixed seat of the driving assembly is connected with the buffer plate assembly. A buffer plate is arranged apart from the buffer plate assembly, and the buffer plate is movably connected with the separation assembly. The buffer plate is connected with the buffer plate assembly through an electric cylinder, and the electric cylinder comprises a plurality of electric cylinders, which are arranged apart from each other along one of the buffer plate assembly and the buffer plate.

[0007] Further, the buffer plate assembly comprises a connecting plate body and a first dovetail column body arranged on one side of the connecting plate body and connected with the connecting plate body, and the electric aircraft connecting plate assembly comprises an electric aircraft connecting plate body arranged apart from the connecting plate body and a first dovetail groove body arranged on one side of the electric aircraft connecting plate body and connected with the electric aircraft connecting plate body, and the first dovetail groove body is slidably connected with the first dovetail column body.

[0008] Further, the driving assembly comprises: A first driving motor, and a motor base of the first driving motor is connected with the connecting plate body. A first driving shaft, and a first end of the first driving shaft is connected with a main shaft of the first driving motor. A second driving motor, and a motor base of the second driving motor is connected with the connecting plate body. A second driving shaft, and a first end of the second driving shaft is connected with a main shaft of the second driving motor, and a second end of the first driving shaft is connected with a second end of the second driving shaft through an elastic coupling. A driving plate, and the driving plate is threadedly connected with at least one of the first driving shaft and the second driving shaft, one end of the driving plate is connected with the separation assembly, the driving plate moves along at least one of the first driving shaft and the second driving shaft, and the driving plate drives the separation assembly to slide on the buffer plate.

[0009] Further, the separation assembly comprises: A separation rod, and the separation rod is connected with the driving plate. Two sliders, and the two sliders are respectively slidably connected with the buffer plate and slidably connected with two ends of the separation rod.

[0010] Further, the separation rod comprises: The first U-shaped rod has a first sliding space, and the first U-shaped rod slides along a vertical direction of one of the two sliders through the first sliding space. The first connecting rod has a first end connected with the first U-shaped rod. The second connecting rod is spaced apart from the first U-shaped rod, and a first end of the second connecting rod is connected with a second end of the first connecting rod through a transition arc. The third connecting rod has a first end connected with a second end of the second connecting rod through a transition arc, and the third connecting rod is parallel to the first connecting rod and is spaced apart from the first U-shaped rod and the first connecting rod. The second U-shaped rod has a second sliding space, and the second U-shaped rod is connected with the second end of the third connecting rod through a transition arc, and the second U-shaped rod is spaced apart from the second connecting rod, the first connecting rod and the first U-shaped rod, and the second U-shaped rod slides along a vertical direction of the other of the two sliders through the second sliding space.

[0011] Further, at least one of the two sliders comprises: The sliding rod is slidably connected with one end of the separation rod. The slider top plate is matched with one end of the separation rod, the first end of the sliding rod is connected with the slider top plate, and the slider top plate is used for limiting the stroke of the separation rod. The second dovetail column body is connected with the second end of the sliding rod, the second dovetail groove body is arranged on the buffer plate, and the second dovetail column body can slide along the second dovetail groove body.

[0012] Further, the modular adaptive damping and separation structure further comprises: The control module is electrically connected with the plurality of electric cylinders, the first driving motor and the second driving motor, respectively, and is used for acquiring position data of the separation assembly, a rotation angle of the first driving motor and a rotation angle of the second driving motor sent by the position sensor, respectively, determining an error signal of the first driving motor and an error signal of the second driving motor based on the position data of the separation assembly, the rotation angle of the first driving motor and the rotation angle of the second driving motor sent by the position sensor, and determining a control signal of the first driving motor and a control signal of the second driving motor based on the error signal of the first driving motor and the error signal of the second driving motor.

[0013] According to the second aspect of the embodiment of the present application, an electric aircraft is provided, comprising the modular adaptive damping and separation structure, which is the modular adaptive damping and separation structure of the first aspect.

[0014] The present application has the following advantages: The application provides a modular adaptive damping separation structure and an electric aircraft, through active buffering of an electric buffering assembly and linkage execution of a driving assembly, energy absorption efficiency and impact suppression capability are significantly improved, and stable and reliable separation of a suspended object is ensured; double-position design of a separation assembly enhances precise control of connection and separation states, meanwhile, modular architecture improves adaptability and maintainability of the system to different task requirements, and overall comprehensive performance of a suspension system of the electric aircraft is improved.

[0015] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and are not limiting to the application. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a structural diagram of a modular adaptive damping separation structure according to an exemplary embodiment.

[0017] Figure 2 is a structural diagram of a modular adaptive damping separation structure according to an exemplary embodiment.

[0018] Figure 3 is a front view of a modular adaptive damping separation structure according to an exemplary embodiment.

[0019] Figure 4 is a structural diagram of a separation rod in a modular adaptive damping separation structure according to an exemplary embodiment.

[0020] Figure 5 is a structural diagram of a slider in a modular adaptive damping separation structure according to an exemplary embodiment. DETAILED DESCRIPTION

[0021] The technical solutions of the application will be described clearly and completely below with reference to the drawings. Obviously, the described embodiments are part of the embodiments of the application, rather than all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the application.

[0022] In the description of the application, it should be noted that the terms “center”, “upper”, “lower”, “left”, “right”, “vertical”, “horizontal”, “inner”, “outer” and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application.

[0023] In the description of the application, it should be noted that unless otherwise expressly specified and limited, the terms "mounting", "connection", "connecting" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection; can be mechanical connection, or electrical connection; can be directly connected, or indirectly connected through intermediate medium, or internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0024] Embodiment one: as shown in Figure 1 , Figure 2 and Figure 3 , it is a kind of modular adaptive damping separation structure according to an exemplary embodiment, comprising: electric aircraft connecting plate assembly 10, electric aircraft connecting plate assembly 10 is used to be connected with electric aircraft body;Electric buffer assembly, electric buffer assembly is arranged below electric aircraft connecting plate assembly 10, one end of electric buffer assembly is movably connected with electric aircraft connecting plate assembly 10;Drive assembly 60, drive assembly 60 is arranged below electric aircraft connecting plate assembly 10, drive assembly 60 is connected with one end of electric buffer assembly;Separation assembly 40, separation assembly 40 is arranged below electric aircraft connecting plate assembly 10, separation assembly 40 is spaced apart from electric aircraft connecting plate assembly 10, separation assembly 40 is movably connected with electric buffer assembly, separation assembly 40 is connected with the execution end of drive assembly 60, separation assembly 40 has the working position matched with the suspension, and separation assembly 40 has the separation position separated from the suspension.

[0025] The electric aircraft connecting plate assembly 10 is used as a basic component connected to the body of the electric aircraft, and provides a stable mounting base for the overall structure. One end of the electric buffer assembly is movably connected to the electric aircraft connecting plate assembly 10, and the buffer performance can be flexibly adjusted according to different flight conditions of the electric aircraft, which significantly improves the vibration adaptation and effectively alleviates the influence of different vibration conditions on the structure and the suspended object. The driving assembly 60 is connected to one end of the electric buffer assembly and the execution end of the separation assembly 40, which can realize the cooperative control of the buffer function of the electric buffer assembly and the position switching function of the separation assembly 40, accurately drive the separation assembly 40 to switch between the working position matched with the suspended object and the separation position separated from the suspended object, and ensure the stability when the suspended object is connected with the structure and the reliability when the suspended object is separated. The separation assembly 40 is arranged apart from the electric aircraft connecting plate assembly 10, which can avoid structural interference between the separation assembly 40 and the electric aircraft connecting plate assembly 10 during operation, and further enhance the connection stability of the overall structure. At the same time, the overall structure is designed in a modular manner, and the electric aircraft connecting plate assembly 10, the electric buffer assembly, the driving assembly 60 and the separation assembly 40 can be independently disassembled, which greatly improves the installation and maintenance efficiency without the need for large-scale modification of the overall structure when adapting to different models of electric aircraft or suspended objects, and optimizes the adaptability, stability and use convenience of the connection between the electric aircraft and the suspended object.

[0026] Further, the modular adaptive vibration reduction and separation structure further comprises a position sensor 70, the position sensor 70 is arranged below the electric aircraft connecting plate assembly 10, the position sensor 70 is connected to at least one of the execution end of the driving assembly 60 and the separation assembly 40, and the position sensor 70 is arranged apart from the electric buffer assembly, and the position sensor 70 is used to obtain the position data of the separation assembly 40.

[0027] With the embodiment, the electric aircraft connecting plate assembly 10 provides a stable lower mounting base for the position sensor 70, ensuring that the position sensor 70 is securely mounted and can accurately act on the target component; the position sensor 70 is connected with at least one of the execution end of the driving assembly 60 and the separation assembly 40, and can obtain position data of the separation assembly 40 in real time, providing data support for the driving assembly 60 to accurately control the separation assembly 40 to switch between the working position matched with the suspension and the separation position, effectively avoiding position deviation of the separation assembly 40, and further improving the accuracy and reliability of the separation action; at the same time, the position sensor 70 is arranged in a spaced manner with the electric buffer assembly, which can avoid interference of vibration generated by the electric buffer assembly during operation on the position sensor 70, and ensure the stability and accuracy of position data acquisition; and the position sensor 70 as a newly added module can form a more perfect modular system with the electric aircraft connecting plate assembly 10, the electric buffer assembly, the driving assembly 60 and the separation assembly 40, which not only does not destroy the independent disassembly characteristics of the original structure, but also optimizes the overall function through data feedback, so that the structure is more intelligent in vibration reduction adaptation and separation control, and further improves the safety, controllability and overall operation stability of the electric aircraft and the suspension connection.

[0028] In one example embodiment, the electric buffer assembly comprises: a buffer plate assembly 30, the buffer plate assembly 30 is movably connected with the electric aircraft connecting plate assembly 10, and the fixed seat of the driving assembly 60 is connected with the buffer plate assembly 30; a buffer plate 20, the buffer plate 20 is arranged in a spaced manner with the buffer plate assembly 30, and the buffer plate 20 is movably connected with the separation assembly 40; and an electric cylinder 50, the buffer plate 20 and the buffer plate assembly 30 are connected through the electric cylinder 50, and the electric cylinder 50 comprises a plurality of electric cylinders 50, which are arranged in a spaced manner along one of the buffer plate assembly 30 and the buffer plate 20.

[0029] The buffer plate assembly 30 is not only movably connected with the electric aircraft connecting plate assembly 10 to provide a flexible damping adjustment basis for the electric buffer assembly, but also can be connected with the fixed seat of the driving assembly 60 to ensure that the driving assembly 60 is stably installed and cooperates with the electric buffer assembly. The buffer plate 20 is spaced apart from the buffer plate assembly 30 to avoid structural interference during operation, and is movably connected with the separation assembly 40 to adapt to the switching action of the separation assembly 40 between the working position and the separation position, thereby ensuring the smoothness of the position adjustment of the separation assembly 40. The plurality of electric cylinders 50 are connected with the buffer plate assembly 30 and the buffer plate 20 and are spaced apart circumferentially along the buffer plate assembly 30 or the buffer plate 20. On the one hand, the extension and retraction amount of each electric cylinder 50 can be independently adjusted according to different vibration working conditions of the electric aircraft to achieve more accurate self-adaptive damping, effectively alleviate the influence of different intensity vibrations on the suspended object and the overall structure, and on the other hand, the circumferential spacing distribution can make the support force and the buffer force of the electric cylinder 50 be uniformly transmitted to improve the overall load-bearing stability of the electric buffer assembly. Meanwhile, the position sensor 70 is spaced apart from the electric buffer assembly to avoid interference of the electric cylinder 50 and other components during operation on the position sensor 70, thereby ensuring that the position sensor 70 accurately obtains the position data of the separation assembly 40, and further assisting the driving assembly 60 to more accurately control the position of the separation assembly 40. The overall further optimizes the damping adaptability, separation accuracy and operation stability of the structure, and the modular design of each component facilitates disassembly and maintenance, thereby improving the use convenience.

[0030] In the embodiment, the buffer plate assembly 30 comprises a connecting plate body 301 and a first dovetail column body 302, the first dovetail column body 302 is arranged on one side of the connecting plate body 301, and the first dovetail column body 302 is connected with the connecting plate body 301. The electric aircraft connecting plate assembly 10 comprises an electric aircraft connecting plate body 101 and a first dovetail groove body 102, the electric aircraft connecting plate body 101 is spaced apart from the connecting plate body 301, the first dovetail groove body 102 is arranged on one side of the electric aircraft connecting plate body 101, and the first dovetail groove body 102 is connected with the electric aircraft connecting plate body 101. The first dovetail groove body 102 is slidably connected with the first dovetail column body 302.

[0031] With the embodiment, the connecting plate body 301 of the buffer plate assembly 30 is connected with the first dovetail column body 302, the electric aircraft connecting plate assembly 10 is connected with the first dovetail groove body 102, and the first dovetail column body 302 and the first dovetail groove body 102 are in sliding fit, which not only realizes flexible assembly and position fine adjustment of the buffer plate assembly 30 and the electric aircraft connecting plate assembly 10, but also ensures the stability of the connection of the two by relying on the anti-dropping feature of the dovetail structure to avoid loosening under vibration conditions; at the same time, the electric aircraft connecting plate body 101 and the connecting plate body 301 are arranged in a spaced manner, which can effectively avoid structural interference between the two in relative sliding or buffering action, and does not affect the damping stroke of the electric buffer assembly as a whole; in addition, the fixed seat of the buffer plate assembly 30 connecting the driving assembly 60 can ensure the precise installation position of the driving assembly 60 through cooperation with the dovetail sliding structure, thereby ensuring the cooperation precision of the driving assembly 60 execution end and the separation assembly 40; and when the buffer plate 20 is connected with the buffer plate assembly 30 through the plurality of circumferentially spaced electric cylinders 50, the sliding adjustment of the first dovetail column body 302 and the first dovetail groove body 102 can assist in fine adjustment of the relative position of the buffer plate assembly 30 and the buffer plate 20, so that the stress of the plurality of electric cylinders 50 is more uniform, the precision and service life of the electric cylinder 50 buffering adjustment are improved, the overall structure continues the modular design, and the disassembly convenience of the dovetail structure further reduces the maintenance difficulty, and the adaptability, stability and use reliability of the structure are comprehensively improved.

[0032] In one example embodiment, the driving assembly 60 includes: a first driving motor 606, a base of the first driving motor 606 being connected with the connecting plate body 301; a first driving shaft 601, a first end of the first driving shaft 601 being connected with a main shaft of the first driving motor 606; a second driving motor 604, the second driving motor 604 being arranged in a spaced manner with the first driving motor 606, a base of the second driving motor 604 being connected with the connecting plate body 301; a second driving shaft 603, a first end of the second driving shaft 603 being connected with a main shaft of the second driving motor 604, a second end of the first driving shaft 601 being connected with a second end of the second driving shaft 603 through an elastic coupling 602; a driving plate 605, the driving plate 605 being threadedly connected with at least one of the first driving shaft 601 and the second driving shaft 603, one end of the driving plate 605 being connected with the separation assembly 40, the driving plate 605 moving along at least one of the first driving shaft 601 and the second driving shaft 603, and the driving plate 605 driving the separation assembly 40 to slide on the buffer plate 20.

[0033] With the embodiment, the base of the first driving motor 606 is connected with the connecting plate body 301, the base of the second driving motor 604 is also connected with the connecting plate body 301, and the second driving motor 604 is arranged at intervals from the first driving motor 606. The stable connection of the double motors with the connecting plate body 301 can provide sufficient and reliable power basis for the driving assembly 60. The interval arrangement can also avoid vibration or electromagnetic interference between the two motors during operation, thereby improving the stability of power output. The first end of the first driving shaft 601 is connected with the main shaft of the first driving motor 606, the first end of the second driving shaft 603 is connected with the main shaft of the second driving motor 604, and the second end of the first driving shaft 601 is connected with the second end of the second driving shaft 603 through the elastic coupling 602. The elastic coupling 602 can not only buffer the vibration transmission between the two driving shafts during driving, but also compensate for the coaxiality error between the first driving shaft 601 and the second driving shaft 603, thereby reducing the wear of the driving shaft and the main shaft of the motor and prolonging the service life of the driving assembly 60. The driving plate 605 is threadedly connected with at least one of the first driving shaft 601 and the second driving shaft 603. The high-precision characteristics of the threaded transmission can ensure that the driving plate 605 moves smoothly and accurately along the driving shaft. One end of the driving plate 605 is connected with the separation assembly 40, which can drive the separation assembly 40 to slide smoothly on the buffer plate 20, effectively guaranteeing the accuracy and response speed of the separation assembly 40 in switching between the working position matched with the suspended object and the separation position separated from the suspended object, and further improving the overall operation reliability and functional synergy of the modular adaptive damping and separation structure.

[0034] Further, the separation assembly 40 comprises a separation rod 401 connected with the driving plate 605, and two sliding blocks 402 connected with the buffer plate 20 and the two ends of the separation rod 401, respectively. The two sliding blocks 402 of the separation assembly 40 are connected with the buffer plate 20 and the two ends of the separation rod 401, respectively. The double sliding block cooperation design can provide accurate guidance for the movement of the separation rod 401, avoid deviation or jamming of the separation rod 401 during movement, disperse the force borne by the separation rod 401, enhance the overall structural strength of the separation assembly 40, ensure smoother movement and more accurate position of the separation assembly 40 when driven by the separation rod 401 to switch between the working position matched with the suspended object and the separation position, and further improve the reliability of the entire structure in connecting and separating the suspended object.

[0035] Further, as shown in Figure 4As shown, the separation rod 401 comprises: a first U-shaped rod 403 having a first sliding space, the first U-shaped rod 403 sliding along the vertical direction of one of the two sliders 402 through the first sliding space; a first connecting rod 404, a first end of the first connecting rod 404 being connected with the first U-shaped rod 403; a second connecting rod 405, the second connecting rod 405 being spaced apart from the first U-shaped rod 403, a first end of the second connecting rod 405 being connected with a second end of the first connecting rod 404 through a transition arc; a third connecting rod 406, a first end of the third connecting rod 406 being connected with a second end of the second connecting rod 405 through a transition arc, the third connecting rod 406 being parallel to the first connecting rod 404, the third connecting rod 406 being spaced apart from the first U-shaped rod 403 and the first connecting rod 404 respectively; and a second U-shaped rod 407 having a second sliding space, the second U-shaped rod 407 being connected with a second end of the third connecting rod 406 through a transition arc, the second U-shaped rod 407 being spaced apart from the second connecting rod 405, the first connecting rod 404 and the first U-shaped rod 403 respectively, the second U-shaped rod 407 sliding along the vertical direction of the other of the two sliders 402 through the second sliding space.

[0036] With the embodiment, the first U-shaped rod 403 of the separation rod 401 can slide vertically along one of the two sliding blocks 402 through its first sliding space, and the second U-shaped rod 407 can slide vertically along the other of the two sliding blocks 402 through its second sliding space. The vertical sliding cooperation of the double U-shaped plate and the sliding block 402 can make the separation rod 401 flexibly adjust the position in the vertical direction, effectively adapt to the vibration fluctuation in the flight process of the electric aircraft or the installation error of the suspension, avoid local stress concentration caused by hard connection, and stably move the separation rod 401 in the horizontal direction with the driving of the driving assembly 60 in cooperation with the sliding connection of the sliding block 402 and the buffer plate 20. The first U-shaped rod 403 is connected with the first connecting rod 404, the second connecting rod 405 arranged at intervals with the first U-shaped rod 403, the third connecting rod 406 arranged at intervals in parallel with the first connecting rod 404, and the second U-shaped rod 407 connected with the second end of the third connecting rod 406 through a transition arc. The transition arc design can effectively disperse the stress of the separation rod 401 during work, greatly reduce the stress concentration phenomenon, significantly improve the overall structural strength and durability of the separation rod 401, and prolong the service life. In addition, the separation rod 401 is connected with the driving plate 605. When the first driving motor 606 and the second driving motor 604 of the driving assembly 60 respectively drive the first driving shaft 601 and the second driving shaft 603 to rotate, the driving plate 605 connected with the driving shafts in a threaded manner can be moved, thereby driving the separation rod 401 to move synchronously. This can ensure that the separation assembly 40 accurately and stably switches between the working position matched with the suspension and the separation position separated from the suspension, further guarantees the stability of the suspension and the structure cooperation and the reliability of the separation, and the modular design of each component also facilitates disassembly, maintenance and improvement of the overall structural adaptability.

[0037] In the embodiment, as shown in Figure 5 At least one of the two sliding blocks 402 includes a sliding rod 409 connected with one end of the separation rod 401, a sliding block top plate 408 matched with one end of the separation rod 401, a first end of the sliding rod 409 connected with the sliding block top plate 408, and the sliding block top plate 408 used for limiting the stroke of the separation rod 401, a second dovetail column body 410 connected with a second end of the sliding rod 409, and a second dovetail groove body 201 provided on the buffer plate 20 and along which the second dovetail column body 410 can slide. Overall, the sliding block 402 structure cooperates with the separation rod 401 and the second dovetail groove body 201 of the buffer plate 20, drives the driving plate 605 and then drives the movement of the separation assembly 40 in cooperation with the driving assembly 60, so that the sliding of the separation assembly 40 on the buffer plate 20 is more stable, the stroke is more controllable, and the position switching is more accurate, further enhancing the working reliability and separation precision of the entire modular self-adaptive damping and separation structure, and guaranteeing the stability of the suspension cooperation and separation process.

[0038] In an example embodiment, the modular adaptive damping separation structure further comprises a control module electrically connected with the plurality of electric cylinders 50, the first driving motor 606 and the second driving motor 604 respectively, the control module being configured to acquire the position data of the separation assembly 40 sent by the position sensor 70, the rotation angle of the first driving motor 606 and the rotation angle of the second driving motor 604 respectively, determine the error signal of the first driving motor 606 and the error signal of the second driving motor 604 based on the position data of the separation assembly 40 sent by the position sensor 70, the rotation angle of the first driving motor 606 and the rotation angle of the second driving motor 604, and determine the control signal of the first driving motor 606 and the control signal of the second driving motor 604 based on the error signal of the first driving motor 606 and the error signal of the second driving motor 604.

[0039] The control module is electrically connected with the plurality of electric cylinders 50, the first driving motor 606 and the second driving motor 604 respectively, which can receive the position data of the separation assembly 40 sent by the position sensor 70 in real time, accurately grasp the actual position of the separation assembly 40, i.e., whether it is in the working position cooperating with the suspended object or close to the separation position, and synchronously collect the rotation angle of the first driving motor 606 and the rotation angle of the second driving motor 604 to obtain the actual output state of the two driving motors.

[0040] The control module then compares the actual position data of the separation assembly 40 with the theoretical position data calculated based on the rotation angles of the first driving motor 606 and the second driving motor 604, and combines the deviation between the actual rotation angles of the two motors and the preset target rotation angles to determine the error signal of the first driving motor 606 and the error signal of the second driving motor 604 respectively through data operation, reflecting the deviation degree between the actual rotation and the target rotation of the motors.

[0041] Finally, the control module generates and outputs the control signal of the first driving motor 606 and the control signal of the second driving motor 604 based on the two error signals according to the preset control algorithm, so as to adjust the rotation speed, rotation direction or start-stop state of the first driving motor 606 and the second driving motor 604, and simultaneously cooperatively control the extension amount of the plurality of electric cylinders 50 to adapt to different damping requirements.

[0042] The specific content of the control algorithm includes: To realize the synchronous closed-loop control of the multi-screw driving motor, the closed-loop control algorithm based on sensor feedback is adopted to coordinate the control of each driving motor. The control system sends the signals from the sensor to the controller, calculates the error by comparing the actual value with the expected value, and dynamically adjusts the driving instructions of the driving motor according to the error size, so that each execution component remains synchronized and consistent. Specifically, when the controller receives the target instruction of the separation rod movement, the first driving motor 606 and the second driving motor 604 are simultaneously driven to move. In the ideal case, the two motors should execute the same number of steps. However, in actual operation, the controller samples the position information of the movement in each control period, calculates the position error and the synchronization error. The position error is shown in formula (1): (1) Wherein: represents the deviation of the current average position of the separation rod 401 from the target position, represents the target position, the ideal position to which the separation rod 401 needs to move. Wherein are the actual displacements of the left and right motor drives, respectively, and the error is used to guide the overall movement towards the target.

[0043] To derive the control law, the relationship between the driving motor step distance and the displacement x is established. The driving motor step angle is , the screw pitch of the transmission mechanism such as the lead screw is . Then the linear displacement corresponding to the rotation of the motor by angle is shown in formula (2): (2) For step driving, the motor step number satisfies , so the corresponding linear displacement is shown in formula (3): (3) Let the linear displacement corresponding to each step be , the step angle of the driving motor, which represents the angle of rotation per step. Then .

[0044] In the closed-loop control, the controller adjusts the step command of the two motors according to the above error calculation. The synchronization correction eliminates the synchronization error on this basis. Let the correction step number , be the synchronization correction coefficient, and select an appropriate size according to the need, be the synchronization error. The actual output step number commands of the two motors in this period are formula (4) and formula (5): (4) (5) Wherein: N 1 is the step command of the first drive motor 606, N 2 is the step command of the second drive motor 604, Δ N is the basic step command, based on the position error e pos is calculated, Δ N c is the correction step number, used to compensate for synchronization error.

[0045] Unfolded: (6) (7) Wherein: K s Synchronization correction coefficient, adjustable parameter. x 1 is the actual displacement of the first drive motor 606, x 2 is the actual displacement of the second drive motor 604.

[0046] The above control can be further refined by PID regulation, according to The size of the dynamic adjustment of the speed difference between the two motors to obtain smooth and fast synchronization effect, the control signal calculation as shown in formula (8).

[0047] (8) Wherein: is the control signal, the drive command output to the drive motor. is the position error, is the proportional coefficient, is the integral gain coefficient, is the differential gain coefficient, the proportional coefficient, integral gain coefficient and differential gain coefficient are obtained by the type of drive motor.

[0048] The mechanism has two sensors to detect the rotational movement of the motor, then: (9) Wherein is the error signal of the first drive motor 606, is the error signal of the second drive motor 604, is the desired position (target position), is the actual position of the first drive motor 606, is the actual position of the second drive motor 604.

[0049] The corresponding control signal: (10) (11) wherein: is a control signal of the first driving motor 606, is a control signal of the second driving motor 604. are error signals of the first driving motor 606 and the second driving motor 604, respectively.

[0050] The design has the advantages that: the control module avoids the control blind area caused by single data feedback through multi-dimensional data collection, greatly improves the control accuracy of the first driving motor 606 and the second driving motor 604, can correct the rotation error of the two motors caused by mechanical wear, load fluctuation or flight condition change in real time, ensures that the driving plate 605 can accurately stop at the preset working position or separation position when driving the separation assembly 40 to slide on the buffer plate 20, effectively reduces the unstable cooperation or separation failure of the suspended object caused by position deviation; at the same time, the electrical connection of the control module and the plurality of electric cylinders 50 realizes the deep cooperation of the damping function and the separation function, when the separation assembly 40 adjusts the position, the control module can optimize the buffer parameters of the plurality of electric cylinders 50 synchronously, avoids the interference of vibration on the separation accuracy during the separation process; in addition, the closed-loop control mode of dynamically generating the control signal based on the error signal makes the first driving motor 606 and the second driving motor 604 have self-adaptive correction ability, even in the complex working conditions such as the electric aircraft shaking, air flow disturbance, etc., the stability and reliability of the separation assembly 40 can be guaranteed, further enhances the adaptability of the entire modular adaptive damping and separation structure to different flight scenes, and comprehensively ensures the safety, accuracy and stability of the suspended object cooperation and separation process.

[0051] Embodiment two: an electric aircraft according to an example embodiment, comprising a modular adaptive damping and separation structure, the modular adaptive damping and separation structure is the modular adaptive damping and separation structure of embodiment one.

[0052] By integrating the modular adaptive damping and separation structure of embodiment one, the dovetail sliding connection of the electric buffer assembly cooperates with multiple circumferential electric cylinders 50, which can dynamically adjust the buffer stiffness according to the flight working condition of the electric aircraft, effectively weaken the transmission of vibration to the body and suspension of the electric aircraft, and avoid component damage or load failure caused by vibration. The error correction of the double-motor driving assembly 60 cooperates with the elastic coupling 602 and the control module, which can accurately control the driving plate 605 to move the separation assembly 40, combined with the real-time position feedback of the position sensor 70, to ensure the switching accuracy of the separation assembly 40 between the working position and the separation position, avoid the loosening or separation jamming of the suspension, and ensure the safety of the electric aircraft task execution. The slider 402 of the separation assembly 40 cooperates with the second dovetail column body 410 and the second dovetail groove body 201, which has the functions of guiding and preventing falling off, and the slider top plate 408 limits the stroke of the separation rod 401, further preventing structural interference and improving the stability of the separation action. The overall modular design makes the damping and separation structure can be independently disassembled, without the need to modify the electric aircraft body when adapting to different types of suspension, reducing the adaptation cost and maintenance difficulty. Finally, the integrated control of the control module realizes the cooperation of damping and separation functions, reduces the complexity of the electric aircraft control system, and improves the overall operation convenience and intelligent level.

[0053] While embodiments of the application have been disclosed in connection with the illustrative embodiments shown and described above, it is not intended to limit or restrict the scope of the application to the configurations precisely as shown and described. Rather, various modifications are possible in light of the above disclosure within the scope of the appended claims and equivalent thereto.

Claims

1. A modular adaptive vibration reduction and separation structure, characterized in that, include: Electric aircraft connecting plate assembly (10), which is used to connect to the electric aircraft body; An electric buffer assembly is disposed below the electric aircraft connecting plate assembly (10), and one end of the electric buffer assembly is movably connected to the electric aircraft connecting plate assembly (10). A drive assembly (60) is disposed below the electric aircraft connecting plate assembly (10) and is connected to one end of the electric buffer assembly; A separation component (40) is disposed below the electric aircraft connecting plate assembly (10), the separation component (40) is spaced apart from the electric aircraft connecting plate assembly (10), the separation component (40) is movably connected to the electric buffer assembly, the separation component (40) is connected to the actuating end of the drive assembly (60), the separation component (40) has a working position that cooperates with the suspended object, and the separation component (40) has a separation position that separates from the suspended object.

2. The modular adaptive vibration reduction and separation structure according to claim 1, characterized in that, The modular adaptive vibration reduction and separation structure also includes: A position sensor (70) is disposed below the electric aircraft connecting plate assembly (10). The position sensor (70) is connected to at least one of the actuator of the drive assembly (60) and the separation assembly (40). The position sensor (70) is spaced apart from the electric buffer assembly. The position sensor (70) is used to acquire the position data of the separation assembly (40).

3. The modular adaptive vibration reduction and separation structure according to claim 2, characterized in that, The electric buffer assembly includes: A buffer plate assembly (30) is movably connected to the electric aircraft connecting plate assembly (10), and the fixed seat of the drive assembly (60) is connected to the buffer plate assembly (30). A buffer plate (20) is provided at a distance from the buffer plate assembly (30), and the buffer plate (20) is movably connected to the separation assembly (40); An electric cylinder (50) is provided, the buffer plate (20) and the buffer plate assembly (30) are connected by the electric cylinder (50), the electric cylinder (50) includes a plurality of them, and the plurality of electric cylinders (50) are arranged circumferentially at intervals along one of the buffer plate assembly (30) and the buffer plate (20).

4. The modular adaptive vibration reduction and separation structure according to claim 3, characterized in that, The buffer plate assembly (30) includes: a connecting plate body (301) and a first dovetail column (302), the first dovetail column (302) is disposed on one side of the connecting plate body (301), and the first dovetail column (302) is connected to the connecting plate body (301). The electric aircraft connecting plate assembly (10) includes: an electric aircraft connecting plate body (101) and a first dovetail groove (102), the electric aircraft connecting plate body (101) and the connecting plate body (301) are spaced apart, the first dovetail groove (102) is disposed on one side of the electric aircraft connecting plate body (101), the first dovetail groove (102) is connected to the electric aircraft connecting plate body (101), and the first dovetail groove (102) is slidably connected to the first dovetail column (302).

5. The modular adaptive vibration reduction and separation structure according to claim 4, characterized in that, The drive component (60) includes: The first drive motor (606) has its base connected to the connecting plate body (301); A first drive shaft (601) is connected at its first end to the main shaft of the first drive motor (606). The second drive motor (604) is spaced apart from the first drive motor (606), and the base of the second drive motor (604) is connected to the connecting plate body (301). The second drive shaft (603) has its first end connected to the main shaft of the second drive motor (604), and the second end of the first drive shaft (601) is connected to the second end of the second drive shaft (603) via a flexible coupling (602). A drive plate (605) is threadedly connected to at least one of the first drive shaft (601) and the second drive shaft (603). One end of the drive plate (605) is connected to the separation assembly (40). The drive plate (605) moves along at least one of the first drive shaft (601) and the second drive shaft (603). The drive plate (605) drives the separation assembly (40) to slide on the buffer plate (20).

6. The modular adaptive vibration reduction and separation structure according to claim 5, characterized in that, The separation component (40) includes: Separating rod (401), the separating rod (401) is connected to the driving plate (605); The slider (402) includes two sliders, which are slidably connected to the buffer plate (20) and slidably connected to both ends of the separating rod (401).

7. The modular adaptive vibration reduction and separation structure according to claim 6, characterized in that, The separating rod (401) includes: A first U-shaped rod (403) has a first sliding space, and the first U-shaped rod (403) slides along the vertical direction of one of the two sliders (402) through the first sliding space; The first connecting rod (404) has its first end connected to the first U-shaped rod (403); The second connecting rod (405) is spaced apart from the first U-shaped rod (403), and the first end of the second connecting rod (405) is connected to the second end of the first connecting rod (404) by a transition arc. The third connecting rod (406) has its first end connected to the second end of the second connecting rod (405) by a transition arc. The third connecting rod (406) is arranged parallel to the first connecting rod (404). The third connecting rod (406) is spaced apart from the first U-shaped rod (403) and the first connecting rod (404). The second U-shaped rod (407) has a second sliding space. The second U-shaped rod (407) is connected to the second end of the third connecting rod (406) by a transition arc. The second U-shaped rod (407) is spaced apart from the second connecting rod (405), the first connecting rod (404), and the first U-shaped rod (403). The second U-shaped rod (407) slides along the vertical direction of the other of the two sliders (402) through the second sliding space.

8. The modular adaptive vibration reduction and separation structure according to claim 6, characterized in that, At least one of the two sliders (402) includes: A sliding rod (409) is slidably connected to one end of the separating rod (401); A slider top plate (408) is provided, which can cooperate with one end of the separating rod (401). The first end of the sliding rod (409) is connected to the slider top plate (408). The slider top plate (408) is used to limit the stroke of the separating rod (401). The second dovetail column (410) is connected to the second end of the sliding rod (409). The buffer plate (20) is provided with a second dovetail groove (201). The second dovetail column (410) can slide along the second dovetail groove (201).

9. The modular adaptive vibration reduction and separation structure according to claim 8, characterized in that, The modular adaptive vibration reduction and separation structure also includes: The control module is electrically connected to the plurality of electric cylinders (50), the first drive motor (606), and the second drive motor (604). The control module is used to acquire the position data of the separation component (40) sent by the position sensor (70), the rotation angle of the first drive motor (606), and the rotation angle of the second drive motor (604). Based on the position data of the separation component (40) sent by the position sensor (70), the rotation angle of the first drive motor (606), and the rotation angle of the second drive motor (604), the control module determines the error signal of the first drive motor (606) and the error signal of the second drive motor (604). Based on the error signal of the first drive motor (606) and the error signal of the second drive motor (604), the control module determines the control signal of the first drive motor (606) and the control signal of the second drive motor (604).

10. An electric aircraft, comprising a modular adaptive vibration reduction separation structure, characterized in that, The modular adaptive vibration reduction separation structure is the modular adaptive vibration reduction separation structure according to any one of claims 1-9.

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