Unmanned aerial vehicle landing anti-thrust device

Abstract

The utility model discloses an unmanned plane landing anti -thrust device belongs to unmanned plane technical field, the device is in the abdomen of large fixed wing unmanned plane, including anti -thrust board and two groups of drive adjusting mechanism, the anti -thrust board is paddle formula arc structure, and the bottom surface is equipped with longitudinal fairing and is made with carbon fiber composite material, and the angle on the board is equipped with pressure sensor, drive adjusting mechanism contains support, connection hanging cylinder, drive assembly, axle seat, connecting seat and connecting rod assembly, can drive anti -thrust board and realize 0 degree 90 degree angle adjustment, and sensor feedback signal reaches controller, and controller receives unmanned plane flight system landing information and controls motor, forms closed loop control. The device utilizes the airflow to generate the reverse thrust and shortens the brake distance, and the anti -thrust board is horizontal when not working and does not influence the flight, and is light in weight, and the adjustment is accurate, and is convenient to maintain, is applicable to the safe landing of large fixed wing unmanned plane.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) technology, specifically to a UAV landing reverse thrust device adapted to the landing of large UAVs. It can provide reverse thrust during the UAV landing process to achieve rapid stopping and ensure landing safety. Background Technology

[0002] With the rapid development of drone technology, large fixed-wing drones are being used more and more widely in various fields, such as logistics delivery, surveying, and inspection. During the landing process of large fixed-wing drones, due to their significant weight and high landing speed, achieving a rapid and safe stop becomes a critical issue.

[0003] Existing braking methods, such as wheel brakes, may be insufficient for large fixed-wing drones due to insufficient braking force or excessive braking distance, causing the drone to overshoot the runway and posing a significant safety hazard. While some thrust reversers exist, most suffer from complex structures and large space requirements. For example, some thrust reversers are installed on the drone's wings or engine, affecting its aerodynamic performance and lacking in efficient folding and storage design, failing to meet the convenient use requirements of large fixed-wing drones in various scenarios.

[0004] Therefore, developing a landing reverse thrust device specifically designed for large fixed-wing UAVs is of significant practical importance. Utility Model Content

[0005] To address the shortcomings of existing technologies, the purpose of this invention is to provide a drone landing reverse thrust device that can generate reverse thrust using the forward airflow after the drone lands, achieving rapid stopping. It also has an angle adjustment function, allowing it to be flipped to a horizontal position without affecting the drone's normal flight and other operations.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0007] A landing thrust reverser for a drone, the thrust reverser being mounted on the belly of a large fixed-wing drone, including a thrust reverser plate and two sets of drive adjustment mechanisms;

[0008] The push plate is located between the two sets of drive adjustment mechanisms, and its two ends are fixedly connected to the drive adjustment mechanisms through connectors;

[0009] The drive adjustment mechanism is used to adjust the angle of the thrust reverser plate. It includes a support column, a connecting sleeve, a drive assembly, a bearing, and a connecting seat. The upper end of the support column is provided with a flange, which is used to connect to the UAV with bolts. The lower end of the support column is fitted with a connecting sleeve, and the two are fixedly connected by a pin. The left side of the connecting sleeve is provided with a bearing, and the bearing has a rotatable shaft inside. The outer end of the shaft is provided with a connecting seat, and the inner end of the shaft is connected to the drive assembly. The connecting seat is connected to the connector on the thrust reverser plate by bolts. The support column and the shaft are connected by a linkage assembly.

[0010] Furthermore, the thrust plate has a paddle-like structure and its bottom surface is an upwardly concave arc-shaped structure.

[0011] Furthermore, multiple sets of longitudinal guide plates are evenly distributed in the arc-shaped structure of the bottom surface of the thrust plate.

[0012] Furthermore, the drive assembly includes a motor, a drive gear, a driven gear, a worm, and a worm wheel. The worm wheel is installed at the inner end of the rotating shaft, and a worm is meshed with the upper side of the worm wheel. A driven gear is mounted on the shaft of the worm, and a drive gear is meshed with the upper side of the driven gear. The shaft of the drive gear is connected to the output shaft of the motor.

[0013] Furthermore, the linkage assembly includes a fixed plate, a short connecting rod, a connecting rod connector, a long connecting rod, and a connecting rod support arm. The fixed plate is fixedly sleeved on the support column, thereby hinged to the short connecting rod. The lower end of the short connecting rod is connected to the left end of the connecting rod connector, and the right end of the connecting rod connector is connected to the long connecting rod. The lower end of the long connecting rod is hinged to the connecting rod support arm, and the connecting rod support arm is fixedly sleeved on the rotating shaft.

[0014] Furthermore, the thrust plate is made of a high-strength, lightweight material, specifically a carbon fiber composite material.

[0015] Furthermore, it also includes an angle sensor, a pressure sensor, and a controller. The angle sensor and pressure sensor are mounted on the thrust reverser to monitor the rotational position of the thrust reverser and detect airflow pressure. The angle sensor and pressure sensor feed back signals to the controller to achieve closed-loop control. The controller is used to receive landing status information from the UAV flight control system and send control signals to the motors.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. This utility model has high stopping efficiency. Through the coordinated design of the arc-shaped thrust plate and the guide plate, it utilizes the forward airflow to generate reverse thrust resistance. Combined with the wheel brakes, it can shorten the braking distance of large fixed-wing UAVs, achieve rapid stopping, and effectively avoid the risk of running off the runway.

[0018] 2. The thrust reverser of this utility model is installed on the belly of the UAV. When not in operation, the thrust reverser plate remains horizontal and fits the streamlined shape of the fuselage. The increase in flight drag is minimal and the impact on cruising speed and range is negligible.

[0019] 3. Through closed-loop control of "sensor + controller + servo motor", the thrust angle adjustment accuracy can reach ±0.5°, which can be corrected in real time according to the airflow conditions, avoiding fuselage turbulence caused by thrust fluctuations and improving landing stability.

[0020] Of course, any product implementing this utility model does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0023] Figure 2 This is a front view of the present invention.

[0024] Figure 3 This is a schematic diagram of the push plate structure in this utility model.

[0025] Figure 4 This is a schematic diagram of the bottom structure of the push plate in this utility model.

[0026] Figure 5 This is a right view of the push plate in this utility model.

[0027] Figure 6 This is a schematic diagram of the drive adjustment mechanism in this utility model.

[0028] Figure 7 This is a schematic diagram of the internal structure of the connecting hanging cylinder in this utility model.

[0029] In the diagram: 1. Thrust plate; 11. Connector; 12. Guide plate; 2. Drive adjustment mechanism; 21. Flange; 22. Support column; 23. Connecting sleeve; 24. Linkage assembly; 241. Fixed plate; 242. Short connecting rod; 243. Linkage connector; 244. Long connecting rod; 245. Linkage support arm; 25. Drive assembly; 251. Motor; 252. Drive gear; 253. Driven gear; 254. Worm gear; 255. Worm wheel; 256. Shaft; 26. Shaft seat; 27. Connecting seat. Detailed Implementation

[0030] The technical solutions of this utility model will be clearly and completely described below with reference to the embodiments of this utility model. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this utility model.

[0031] Example 1:

[0032] like Figures 1 to 7 As shown, a landing thrust reverser for a drone is fixed to the belly of a large fixed-wing drone. It can avoid key components of the fuselage and does not affect the aerodynamic shape. It mainly includes a thrust reverser plate 1 and two sets of symmetrically arranged drive adjustment mechanisms 2. The two sets of drive adjustment mechanisms 2 are respectively connected to the two ends of the thrust reverser plate 1 and realize the angle adjustment of the thrust reverser plate 1 through synchronous action.

[0033] The thrust reverser 1 has a paddle-shaped streamlined structure with an upward-concave arc surface on the bottom, which can increase the airflow contact area and improve the thrust efficiency.

[0034] Multiple sets of longitudinal guide plates 12 are evenly distributed in the arc-shaped structure on the bottom surface of the thrust reverser 1. The guide plates 12 are integrally formed with the thrust reverser 1 and are used to guide the airflow direction to avoid airflow turbulence that causes fluctuations in thrust.

[0035] The thrust reverser plate 1 is made of high-strength lightweight material, specifically carbon fiber composite material, which reduces its own weight while ensuring structural strength (the weight of a single thrust reverser plate 1 is ≤15kg, which is suitable for the payload requirements of large UAVs).

[0036] The push plate 1 has metal connectors 11 at both ends. The material is aviation aluminum alloy and the surface is anodized. The connectors 11 have bolt holes for fixed connection with the drive adjustment mechanism 2.

[0037] The thrust reverser plate 1 integrates an angle sensor and a pressure sensor: the angle sensor is used to monitor the rotation angle of the thrust reverser plate 1 in real time (measurement accuracy is ±0.5), and the pressure sensor is used to detect the impact pressure of the airflow on the thrust reverser plate 1 (measurement range 0-500Pa). Both are electrically connected to the controller.

[0038] The drive adjustment mechanism 2 is used to drive the thrust plate 1 to rotate around the rotating shaft 256 to achieve angle adjustment (adjustment range 0°-90°, 0° is the horizontal state, 90° is the vertical thrust state). It includes a support column 22, a connecting sleeve 23, a drive assembly 25, a shaft seat 26, a connecting seat 27, and a connecting rod assembly 24. The specific structure is as follows:

[0039] The support column 22 is a cylindrical structure made of aerospace titanium alloy. The upper end of the support column 22 is provided with a circular flange 21 with 6-8 evenly distributed bolt holes. The flange 21 is fixedly connected to the mounting bracket on the belly of the UAV by high-strength bolts. The lower end of the support column 22 is fitted with a connecting sleeve 23. The two are fixed by a pin. The pin passes through the corresponding pin holes of the support column 22 and the connecting sleeve 23 to realize the detachable connection between the two.

[0040] The bearing seat 26 is fixed to the left side of the connecting sleeve 23 (welded to the connecting sleeve 23, and the weld is subjected to non-destructive testing). The bearing seat 26 is equipped with a rolling bearing, and the inner ring of the bearing is fitted with a rotatable shaft 256.

[0041] The connecting seat 27 is fixed to the outer end of the rotating shaft 256 and is keyed to the rotating shaft 256. The connecting seat 27 has bolt holes that match the connecting head 11 of the thrust plate 1. The connecting seat 27 is fixedly connected to the connecting head 11 by bolts to realize the synchronous rotation of the rotating shaft 256 and the thrust plate 1.

[0042] The drive assembly 25 provides rotational power to the rotating shaft 256 and includes a motor 251, a drive gear 252, a driven gear 253, a worm 254, and a worm wheel 255. The motor 251 is a servo motor 251, and its output shaft is keyed to the drive gear 252. The drive gear 252 meshes with the driven gear 253, which is fixedly mounted on one end of the worm 254. The worm 254 meshes with the worm wheel 255, which is fixedly mounted on the inner end of the rotating shaft 256. Through the power transmission path of "motor 251 → drive gear 252 → driven gear 253 → worm 254 → worm wheel 255 → rotating shaft 256," speed reduction and torque increase are achieved, driving the rotating shaft 256 to rotate slowly and avoiding sudden changes in the angle of the thrust plate 1 that could cause vibration of the machine body.

[0043] The connecting rod assembly 24 is used to assist in stabilizing the rotation of the rotating shaft 256 and prevent the shaft 256 from bending and deforming due to uneven force. It includes a fixed plate 241, a short connecting rod 242, a connecting rod connector 243, a long connecting rod 244, and a connecting rod support arm 245. The fixed plate 241 has a ring structure and is fixedly fitted to the lower middle part of the support column 22 by set screws. The upper end of the short connecting rod 242, at the hinge point with the fixed plate 241, uses a fisheye bearing to allow multi-angle rotation, and the lower end is connected to the connecting rod via a pin. The left end of connector 243 is connected; the connecting rod connector 243 is a hollow trapezoidal structure made of aviation aluminum alloy, and the right end is connected to the upper end of long connecting rod 244 through a pin; the lower end of long connecting rod 244 is hinged to connecting rod support arm 245; the connecting rod support arm 245 is a wrench-shaped structure, which is fixedly mounted on the rotating shaft 256 by a set screw and rotates synchronously with the rotating shaft 256; the connecting rod assembly 24 and the drive assembly 25 work together to ensure the coaxiality and stability of the rotating shaft 256 during rotation.

[0044] The controller has multi-channel analog signal acquisition and PWM output functions, and is electrically connected to the UAV flight control system, angle sensor, pressure sensor, and motor 251 of drive component 25 to achieve closed-loop control.

[0045] When the drone enters the landing phase, the flight control system sends a "landing status signal" (including parameters such as landing speed and altitude) to the controller.

[0046] Based on the landing status signal, the controller sends a control command to the motor 251 to drive the thrust reverser 1 to rotate from the horizontal state (0°) to the preset thrust reverser angle (usually 30°-60°, the faster the speed, the larger the angle).

[0047] An angle sensor provides real-time feedback on the current angle of thrust plate 1, and a pressure sensor provides feedback on the airflow impact pressure. The controller compares the actual angle with the target angle and the actual pressure with the theoretical pressure, and adjusts the speed of motor 251 through a PID algorithm to correct the angle of thrust plate 1.

[0048] After the drone comes to a complete stop, the flight control system sends a "stop signal," and the controller drives the thrust reverser 1 to reset to a horizontal position, completing the landing braking.

[0049] Example 2:

[0050] This embodiment provides the assembly process and working procedure of the thrust reverser, as detailed below:

[0051] (I) Equipment Assembly Process

[0052] 1. Prefabrication of thrust plate 1: The main body of thrust plate 1 is prepared by molding carbon fiber woven fabric and epoxy resin. After molding, aviation aluminum alloy connectors 11 are bonded to both ends, and the guide plate 12 groove is milled on the bottom surface and the integrally formed guide plate 12 is embedded. Then, holes are drilled at the preset position of thrust plate 1, angle sensor and pressure sensor are installed, and connected to the controller through wires.

[0053] 2. Assembly of drive adjustment mechanism 2:

[0054] The support column 22 is welded and fixed to the flange 21. After welding, an aging treatment is performed, and then a pin hole is drilled at the lower end of the support column 22.

[0055] The connecting sleeve 23 is fitted onto the lower end of the support column 22, and the pin is inserted and locked by the cotter pin.

[0056] Weld the bearing seat 26 to the left side of the connecting sleeve 23, install the rolling bearing inside the bearing seat 26, and fit the rotating shaft 256 to ensure that the rotating shaft 256 rotates flexibly without jamming.

[0057] The worm gear 255 is sequentially fitted onto the inner end of the rotating shaft 256, and the connecting seat 27 is fitted onto the outer end of the rotating shaft 256, and then fixed with set screws;

[0058] Assemble the drive assembly 25: Fix the motor 251 to the motor 251 bracket connected to the hanging cylinder 23, and install the drive gear 252, driven gear 253, and worm 254 in sequence, and adjust the gear meshing clearance and the meshing side clearance of the worm 254 and worm wheel 255.

[0059] Assemble the connecting rod assembly 24: Fix the fixed plate 241 to the lower part of the support column 22 with set screws, and then hinge the short connecting rod 242, the connecting rod connector 243, and the long connecting rod 244 in sequence. Finally, fix the connecting rod support arm 245 to the middle of the rotating shaft 256 to ensure smooth movement of the connecting rod.

[0060] Overall assembly: The connecting seats 27 of the two sets of drive adjustment mechanisms 2 are fixed to the connecting head 11 of the thrust plate 1 with bolts. Then, the entire device is fixed to the mounting bracket on the belly of the large fixed-wing UAV through the flange 21. Finally, the signal line of the controller and the UAV flight control system and the power line of the motor 251 are connected.

[0061] (II) Work Process

[0062] Taking the landing process of a certain type of large fixed-wing UAV (maximum takeoff weight 5000kg, landing speed 120km / h) as an example, the working steps of this device are as follows:

[0063] 1. Preparation phase: When the UAV descends from its cruising altitude to 100 meters above the ground, the flight control system determines that it has entered the "landing phase" and sends a signal to the controller. The controller starts a self-test (checking whether the angle sensor, pressure sensor, and motor 251 are normal). After the self-test is passed, motor 251 is in standby mode and thrust reverser 1 remains horizontal (0°).

[0064] 2. Thrust Reverse Start: The moment the UAV's wheels touch the runway, the flight control system sends a "start thrust reverse" command to the controller. The controller drives the motor (251) to rotate, which, after being reduced in speed by gears, worm gear 254, and worm wheel 255, drives the rotating shaft 256 to rotate clockwise. The thrust reverser plate 1 rotates from 0° to 60°. The angle sensor provides real-time feedback on the angle. When the angle reaches 60°, the motor 251 stops rotating. At this time, the airflow ahead of the UAV impacts the arc-shaped bottom surface of the thrust reverser plate 1, and after being guided by the deflector plate 12, it generates a reverse thrust, which works in conjunction with the wheel brakes to reduce the speed of the UAV.

[0065] 3. Dynamic adjustment: As the speed of the drone decreases, the pressure sensor detects that the airflow impact pressure decreases. Based on the speed signal and pressure signal, the controller drives the motor 251 to rotate in the opposite direction, adjusting the angle of the thrust reverser 1 from 60° to 30° to avoid excessive thrust causing the fuselage to shake.

[0066] 4. Stop and Reset: When the speed of the UAV drops below 5km / h, the flight control system sends a "stop reverse thrust" command. The controller drives motor 251 to continue to rotate in the reverse direction, and the reverse thrust plate 1 is reset to the horizontal state (0°). After the UAV comes to a complete stop, the controller cuts off the power to motor 251 and enters standby mode, waiting for the next use.

[0067] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating this utility model, and are not intended to limit the implementation of this utility model. For those skilled in the art, other variations or modifications can be made based on the above description. It is impossible to exhaustively list all the implementation methods here. Any obvious variations or modifications derived from the technical solutions of this utility model are still within the protection scope of this utility model.

Claims

1. A drone landing anti -thrust device, characterized in that, The thrust reverser is located on the belly of a large fixed-wing UAV and includes a thrust reverser plate (1) and two sets of drive adjustment mechanisms (2). The push plate (1) is located between the two sets of drive adjustment mechanisms (2), and its two ends are fixedly connected to the drive adjustment mechanism (2) through connectors (11); The drive adjustment mechanism (2) is used to adjust the angle of the thrust plate (1). It includes a support column (22), a connecting sleeve (23), a drive assembly (25), a bearing seat (26), and a connecting seat (27). The upper end of the support column (22) is provided with a flange (21), which is used to connect to the UAV with bolts. The lower end of the support column (22) is fitted with a connecting sleeve (23), and the two are fixedly connected by a pin. The left side of the connecting sleeve (23) is provided with a bearing seat (26), and the bearing seat (26) is provided with a rotatable shaft (256) inside. The outer end of the shaft (256) is provided with a connecting seat (27), and the inner end of the shaft (256) is connected to the drive assembly (25). The connecting seat (27) is connected to the connector (11) on the thrust plate (1) by bolts. The support column (22) and the shaft (256) are connected by a connecting rod assembly (24).

2. The UAV landing reverse thrust device according to claim 1, characterized in that: The thrust plate (1) is a paddle-shaped structure with an upward-concave arc-shaped bottom surface.

3. The UAV landing reverse thrust device according to claim 2, characterized in that: Multiple sets of longitudinal guide plates (12) are evenly distributed in the arc-shaped structure on the bottom surface of the thrust plate (1).

4. The UAV landing reverse thrust device according to claim 1, characterized in that: The drive assembly (25) includes a motor (251), a drive gear (252), a driven gear (253), a worm (254), and a worm wheel (255). The worm wheel (255) is installed on the inner end of the rotating shaft (256). The worm (254) is meshed on the upper side of the worm wheel (255). The driven gear (253) is mounted on the shaft of the worm (254). The drive gear (252) is meshed on the upper side of the driven gear (253). The shaft of the drive gear (252) is connected to the output shaft of the motor (251).

5. The UAV landing reverse thrust device according to claim 1, characterized in that: The linkage assembly (24) includes a fixed plate (241), a short link (242), a link connector (243), a long link (244), and a link arm (245). The fixed plate (241) is fixedly sleeved on the support column (22), and the short link (242) is hinged thereon. The lower end of the short link (242) is connected to the left end of the link connector (243), and the right end of the link connector (243) is connected to the long link (244). The lower end of the long link (244) is hinged to the link arm (245), and the link arm (245) is fixedly sleeved on the rotating shaft (256).

6. The UAV landing reverse thrust device according to claim 1, characterized in that: The thrust plate (1) is made of high-strength lightweight material, specifically carbon fiber composite material.

7. The UAV landing reverse thrust device according to claim 1, characterized in that: An angle sensor and a pressure sensor are installed on the thrust reverser (1) to monitor the rotation position of the thrust reverser (1) and detect the airflow pressure. The angle sensor and the pressure sensor feed back signals to the controller to realize closed-loop control. The controller is used to receive the landing status information of the UAV flight control system and send control signals to the motor (251).

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