Modular adaptive vibration reduction separation structure and electric aircraft

Abstract

The application discloses a kind of modular adaptive damping separation structure and electric aircraft, belong to electric aircraft technical field, comprising: electric aircraft connecting plate assembly, electric aircraft connecting plate assembly is used to connect with electric aircraft body;Electric buffer assembly, electric buffer assembly is set below electric aircraft connecting plate assembly, one end of electric buffer assembly is movably connected with electric aircraft connecting plate assembly;Drive assembly, drive assembly is set below electric aircraft connecting plate assembly, drive assembly is connected with one end of electric buffer assembly;Separation assembly, separation assembly is set below electric aircraft connecting plate assembly, separation assembly is spaced apart from electric aircraft connecting plate assembly, separation assembly is movably connected with electric buffer assembly, separation assembly is connected with the execution end of drive assembly.The application solves the problem that impact load is too large, separation adaptability is poor and control precision is insufficient due to the fixed buffering performance of conventional device.

Description

Technical Field

[0001] This invention discloses a modular adaptive vibration reduction and separation structure and an electric aircraft, belonging to the field of electric aircraft technology. Background Technology

[0002] Existing suspended object separation devices for electric aircraft mostly employ passive, mechanically fixed buffer structures. The parameters of their buffer components (such as rubber pads and springs) are fixed after design and manufacturing, making dynamic adjustment impossible. This rigid design results in a lack of effective adaptability when dealing with suspended objects of varying masses, aerodynamic shapes, or deployment requirements. At the moment of separation, the fixed buffer system cannot respond to changes in impact energy, often leading to excessive impact loads being directly transmitted to the aircraft's fuselage connection structure. This can cause structural fatigue damage, loosening of interfaces, or even failure of critical components, seriously threatening flight safety. Furthermore, traditional structures rely entirely on pre-compression mechanical force for connection and separation, lacking intelligent buffering and active control capabilities based on sensor feedback. This makes it difficult to guarantee the reliability and consistency of the separation process, significantly limiting the performance of electric aircraft in multi-mission, multi-payload application scenarios. Summary of the Invention

[0003] The purpose of this invention is to solve the problems of excessive impact load, poor separation adaptability and insufficient control precision caused by the fixed buffer performance of traditional devices, and to propose a modular adaptive vibration reduction separation structure and an electric aircraft.

[0004] The technical solution of the present invention is as follows:

[0005] According to a first aspect of the present invention, a modular adaptive vibration reduction separation structure is provided, comprising:

[0006] Electric aircraft connection plate assembly, used for connection with the electric aircraft body;

[0007] An electric buffer assembly is located below the electric aircraft connecting plate assembly, with one end of the electric buffer assembly being movably connected to the electric aircraft connecting plate assembly.

[0008] The drive assembly is located below the electric aircraft connecting plate assembly and is connected to one end of the electric buffer assembly.

[0009] The separation component is located below the electric aircraft connecting plate assembly, is spaced apart from the electric aircraft connecting plate assembly, is movably connected to the electric buffer assembly, and is connected to the actuator end of the drive assembly. The separation component has a working position that cooperates with the suspended object, and a separation position that separates from the suspended object.

[0010] Furthermore, the modular adaptive vibration reduction separation structure also includes:

[0011] A position sensor is disposed below the electric aircraft connecting plate assembly. The position sensor is connected to at least one of the actuator of the drive assembly and the separation assembly. The position sensor is spaced apart from the electric buffer assembly. The position sensor is used to acquire the position data of the separation assembly.

[0012] Furthermore, the electric buffer assembly includes:

[0013] The buffer plate assembly is movably connected to the electric aircraft connecting plate assembly, and the fixed seat of the drive assembly is connected to the buffer plate assembly.

[0014] Buffer plates are spaced apart from each other and are movably connected to the separation components.

[0015] The electric cylinder, the buffer plate, and the buffer plate assembly are connected by the electric cylinder. The electric cylinder includes multiple electric cylinders, which are arranged circumferentially at intervals along one of the buffer plate assembly and the buffer plate.

[0016] Furthermore, the buffer plate assembly includes: a connecting plate body and a first dovetail column, the first dovetail column being disposed on one side of the connecting plate body and connected to the connecting plate body; the electric aircraft connecting plate assembly includes: an electric aircraft connecting plate body and a first dovetail groove, the electric aircraft connecting plate body being spaced apart from the connecting plate body, the first dovetail groove being disposed on one side of the electric aircraft connecting plate body and connected to the electric aircraft connecting plate body, and the first dovetail groove being slidably connected to the first dovetail column.

[0017] Furthermore, the driving components include:

[0018] The first drive motor has its base connected to the connecting plate body.

[0019] A first drive shaft, the first end of which is connected to the main shaft of a first drive motor;

[0020] The second drive motor is spaced apart from the first drive motor, and the base of the second drive motor is connected to the connecting plate body.

[0021] The second drive shaft has a first end connected to the main shaft of the second drive motor, and the second end of the first drive shaft is connected to the second end of the second drive shaft via a flexible coupling.

[0022] The drive plate is threadedly connected to at least one of the first drive shaft and the second drive shaft. One end of the drive plate is connected to the separation component. The drive plate moves along at least one of the first drive shaft and the second drive shaft, and the drive plate drives the separation component to slide on the buffer plate.

[0023] Furthermore, the separation component includes:

[0024] Separation rod, which is connected to the drive plate;

[0025] The slider consists of two sliders, each slidably connected to a buffer plate and each slidably connected to both ends of a separating rod.

[0026] Furthermore, the separating rod includes:

[0027] The first U-shaped rod has a first sliding space, and the first U-shaped rod slides along the vertical direction of one of the two sliders through the first sliding space;

[0028] The first connecting rod, the first end of the first connecting rod is connected to the first U-shaped rod;

[0029] The second connecting rod is spaced apart from the first U-shaped rod, and the first end of the second connecting rod is connected to the second end of the first connecting rod by a transition arc.

[0030] The third connecting rod has its first end connected to the second end of the second connecting rod by a transition arc. The third connecting rod is set parallel to the first connecting rod and is spaced apart from the first U-shaped rod and the first connecting rod, respectively.

[0031] The second U-shaped rod has a second sliding space. The second U-shaped rod is connected to the second end of the third connecting rod by a transition arc. The second U-shaped rod is spaced apart from the second connecting rod, the first connecting rod, and the first U-shaped rod. The second U-shaped rod slides along the vertical direction of the other of the two sliders through the second sliding space.

[0032] Furthermore, at least one of the two sliders includes:

[0033] A sliding rod, one end of which is slidably connected to a separating rod;

[0034] The slider top plate can be engaged with one end of the separating rod. The first end of the sliding rod is connected to the slider top plate, and the slider top plate is used to limit the stroke of the separating rod.

[0035] The second dovetail column is connected to the second end of the sliding rod. The buffer plate is provided with a second dovetail groove, and the second dovetail column can slide along the second dovetail groove.

[0036] Furthermore, the modular adaptive vibration reduction separation structure also includes:

[0037] The control module is electrically connected to multiple electric cylinders, a first drive motor, and a second drive motor. The control module is used to acquire the position data of the separation component sent by the position sensor, the rotation angle of the first drive motor, and the rotation angle of the second drive motor. Based on the position data of the separation component sent by the position sensor, the rotation angle of the first drive motor, and the rotation angle of the second drive motor, the control module determines the error signal of the first drive motor and the error signal of the second drive motor. Based on the error signal of the first drive motor and the error signal of the second drive motor, the control signal of the first drive motor and the control signal of the second drive motor are determined.

[0038] According to a second aspect of the present invention, an electric aircraft is provided, including a modular adaptive vibration reduction separation structure, wherein the modular adaptive vibration reduction separation structure is the same as the modular adaptive vibration reduction separation structure of the first aspect.

[0039] The beneficial effects of this invention are as follows:

[0040] This invention provides a modular adaptive vibration reduction and separation structure and an electric aircraft. By actively buffering the electric buffer component and linking the drive component, the energy absorption efficiency and impact suppression capability are significantly improved, ensuring smooth and reliable separation of suspended objects. The dual-position design of the separation component enhances the precise control of the connection and separation states. At the same time, the modular architecture improves the system's adaptability and maintainability to different mission requirements, thereby improving the overall performance of the electric aircraft suspension system.

[0041] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0042] Figure 1 This is a structural diagram of a modular adaptive vibration reduction separation structure at a first angle, according to an exemplary embodiment.

[0043] Figure 2 This is a structural diagram of a modular adaptive vibration reduction separation structure from a second angle, according to an exemplary embodiment.

[0044] Figure 3 This is a front view of a modular adaptive vibration reduction separation structure according to an exemplary embodiment.

[0045] Figure 4 This is a structural diagram of a separation rod in a modular adaptive vibration reduction separation structure according to an exemplary embodiment.

[0046] Figure 5 This is a structural diagram of a slider in a modular adaptive vibration reduction separation structure according to an exemplary embodiment. Detailed Implementation

[0047] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] In the description of this invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this 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. Therefore, they should not be construed as limitations on this invention.

[0049] 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.

[0050] Example 1: As Figure 1 , Figure 2 and Figure 3 The diagram illustrates a modular adaptive vibration damping separation structure according to an exemplary embodiment, comprising: an electric aircraft connecting plate assembly 10 for connection to an electric aircraft body; an electric buffer assembly disposed below the electric aircraft connecting plate assembly 10, one end of which is movably connected to the electric aircraft connecting plate assembly 10; a drive assembly 60 disposed below the electric aircraft connecting plate assembly 10, one end of which is connected to the electric buffer assembly; and a separation assembly 40 disposed below the electric aircraft connecting plate assembly 10, spaced apart from the electric aircraft connecting plate assembly 10, movably connected to the electric buffer assembly, and connected to the actuator end of the drive assembly 60. The separation assembly 40 has a working position cooperating with a suspended object and a separation position separating from the suspended object.

[0051] In this embodiment, the electric aircraft connecting plate assembly 10 serves as the basic component connecting to the electric aircraft body, providing a stable installation foundation for the overall structure. One end of the electric buffer assembly is movably connected to the electric aircraft connecting plate assembly 10, allowing for flexible adjustment of buffering performance according to different flight conditions of the electric aircraft. This significantly improves vibration damping adaptability and effectively mitigates the impact of different vibration conditions on the structure and suspended objects. The drive assembly 60 is simultaneously connected to one end of the electric buffer assembly and the execution end of the separation assembly 40, enabling coordinated control of the buffering function of the electric buffer assembly and the position switching function of the separation assembly 40. This precisely drives the separation assembly 40 to switch between its working position (cooperating with the suspended object) and its separation position (separating from the suspended object), ensuring both stability when the suspended object is connected to the structure and reliability when it is separated. The separation assembly 40 and the electric aircraft connecting plate assembly 10 are spaced apart to avoid structural interference during operation, further enhancing the overall structural connection stability. Meanwhile, the whole adopts a modular design. The electric aircraft connection plate assembly 10, electric buffer assembly, drive assembly 60, and separation assembly 40 can be disassembled and installed independently. When adapting to different models of electric aircraft or suspended objects, there is no need to make a lot of modifications to the overall structure, which greatly improves the efficiency of installation and maintenance. The overall compatibility, stability and ease of use of the connection between electric aircraft and suspended objects are optimized.

[0052] Furthermore, the modular adaptive vibration reduction separation structure also includes: a position sensor 70, which 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.

[0053] In this embodiment, the electric aircraft connecting plate assembly 10 provides a stable mounting base for the position sensor 70, ensuring that the position sensor 70 is firmly installed and can accurately act on the target component. The position sensor 70 is connected to at least one of the actuator of the drive assembly 60 and the separation assembly 40, enabling real-time acquisition of the position data of the separation assembly 40. This provides data support for the drive assembly 60 to accurately control the separation assembly 40 to switch between the working position and the separation position in conjunction with the suspended object, effectively avoiding positional 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 spaced apart from the electric buffer assembly, which can prevent the vibration generated by the electric buffer assembly during operation from interfering with the position sensor 70, ensuring the stability and accuracy of position data acquisition. Furthermore, as a new module, the position sensor 70, together with the electric aircraft connecting plate assembly 10, the electric buffer assembly, the drive assembly 60, and the separation assembly 40, can form a more complete modular system. This not only does not destroy the independent disassembly and assembly characteristics of the original structure, but also optimizes the overall function through data feedback, making the structure more intelligent in vibration reduction adaptation and separation control, further improving the safety, controllability, and overall operational stability of the connection between the electric aircraft and the suspended object.

[0054] In one exemplary embodiment, the electric buffer assembly includes: a buffer plate assembly 30, which is movably connected to the electric aircraft connecting plate assembly 10, and a fixed seat of the drive assembly 60 is connected to the buffer plate assembly 30; a buffer plate 20, which is spaced apart from the buffer plate assembly 30 and is movably connected to the separation assembly 40; and an electric cylinder 50, which connects the buffer plate 20 and the buffer plate assembly 30. Multiple electric cylinders 50 are circumferentially spaced along one of the buffer plate assembly 30 and the buffer plate 20.

[0055] In this embodiment, the buffer plate assembly 30 is movably connected to the electric aircraft connecting plate assembly 10, providing a flexible vibration damping adjustment base for the electric buffer assembly, and can also connect to the fixed seat of the drive assembly 60, ensuring the stable installation of the drive assembly 60 and its coordinated operation with the electric buffer assembly. The spaced arrangement between the buffer plate 20 and the buffer plate assembly 30 avoids structural interference during operation. Simultaneously, its movable connection to the separation assembly 40 allows it to adapt to the switching motion of the separation assembly 40 between the working and separation positions, ensuring smooth adjustment of the separation assembly 40's position. Multiple electric cylinders 50 connect 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 of each electric cylinder 50 can be independently adjusted according to different vibration conditions of the electric aircraft, achieving more precise adaptive vibration damping and effectively mitigating the impact of vibrations of different intensities on the suspended object and the overall structure. On the other hand, the circumferential spacing allows the supporting force and buffering force of the electric cylinders 50 to be evenly transmitted, improving the overall load-bearing stability of the electric buffer assembly. Meanwhile, the position sensor 70 and the electric buffer assembly are spaced apart, which can avoid interference to the position sensor 70 when the electric cylinder 50 and other components are working. This ensures that the position sensor 70 accurately obtains the position data of the separation assembly 40, thereby assisting the drive assembly 60 to more accurately control the position of the separation assembly 40. Overall, the structure's vibration damping adaptability, separation accuracy and operational stability are further optimized. In addition, the modular design of each component facilitates disassembly and maintenance, improving ease of use.

[0056] In this embodiment, 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 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 and is connected to the electric aircraft connecting plate body 101. The first dovetail groove 102 is slidably connected to the first dovetail column 302.

[0057] In this embodiment, the connecting plate body 301 of the buffer plate assembly 30 is connected to the first dovetail column 302, and the electric aircraft connecting plate body 101 of the electric aircraft connecting plate assembly 10 is connected to the first dovetail groove 102. The first dovetail column 302 and the first dovetail groove 102 are slidably fitted, which not only achieves flexible assembly and fine-tuning of the buffer plate assembly 30 and the electric aircraft connecting plate assembly 10, but also ensures the stability of the connection by relying on the anti-detachment characteristics of the dovetail structure, preventing loosening under vibration conditions. At the same time, the electric aircraft connecting plate body 101 and the connecting plate body 301 are spaced apart, which can effectively prevent structural interference between the two during relative sliding or buffering actions, without affecting the overall vibration reduction stroke of the electric buffer assembly. Furthermore, the buffer plate assembly... The fixed seat on the drive assembly 60 connected to the 30, in cooperation with the dovetail sliding structure, ensures the accurate installation position of the drive assembly 60, thereby ensuring the accuracy of the coordinated action between the drive assembly 60's actuator and the separation assembly 40. When the buffer plate 20 is connected to the buffer plate assembly 30 through multiple circumferentially spaced electric cylinders 50, the sliding adjustment of the first dovetail column 302 and the first dovetail groove 102 can assist in fine-tuning the relative position of the buffer plate assembly 30 and the buffer plate 20, making the force on the multiple electric cylinders 50 more uniform, improving the accuracy and service life of the electric cylinder 50's buffer adjustment. At the same time, the overall structure continues the modular design, and the ease of disassembly and assembly of the dovetail structure further reduces the maintenance difficulty, comprehensively improving the adaptability, stability and reliability of the structure.

[0058] In one exemplary embodiment, the drive assembly 60 includes: a first drive motor 606, the base of which is connected to the connecting plate body 301; a first drive shaft 601, the first end of which is connected to the main shaft of the first drive motor 606; a second drive motor 604, which is spaced apart from the first drive motor 606, the base of which is connected to the connecting plate body 301; a second drive shaft 603, the first end of which is connected to the main shaft of the second drive motor 604, and the second ends of the first drive shaft 601 and the second ends of the second drive shaft 603 are connected by an elastic coupling 602; and a drive plate 605, which is threadedly connected to at least one of the first drive shaft 601 and the second drive shaft 603, one end of which is connected to the separation assembly 40, and the drive plate 605 moves along at least one of the first drive shaft 601 and the second drive shaft 603, thereby causing the separation assembly 40 to slide on the buffer plate 20.

[0059] In this embodiment, the base of the first drive motor 606 is connected to the connecting plate body 301, and the base of the second drive motor 604 is also connected to the connecting plate body 301. The second drive motor 604 and the first drive motor 606 are spaced apart. The stable connection between the two motors and the connecting plate body 301 provides a sufficient and reliable power foundation for the drive assembly 60. The spaced arrangement also avoids mutual vibration or electromagnetic interference when the two motors are working, improving the stability of power output. The first end of the first drive shaft 601 is connected to the main shaft of the first drive motor 606, and the first end of the second drive shaft 603 is connected to the main shaft of the second drive motor 604. The second end of the first drive shaft 601 and the second end of the second drive shaft 603 are connected by a flexible coupling 602. The flexible coupling 602 can buffer the drive overload. The vibration transmission between the two drive shafts during the process can compensate for the coaxiality error between the first drive shaft 601 and the second drive shaft 603, reduce the wear of the drive shaft and the motor spindle, and extend the service life of the drive assembly 60. The drive plate 605 is threadedly connected to at least one of the first drive shaft 601 and the second drive shaft 603. The high precision characteristics of the threaded transmission can ensure that the drive plate 605 can achieve smooth and accurate linear movement along the drive shaft. One end of the drive plate 605 is connected to the separation assembly 40, which can synchronously drive the separation assembly 40 to slide smoothly on the buffer plate 20. This effectively ensures the accuracy and response speed of the separation assembly 40 in switching between the working position with the suspended object and the separation position with the suspended object, further improving the overall operational reliability and functional synergy of the modular adaptive vibration reduction separation structure.

[0060] Furthermore, the separation assembly 40 includes: a separation rod 401 connected to the drive plate 605; and two sliders 402, each slidably connected to a buffer plate 20 and to both ends of the separation rod 401. The two sliders 402 of the separation assembly 40 are slidably connected to the buffer plate 20 and to both ends of the separation rod 401. This dual-slider design provides precise guidance for the movement of the separation rod 401, preventing deviation or jamming during movement, and also distributes the force borne by the separation rod 401, enhancing the overall structural strength of the separation assembly 40. This ensures smoother and more precise movement of the separation assembly 40 when the separation rod 401 drives the separation assembly 40 to switch between the working position and the separation position with the suspended object, further improving the reliability of the entire structure for connecting and separating the suspended object.

[0061] Furthermore, such as Figure 4As shown, the separating rod 401 includes: a first U-shaped rod 403, which has a first sliding space and slides along the vertical direction of one of the two sliders 402 through the first sliding space; a first connecting rod 404, the first end of which is connected to the first U-shaped rod 403; a second connecting rod 405, which is spaced apart from the first U-shaped rod 403 and the first end of which is connected to the second end of the first connecting rod 404 by a transition arc; and a third connecting rod 406, the first end of which is connected to the second connecting rod 405. The second end is connected 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 respectively. The second U-shaped rod 407 has a second sliding space. The second end of 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 respectively. The second U-shaped rod 407 slides along the vertical direction of the other of the two sliders 402 through the second sliding space.

[0062] In this embodiment, the first U-shaped rod 403 of the separating rod 401 can slide vertically along one of the two sliders 402 through its first sliding space, and the second U-shaped rod 407 can slide vertically along the other of the two sliders 402 through its second sliding space. This vertical sliding cooperation between the double U-shaped plate and the sliders 402 allows the separating rod 401 to flexibly adjust its position in the vertical direction, effectively adapting to vibration fluctuations or suspension installation errors during the flight of the electric aircraft, and avoiding local stress concentration caused by hard connections. At the same time, in conjunction with the sliding connection between the sliders 402 and the buffer plate 20, the separating rod 401 can move stably in the horizontal direction with the drive assembly 60. Furthermore, the first connecting rod 404 connected to the first U-shaped rod 403, the second connecting rod 405 spaced apart from the first U-shaped rod 403, and the third connecting rod 406 parallel to and spaced apart from the first connecting rod 404 are all present. The second U-shaped rod 407 is connected to the second end of the third connecting rod 406 via a transition arc. The transition arc design effectively disperses the force on the separating rod 401 during operation, significantly reduces stress concentration, and significantly improves the overall structural strength and durability of the separating rod 401, extending its service life. In addition, the separating rod 401 is connected to the drive plate 605. When the first drive motor 606 and the second drive motor 604 of the drive assembly 60 drive the first drive shaft 601 and the second drive shaft 603 to rotate respectively, they can drive the drive plate 605, which is threadedly connected to the drive shaft, to move, thereby driving the separating rod 401 to move synchronously. This ensures that the separating assembly 40 can switch precisely and stably between the working position that cooperates with the suspended object and the separation position that separates from the suspended object, further ensuring the stability of the cooperation between the suspended object and the structure and the reliability of separation. At the same time, the modular design of each component also facilitates disassembly and maintenance, improving the overall structural adaptability.

[0063] In this embodiment, as Figure 5 As shown, at least one of the two sliders 402 includes: a sliding rod 409, which is slidably connected to one end of the separating rod 401; a slider top plate 408, which can cooperate with one end of the separating rod 401, and the first end of the sliding rod 409 is connected to the slider top plate 408, which is used to limit the stroke of the separating rod 401; and a second dovetail column 410, which is connected to the second end of the sliding rod 409, and a second dovetail groove 201 is provided on the buffer plate 20, along which the second dovetail column 410 can slide. Overall, the slider 402 structure works in conjunction with the separation rod 401 and the second dovetail groove 201 of the buffer plate 20, and together with the drive assembly 60 to drive the drive plate 605 and thus drive the movement of the separation assembly 40, making the sliding of the separation assembly 40 on the buffer plate 20 smoother, the stroke more controllable, and the position switching more precise. This further enhances the working reliability and separation accuracy of the entire modular adaptive vibration reduction separation structure, and ensures the stability of the suspension object's engagement and separation process.

[0064] In one exemplary embodiment, the modular adaptive vibration reduction separation structure further includes a control module, which is electrically connected to a plurality of electric cylinders 50, a first drive motor 606, and a second drive motor 604, respectively. The control module is used to acquire 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, respectively. 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 signal of the first drive motor 606 and the control signal of the second drive motor 604 are determined.

[0065] The control module establishes electrical connections with multiple electric cylinders 50, the first drive motor 606, and the second drive motor 604. On the one hand, it can receive the position data of the separation component 40 sent by the position sensor 70 in real time, accurately grasp the actual position of the separation component 40, i.e. whether it is in the working position of cooperating with the suspended object or close to the separation position. On the other hand, it can simultaneously collect the rotation angle of the first drive motor 606 and the rotation angle of the second drive motor 604 to obtain the actual output state of the two drive motors.

[0066] The control module then compares the actual position data of the separation component 40 with the theoretical position data calculated based on the rotation angles of the first drive motor 606 and the second drive motor 604. At the same time, it combines the deviation between the actual rotation angles of the two motors and the preset target rotation angle, and determines the error signals of the first drive motor 606 and the second drive motor 604 through data calculation, reflecting the degree of deviation between the actual rotation of the motor and the target rotation.

[0067] Finally, based on these two error signals, the control module performs logical operations according to the preset control algorithm, generates and outputs control signals for the first drive motor 606 and the second drive motor 604, thereby adjusting the speed, direction or start / stop state of the first drive motor 606 and the second drive motor 604. At the same time, it can coordinately control the extension and retraction of multiple electric cylinders 50 to adapt to different vibration reduction requirements.

[0068] The specific content of the above control algorithm includes:

[0069] To achieve synchronous closed-loop control of multi-screw drive motors, this invention employs a sensor-feedback-based closed-loop control algorithm to coordinate the control of each drive motor. The control system sends signals from the sensors to the controller, calculates the error by comparing the actual value with the expected value, and dynamically adjusts the drive commands of the drive motors according to the magnitude of the error, thereby keeping all execution components synchronized. Specifically, when the controller receives the target command for the separation rod to move, it will simultaneously drive the first drive motor 606 and the second drive motor 604 to move. Ideally, the two motors should execute exactly the same number of steps. However, in actual operation, the controller samples the position information of the movement in each control cycle and calculates the position error and synchronization error. The position error is shown in formula (1):

[0070] (1)

[0071] in: This indicates the deviation between the current average position of the separation rod 401 and the target position. This indicates the target position, the ideal position that the separator 401 needs to move to. These represent the actual displacements driven by the left and right motors, respectively. This error is used to guide the overall motion towards the target.

[0072] To derive the control law, we first establish the relationship between the drive motor step distance and the displacement x. The drive motor step angle is... The pitch of the lead screw and other transmission mechanisms is Then the motor will rotate. The linear displacement corresponding to the angle is shown in formula (2):

[0073] (2)

[0074] For stepper drives, the number of motor steps Satisfying the angle Therefore, the corresponding linear displacement is shown in formula (3):

[0075] (3)

[0076] Let the linear displacement corresponding to each step be... , The step angle of the drive motor represents the angle of rotation per step. .

[0077] In closed-loop control, the controller calculates and adjusts the stepping commands for the two motors based on the aforementioned errors. Synchronization correction then eliminates the synchronization error based on this. Let the correction steps be... , The synchronization correction coefficient should be selected with an appropriate value as needed. This is for synchronization error. The actual output step count commands of the two motors during this period are given by formulas (4) and (5):

[0078] (4)

[0079] (5)

[0080] in: N 1 represents the stepping command for the first drive motor 606. N 2 is the stepping command for the second drive motor 604, Δ N For basic step instructions, based on position error e pos Calculations show that Δ N c The number of correction steps is used to compensate for synchronization errors.

[0081] Expanding, we get:

[0082] (6)

[0083] (7)

[0084] in: K s Synchronization correction coefficient, adjustable parameter. x 1 This represents the actual displacement of the first drive motor 606. x 2 This represents the actual displacement of the second drive motor 604.

[0085] The above control can be further refined using PID regulation, according to... The speed difference between the two motors is dynamically adjusted to achieve a smooth and fast synchronization effect. The control signal is calculated as shown in formula (8).

[0086] (8)

[0087] in: As a control signal, it is the drive command output to the drive motor. For positional error, This is the proportionality coefficient. This is the integral gain coefficient. The differential gain coefficient, proportional coefficient, integral gain coefficient, and differential gain coefficient are obtained from the drive motor model.

[0088] The mechanism has two sensors that detect the rotational motion of the motor, therefore:

[0089] (9)

[0090] in This is the error signal for the first drive motor 606. This is the error signal for the second drive motor 604. This refers to the desired location (target location). This refers to the actual position of the first drive motor 606. This refers to the actual position of the second drive motor 604.

[0091] Corresponding control signals:

[0092] (10)

[0093] (11)

[0094] in: This is the control signal for the first drive motor 606. This is the control signal for the second drive motor 604. These are the error signals for the first drive motor 606 and the second drive motor 604, respectively.

[0095] The advantages of this design are as follows: the control module, through multi-dimensional data acquisition, avoids control blind spots caused by single data feedback, significantly improving the control accuracy of the first drive motor 606 and the second drive motor 604. It can correct the rotational errors of the two motors caused by mechanical wear, load fluctuations, or changes in flight conditions in real time, ensuring that when the drive plate 605 drives the separation component 40 to slide on the buffer plate 20, it can accurately stop at the preset working position or separation position, effectively reducing the instability of the suspension or separation failure caused by position deviation; at the same time, the electrical connection between the control module and multiple electric cylinders 50 realizes deep coordination between the vibration reduction function and the separation function. Similarly, when the separation component 40 adjusts its position, the control module can simultaneously optimize the buffer parameters of multiple electric cylinders 50 to avoid the interference of vibration on the separation accuracy during the separation process. In addition, the closed-loop control method based on the error signal to dynamically generate control signals enables the first drive motor 606 and the second drive motor 604 to have adaptive correction capabilities. Even under complex working conditions such as turbulence and airflow disturbance of electric aircraft, the stability and reliability of the separation component 40's operation can be guaranteed, further enhancing the adaptability of the entire modular adaptive vibration reduction separation structure to different flight scenarios and ensuring the safety, accuracy and stability of the suspension engagement and separation process in all aspects.

[0096] Example 2: An electric aircraft according to an exemplary embodiment is shown, including a modular adaptive vibration reduction separation structure, which is the modular adaptive vibration reduction separation structure of Example 1.

[0097] In this embodiment, by integrating the modular adaptive vibration reduction and separation structure of Embodiment 1, the dovetail sliding connection of the electric buffer assembly, in conjunction with multiple circumferential electric cylinders 50, can dynamically adjust the buffer stiffness according to the flight conditions of the electric aircraft, effectively reducing the transmission of vibration to the electric aircraft body and suspension, and avoiding component damage or load failure caused by vibration. The dual motors of the drive assembly 60, in conjunction with the flexible coupling 602 and the error correction of the control module, can precisely control the drive plate 605 to drive the separation assembly 40 to move. Combined with the real-time position feedback of the position sensor 70, the switching accuracy of the separation assembly 40 between the working position and the separation position is ensured, avoiding loose connection of the suspension or separation jamming, and ensuring the safety of the electric aircraft mission. The slider 402 of the separation assembly 40 cooperates with the second dovetail column 410 and the second dovetail groove 201, which has both guiding and anti-detachment functions. The top plate 408 of the slider limits the stroke of the separation rod 401, further preventing structural interference and improving the stability of the separation action. The overall modular design allows the vibration damping and separation structure to be independently assembled and disassembled, eliminating the need to modify the electric aircraft itself when adapting to different types of suspended objects, thus reducing adaptation costs and maintenance difficulty. Finally, the integrated control module enables the vibration damping and separation functions to work together, reducing the complexity of the electric aircraft control system and improving the overall ease of operation and intelligence.

[0098] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. It can be applied to various fields suitable for the present invention. Other modifications can be readily made by those skilled in the art. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and examples shown and described herein.

Claims

1. A modular adaptive vibration mitigation decoupling structure, characterized by, The utility model relates to an electric airplane connecting plate assembly (10) for connecting with an electric airplane body, an electric buffer assembly arranged below the electric airplane connecting plate assembly (10), one end of the electric buffer assembly being movably connected with the electric airplane connecting plate assembly (10), a drive assembly (60) arranged below the electric airplane connecting plate assembly (10), the drive assembly (60) being connected with one end of the electric buffer assembly, a separation assembly (40) arranged below the electric airplane connecting plate assembly (10), the separation assembly (40) being arranged apart from the electric airplane connecting plate assembly (10), the separation assembly (40) being movably connected with the electric buffer assembly, the separation assembly (40) being connected with an execution end of the drive assembly (60), the separation assembly (40) having a working position matched with a suspended object, and the separation assembly (40) having a separation position separated from the suspended object, wherein the modular adaptive damping and separation structure further comprises a position sensor (70) arranged below the electric airplane connecting plate assembly (10), the position sensor (70) being connected with at least one of the execution end of the drive assembly (60) and the separation assembly (40), the position sensor (70) being arranged apart from the electric buffer assembly, the position sensor (70) being used to acquire position data of the separation assembly (40), the electric buffer assembly comprising a buffer plate assembly (30) movably connected with the electric airplane connecting plate assembly (10), a fixing seat of the drive assembly (60) being connected with the buffer plate assembly (30), a buffer plate (20) arranged apart from the buffer plate assembly (30), the buffer plate (20) being movably connected with the separation assembly (40), and an electric cylinder (50) connecting the buffer plate (20) with the buffer plate assembly (30), the electric cylinder (50) comprising a plurality of electric cylinders (50) arranged apart from each other along one of the buffer plate assembly (30) and the buffer plate (20) in a circumferential direction. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The buffer plate assembly (30) comprises a connecting plate body (301) and a first dovetail column (302), the first dovetail column (302) is arranged on one side of the connecting plate body (301), and the first dovetail column (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 (102), the electric aircraft connecting plate body (101) is arranged in a spaced manner with the connecting plate body (301), the first dovetail groove (102) is arranged on one side of the electric aircraft connecting plate body (101), and the first dovetail groove (102) is connected with the electric aircraft connecting plate body (101); and the first dovetail groove (102) is in sliding connection with the first dovetail column (302); The driving assembly (60) comprises: A first driving motor (606), a base of the first driving motor (606) is connected with the connecting plate body (301); A first driving shaft (601), a first end of the first driving shaft (601) is connected with a main shaft of the first driving motor (606); A second driving motor (604), the second driving motor (604) is arranged in a spaced manner with the first driving motor (606), and a base of the second driving motor (604) is connected with the connecting plate body (301); A second driving shaft (603), a first end of the second driving shaft (603) is connected with a main shaft of the second driving motor (604), and a second end of the first driving shaft (601) is connected with a second end of the second driving shaft (603) through an elastic coupling (602); A driving plate (605), the driving plate (605) is 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) is connected with the separation assembly (40), the driving plate (605) moves along at least one of the first driving shaft (601) and the second driving shaft (603), and the driving plate (605) drives the separation assembly (40) to slide on the buffer plate (20); The separation assembly (40) comprises: A separation rod (401), the separation rod (401) is connected with the driving plate (605); Two sliding blocks (402), the two sliding blocks (402) are respectively connected in a sliding manner with the buffer plate (20), and the two sliding blocks (402) are respectively connected in a sliding manner with two ends of the separation rod (401).

2. The modular adaptive vibration mitigation decoupling structure of claim 1, wherein, The separation rod (401) comprises: A first U-shaped rod (403), the first U-shaped rod (403) has a first sliding space, and the first U-shaped rod (403) slides along a vertical direction of one of the two sliding blocks (402) through the first sliding space; A first connecting rod (404), a first end of the first connecting rod (404) is connected with the first U-shaped rod (403); A second connecting rod (405) is arranged in parallel with the first U-shaped rod (403) and the first connecting rod (404), and a first end of the second connecting rod (405) is connected to a second end of the first connecting rod (404) through a transition arc. A third connecting rod (406) is arranged in parallel with the first connecting rod (404), and a first end of the third connecting rod (406) is connected to a second end of the second connecting rod (405) through a transition arc. A second U-shaped rod (407) is arranged in parallel with the second connecting rod (405), the first connecting rod (404) and the first U-shaped rod (403), and the second U-shaped rod (407) is connected to a second end of the third connecting rod (406) through a transition arc.

3. The modular adaptive vibration damping decoupling structure of claim 2, wherein, At least one of the two sliders (402) comprises: A sliding rod (409) is slidably connected to one end of the separation rod (401). A slider top plate (408) is arranged to cooperate with one end of the separation rod (401), a first end of the sliding rod (409) is connected to the slider top plate (408), and the slider top plate (408) is used to limit the stroke of the separation rod (401). A second dovetail column (410) is connected to a second end of the sliding rod (409), and a second dovetail groove (201) is arranged on the buffer plate (20), and the second dovetail column (410) can slide along the second dovetail groove (201).

4. The modular adaptive vibration damping decoupling structure of claim 3, wherein, The modular adaptive damping and separation structure further comprises: A control module is electrically connected to the plurality of electric cylinders (50), the first driving motor (606) and the second driving motor (604), respectively, and is used to acquire position data of the separation assembly (40) sent by the position sensor (70), a rotation angle of the first driving motor (606) and a rotation angle of the second driving motor (604), determine error signals of the first driving motor (606) and 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 control signals of the first driving motor (606) and the second driving motor (604) based on the error signals of the first driving motor (606) and the second driving motor (604).

5. An electric aircraft comprising a modular adaptive vibration damping separation structure, characterized in that, The modular adaptive vibration mitigation decoupling structure is the modular adaptive vibration mitigation decoupling structure of any one of claims 1-4.

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