Ground debugging and restraint release platform based on jet vertical take-off and landing unmanned aerial vehicle

Abstract

The application discloses a ground debugging and constrained release platform based on a jet vertical take-off and landing unmanned aerial vehicle and belongs to the technical field of unmanned aerial vehicle ground testing. The platform comprises a base support frame, the upper surface of the base support frame is provided with a central bearing platform, the outer surface of the central bearing platform is provided with a plurality of lower clamps, the side surface of the lower clamp is hingedly connected with an upper clamp, the outer surfaces of the upper clamp and the lower clamp are fixedly connected with damping pads, and the outer surface and the inner part of the upper lock block are respectively provided with a locking state monitoring assembly and a self-adaptive wear gap compensation assembly. Through the cooperative matching of a micro gas storage tank, a conveying pipe, a driving cavity, an abutment compensation block and a disc spring, the flight control system automatically starts the compensation process according to the pre-tightening force attenuation signal fed back by the locking state monitoring assembly, high-pressure gas enters the driving cavity after pressure regulation, the abutment compensation block is pushed outwards, and the cooperation gap caused by the micro-motion wear of the upper lock block and the lower lock block is filled in real time.

Description

Technical Field

[0001] This invention relates to the field of UAV ground testing technology, and more specifically, to a ground debugging and constraint release platform based on jet-powered vertical take-off and landing UAVs. Background Technology

[0002] The jet vertical takeoff and landing (VTOL) UAV ground debugging and restraint release platform is an aircraft system testing and ground support equipment. It is mainly adapted for the ground integration, power performance testing and safe flight operation of jet vertical takeoff and landing UAVs equipped with thrust vector nozzles. It can serve as a ground simulation flight test carrier and safety verification platform before the first flight of the UAV. The jet vertical takeoff and landing UAV uses a jet engine as its power source and has the characteristics of high thrust, fast response speed and compact structure.

[0003] The existing ground debugging and constraint release platform for jet-powered vertical takeoff and landing (VTOL) UAVs utilizes a leveling support mechanism at the bottom of the platform to horizontally erect and stably install the entire equipment on complex outdoor terrain, ensuring the flatness and stability of the debugging benchmark. The VTOL UAV to be debugged is then positioned on the platform's constraint station, and a multi-point constraint structure reliably limits and fixes the UAV. During ground power debugging and overall system integration, a six-axis force sensor monitors the UAV's power output thrust and torque parameters in real time, accurately acquiring the overall dynamic balance and attitude stability. Simultaneously, a hydraulic damping buffer mechanism absorbs the instantaneous engine start-up impact, reducing the overall vibration amplitude. A high-temperature resistant constraint structure resists the high-temperature scouring and heat radiation from the jet exhaust, ensuring a safe and stable debugging process. After the UAV's various ground performance parameters are debugged and tested to be satisfactory, a quick-release locking mechanism releases the UAV's constraint limits, completing the safe and rapid takeoff and release operation. This achieves an integrated workflow for precise ground debugging, stable testing, and safe flight of jet-powered VTOL UAVs.

[0004] However, the existing jet-powered vertical takeoff and landing (VTOL) drones have the following significant drawbacks in actual use: When performing ground-tethered testing or hovering simulation operations, the jet engine operates continuously at high frequency and high thrust. The resulting vibrations are transmitted through the connecting components of the entire drone to the locking positions of the upper and lower locking blocks. This makes the meshing contact surfaces of the upper and lower locking blocks susceptible to continuous alternating vibration loads, leading to wear on the contacting end faces of the upper and lower locking blocks. Simultaneously, the pressure pulsations generated by the jet exhaust continuously impact the locking block mating parts, further exacerbating the problem. The high-temperature thermal radiation from the exhaust flame softens the metal surface of the locking block and generates hard oxide abrasive particles that become embedded in the locking gap, further inducing abrasive wear. This accelerates the wear between the contact surfaces of the upper and lower locking blocks, causing a significant decrease in the locking preload of the locking structure. With the preload reduced, the locking blocks are prone to loosening and insecure clamping under the influence of continuous vibration and disturbance during debugging operations. This not only reduces the reliability of the entire locking mechanism but also poses a risk of accidental disengagement, creating a serious safety hazard for UAV ground power debugging operations.

[0005] In view of this, we propose a ground debugging and constraint release platform based on jet-powered vertical take-off and landing UAVs. Summary of the Invention

[0006] Technical problem to be solved: The purpose of this invention is to provide a ground debugging and constraint release platform based on a jet-powered vertical take-off and landing unmanned aerial vehicle (UAV), which solves the technical problems mentioned in the background art above.

[0007] Technical Solution: This invention provides a ground debugging and constraint release platform based on a jet-powered vertical takeoff and landing (VTOL) UAV, including a base support frame. A central bearing platform is mounted on the upper surface of the base support frame. Multiple lower clamps are mounted on the outer surface of the central bearing platform. Upper clamps are hinged to the sides of the lower clamps via hinges. Damping pads are fixedly connected to the outer surfaces of both the upper and lower clamps. An upper locking block is mounted on the outer surface of the upper clamp. A locking status monitoring component and an adaptive wear gap compensation component are respectively mounted on the outer surface and inside of the upper locking block. A buffer component is mounted inside the damping pads. The locking status monitoring component includes a connecting block fixedly connected to the outer surface of the upper locking block, with a monitoring block fixedly connected to the side of the connecting block. The adaptive wear gap compensation component includes a driving cavity inside the upper locking block, with two abutment compensation blocks interposed inside the driving cavity. The buffer component includes buffer air cavities located inside the two damping pads.

[0008] As an optional solution of the technical solution in this invention document, a six-axis sensor assembly is provided on the outer surface of the central bearing platform. A plurality of quick-release locking drive components are fixedly connected to the outer surface of the six-axis sensor assembly. The quick-release locking drive component includes a servo motor installed on the outer surface of the six-axis sensor assembly. The output shaft of the servo motor is fixedly connected to a connecting plate one, and a connecting plate two is hinged to the outer surface of the connecting plate one.

[0009] As an optional solution to the technical solution of this invention, the six-axis sensor assembly includes a six-axis support plate fixedly connected to the outer surface of the central support platform, a six-axis sensor fixedly connected to the upper surface of the six-axis support plate, a six-axis connecting plate fixedly connected to the upper surface of the six-axis sensor, the upper surface of the six-axis connecting plate being connected to the central support platform, and an audible and visual alarm installed on the outer surface of the base support frame.

[0010] As an optional solution to the technical solution of this invention, the upper surface of the central bearing platform is provided with a UAV body, the outer surface of the UAV body is provided with multiple arms, the outer surface of the arms is connected to a restraint rope through a first retainer and a second retainer, the middle of the restraint rope is fixedly connected to a high-temperature resistant protective sleeve, the restraint rope is made of aramid fiber material, the outer surface of the upper clamp is fixedly connected to a lower locking block, the outer surface of the lower locking block is engaged with the outer surface of the upper locking block, the outer surface of the second connecting plate is connected to the upper locking block, and the upper locking block is L-shaped.

[0011] As an optional solution of the technical solution in this invention document, a locking rod is fixedly connected to the end of the lower locking block, the monitoring block is engaged with the outer surface of the locking rod, a monitoring chamber is opened inside the monitoring block, a silicone sleeve is fixedly connected to the inner side wall of the monitoring chamber, and the inside of the silicone sleeve is filled with high-temperature methylphenyl silicone oil.

[0012] As an optional solution to the technical solution of this invention, a corrugated diaphragm is fixedly connected to the side of the silicone sleeve, and a miniature piezoelectric sensor is fixedly connected to the outer surface of the corrugated diaphragm. The corrugated diaphragm is made of Hastelloy material.

[0013] As an optional solution to the technical solution of this invention, the adaptive wear gap compensation component includes a pressure transmitter. The pressure transmitter is fixedly connected to the inner wall of the drive cavity, and a plurality of disc springs are fixedly connected to the bottom of the abutment compensation block. The other end of the disc springs is connected to the inner wall of the drive cavity.

[0014] As an optional solution of the technical solution in this invention document, the outer ends of the two abutting compensation blocks can extend out of the outer surface of the upper locking block and form an abutting engagement with the lower locking block. A hard sealing sleeve is fixedly connected between the abutting compensation block and the sliding groove wall of the driving cavity. A soft sealing sleeve is fixedly connected inside the hard sealing sleeve. An airtightness sensor is fixedly connected to the inner side wall of the driving cavity away from the abutting compensation block. The hard sealing sleeve is made of modified polytetrafluoroethylene material, and the soft sealing sleeve is made of high-temperature resistant fluororubber material.

[0015] As an optional solution of the technical solution in this invention document, a miniature gas storage tank is fixedly connected to the outer surface of the lower clamp, and a delivery pipe is connected inside the miniature gas storage tank. One end of the delivery pipe is connected to the inside of the drive cavity. A flow meter is installed on the outer surface of the delivery pipe. A solenoid valve, a pressure reducing valve, and a pressure regulating valve are sequentially installed on the delivery pipe along the gas flow direction. A fixing block is fixedly connected to the outer surface of the upper locking block, and the inside of the fixing block is connected to the outer surface of the delivery pipe.

[0016] As an optional solution of the technical solution in this invention document, the drive cavity is internally connected to a second delivery pipe, the lower clamp has a pipe chamber inside, the pipe chamber is provided with branch pipes, the branch pipes are divided into two paths, one path is connected to the buffer air chamber inside the lower clamp, and the other path extends through the hinge area to the interior of the upper clamp and is connected to the buffer air chamber inside the upper clamp. A miniature electromagnetic throttle valve regulator and a miniature negative pressure vacuum pump are installed on the outer surface of the second delivery pipe, and a shut-off valve and a bidirectional damping throttle valve are fixedly connected to the outer surface of the second delivery pipe.

[0017] Beneficial effects: One or more technical solutions provided in this invention have at least the following technical effects or advantages: 1. By using the corrugated diaphragm and silicone sleeve inside the locking status monitoring component, in coordination with the force transmission path of the monitoring block and the locking rod, the contact pressure of the locking block's meshing surface can be uniformly transmitted to the miniature piezoelectric sensor under conditions of high-frequency engine vibration and high-temperature thermal radiation interference. The silicone sleeve and corrugated diaphragm can avoid detection drift distortion caused by vibration noise and high temperature, enabling the miniature piezoelectric sensor to capture the preload attenuation change of the upper and lower locking block's meshing surface in real time and accurately, obtaining a stable and reliable pressure voltage signal. This provides an accurate data benchmark for the subsequent adaptive wear gap compensation component, avoiding false activation or failure of the adaptive wear gap compensation component due to detection distortion. It ensures the authenticity and effectiveness of the wear gap judgment result from the detection source, preventing the locking block from becoming loose or unreliable due to continuous vibration disturbance, thus preventing the risk of accidental disengagement.

[0018] 2. Through the coordinated operation of the flight control system, miniature air tank, delivery pipe, drive chamber, abutment compensation block, and disc spring, the flight control system automatically initiates the compensation process based on the preload decay signal fed back by the locking status monitoring component. High-pressure gas, after pressure regulation, enters the drive chamber, overcoming the spring force of the disc spring to push the abutment compensation block outward. This fills the gap caused by the fretting wear of the upper and lower locking blocks in real time, restoring the locking preload of the locking structure. Therefore, when the aforementioned locking blocks wear and affect the constraint effect on the UAV body, timely gap compensation for the UAV body can be achieved. This ensures the stability of the UAV during flight testing. The obstacle provides a constraint effect on the UAV itself. Furthermore, during the aforementioned gap compensation process for the UAV itself, the pressure transmitter collects the internal air pressure of the drive chamber in real time to form a pressure negative feedback, and the pressure regulating valve opening is adjusted in a closed loop to precisely control the output contact force of the contact compensation block. This avoids insufficient or excessive compensation that could cause locking loosening or damage to the locking block's meshing contact surface due to extrusion stress. As a result, the meshing gap between the upper and lower locking blocks is always maintained within the safe locking range, thereby achieving online dynamic compensation during the debugging process. This improves the problem of decreased locking reliability after the meshing gap between the upper and lower locking blocks widens, and eliminates the safety hazards caused by accidental disengagement of the locking blocks during ground power debugging operations.

[0019] 3. Through the coordinated operation of the drive chamber, airtightness sensor, hard sealing sleeve, soft sealing sleeve, and audible and visual alarm, the airtightness sensor continuously collects information on air leakage inside the drive chamber, and determines in real time whether the hard and soft sealing sleeves have aged and leaked. When a leakage fault is detected, the flight control system immediately cuts off the air supply to the air tank, stops the operation of the adaptive wear gap compensation component, and forcibly stops the power debugging of the UAV. At the same time, it triggers an audible and visual alarm to prompt the staff to inspect and repair. The system can only be restarted after the fault is resolved and the airtightness is re-inspected and qualified. This allows for timely handling of pressure loss due to failure of the hard and soft sealing sleeves, preventing the compensation function from failing due to air leakage and thus avoiding the major safety risk of the UAV becoming unrestrained. This enhances the active safety protection capability under equipment failure conditions.

[0020] 4. During the commissioning and unlocking phase, the residual gas inside the drive chamber is guided to the buffer chamber through the coordinated operation of the drive chamber, delivery pipe II, branch pipes, micro electromagnetic throttle valve regulator, micro negative pressure vacuum pump, and buffer gas chamber. The micro electromagnetic throttle valve regulator and micro negative pressure vacuum pump work together to achieve orderly depressurization of the drive chamber. The disc spring's elasticity allows the abutment compensation block to retract smoothly and reset, preventing excessive pressure release from impacting the locking block structure. Simultaneously, the depressurization allows gas to be introduced into the buffer gas chamber, pre-expanding the damping pad before the locking block is released. The damping pad pre-clamps the boom, stabilizing the machine before unlocking and eliminating body swaying and attitude shifting during locking and unlocking. It also improves the fixation of the upper and lower clamps on the boom. Furthermore, the damping pad's buffering and vibration absorption effect suppresses the transmission of vibration to the upper and lower locking blocks, reducing the probability of gap wear in the upper and lower locking blocks. It makes full use of the gas in the drive chamber, completing the pre-expansion of the damping pad without an additional air source, reducing system gas consumption. In addition, the support ribs prevent the buffer air chamber from being squeezed and collapsing, causing the chamber wall to stick and block the air, ensuring a smooth and stable inflation process.

[0021] 5. During the process of the buffer air chamber inflating and the damping pad undergoing flexible micro-deformation to grip the drone arm, the precise control of the gas flow rate by the micro electromagnetic throttle valve regulator can keep the depressurization rate of the drive chamber and the inflation rate of the buffer air chamber synchronized. This ensures that the retraction action of the abutment compensation block and the gripping action of the damping pad are coordinated, preventing a time difference window where the abutment compensation block has retracted but the damping pad has not yet completed gripping. This eliminates the risk of the drone arm lacking effective constraint during this brief window. After the pressure transmitter detects that the air pressure in the drive chamber has returned to zero and confirms that the abutment compensation block has fully retracted, the locking block release action is then executed, further ensuring the continuity of constraint throughout the unlocking and flight process and improving the attitude stability of the drone at the moment of flight. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of a ground debugging and constraint release platform based on a jet-powered vertical take-off and landing unmanned aerial vehicle (UAV) according to a preferred embodiment of the present invention.

[0023] Figure 2 This is a cross-sectional view of the overall structure of a ground debugging and constraint release platform based on a jet-powered vertical take-off and landing unmanned aerial vehicle (UAV) according to a preferred embodiment of the present invention.

[0024] Figure 3 This is a partial structural cross-sectional view of a ground debugging and constraint release platform based on a jet-powered vertical take-off and landing unmanned aerial vehicle (UAV) disclosed in a preferred embodiment of the present invention.

[0025] Figure 4This is a partial structural cross-sectional view of the quick-release locking drive component in a ground debugging and constraint release platform based on a jet-powered vertical take-off and landing UAV, as disclosed in a preferred embodiment of the present invention.

[0026] Figure 5 A preferred embodiment of the present invention discloses a ground debugging and constraint release platform based on a jet-powered vertical takeoff and landing (VTOL) unmanned aerial vehicle (UAV). Figure 4 A magnified schematic diagram of a portion of the structure in section A.

[0027] Figure 6 This is a cross-sectional view of the locking status monitoring component in a ground debugging and constraint release platform based on a jet-powered vertical take-off and landing unmanned aerial vehicle (UAV) according to a preferred embodiment of the present invention.

[0028] Figure 7 This is a partial structural cross-sectional view of the locking status monitoring component in a ground debugging and constraint release platform based on a jet-powered vertical take-off and landing unmanned aerial vehicle (UAV) according to a preferred embodiment of the present invention.

[0029] Figure 8 This is a cross-sectional view of the upper and lower clamps in a ground debugging and constraint release platform based on a jet-powered vertical take-off and landing UAV, as disclosed in a preferred embodiment of the present invention.

[0030] Figure 9 A preferred embodiment of the present invention discloses a ground debugging and constraint release platform based on a jet-powered vertical takeoff and landing (VTOL) unmanned aerial vehicle (UAV). Figure 8 A magnified schematic diagram of a local structure in section B.

[0031] Figure 10 This is a partial structural breakdown diagram of the monitoring block in a ground debugging and constraint release platform based on a jet-powered vertical take-off and landing unmanned aerial vehicle (UAV) disclosed in a preferred embodiment of the present invention.

[0032] Figure 11 This is a partial structural cross-sectional view of the adaptive wear gap compensation component in a ground debugging and constraint release platform based on a jet-powered vertical take-off and landing unmanned aerial vehicle (UAV) according to a preferred embodiment of the present invention.

[0033] Figure 12 The ground debugging and constraint release platform based on a jet-powered vertical takeoff and landing unmanned aerial vehicle (UAV) disclosed in a preferred embodiment of the present invention... Figure 11 A magnified schematic diagram of a local structure in section C.

[0034] Figure 13 This is a partial structural cross-sectional view of the upper and lower clamps in a ground debugging and constraint release platform based on a jet-powered vertical take-off and landing UAV, as disclosed in a preferred embodiment of the present invention.

[0035] Explanation of the labels in the diagram: 1. Base support frame; 101. Central load-bearing platform; 102. Six-axis sensor assembly; 103. UAV body; 104. Quick-release locking drive; 105. Upper locking block; 106. Lower locking block; 107. Damping pad; 108. Upper clamp; 109. Lower clamp; 110. Audible and visual alarm; 2. Locking status monitoring assembly; 201. Monitoring block; 202. Locking rod; 203. Connecting block; 204. Miniature piezoelectric sensor; 205. Corrugated diaphragm; 206. Silicone sleeve; 3. Self-adaptive Wear gap compensation assembly; 301, drive chamber; 302, abutment compensation block; 303, disc spring; 304, pressure transmitter; 305, airtightness sensor; 306, hard sealing sleeve; 307, soft sealing sleeve; 308, flow meter; 309, delivery pipe one; 310, miniature air storage tank; 4, buffer assembly; 401, buffer air chamber; 402, miniature electromagnetic throttle valve regulator; 403, delivery pipe two; 404, support rib; 405, miniature negative pressure vacuum pump; 406, branch pipe. Detailed Implementation

[0036] 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.

[0037] In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "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.

[0038] 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 according to the specific circumstances.

[0039] Example 1: Please refer to Figures 1 to 13The first embodiment of the present invention provides a technical solution: including a base support frame 1, a central bearing platform 101 is provided on the upper surface of the base support frame 1, a plurality of lower clamps 109 are provided on the outer surface of the central bearing platform 101, and upper clamps 108 are hinged to the sides of the lower clamps 109 via hinges. Damping pads 107 are fixedly connected to the outer surfaces of both the upper clamps 108 and the lower clamps 109. An upper locking block 105 is provided on the outer surface of the upper clamp 108, and a locking state monitoring component 2 and an adaptive wear gap compensation component 3 are respectively provided on the outer surface and inside of the upper locking block 105.

[0040] Please see Figures 4 to 7 The locking status monitoring component 2 includes a connecting block 203 fixedly connected to the outer surface of the upper locking block 105, and a monitoring block 201 fixedly connected to the side of the connecting block 203; a locking rod 202 is fixedly connected to the end of the lower locking block 106, and the monitoring block 201 is engaged with the outer surface of the locking rod 202. Through the monitoring block 201 and the locking rod 202, the pre-tightening pressure and vibration load during the engagement process of the upper locking block 105 and the lower locking block 106 can be directly borne, and the changes in the locking tightness, wear gap, and pre-tightening force attenuation of the upper locking block 105 and the lower locking block 106 can be completely converted into changes in contact pressure, providing a stable and accurate force transmission source for the back-end sensing and monitoring. The monitoring block 201 has a monitoring chamber inside, and a silicone sleeve 206 is fixedly connected to the inner wall of the monitoring chamber. The silicone sleeve 206 is filled with... The silicone sleeve 206 is fixedly connected to a corrugated diaphragm 205 made of Hastelloy alloy material. Through the high-temperature methylphenyl silicone oil filling the inside of the silicone sleeve 206, the local point contact pressure transmitted between the locking rod 202 and the monitoring block 201 can be evenly diffused into the overall surface pressure, effectively avoiding detection deviation caused by local stress concentration. At the same time, through the synergistic cooperation between the corrugated diaphragm 205 and the silicone sleeve 206, the high-frequency vibration noise interference generated during the operation of the UAV engine can be effectively filtered, and the jitter, drift and distortion of the pressure detection signal can be suppressed. This allows the mechanical pressure to be transmitted smoothly, continuously and evenly to the miniature piezoelectric sensor 204, greatly improving the stability, accuracy and authenticity of the pressure detection data under harsh high temperature and strong vibration conditions.

[0041] Please see Figures 8 to 9A miniature piezoelectric sensor 204 is fixedly connected to the outer surface of the corrugated diaphragm 205. The miniature piezoelectric sensor 204 can receive the minute pressure deformation signal transmitted by the corrugated diaphragm 205 in real time and convert the continuously changing mechanical pressure value of the locking position into a recognizable voltage signal with high precision. At the same time, the miniature piezoelectric sensor 204 has ultra-high sensitivity characteristics, which can accurately capture the minute pressure fluctuations caused by the micro-movement wear of the locking block, the minute change of the mating clearance, and the slight decay of the preload. It collects the locking status data in real time and continuously and uploads it to the flight control system, providing high-precision and highly reliable raw data basis for the flight control system to complete the initial reference value comparison, the judgment of the locking block wear clearance exceeding the standard, and the automatic start and control of the adaptive wear clearance compensation component 3.

[0042] Please see Figures 1 to 3 A six-axis sensor assembly 102 is installed on the outer surface of the central support platform 101. The six-axis sensor assembly 102 includes a six-axis support plate fixedly connected to the outer surface of the central support platform 101. A six-axis sensor is fixedly connected to the upper surface of the six-axis support plate, and a six-axis connecting plate is fixedly connected to the upper surface of the six-axis sensor. The upper surface of the six-axis connecting plate is connected to the central support platform 101. The six-axis sensor is sandwiched between the lower six-axis support plate and the upper six-axis connecting plate. During the overall debugging process, the thrust, vibration impact, and horizontal tension generated by the UAV are all transmitted to the six-axis connecting plate through the central support platform, and then act completely on the six-axis sensor body. Finally, the force is transmitted to the base support frame 1 through the six-axis support plate, forming a complete load transmission path. This ensures that all mechanical loads are not bypassed and are accurately collected by the six-axis sensor, avoiding load diversion and force measurement data distortion caused by installation gaps and double-layer overlaps. Through the cooperation of the six-axis connecting plate and the six-axis support plate... The six-axis sensor assembly ensures that the six-axis sensor fits snugly under force and accurately senses changes in the platform's dynamic load, avoiding data acquisition lag and distortion caused by installation gaps. This guarantees the authenticity and continuity of load, vibration, and attitude monitoring data during the power debugging of the UAV body 1. The central bearing platform 101, as the core bearing base of the entire UAV ground debugging and constraint platform, is made of high-strength rigid plate and can stably support the weight of the UAV body 103. At the same time, it effectively resists the high-frequency vibration and wake impact load generated by the UAV engine. It provides a flat and stable installation bearing reference surface for the ground tethering debugging, power performance testing, and safety constraint release operations of the UAV body 103. The six-axis sensor assembly 102 can collect data on vibration amplitude, impact load, horizontal tension, and attitude deviation of the platform in real time during the debugging process, providing accurate data support for overall locking status verification, safety threshold determination, and debugging data calibration.

[0043] Please see Figure 3Multiple quick-release locking drive components 104 are fixedly connected to the outer surface of the six-axis sensor assembly 102. Each quick-release locking drive component 104 includes a servo motor mounted on the outer surface of the six-axis sensor assembly 102. The output shaft of the servo motor is fixedly connected to a connecting plate 1, and a connecting plate 2 is hinged to the outer surface of the connecting plate 1. Through the cooperation of the servo motor, the connecting plate 1, and the connecting plate 2, a rotatable hinged transmission linkage structure is formed. During operation, the servo motor drives the linkage mechanism to swing by rotating forward and backward, thereby realizing the closing locking and lifting unlocking actions of the upper locking block 105 and the lower locking block 106, accurately completing the constraint locking and rapid release of the UAV. An audible and visual alarm 110 is installed on the outer surface of the base support frame 1. During normal equipment debugging, the audible and visual alarm 110 remains in a standby silent state. When the flight control system receives an abnormal air leakage fault signal from the airtightness sensor 305 and determines that the hard sealing sleeve 306 and the soft sealing sleeve 307 have air leakage and abnormal pressure drop, the flight control system can instantly trigger the audible and visual alarm. The alarm 110 simultaneously emits high-frequency flashing lights and a continuous warning buzzer, providing a direct and conspicuous reminder to on-site personnel that the equipment has malfunctioned and that operations must be stopped immediately for troubleshooting and repair. The upper surface of the central support platform 101 is equipped with the UAV body 103, and the outer surface of the UAV body 103 is equipped with multiple arms. The outer surface of the arms is connected to restraint ropes via a first and a second retainer. A high-temperature resistant protective sleeve is fixedly connected to the middle of the restraint ropes. The restraint ropes are made of aramid fiber material, which can effectively resist the heat radiation from the UAV engine exhaust and the scouring of high-temperature airflow, preventing the restraint ropes from aging and melting due to high temperature. The outer surface of the upper clamp 108 is fixedly connected to the lower locking block 106, and the outer surface of the lower locking block 106 engages with the outer surface of the upper locking block 105. The outer surface of the connecting plate 2 is connected to the upper locking block 105. The upper locking block 105 is L-shaped. The precise engagement of the two achieves the closing and locking of the upper clamp 108 and the lower clamp 109, completing the clamping and limiting of the UAV arms.

[0044] Example 2: The difference between this example and Example 1 is that the adaptive wear gap compensation component 3 includes a drive cavity 301 inside the upper locking block 105. Two abutment compensation blocks 302 are interposed inside the drive cavity 301. When gas is supplied in the drive cavity 301, the gas will push the abutment compensation blocks 302 to extend outward, so that their ends extend out of the outer surface of the upper locking block 105 and form an abutment engagement with the lower locking block 106. This fills the fit gap caused by the micro-movement wear of the upper locking block 105 and the lower locking block 106, restores the locking preload of the locking structure, thereby improving the preload attenuation after the upper locking block 105 and the lower locking block 106 wear, and avoiding the risk of the upper locking block 105 and the lower locking block 106 loosening and accidentally disengaging under continuous vibration. When the drive cavity 301 is depressurized, the abutment compensation blocks 302 are retracted and reset by the elastic force of the disc spring 303.

[0045] Please see Figures 5 to 8 The outer ends of the two abutting compensation blocks 302 can extend beyond the outer surface of the upper locking block 105 and abut against the lower locking block 106 to fill the fitting gap caused by the fretting wear of the upper locking block 105 and the lower locking block 106, and restore the locking preload of the locking structure. Thus, when the locking blocks wear and the clamping constraint capability of the UAV body 103 decreases, the constraint gap compensation can be automatically completed, and the reliable clamping effect can be maintained throughout the ground test process of the jet vertical take-off and landing UAV. The adaptive wear gap compensation component 3 includes a pressure transmitter 304. The pressure transmitter 304 is fixedly connected to the inner wall of the drive cavity 301. The pressure transmitter 304 can collect the gas pressure value inside the drive cavity 301 in real time, convert the physical quantity of gas pressure into an electrical signal and feed it back to the flight control system. The flight control system can then use the feedback signal from the pressure transmitter 304 to close the loop and adjust the opening of the pressure regulating valve to accurately adjust the working gas pressure inside the drive cavity, thereby controlling the abutting compensation blocks. The magnitude of the abutting force output by the 302 block can both prevent insufficient compensation from causing insufficient locking preload and prevent excessive pressure and abutting force from squeezing and damaging the mating surface of the locking block. This achieves closed-loop control of pressure negative feedback during the compensation process, improves the accuracy of gap compensation, and protects the mating contact surfaces of the upper locking block 105 and the lower locking block 106. Multiple disc springs 303 are fixedly connected to the bottom of the abutting compensation block 302. The other end of the disc springs 303 is connected to the inner wall of the drive cavity 301. During the process of the drive cavity 301 being inflated and the abutting compensation block 302 extending outward, the disc springs 303 are compressed and store elastic potential energy. When the drive cavity 301 is depressurized and loses air pressure support, the disc springs 303 release elastic potential energy, providing a stable return driving force for the abutting compensation block 302, allowing the abutting compensation block 302 to retract smoothly. At the same time, it can play a certain role in buffering and vibration reduction during the compensation abutting process, reducing the impact of alternating vibration on the upper locking block 105.

[0046] Please see Figures 11 to 12A hard sealing sleeve 306 is fixedly connected between the abutting compensation block 302 and the sliding groove wall of the drive cavity 301. A soft sealing sleeve 307 is fixedly connected inside the hard sealing sleeve 306. An airtightness sensor 305 is fixedly connected to the inner side wall of the drive cavity 301 away from the abutting compensation block 302. The airtightness sensor 305 can monitor the abnormal air leakage inside the drive cavity 301 in real time and capture the gas leakage caused by the wear and failure of the hard sealing sleeve 306 and the soft sealing sleeve 307. Once an abnormal air leakage fault is detected, a fault electrical signal is immediately output to the flight control system, which triggers the overall safety self-locking and audible and visual alarm logic to achieve early identification of sealing faults and avoid the safety risks of compensation failure and loss of locking preload due to insufficient air leakage pressure. This system enables early warning of faults, prevents equipment from operating with faults, and improves the safety of platform operations. The hard sealing sleeve 306 is made of modified polytetrafluoroethylene material, and the soft sealing sleeve 307 is made of high-temperature resistant fluororubber material. Through the coordinated cooperation of the hard sealing sleeve 306 and the soft sealing sleeve 307, it can provide sliding support for the abutment compensation block 302 while achieving reliable airtightness and maintaining the working air pressure inside the drive cavity 301. A miniature air storage tank 310 is fixedly connected to the outer surface of the lower clamp 109. The miniature air storage tank 310 stores compressed gas in advance. An injection pipe is installed on the outer surface of the miniature air storage tank 310, and a drain pipe is installed at the bottom of the miniature air storage tank 310. Both the drain pipe and the injection pipe are threaded with sealing caps on their outer surfaces. Compressed gas can be replenished through the injection pipe.

[0047] Please see Figures 8 to 9 The miniature gas storage tank 310 is internally connected to a delivery pipe 309. One end of the delivery pipe 309 is connected to the interior of the drive chamber 301. A flow meter 308 is installed on the outer surface of the delivery pipe 309. The flow meter 308 monitors the gas flow rate changes inside the delivery pipe 309 in real time. The auxiliary pressure transmitter 304 forms a dual monitoring and verification of pressure and flow rate, accurately judging the stability of the gas supply and the sealing leakage, effectively improving the monitoring accuracy and fault diagnosis reliability of the adaptive wear gap compensation component 3. The delivery pipe 309 flows along the gas flow... A solenoid valve, a pressure reducing valve, and a pressure regulating valve are installed sequentially. The solenoid valve is used to control the opening and closing of the air supply circuit, realizing the opening and closing of the air path. The pressure reducing valve performs primary pressure reduction on the high-pressure gas output from the miniature air storage tank 310, reducing the high-pressure gas source to a preset pressure range. The pressure regulating valve receives control commands from the flight control system to finely adjust the gas pressure. It works in conjunction with the feedback signal from the pressure transmitter 304 to complete closed-loop pressure regulation, accurately controlling the gas pressure entering the drive chamber 301, thereby regulating the output contact force of the contact compensation block 302 and ensuring that the gap compensation action is smooth and controllable.

[0048] Please see Figure 8The damping pad 107 is equipped with a buffer component 4. The damping pad 107 prevents the rigid upper clamp 108 and lower clamp 109 from directly and rigidly squeezing the arm, preventing the arm surface from being bumped or squeezed during the clamping process, thus achieving flexible protection for the UAV arm and eliminating the appearance and structural damage caused by rigid clamping. On the other hand, it can absorb the high-frequency vibration generated by the operation of the UAV engine by means of its own flexible material and internal buffer air cavity 401 structure, weakening the transmission of vibration to the locking block engagement position, effectively reducing the fretting wear rate of the mating surface of the upper locking block 105 and the lower locking block 106. The buffer assembly 4 includes a buffer air chamber 401 formed inside two damping pads 107. Multiple support ribs 404 are fixedly connected between the inner walls of the buffer air chamber 401. The support ribs 404 are made of high-strength, high-temperature resistant silicone rubber material. The support ribs 404 can form a skeleton support for the wall of the buffer air chamber 401, preventing the wall of the buffer air chamber 401 from collapsing and becoming blocked when it is squeezed or subjected to negative pressure suction. This ensures that the effective ventilation space of the buffer air chamber 401 is always maintained, ensuring smooth gas inlet and outlet, ensuring uniform and stable deformation during the inflation and deflation process, and preventing the failure of local air chambers from causing a decrease in buffering and stabilizing functions.

[0049] Please see Figure 5 and Figure 13 The drive cavity 301 is internally connected to a second delivery pipe 403. The lower clamp 109 has a pipe chamber inside, with a branch pipe 406 arranged within it. The branch pipe 406 splits into two paths: one connects to the buffer air chamber 401 inside the lower clamp 109, and the other extends through the hinge area to the upper clamp 108, connecting to the buffer air chamber 401 within the upper clamp 108. The first delivery pipe 309, the second delivery pipe 403, and the branch pipe 406 are all made of high-temperature resistant and torsion-resistant flexible spiral corrugated tubing. This allows them to withstand the high-temperature radiation and high-frequency vibration impact of the jet exhaust, maintaining the integrity of the sealed pipeline. Simultaneously, the spiral corrugated structure possesses excellent resistance to bending and torsional deformation. During the repeated opening and closing of the upper clamp 108 and the release action of the UAV body 103, it prevents the pipeline from experiencing dead bends or torsional fatigue fractures, effectively preventing air path damage. To prevent damage and leakage, the system ensures the stability and reliability of the entire gas supply and depressurization process. A support block is installed on the outer surface of the second delivery pipe 403, which connects to the side of the lower clamp 109. A connecting block is installed on the outer surface of one of the branch pipes 406, which connects to the outer surface of the lower clamp 109. The fixing block, support block, and connecting block on the surface of the first delivery pipe 309 provide support and limit the pipeline, preventing it from being pulled or shaken under high-frequency vibration conditions, and preventing loosening and leakage of the joints. This ensures reliable and stable gas connection and also constrains the arrangement of the first delivery pipe 309, branch pipe 406, and second delivery pipe 403, preventing displacement of the pipeline during the takeoff of the UAV body 103, preventing the pipeline from getting stuck in the gaps between clamps, locking blocks, and other moving components, and preventing interference with the unlocking and swinging action of the upper clamp 108, thus ensuring a smooth UAV release and flight process.

[0050] Please see Figures 1 to 12 Two branch pipes 406 are respectively connected to the buffer air chambers 401 within the two damping pads 107. A miniature electromagnetic throttle valve regulator 402 and a miniature negative pressure vacuum pump 405 are installed on the outer surface of the second delivery pipe 403. The miniature electromagnetic throttle valve regulator 402 can precisely control the gas flow cross-sectional area and gas flow rate in the gas path, and precisely control the depressurization speed of the drive chamber 301 and the inflation speed of the buffer air chamber 401 according to flight control commands, achieving matching of depressurization and inflation timing and synchronization of rates, avoiding impact vibrations caused by instantaneous large-flow depressurization. The miniature negative pressure vacuum pump 405 can actively extract gas from the second delivery pipe 403, drive chamber 301, and buffer air chamber 401 during the unlocking phase after commissioning, achieving rapid and thorough depressurization. The outer surface of the second delivery pipe 403 is fixedly connected with a shut-off valve and a two-way damping throttle valve. The shut-off valve is used to control the opening and closing isolation of the air path of the second delivery pipe 403. It can close the air path during normal compensation and locking operations of the equipment, isolate the drive chamber and the buffer air chamber 401, prevent the two chambers from communicating and cross-pressure affecting the compensation pressure accuracy of the drive chamber 301, and ensure the independence and accuracy of the pressure closed-loop control of the adaptive wear gap compensation component 3. It opens during the unlocking and depressurization operation to ensure the air path is open and depressurized, realizing the operation of the zoned operation and each performing its own function. The two-way damping throttle valve can dampen and buffer the airflow in both the intake and exhaust directions, so that the airflow during the inflation and depressurization processes is smooth and gentle, avoiding the sudden expansion and contraction of the damping pad 107 and the vibration of the mechanism caused by the pulse impact of the airflow.

[0051] Working principle: During use, when the UAV body 103 is being tethered and tested on the ground, the UAV body 103 is first placed stably on the central support platform 101. Multiple upper clamps 108 and lower clamps 109 work together to hold the UAV body 103 arms. At the same time, the flight control system will activate the servo motor in the quick-release locking drive component 104, which drives the upper locking block 105 and the lower locking block 106 to lock and close through the connecting plate one and the connecting plate two, thereby completing the reliable constraint and limit of the UAV body 103 on the platform. After the initial locking is completed, the miniature piezoelectric sensor 204 in the locking status monitoring component 2 monitors the locking pressure signal and the contact status signal of the meshing contact surface of the upper locking block 105 and the lower locking block 106 in real time, and transmits the collected initial status signal to the flight control system in real time. The system records this set of data as the initial reference value for normal locking of the equipment, providing data reference for subsequent wear compensation and status verification.

[0052] During the start-up, high-frequency operation, and long-term ground debugging of the UAV's jet engine 103, the jet engine continuously generates high-frequency micro-vibrations, exhaust pressure pulsations, and high-temperature heat radiation, which act on the upper locking block 105 and the lower locking block 106 over a long period. This causes the mating clearance between the upper locking block 105 and the lower locking block 106 to gradually increase with long-term operation, and the locking preload to continuously decrease. At this time, the miniature piezoelectric sensor 204 in the locking state monitoring component 2, relying on the force transmission of the monitoring block 201 and the locking rod 202, continuously collects the voltage signal of the attenuation of the locking pressure and uploads it to the flight control system in real time. The flight control system compares this signal with the initial reference... The values ​​are compared, and when it is determined that the locking preload has dropped below the set threshold, the flight control system automatically starts the compensation program of the adaptive wear gap compensation component 3. During this process, the high-temperature methyl phenyl silicone oil in the corrugated diaphragm 205 and the silicone sleeve 206 works together to utilize the excellent fluid pressure equalization characteristics of the high-temperature methyl phenyl silicone oil to transmit the contact pressure transmitted by the locking rod 202 evenly and without dead angles to the surface of the micro piezoelectric sensor 204. This ensures that the micro piezoelectric sensor 204 can always collect the locking pressure change signal with high accuracy and stability under harsh working conditions of high temperature and strong vibration, which greatly improves the accuracy and reliability of lock block wear gap monitoring.

[0053] Furthermore, the flight control system automatically opens the solenoid valve of the delivery pipe 309, allowing the high-pressure gas stored inside the miniature gas tank 310 to pass through the pressure reducing valve and the pressure regulating valve for precise pressure regulation and stabilization. After the gas pressure is adjusted to the preset working pressure, it is smoothly delivered to the drive cavity 301 inside the upper locking block 105 through the delivery pipe 309. The high-pressure gas acts evenly on the bottom end faces of the two abutting compensation blocks 302, overcoming the initial preload of the disc spring 303, and pushing the two sets of abutting compensation blocks 302 to extend smoothly outward along the channel of the drive cavity 301, actively abutting the meshing contact surface of the lower locking block 106. This fills and eliminates the fitting gap caused by the fretting wear of the locking block in real time, effectively restoring the locking preload of the locking structure and ensuring the locking structure. It is always in a reliable locking state, so that when the locking block wears and the clamping constraint performance of the UAV body 103 decreases, it can automatically complete the gap compensation, ensuring the reliability of the clamping constraint during the ground test of the jet vertical take-off and landing UAV. The pressure transmitter 304 monitors the pressure value inside the drive cavity 301 in real time and feeds it back to the flight control system. The flight control system controls the opening of the pressure regulating valve in a closed loop according to the pressure feedback signal, ensuring that the abutting force applied by the abutting compensation block 302 is accurately maintained within the set range, avoiding insufficient or over-compensation. At the same time, the flow meter 308 monitors the gas flow status of the pipeline in real time, helping to determine whether the gas supply is stable and whether there are abnormal airflow fluctuations, ensuring that the compensation operation of the adaptive wear gap compensation component 3 is accurate and stable.

[0054] During this operation, the airtightness sensor 305, installed on the inner sidewall of the drive cavity 301, continuously monitors the airtightness of the sealed air chamber inside the drive cavity 301 in real time. It continuously monitors the sealing performance of the hard sealing sleeve 306 and the soft sealing sleeve 307 that abut against the outer side of the compensation block 302. By collecting real-time data on the pressure drop rate inside the cavity, it accurately determines whether the hard sealing sleeve 306 and the soft sealing sleeve 307 have experienced aging or leakage. When the airtightness sensor 305 detects that the pressure drop rate inside the drive cavity 301 exceeds the system's preset safety threshold, and determines that the hard sealing sleeve 306 or the soft sealing sleeve 307 has worn out or is leaking gas, it immediately uploads a leakage fault signal to the flight control system in real time. Upon receiving the fault signal, the flight control system immediately triggers the equipment's safety self-locking protection mechanism. The platform's audible and visual alarm 110 is activated simultaneously, while the air supply solenoid valve of the adaptive wear gap compensation component 3 is automatically shut off, cutting off the air supply source of the miniature air tank 310. This forcibly stops the gap compensation operation of the adaptive wear gap compensation component 3 and the power debugging work of the UAV body 103. At this time, the audible and visual alarm 110 continuously emits high-frequency audible and visual warning alarms, intuitively indicating to the staff that there is a leakage fault at the current equipment sealing position, and that the UAV ground debugging operation is no longer safe to carry out. The operation process is forcibly terminated, allowing the staff to immediately carry out fault repair work. Only after the fault is completely eliminated and the airtightness test is qualified can the entire set of equipment be put back into debugging work, effectively preventing major safety hazards such as locking compensation failure and loosening of the UAV body 103 due to sealing leakage and unstable pressure.

[0055] After the power commissioning is completed and all performance parameters pass the tests, the equipment enters the safe unlocking and release phase. Before unlocking and release, the flight control system first closes the air supply solenoid valve of the first delivery pipe 309 in advance, cutting off the air supply to the drive chamber 301. Then, it activates the miniature electromagnetic throttle valve regulator 402 and the miniature negative pressure vacuum pump 405 on the surface of the second delivery pipe 403. Through the combination of negative pressure suction and throttling, the residual gas inside the drive chamber 301 is diverted through the second delivery pipe 403 to the two sets of pipes 406, gradually... The gas is slowly and evenly delivered to the buffer air chambers 401 inside the damping pads 107 on both sides. At this time, the orderly discharge of residual gas in the drive chamber 301 is not only a necessary condition for the drive chamber 301 to actively depressurize and for the abutment compensation block 302 to retract smoothly, but also a synchronous process of replenishing gas to the buffer air chamber 401. This allows the locking block to unlock and the damping pads 107 to clamp in a timely manner, effectively preventing the abutment compensation block 302 from retracting first, while the buffer air chamber 401 has not yet established sufficient pre-expansion pressure, resulting in a lack of instantaneous constraint.

[0056] Furthermore, the multiple sets of support ribs 404 arranged inside the buffer air chamber 401 can always maintain a stable central space gap inside the buffer air chamber 401, preventing the buffer air chamber 401 from being squeezed and collapsed, or the cavity wall from sticking and blocking air. This ensures that the gas smoothly fills the buffer air chamber 401, causing the buffer air chamber 401 to expand slowly and evenly. This, in turn, causes the damping pad 107 to undergo flexible micro-deformation and tightly adhere to and hold the drone arm. At the same time, as the air pressure inside the drive cavity 301 continues to drop steadily, the abutment compensation block 302 loses its air pressure support and smoothly retracts to its initial position under the elastic restoring force of the disc spring 303. After the pressure transmitter 304 detects that the air pressure in the drive chamber 301 has returned to zero, the flight control system immediately shuts down the micro electromagnetic throttle valve regulator 402 and the micro negative pressure vacuum pump 405. Finally, the servo motor of the quick-release locking drive component 104 starts working, and drives the upper locking block 105 to rotate and lift through the transmission hinge structure of connecting plate one and connecting plate two, so that the upper locking block 105 completely disengages from the locking limit of the lower locking block 106, completely releases the overall constraint of the UAV body 103, and completes the rapid, stable and safe release of the UAV body 103, realizing the high-precision ground debugging of the jet vertical take-off and landing UAV.

[0057] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; 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 ground debugging and constraint release platform based on a jet-powered vertical takeoff and landing (VTOL) unmanned aerial vehicle (UAV), characterized in that: The device includes a base support frame, a central bearing platform on the upper surface of the base support frame, multiple lower clamps on the outer surface of the central bearing platform, upper clamps hinged to the sides of the lower clamps via hinges, damping pads fixedly connected to the outer surfaces of both the upper and lower clamps, an upper locking block on the outer surface of the upper clamp, a locking status monitoring component and an adaptive wear gap compensation component on the outer surface and inside of the upper locking block, and a buffer component inside the damping pad. The locking status monitoring component includes a connecting block fixedly connected to the outer surface of the upper locking block, and a monitoring block is fixedly connected to the side of the connecting block; The adaptive wear gap compensation component includes a driving cavity inside the locking block, and two abutting compensation blocks are interspersed inside the driving cavity. The buffer assembly includes buffer air chambers formed inside two damping pads.

2. The ground debugging and constraint release platform based on a jet-powered vertical takeoff and landing UAV according to claim 1, characterized in that: A six-axis sensor assembly is provided on the outer surface of the central support platform. Multiple quick-release locking drive components are fixedly connected to the outer surface of the six-axis sensor assembly. Each quick-release locking drive component includes a servo motor mounted on the outer surface of the six-axis sensor assembly. The output shaft of the servo motor is fixedly connected to a connecting plate one, and a connecting plate two is hinged to the outer surface of the connecting plate one.

3. The ground debugging and constraint release platform based on a jet-powered vertical takeoff and landing UAV according to claim 2, characterized in that: The six-axis sensor assembly includes a six-axis support plate fixedly connected to the outer surface of the central support platform. A six-axis sensor is fixedly connected to the upper surface of the six-axis support plate. A six-axis connecting plate is fixedly connected to the upper surface of the six-axis sensor. The upper surface of the six-axis connecting plate is connected to the central support platform. An audible and visual alarm is installed on the outer surface of the base support frame.

4. The ground debugging and constraint release platform based on a jet-powered vertical takeoff and landing UAV according to claim 1, characterized in that: The upper surface of the central support platform is equipped with the UAV body, and the outer surface of the UAV body is equipped with multiple arms. The outer surface of the arms is connected to a restraint rope through a first retainer and a second retainer. A high-temperature resistant protective sleeve is fixedly connected to the middle of the restraint rope. The restraint rope is made of aramid fiber material. The outer surface of the upper clamp is fixedly connected to a lower locking block. The outer surface of the lower locking block is engaged with the outer surface of the upper locking block. The outer surface of the second connecting plate is connected to the upper locking block. The upper locking block is L-shaped.

5. The ground debugging and constraint release platform based on a jet-powered vertical takeoff and landing UAV according to claim 4, characterized in that: A locking rod is fixedly connected to the end of the lower locking block. The monitoring block is engaged with the outer surface of the locking rod. A monitoring chamber is opened inside the monitoring block. A silicone sleeve is fixedly connected to the inner side wall of the monitoring chamber. The silicone sleeve is filled with high-temperature methylphenyl silicone oil.

6. The ground debugging and constraint release platform based on a jet-powered vertical takeoff and landing UAV according to claim 5, characterized in that: A corrugated diaphragm is fixedly connected to the side of the silicone sleeve, and a miniature piezoelectric sensor is fixedly connected to the outer surface of the corrugated diaphragm. The corrugated diaphragm is made of Hastelloy material.

7. The ground debugging and constraint release platform based on a jet-powered vertical takeoff and landing UAV according to claim 1, characterized in that: The adaptive wear gap compensation assembly includes a pressure transmitter, which is fixedly connected to the inner wall of the drive cavity. Multiple disc springs are fixedly connected to the bottom of the abutment compensation block, and the other end of each disc spring is connected to the inner wall of the drive cavity.

8. The ground debugging and constraint release platform based on a jet-powered vertical takeoff and landing UAV according to claim 4, characterized in that: The outer ends of the two abutting compensation blocks can extend out of the outer surface of the upper locking block and form an abutting engagement with the lower locking block. A hard sealing sleeve is fixedly connected between the abutting compensation block and the sliding groove wall of the driving cavity. A soft sealing sleeve is fixedly connected inside the hard sealing sleeve. An airtight sensor is fixedly connected to the inner side wall of the driving cavity away from the abutting compensation block. The hard sealing sleeve is made of modified polytetrafluoroethylene material, and the soft sealing sleeve is made of high-temperature resistant fluororubber material.

9. The ground debugging and constraint release platform based on a jet-powered vertical takeoff and landing UAV according to claim 1, characterized in that: A miniature gas storage tank is fixedly connected to the outer surface of the lower clamp. The interior of the miniature gas storage tank is connected to a delivery pipe. One end of the delivery pipe is connected to the interior of the drive cavity. A flow meter is installed on the outer surface of the delivery pipe. A solenoid valve, a pressure reducing valve, and a pressure regulating valve are sequentially installed on the delivery pipe along the gas flow direction. A fixing block is fixedly connected to the outer surface of the upper locking block. The interior of the fixing block is connected to the outer surface of the delivery pipe.

10. The ground debugging and constraint release platform based on a jet-powered vertical takeoff and landing UAV according to claim 1, characterized in that: The drive cavity is internally connected to a second delivery pipe. The lower clamp has a pipe chamber inside, and branch pipes are arranged inside the pipe chamber. The branch pipes are divided into two paths. One path is connected to the buffer air chamber inside the lower clamp, and the other path extends through the hinge area to the upper clamp and is connected to the buffer air chamber inside the upper clamp. A miniature electromagnetic throttle valve regulator and a miniature negative pressure vacuum pump are installed on the outer surface of the second delivery pipe. A shut-off valve and a bidirectional damping throttle valve are fixedly connected to the outer surface of the second delivery pipe.

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