Multi-directional pushing force detection device of unmanned aerial vehicle tilting mechanism

Abstract

This invention relates to the field of unmanned aerial vehicle (UAV) inspection technology, and particularly to a multi-directional thrust detection device for the tilting mechanism of a UAV. The device includes a detection platform, with a set of adjustable detection mechanisms located at the top corners of the platform. A compatible limiting mechanism is connected to the top of each of the adjustable detection mechanisms. This invention reduces obstruction to the downwash airflow generated by the UAV wings through a ring-shaped support ring and several sets of guide channels at the bottom of the guide cavity. Simultaneously, with the descent of the lifting plate, the lifting channels are exposed to the bottom of the UAV, allowing the downwash airflow to exit through exhaust channels on the inner wall of the lifting channels, preventing changes in aerodynamic characteristics. This not only makes the inspection results more accurate, but also allows for adjustment of the spatial position and angle of the four clamps on the support ring, enabling the device to fix different UAV models and improving its compatibility.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) testing technology, and specifically relates to a multi-directional thrust detection device for the tilting mechanism of a UAV. Background Technology

[0002] Compared to fixed-wing UAVs, tiltrotor UAVs have an added rotating power nacelle and supporting transmission, control, and reinforcement structures, making them more flexible. The flight stability, maneuverability, durability, and adaptability to various environmental conditions of UAVs require testing equipment to conduct comprehensive performance evaluations and tests.

[0003] A search revealed that Chinese Patent Publication No. CN118907431B, published on March 21, 2025, discloses a drone testing system. This system includes a testing device and a processing module. The testing device includes a testing platform with a torque testing module mounted on it. This torque testing module is used to test the torque of the drone during turning. A tension testing module is also mounted on the torque testing module, used to test the vertical and tilting tension of the drone. This invention, by incorporating a tension sensor, an angle sensor, a winding reel, a pull rope, and a second motor, allows the drone to tilt during flight, pulling the pull rope. The tension sensor measures the vertical tension of the rope, and the angle sensor detects the tilt angle. The system can then calculate the tension of the rope and its horizontal component. This allows for comprehensive and accurate testing of the tension parameters of the drone during tilted flight.

[0004] However, the device still has the following drawbacks: Existing drone testing equipment typically fixes the drone to a test platform. However, when the drone starts up, the downwash airflow and wingtip vortex of its wings are obstructed and interfered with by the test platform at the bottom, which causes significant changes in its aerodynamic characteristics, resulting in inaccurate test results. Summary of the Invention

[0005] To address the above problems, the present invention provides a multi-directional thrust detection device for a drone tilting mechanism, including a detection platform. A set of slide grooves is provided at the top corner of the detection platform, and each set of slide grooves is provided with an adjustable detection mechanism for detecting the multi-directional thrust of the tilting mechanism. The top of several sets of adjustable detection mechanisms is connected to a compatible limiting mechanism; the top of the detection platform is provided with a multi-directional airflow mechanism; the top of the detection platform is provided with a lifting groove; the lifting groove is connected to one end of several sets of sliding grooves; a lifting plate is provided inside the lifting groove; an exhaust duct is provided on one inner wall of the lifting groove. The compatible limiting mechanism includes a support ring for supporting the UAV and reducing obstruction to the downwash airflow; the support ring has a guide cavity; the top of the guide cavity has a sliding groove, and the bottom has several sets of guiding grooves arranged in a ring array; four sets of support blocks are slidably connected in the sliding groove; the top of each set of support blocks is provided with an electric turntable; the top of each set of electric turntables is drivenly connected to a clamp for holding the landing gear.

[0006] Furthermore, the adjustable detection mechanism includes a translation plate; one end of the translation plate is movably inserted through the lifting groove; a ball joint seat is provided at the top of the end of the translation plate near the lifting groove; an electric push rod is ball-jointed to the ball joint seat; a force sensor is drivenly connected to the output end of the electric push rod; a connecting rod is connected to the end of the force sensor away from the electric push rod.

[0007] Furthermore, the end of the connecting rod away from the force sensor is ball-jointed to a ball-joint seat two; the end of the ball-joint seat two away from the connecting rod is connected to the bottom of the compatible limiting mechanism; a set of damping springs is provided on each of the two side walls of the force sensor; the end of each set of damping springs away from the force sensor is connected to the top of the translation plate.

[0008] Furthermore, an internal gear ring is provided on the inner wall of the guide cavity on the side away from the central axis of the support ring; a set of guide motors is provided in each set of support blocks; the output end of each set of guide motors extends into the guide cavity and is connected to a set of guide gears; each set of guide gears is meshed with the internal gear ring.

[0009] Furthermore, the multi-directional airflow mechanism includes a rotating ring; the top of the rotating ring is provided with four sets of connecting seats arranged in a ring array; each set of connecting seats is connected to a set of support rods; a set of limiting pins is movably inserted through one side wall of each set of connecting seats; each set of limiting pins is movably inserted through a corresponding set of support rods.

[0010] Furthermore, two sets of adjustment covers are symmetrically connected to the top of the four sets of support rods; the two sets of adjustment covers are movably snapped together; a stable airflow assembly is provided between the two sets of adjustment covers; two sets of guide grooves are symmetrically opened on the opposite side wall of the two sets of adjustment covers; the top view cross section of each set of guide grooves is a semi-circular ring.

[0011] Furthermore, each set of guide grooves is provided with a set of guide plates; the top view cross section of each set of guide plates is a semi-circular ring; a set of rotary motors is provided on the inner wall of each set of guide plates; a set of limiting plates is driven to the output end of each set of rotary motors; each set of limiting plates is movably inserted through the outer wall of the stable airflow assembly.

[0012] Furthermore, the stable airflow assembly includes a duct housing; a pressure stabilizing cover is fitted on the outer wall of the duct housing; two sets of limiting grooves are symmetrically opened on the outer wall of the pressure stabilizing cover; each set of limiting plates is movably inserted into the corresponding set of limiting grooves; an air inlet filter is provided in the air inlet end of the duct housing, and a rectifier plate is provided in the air outlet end; several sets of air outlet holes are opened in a honeycomb pattern on the rectifier plate.

[0013] Furthermore, two sets of mounting brackets are provided vertically on the inner wall of the duct housing; each set of mounting brackets has a set of rotating blades at its bottom; the two sets of rotating blades are arranged in a mirror image; several sets of static pressure holes are arranged in a ring array on the inner wall of the duct housing; the several sets of static pressure holes are located between the two sets of rotating blades; several sets of air supply holes are arranged in a ring array on the inner wall of the duct housing; the several sets of air supply holes are located above the two sets of rotating blades.

[0014] Furthermore, the pressure stabilizing cover is provided with a pressure detection chamber; the pressure detection chamber is connected to several sets of static pressure holes and is provided with several sets of pressure sensors inside; the pressure stabilizing cover is provided with a gas replenishment chamber; the gas replenishment chamber is connected to several sets of gas replenishment holes and is connected to a fan assembly.

[0015] The beneficial effects of this invention are: 1. When the drone starts up, its wings generate downwash airflow. This downwash airflow passes through a ring-shaped support ring and several sets of guide channels arranged in a ring array at the bottom of the guide cavity, reducing obstruction to the downwash airflow generated by the drone's wings. Simultaneously, with the descent of the lifting plate, the lifting channels are exposed at the bottom of the drone, increasing the distance between the drone and the obstruction. The downwash airflow is discharged through the exhaust channels on the inner wall of the lifting channels, preventing changes in aerodynamic characteristics. This not only makes the detection results more accurate, but also allows the spatial position and angle of the four sets of clamps on the support ring to be adjusted, enabling the detection device to fix different models of drones and improving the compatibility of the detection device.

[0016] 2. By controlling several sets of translation plates to move synchronously toward the central axis of the lifting groove, the detection height of the UAV can be adjusted. Furthermore, by individually controlling the extension and retraction of the output end of the corresponding electric push rod, the flight attitude of the UAV can be adjusted. When the UAV starts and the tilting mechanism works, it will apply a stable pulling force to the compatible limit mechanism in the corresponding direction. By monitoring the feedback data of several sets of force sensors, the thrust data of the UAV's tilting mechanism can be obtained, enabling the UAV to adjust its flight attitude and perform thrust detection in real time during the detection process. This improves the detection efficiency of the multi-directional thrust of the UAV's tilting mechanism while also enhancing the detection effect.

[0017] 3. By controlling the stable airflow component to blow a stable airflow onto the drone, environmental variables during the detection process can be avoided. Furthermore, by controlling the rotation of two sets of guide plates within the guide slots on both sides, in conjunction with the rotary motor and limit plates, the angle of the airflow can be adjusted. Additionally, by removing the corresponding two sets of limit pins, the multi-directional airflow mechanism can be placed laterally. Combined with the rotation of the rotating ring, it can simulate incoming flow from different directions. Moreover, after the two sets of adjustment covers are disengaged, they can be unfolded to both sides, facilitating the disassembly of the stable airflow component. This improves both the detection effect of the detection device and the efficiency of maintenance work.

[0018] 4. By controlling the two sets of rotating blades to rotate in the same direction, airflow can be blown out from the bottom of the duct housing. The two sets of rotating blades are set in a mirror image, so when the two sets of rotating blades rotate in the same direction, the downward airflow torque provided by the upper rotating blade is canceled by the rotation of the lower rotating blade, thereby generating axial airflow and providing a more stable detection environment. At the same time, an air pressure sensor is installed in the air pressure detection chamber, which can detect the air pressure in the duct through the static pressure hole. When the air pressure fluctuates, the air pressure in the duct can be stabilized through the air replenishment chamber and air replenishment hole, thereby improving the stability of the detection environment.

[0019] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures pointed out in the description, claims and drawings. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A schematic diagram of the detection device according to an embodiment of the present invention is shown; Figure 2 A schematic diagram of the detection device according to an embodiment of the present invention is shown during operation; Figure 3 A schematic diagram of the adjustable detection mechanism according to an embodiment of the present invention is shown; Figure 4 A partial cross-sectional schematic diagram of a compatible limiting mechanism according to an embodiment of the present invention is shown; Figure 5 An embodiment of the present invention is shown. Figure 4 An enlarged view of point A; Figure 6 A schematic diagram of a multi-directional airflow mechanism according to an embodiment of the present invention is shown; Figure 7 A cross-sectional schematic diagram of a multi-directional airflow mechanism according to an embodiment of the present invention is shown; Figure 8 A schematic diagram of a stable airflow assembly according to an embodiment of the present invention is shown; Figure 9 A cross-sectional schematic diagram of a stable airflow assembly according to an embodiment of the present invention is shown.

[0022] In the diagram: 1. Detection platform; 2. Adjustable detection mechanism; 3. Compatible limit mechanism; 4. Lifting plate; 5. Multi-directional airflow mechanism; 6. Slide 1; 7. Lifting groove; 8. Exhaust duct; 201. Translation plate; 202. Ball joint seat 1; 203. Electric push rod; 204. Force sensor; 205. Connecting rod; 206. Ball joint seat 2; 207. Damping spring; 301. Support ring; 302. Guide cavity 1; 303. Slide 2; 304. Guide groove; 305. Internal gear ring; 306. Support block; 307. Electric turntable; 308. Fixture; 309. Guide gear; 501. Rotating ring; 502. Connecting seat; 503. Support rod; 504. Limiting pin; 505. Adjusting cover; 506. Stabilizing airflow assembly; 507. Guide groove; 508. Guide plate; 509. Rotary motor; 510. Limiting plate; 50601. Duct housing; 50602. Pressure stabilizing cover; 50603. Limiting groove; 50604. Inlet filter; 50605. Mounting bracket; 50606. Rotating blade; 50607. Static pressure hole; 50608. Air inlet hole; 50609. Air pressure detection chamber; 50610. Air inlet chamber; 50611. Rectifier plate. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. 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.

[0024] This invention provides a multi-directional thrust detection device for a drone tilting mechanism, including a detection platform 1. For example, as shown... Figure 1 and Figure 2As shown, a set of sliding grooves 6 are respectively opened at the top corner of the detection platform 1, and an adjustable detection mechanism 2 is provided in each set of sliding grooves 6; the top of several sets of adjustable detection mechanisms 2 is connected to a compatible limiting mechanism 3; a multi-directional airflow mechanism 5 is provided at the top of the detection platform 1; a lifting groove 7 is opened at the top of the detection platform 1; the lifting groove 7 is connected to one end of several sets of sliding grooves 6; a lifting plate 4 is provided in the lifting groove 7; an exhaust channel 8 is opened on one side inner wall of the lifting groove 7.

[0025] When performing multi-directional thrust detection of the drone tilting mechanism, the drone is first fixed to the top of the compatible limiting mechanism 3. Then, the lifting plate 4 is controlled to descend to the bottom of the lifting groove 7. The drone is then started and the tilting mechanism of the drone is controlled to perform corresponding actions. The thrust data of the drone tilting mechanism is obtained by monitoring the feedback data of several sets of adjustable detection mechanisms 2. At the same time, the multi-directional airflow mechanism 5 can apply stable airflow to the drone from different directions to detect the thrust changes of the drone in different environments.

[0026] For example, such as Figure 3 As shown, the adjustable detection mechanism 2 includes a translation plate 201; one end of the translation plate 201 is movably inserted into the lifting groove 7; a ball joint seat 202 is provided at the top of the end of the translation plate 201 near the lifting groove 7; an electric push rod 203 is ball-jointed to the ball joint seat 202; a force sensor 204 is drivenly connected to the output end of the electric push rod 203; a connecting rod 205 is connected to the end of the force sensor 204 away from the electric push rod 203; a ball joint seat 206 is ball-jointed to the end of the connecting rod 205 away from the force sensor 204; the end of the ball joint seat 206 away from the connecting rod 205 is connected to the bottom of the compatible limiting mechanism 3; a set of damping springs 207 are provided on each of the two side walls of the force sensor 204; the end of each set of damping springs 207 away from the force sensor 204 is connected to the top of the translation plate 201.

[0027] When performing multi-directional thrust force detection on the UAV tilting mechanism, the UAV is fixed on top of the compatible limiting mechanism 3, and the lifting plate 4 descends to the bottom of the lifting groove 7. Then, by controlling several sets of translation plates 201 to move synchronously towards the central axis of the lifting groove 7, the detection height of the UAV can be adjusted. Furthermore, by individually controlling the extension and retraction of the output end of the corresponding electric push rod 203, the flight attitude of the UAV can be adjusted. When the UAV starts and the tilting mechanism is working, it will apply a stable pulling force to the compatible limiting mechanism 3 in the corresponding direction. By monitoring the feedback data of several sets of force sensors 204, the thrust force data of the UAV tilting mechanism is obtained, enabling the UAV to adjust its flight attitude and perform thrust force detection in real time during the detection process. This improves both the detection efficiency and the detection effect of the multi-directional thrust force of the UAV tilting mechanism.

[0028] For example, such as Figure 4 and Figure 5 As shown, the compatible limiting mechanism 3 includes a support ring 301; a guide cavity 302 is provided inside the support ring 301; a sliding groove 303 is provided at the top of the guide cavity 302; several sets of guiding grooves 304 are arranged in a ring array at the bottom of the guide cavity 302; an internal gear ring 305 is provided on the inner wall of the guide cavity 302 away from the central axis of the support ring 301; four sets of support blocks 306 are slidably connected in the sliding groove 303; a set of electric turntables 307 is provided at the top of each set of support blocks 306; a set of clamps 308 is drivenly connected to the top of each set of electric turntables 307; a set of guide motors is provided in each set of support blocks 306; the output end of each set of guide motors extends into the guide cavity 302 and is drivenly connected to a set of guide gears 309; each set of guide gears 309 is meshed with the internal gear ring 305.

[0029] When performing multi-directional thrust testing on the tilting mechanism of a UAV, the guide motors in the four sets of support blocks 306 are controlled to drive the guide gears 309 to rotate according to the landing gear spacing of the UAV. Under the meshing connection between the guide gears 309 and the internal gear ring 305, the four sets of support blocks 306 move to the corresponding positions. Then, the electric turntable 307 is controlled to drive the clamps 308 to rotate and adjust the angle, so that the UAV's landing gear can be clamped and fixed by the four sets of clamps 308. When performing multi-directional thrust testing on the tilting mechanism, the annular support ring 301 and the several sets of guide channels 304 opened at the bottom of the guide cavity 302 will reduce the obstruction of the downwash airflow generated by the UAV wings. At the same time, with the descent of the lifting plate 4, the lifting channel 7 is exposed to the bottom of the UAV. The downwash airflow will be discharged through the exhaust channel 8 on the inner wall of the lifting channel 7, avoiding changes in aerodynamic characteristics. This not only makes the test results more accurate, but also allows the spatial position and angle of the four sets of clamps 308 to be adjusted according to the UAV model, improving the compatibility of the testing device.

[0030] For example, such as Figure 6 and Figure 7As shown, the multi-directional airflow mechanism 5 includes a rotating ring 501; four sets of connecting seats 502 are arranged in a ring array on the top of the rotating ring 501; a set of support rods 503 are connected to each set of connecting seats 502; a set of limiting pins 504 are movably inserted through one side wall of each set of connecting seats 502; each set of limiting pins 504 is movably inserted into a corresponding set of support rods 503; two sets of adjusting covers 505 are symmetrically connected to the top of the four sets of support rods 503; the two sets of adjusting covers 505 are movably engaged; a stabilizing air supply is provided between the two sets of adjusting covers 505. The flow assembly 506 has two sets of guide grooves 507 symmetrically opened on the opposite side walls of the two sets of adjustment covers 505; the top view cross section of each set of guide grooves 507 is semi-circular; each set of guide grooves 507 is provided with a set of guide plates 508; the top view cross section of each set of guide plates 508 is semi-circular; each set of guide plates 508 is provided with a set of rotary motors 509 on its inner wall; each set of rotary motors 509 is drivenly connected to a set of limiting plates 510 at its output end; each set of limiting plates 510 is movably inserted through the outer wall of the stable airflow assembly 506.

[0031] When performing multi-directional thrust testing on the tilting mechanism of a drone, the stable airflow assembly 506 is controlled to blow a stable airflow onto the drone, avoiding environmental variables during the testing process. Furthermore, by controlling the rotation of the two sets of guide plates 508 within the guide grooves 507 on both sides, in conjunction with the rotary motor 509 and the limiting plate 510, the angle of the airflow can be adjusted. Additionally, by removing the corresponding two sets of limiting pins 504, the multi-directional airflow mechanism 5 can be placed laterally. Combined with the rotation of the rotating ring 501, it can simulate incoming flow from different directions. At the same time, after the two sets of adjustment covers 505 are released from their latches, they can be unfolded to both sides, facilitating the disassembly of the stable airflow assembly 506. This improves both the testing effect of the detection device and the efficiency of maintenance work.

[0032] For example, such as Figure 8 and Figure 9As shown, the stable airflow assembly 506 includes a duct housing 50601; a pressure stabilizing cover 50602 is fitted onto the outer wall of the duct housing 50601; two sets of limiting grooves 50603 are symmetrically opened on the outer wall of the pressure stabilizing cover 50602; each set of limiting plates 510 is movably inserted into the corresponding set of limiting grooves 50603; an air inlet filter 50604 is provided in the air inlet end of the duct housing 50601, and a rectifier plate 50611 is provided in the air outlet end; the rectifier plate 50611 has several sets of air outlet holes in a honeycomb pattern; two sets of mounting brackets 50605 are provided vertically on the inner wall of the duct housing 50601; a set of rotating blades 50606 is provided at the bottom of each set of mounting brackets 50605; the two sets of rotating blades 50606 are mirrors The duct housing 50601 has several sets of static pressure holes 50607 arranged in a circular array on its inner wall; these static pressure holes 50607 are located between two sets of rotating blades 50606; the duct housing 50601 has several sets of air supply holes 50608 arranged in a circular array on its inner wall; these air supply holes 50608 are located above the two sets of rotating blades 50606; the pressure stabilizing cover 50602 has a pressure detection chamber 50609; the pressure detection chamber 50609 is connected to several sets of static pressure holes 50607 and has several sets of pressure sensors inside; the pressure stabilizing cover 50602 has an air supply chamber 50610; the air supply chamber 50610 is connected to several sets of air supply holes 50608 and is connected to a fan assembly.

[0033] When performing multi-directional thrust detection of the UAV tilting mechanism, by controlling the two sets of rotating blades 50606 to rotate in the same direction, airflow can be blown out from the bottom of the duct housing 50601. The two sets of rotating blades 50606 are mirror images of each other, so when the two sets of rotating blades 50606 rotate in the same direction, the torque of the downward airflow provided by the upper rotating blade 50606 is canceled by the rotation of the lower rotating blade 50606, thereby generating axial airflow and providing a more stable detection environment. At the same time, an air pressure sensor is installed in the air pressure detection chamber 50609, which can detect the air pressure in the duct through the static pressure hole 50607. When the air pressure fluctuates, the air pressure in the duct can be stabilized through the air replenishment chamber 50610 and the air replenishment hole 50608, thereby improving the stability of the detection environment of the detection device.

[0034] By controlling the four sets of support blocks 306 to move to the corresponding positions of the slide groove 303, and then controlling the electric turntable 307 to drive the clamp 308 to rotate and adjust the angle, the landing gear of the UAV can be clamped and fixed by the four sets of clamps 308. When performing multi-directional thrust detection of the tilting mechanism, the annular support ring 301 and the several sets of guide channels 304 opened at the bottom of the guide cavity 302 will reduce the obstruction of the downwash airflow generated by the UAV wings. At the same time, with the descent of the lifting plate 4, the lifting groove 7 is exposed to the bottom of the UAV. The downwash airflow will be discharged through the exhaust channel 8 on the inner wall of the lifting groove 7, avoiding changes in aerodynamic characteristics. This not only makes the detection results more accurate, but also allows the spatial position and angle of the four sets of clamps 308 to be adjusted according to the UAV model, improving the compatibility of the detection device.

[0035] By controlling several sets of translation plates 201 to move synchronously toward the central axis of the lifting groove 7, the detection height of the UAV can be adjusted. Furthermore, by individually controlling the extension and retraction of the output end of the corresponding electric push rod 203, the flight attitude of the UAV can be adjusted. When the UAV starts and the tilting mechanism works, it will apply a stable pulling force to the compatible limit mechanism 3 in the corresponding direction. By monitoring the feedback data of several sets of force sensors 204, the thrust data of the UAV's tilting mechanism can be obtained, enabling the UAV to adjust its flight attitude and perform thrust detection in real time during the detection process. This improves the detection efficiency of the multi-directional thrust of the UAV's tilting mechanism while also enhancing the detection effect.

[0036] By controlling the stabilizing airflow assembly 506 to blow a stable airflow onto the UAV, environmental variables during the detection process can be avoided. Furthermore, by controlling the rotation of the two sets of guide plates 508 within the guide grooves 507 on both sides, in conjunction with the rotary motor 509 and the limiting plate 510, the angle of the airflow can be adjusted. Additionally, by pulling out the corresponding two sets of limiting pins 504, the multi-directional airflow mechanism 5 can be placed laterally. Combined with the rotation of the rotating ring 501, it can simulate incoming flow from different directions. At the same time, after the two sets of adjustment covers 505 are released from their latches, they can be unfolded to both sides, facilitating the disassembly of the stabilizing airflow assembly 506. This improves both the detection effect of the detection device and the efficiency of maintenance work.

[0037] By controlling the two sets of rotating blades 50606 to rotate in the same direction, airflow can be blown out from the bottom of the duct housing 50601. The two sets of rotating blades 50606 are mirror images of each other, so when the two sets of rotating blades 50606 rotate in the same direction, the torque of the downward airflow provided by the upper rotating blade 50606 is canceled by the rotation of the lower rotating blade 50606, thereby generating axial airflow and providing a more stable detection environment. At the same time, an air pressure sensor is installed in the air pressure detection chamber 50609, which can detect the air pressure in the duct through the static pressure hole 50607. When the air pressure fluctuates, the air pressure in the duct can be stabilized through the air replenishment chamber 50610 and the air replenishment hole 50608, thereby improving the stability of the detection environment.

[0038] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-directional thrust detection device for a UAV tilting mechanism, comprising a detection platform, characterized in that: The top corner of the detection platform is provided with a set of slide grooves, and each set of slide grooves is provided with an adjustable detection mechanism for detecting the multi-directional pushing force of the tilting mechanism. The top of several sets of adjustable detection mechanisms is connected to a compatible limiting mechanism; the top of the detection platform is provided with a multi-directional airflow mechanism; the top of the detection platform is provided with a lifting groove; the lifting groove is connected to one end of several sets of sliding grooves; a lifting plate is provided inside the lifting groove; an exhaust duct is provided on one inner wall of the lifting groove. The compatible limiting mechanism includes a support ring for supporting the UAV and reducing obstruction to the downwash airflow; the support ring has a guide cavity; the top of the guide cavity has a sliding groove, and the bottom has several sets of guiding grooves arranged in a ring array; four sets of support blocks are slidably connected in the sliding groove; the top of each set of support blocks is provided with an electric turntable; the top of each set of electric turntables is drivenly connected to a clamp for holding the landing gear.

2. The multi-directional thrust detection device for a UAV tilting mechanism according to claim 1, characterized in that: The adjustable detection mechanism includes a translation plate; one end of the translation plate is movably inserted into the lifting groove; a ball joint seat is provided at the top of the end of the translation plate near the lifting groove; an electric push rod is connected to the ball joint seat; a force sensor is driven to the output end of the electric push rod; a connecting rod is connected to the end of the force sensor away from the electric push rod.

3. The multi-directional thrust detection device for a UAV tilting mechanism according to claim 2, characterized in that: The end of the connecting rod away from the force sensor is ball-jointed to a ball-joint seat two; the end of the ball-joint seat two away from the connecting rod is connected to the bottom of the compatible limiting mechanism; a set of damping springs is provided on each of the two side walls of the force sensor; the end of each set of damping springs away from the force sensor is connected to the top of the translation plate.

4. The multi-directional thrust detection device for a UAV tilting mechanism according to claim 1, characterized in that: An internal gear ring is provided on the inner wall of the guide cavity on the side away from the central axis of the support ring; a set of guide motors is provided in each set of support blocks; the output end of each set of guide motors extends into the guide cavity and is connected to a set of guide gears; each set of guide gears is meshed with the internal gear ring.

5. A multi-directional thrust detection device for a UAV tilting mechanism according to claim 1, characterized in that: The multi-directional airflow mechanism includes a rotating ring; the top of the rotating ring is provided with four sets of connecting seats arranged in a ring array; each set of connecting seats is connected to a set of support rods; a set of limiting pins is movably inserted through one side wall of each set of connecting seats; each set of limiting pins is movably inserted through a corresponding set of support rods.

6. The multi-directional thrust detection device for a UAV tilting mechanism according to claim 5, characterized in that: The top of the four sets of support rods is symmetrically connected to two sets of adjustment covers; the two sets of adjustment covers are movably snapped together; a stable airflow assembly is provided between the two sets of adjustment covers; two sets of guide grooves are symmetrically opened on the opposite side wall of the two sets of adjustment covers; the top view cross section of each set of guide grooves is a semi-circular ring.

7. A multi-directional thrust detection device for a UAV tilting mechanism according to claim 6, characterized in that: Each set of guide slots is provided with a set of guide plates; the top view cross section of each set of guide plates is a semi-circular ring; a set of rotary motors is provided on the inner wall of each set of guide plates; a set of limiting plates is driven to the output end of each set of rotary motors; each set of limiting plates is movably inserted through the outer wall of the stable airflow assembly.

8. A multi-directional thrust detection device for a UAV tilting mechanism according to claim 7, characterized in that: The stable airflow assembly includes a duct housing; a pressure stabilizing cover is fitted on the outer wall of the duct housing; two sets of limiting grooves are symmetrically opened on the outer wall of the pressure stabilizing cover; each set of limiting plates is movably inserted into the corresponding set of limiting grooves; an air intake filter is provided in the air intake end of the duct housing, and a rectifier plate is provided in the air outlet end; several sets of air outlet holes are opened in a honeycomb pattern on the rectifier plate.

9. A multi-directional thrust detection device for a UAV tilting mechanism according to claim 8, characterized in that: The inner wall of the duct housing is provided with two sets of mounting brackets along the vertical direction; each set of mounting brackets has a set of rotating blades at its bottom; the two sets of rotating blades are arranged in a mirror image; the inner wall of the duct housing has several sets of static pressure holes arranged in a ring array; the several sets of static pressure holes are located between the two sets of rotating blades; the inner wall of the duct housing has several sets of air supply holes arranged in a ring array; the several sets of air supply holes are located above the two sets of rotating blades.

10. A multi-directional thrust detection device for a UAV tilting mechanism according to claim 9, characterized in that: The pressure stabilizing cover is provided with a pressure detection chamber; the pressure detection chamber is connected to several sets of static pressure holes and is provided with several sets of pressure sensors inside; the pressure stabilizing cover is provided with a gas supply chamber; the gas supply chamber is connected to several sets of gas supply holes and is connected to a fan assembly.

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