CN107074376A - The erecting device and unmanned vehicle of motion sensor - Google Patents

The erecting device and unmanned vehicle of motion sensor Download PDF

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Publication number
CN107074376A
CN107074376A CN201680002521.8A CN201680002521A CN107074376A CN 107074376 A CN107074376 A CN 107074376A CN 201680002521 A CN201680002521 A CN 201680002521A CN 107074376 A CN107074376 A CN 107074376A
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CN
China
Prior art keywords
mounting bracket
motion sensor
erecting device
elastic component
vibration damping
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Granted
Application number
CN201680002521.8A
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Chinese (zh)
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CN107074376B (en
Inventor
祁永泽
于云
杜少鹤
熊荣明
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Shenzhen Dajiang Innovations Technology Co Ltd
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Shenzhen Dajiang Innovations Technology Co Ltd
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Publication of CN107074376A publication Critical patent/CN107074376A/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors

Abstract

A kind of erecting device of motion sensor, including：Mounting bracket (1000), for carrying motion sensor (3000)；And multiple damper mechanisms (2000), it is connected with mounting bracket (1000), for carrying out vibration damping to mounting bracket (1000)；Wherein, multiple damper mechanisms (2000) are respectively separated setting, each damper mechanism (2000) includes elastic component (2100), elastic component (2100) is abutted with mounting bracket (1000), to carry out vibration damping to mounting bracket (1000)；Motion sensor (3000) is installed by mounting bracket (1000), and abut elastic component (2100) with mounting bracket (1000), so that elastic component (2100) is closely mutually supported with mounting bracket (1000), if desired effectiveness in vibration suppression is adjusted, then all or part of damper mechanism (2000) can be adjusted respectively, so that damper mechanism (2000) the regulation effectiveness in vibration suppression is relatively easy to, and the connection reliability between damper mechanism (2000) and mounting bracket (1000) is not influenceed.

Description

The erecting device and unmanned vehicle of motion sensor
Technical field
The present invention relates to the mounting technique of motion sensor, the more particularly to erecting device of motion sensor and unmanned flight Device.
Background technology
Motion sensor is a kind of conventional detecting instrument, there is certain application in multiple industries.With technology The type for continuing to develop motion sensor is more and more, and conventional motion sensor mainly has acceleration transducer, gyro Instrument, geomagnetic sensor, Inertial Measurement Unit IMU (Inertial measurement unit) etc., wherein IMU (Inertial Measurement unit) it is internal comprising accelerometer and gyro；Wherein, accelerometer is used for the acceleration point of detection object Amount, gyro is used for the angle information of detection object；General IMU is arranged on the position of centre of gravity of object.Due to measurement object three The function of axle attitude angle (or angular speed) and acceleration, IMU usually as navigation and guidance core component, and widely In the equipment that progress motion control is needed applied to vehicle, steamer, robot and aircraft etc..
In unmanned vehicle, IMU is used for the fuselage posture for feeding back aircraft, however, due to the high speed of unmanned vehicle Athletic meeting makes IMU be in vibration environment, and excessive vibration level can cause the drift of IMU gyro and accelerometer larger, Higher measurement accuracy is difficult to ensure that, even can be by the component damage in IMU when serious.Therefore, in IMU installation process In, it will usually carry out vibration damping processing.
In the prior art, IMU is to be pasted onto by encapsulating and increasing after counterweight on a surface of vibration damping foam, then will be subtracted The foam another side that shakes is arranged on vibration damping box bottom surface or vibration damping bottom plate, and then by vibration damping box or vibration damping bottom plate and unmanned flight The master control borad Hard link of device.This mounting means main purpose is hardness, the body by adjusting counterweight size and vibration damping foam Appropriate effectiveness in vibration suppression required for the gain of parameter such as product.
Because the ratio of rigidity of vibration damping foam is larger, in the case where counterweight is limited, good effectiveness in vibration suppression is reached, is just needed To use the vibration damping foam of column, require that vibration damping foam has larger height and less sectional area.However, with vibration damping The reduction of the sectional area of foam, causes itself and IMU bond area to diminish, bonding force also diminishes therewith, in use, The connection reliability of the vibration damping foam of IMU and balancing weight easily with playing damping effect declines.
The content of the invention
The erecting device of the motion sensor provided for drawbacks described above of the prior art, the present invention and unmanned flight Device, can solve the problem that motion sensor, easily with playing the problem of vibration damping foam of damping effect departs from, helps to carry in the prior art The connection reliability of high motion sensor and damper mechanism.
The first aspect of the invention is to provide a kind of erecting device of motion sensor, including：
Mounting bracket, for carrying motion sensor；And
Multiple damper mechanisms, are connected with the mounting bracket, for carrying out vibration damping to the mounting bracket；
Wherein, the multiple damper mechanism is respectively separated setting, and each damper mechanism includes elastic component, the elasticity Part is abutted with the mounting bracket, to carry out vibration damping to the mounting bracket.
The second aspect of the invention is to provide a kind of unmanned vehicle, including：The erecting device of motion sensor, motion Sensor and flight controller；
The erecting device of the motion sensor includes：Mounting bracket, the motion sensor is arranged on the mounting bracket； And multiple damper mechanisms, it is connected with the mounting bracket, for carrying out vibration damping to the mounting bracket；
Wherein, the multiple damper mechanism is respectively separated setting, and each damper mechanism includes elastic component, the elasticity Part is abutted with the mounting bracket, to carry out vibration damping to the mounting bracket；
The flight controller, is electrically connected with the motion sensor.
The erecting device and unmanned vehicle for the motion sensor that the present invention is provided, can avoid the installation shape of prior art In formula, the contradiction of effectiveness in vibration suppression and connection reliability is increased by reducing foam cross-sectional area, i.e. install and transport by mounting bracket Dynamic sensor, and the elastic component of multiple spaced damper mechanisms is abutted with mounting bracket, so that the bullet of the damper mechanism Property part is closely mutually supported with the mounting bracket, if desired adjusts effectiveness in vibration suppression, then can be respectively to all or part of vibration damping Mechanism is adjusted, so that damper mechanism regulation effectiveness in vibration suppression is relatively easy to, and does not influence to install with described Connectivity robustness, reliability between frame.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the erecting device of motion sensor provided in an embodiment of the present invention；
Fig. 2 is second of structural representation of the erecting device of motion sensor provided in an embodiment of the present invention；
Fig. 3 for motion sensor provided in an embodiment of the present invention erecting device in buffering ball structural representation；
Fig. 4 is the third structural representation of the erecting device of motion sensor provided in an embodiment of the present invention；
Fig. 5 is Fig. 4 exploded perspective view；
Fig. 6 for motion sensor provided in an embodiment of the present invention erecting device in mounting bracket structural representation；
Fig. 7 is the 4th kind of structural representation of the erecting device of motion sensor provided in an embodiment of the present invention；
Fig. 8 is Fig. 7 exploded perspective view；
Fig. 9 is the structural representation of unmanned vehicle of the embodiment of the present invention.
Wherein, 1000- mounting brackets；1010- installing zones；1020- installs body；1030- damping frames；2000- vibration damping machines Structure；2100- elastic components；2110- buffering balls；2111- upper ends；The upper necks of 2112-；2113- vibration damping main bodys；2114- low portion of neck； 2115- bottoms；2200- counterweights；3000- motion sensors；4000- aircraft fuselages；4100- main casings；4200- support arms Housing；4211- propellers；4212- motors；5000- cover plates；The mounting holes of 6010- first；The mounting holes of 6020- second；6030- Three mounting holes；The mounting holes of 6040- the 5th；7000- control boards；7100- flight controllers.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is A part of embodiment of the present invention, rather than whole embodiments.
Based on the embodiment in the present invention, those of ordinary skill in the art are obtained under the premise of creative work is not made The every other embodiment obtained, belongs to the scope of protection of the invention.In the case where not conflicting, following embodiments and implementation Feature in example can be mutually combined.
It should be noted that in the description of the invention, term " first ", " second " are only used for the different portion of convenient description Part, and it is not intended that indicating or implying ordinal relation, relative importance or the implicit number for indicating indicated technical characteristic Amount.Thus, " first " is defined, at least one this feature can be expressed or be implicitly included to the feature of " second ".
Embodiment one
Fig. 1 is a kind of structural representation of the erecting device of motion sensor provided in an embodiment of the present invention；It refer to figure 1, present embodiments provide a kind of erecting device of motion sensor, including mounting bracket 1000 and multiple damper mechanisms 2000. In the illustrated embodiment, motion sensor is illustrated by taking IMU as an example.
Mounting bracket 1000, for carrying motion sensor 3000.Multiple damper mechanisms 2000, are connected with mounting bracket 1000, For carrying out vibration damping to mounting bracket 1000.
Wherein, multiple damper mechanisms 2000 are respectively separated setting, and each damper mechanism 2000 includes elastic component 2100, elasticity Part 2100 is abutted with mounting bracket 1000, to carry out vibration damping to mounting bracket 1000.
Specifically, mounting bracket 1000 can use plastics or other low density materials, to reduce the peace of motion sensor The deadweight of assembling device, helps to realize the lightweight of aircraft；The present embodiment is not limited for the concrete structure of mounting bracket 1000 Fixed, those skilled in the art can be configured according to specific design requirement, as long as carrying motion sensor can be realized 3000 function.
The present embodiment is not also limited for the specific number of damper mechanism 2000, and those skilled in the art can be according to tool The design requirement of body is configured；Wherein, there is respective pre-determined distance, ability between every two adjacent damper mechanisms 2000 Field technique personnel can be configured according to specific design requirement to the pre-determined distance.
Multiple damper mechanisms 2000 can be uniformly arranged around mounting bracket 1000, to reach preferably effectiveness in vibration suppression.Vibration damping One end of elastic component 2100 in mechanism 2000 can be abutted with mounting bracket 1000, and the other end of elastic component 2100 can be with flight Device fuselage is abutted, so that the vibration of mounting bracket 1000 is passed to by the deformation buffering of elastic component 2100, so as to realize to installing The vibration damping of frame 1000, namely vibration damping is carried out to the motion sensor 3000 that mounting bracket 1000 is carried.
Wherein, the elastic component 2100 in multiple damper mechanisms 2000 is made up of the elastomeric material with certain damping action, For example, elastomeric material can be foam, silica gel, rubber etc..The material of elastic component 2100 in multiple damper mechanisms 2000 can be with It is identical, for example：Elastic component 2100 all can be processed to be formed using soft silica gel material by hot press forming technology, it is easy to batch Production, and the performance of elastic component 2100 of silica gel formation is stable, ageing resistance is strong.Or, the bullet in multiple damper mechanisms 2000 Property part 2100 material can also be different, for example：Partial elastic part 2100 can be made of soft silica gel, remaining elasticity Part 2100 can be made of foam.Those skilled in the art can be according to specific design requirement to being configured.
In the erecting device for the motion sensor that the present embodiment is provided, the installation form that prior art can be avoided, lead to Over-subtraction small foam cross-sectional area increases the contradiction of effectiveness in vibration suppression and connection reliability, i.e. passes through mounting bracket 1000 and installs motion Sensor 3000, and the elastic component 2100 of damper mechanism 2000 is abutted with mounting bracket 1000, so that the bullet of damper mechanism 2000 Property part 2100 is closely mutually supported with mounting bracket 1000, if desired adjusts effectiveness in vibration suppression, then can be respectively to all or part of Damper mechanism is adjusted, so that damper mechanism regulation effectiveness in vibration suppression is relatively easy to, and does not influence vibration damping machine Being connected firmly between structure 2000 and mounting bracket 1000, reliability.
Embodiment two
Fig. 2 is second of structural representation of the erecting device of motion sensor provided in an embodiment of the present invention；It refer to Shown in Fig. 2, on the basis of above-described embodiment one, further, elastic component 2100 can be arranged on the lower section of mounting bracket 1000, and Mounting bracket 1000 can pressure holding elastic component 2100, make elastic component 2100 occur compression.
In the present embodiment, mounting bracket 1000 can by the pressure holding of elastic component 2100 holding in the lower section of aircraft fuselage 4000 On carrier, elastic component 2100；Aircraft fuselage 4000 is buffered by the compression of elastic component 2100 and passes to mounting bracket 1000 Vibration, so as to realize the vibration damping to mounting bracket 1000, and then realize the vibration damping to motion sensor 3000, be favorably improved fortune The accuracy that dynamic sensor 3000 is measured.
Specifically, carrier can be the control board of unmanned vehicle.Flight controller is arranged on control board On, and electrically connected with the flight control board.
Wherein, the term of " on ", " under " etc., is for describing the relative position relation of each structure in the accompanying drawings, being only It is easy to understanding for narration, and is not used to limit enforceable scope of the invention, its relativeness is altered or modified, without essence Change under technology contents, when being also considered as enforceable category of the invention.
Embodiment three
On the basis of above-described embodiment one, further, elastic component 2100 can also be arranged on the top of mounting bracket 1000, And mounting bracket 1000 can pull elastic component 2100, elastic component 2100 is set to occur stretcher strain.
In the present embodiment, mounting bracket 1000 can be suspended under the carrier of aircraft fuselage by elastic component 2100 Side, elastic component 2100；The vibration that aircraft fuselage passes to mounting bracket 1000 is buffered by the stretcher strain of elastic component 2100, from And the vibration damping to mounting bracket 1000 is realized, and then the vibration damping to motion sensor 3000 is realized, it is favorably improved motion sensor The accuracy of 3000 measurements.
Wherein, the term of " on ", " under " etc., is for describing the relative position relation of each structure in the accompanying drawings, being only It is easy to understanding for narration, and is not used to limit enforceable scope of the invention, its relativeness is altered or modified, without essence Change under technology contents, when being also considered as enforceable category of the invention.
Example IV
In above-described embodiment one into embodiment three on the basis of any embodiment, further, elastic component 2100 can be with For buffering ball, spring, cushion blocking etc..
Wherein, the elastic component 2100 in multiple damper mechanisms 2000 can all be buffering ball；Or multiple damper mechanisms Elastic component 2100 in 2000 can all be spring；Or the elastic component 2100 in multiple damper mechanisms 2000 can all be vibration damping Pad；Or the elastic component 2100 in part damper mechanism 2000 is the elastic component 2100 in buffering ball, other damper mechanisms 2000 For spring；Or the elastic component 2100 in part damper mechanism 2000 is the elastic component in buffering ball, other damper mechanisms 2000 2100 be cushion blocking；Or the elastic component 2100 in part damper mechanism 2000 is the bullet in spring, other damper mechanisms 2000 Property part 2100 be cushion blocking；Or, wherein the elastic component 2100 in a damper mechanism 2000 is buffering ball, another damper mechanism Elastic component 2100 in 2000 is that the elastic component 2100 in spring, another damper mechanism 2000 is cushion blocking；People in the art Member can be configured according to specific design requirement.
In the present embodiment, elastic component 2100 can be folded between mounting bracket 1000 and aircraft fuselage；Pass through elastic component 2100 stretcher strain or compression buffering aircraft fuselage passes to the vibration of mounting bracket 1000, so as to realize to installing The vibration damping of frame 1000, and then the vibration damping to motion sensor 3000 is realized, it is favorably improved the standard of the measurement of motion sensor 3000 True property.
Embodiment five
Fig. 3 for motion sensor provided in an embodiment of the present invention erecting device in buffering ball structural representation；Fig. 4 is The third structural representation of the erecting device of motion sensor provided in an embodiment of the present invention；Fig. 5 illustrates for Fig. 4 blast Figure；It refer to shown in Fig. 3-5, in above-described embodiment one into example IV on the basis of any embodiment, further, elasticity Part 2100 includes buffering ball 2110.
The concrete structure of buffering ball 2110 can be designed according to different demands, for example, in the illustrated embodiment, vibration damping Ball 2110 can include upper end 2111, upper neck 2112 and vibration damping main body 2113.Upper neck 2112 is connected to upper end 2111 Between vibration damping main body 2113.Upper neck 2112 and upper end 2111 are used to be connected with mounting bracket 1000.Vibration damping main body 2113 with Mounting bracket 1000 is abutted.Vibration damping main body 2113 is used to carry out vibration damping to mounting bracket 1000.
Wherein, upper neck 2112 can be in the form of a column, and the first mounting hole 6010, upper neck can be offered on mounting bracket 1000 2112 can be located in the first mounting hole 6010 of mounting bracket 1000, to realize the company of buffering ball 2110 and mounting bracket 1000 Connect.
Vibration damping main body 2113 can be with spherical in shape, in order to which vibration damping main body 2113 is supported with mounting bracket 1000, so that by subtracting The deformation buffering of main body of shaking 2113 passes to the vibration of mounting bracket 1000, and then realizes the vibration damping to mounting bracket 1000, namely right The motion sensor 3000 that mounting bracket 1000 is carried carries out vibration damping, and meets 6 free degree damping requirements；Or vibration damping main body 2113 can be in the form of a column, and vibration damping main body 2113 is hemispherical towards one end of mounting bracket 1000, in order to vibration damping main body 2113 Supported with mounting bracket 1000, so as to pass to the vibration of mounting bracket 1000, Jin Ershi by the deformation buffering of vibration damping main body 2113 Now to the vibration damping of mounting bracket 1000, namely vibration damping is carried out to the motion sensor 3000 that mounting bracket 1000 is carried, and meet 6 Free degree damping requirements.
It is preferred that vibration damping main body 2113 can be arranged to hollow structure, such as it is hollow in ellipticity, it is hollow be in prism-shaped Shape Deng, multiple vibration damping main bodys 2113 can be with identical, can also be different；By the way that vibration damping main body 2113 is arranged into hollow knot Structure, on the one hand, can increase the deflection of vibration damping main body 2113, improves effectiveness in vibration suppression；On the other hand, it can be helped with loss of weight In the lightweight for realizing aircraft.
Buffering ball 2110 can be integrally formed；Or the upper end 2111 of buffering ball 2110 detachably connects with upper neck 2112 Connect；Or the upper end 2111 of buffering ball 2110 and the upper neck 2112 of buffering ball 2110 are interference fitted, wherein, buffering ball 2110 Upper neck 2112 be integrally formed with vibration damping main body 2113, to ensure that it is reliable that buffering ball 2110 is connected with mounting bracket 1000 Property.
In the present embodiment, the upper end 2111 of buffering ball 2110 and upper neck 2112 are connected with mounting bracket 1000, buffering ball 2110 vibration damping main body 2113 is abutted with mounting bracket 1000 so that the connection jail between damper mechanism 2000 and mounting bracket 1000 Solid, it is reliable, and then motion sensor 3000 can be prevented effectively from depart from damper mechanism 2000.
Embodiment six
On the basis of above-described embodiment five, further, upper end 2111 is used to buffering ball 2110 being installed on installation On frame 1000.
Wherein, upper end 2111 can be positive stop lug boss.The shape of upper end 2111 can be designed according to different demands, For example, the cross section of upper end 2111 can be with rounded, the diameter of cross section is more than the first mounting hole on mounting bracket 1000 6010 aperture, and overall diameter of the diameter more than upper neck 2112 of cross section；Or the cross section of upper end 2111 is polygon The length of most long-diagonal is more than the aperture of the first mounting hole 6010 and is more than the outer straight of upper neck 2112 in shape, the polygon Footpath.
After upper neck 2112 and mounting bracket 1000 coordinate, upper end 2111 and mounting bracket 1000 are towards upper end 2111 Surface leans, so that buffering ball 2110 is stuck on mounting bracket 1000, limitation buffering ball 2110 departs from mounting bracket 1000, with The reliability connected between buffering ball 2110 and mounting bracket 1000 is further improved, and then effectively prevent motion sensor 3000 Depart from damper mechanism 2000.
In the present embodiment, upper end 2111 and the clamping of mounting bracket 1000, the upper neck of buffering ball 2110 of buffering ball 2110 2112 are connected with mounting bracket 1000, and vibration damping main body 2113 is abutted with mounting bracket 1000 so that damper mechanism 2000 and mounting bracket Being connected firmly, reliably between 1000, and then motion sensor 3000 can be prevented effectively from depart from damper mechanism 2000.
Embodiment seven
On the basis of above-described embodiment five or embodiment six, further, first can be offered on mounting bracket 1000 Mounting hole 6010, upper neck 2112 can be interference fitted with the first mounting hole 6010 of mounting bracket 1000, so that vibration damping main body 2113 support with mounting bracket 1000.
Wherein, the overall diameter of upper neck 2112 is more than the interior diameter of the first mounting hole 6010, and upper neck 2112 is located in the In one mounting hole 6010, so as to realize that the first mounting hole 6010 of neck 2112 and mounting bracket 1000 is interference fitted so that subtract Shake being connected firmly, reliably between ball 2110 and mounting bracket 1000, motion sensor 3000 and damper mechanism can be prevented effectively from 2000 depart from.
Preferably, the axial height of upper neck 2112 is less than the depth of the first mounting hole 6010, so that vibration damping main body 2113 Offseted with mounting bracket 1000.Specifically, because the axial height of upper neck 2112 is less than the depth of the first mounting hole 6010, upper neck The first fit clearance is formed between the mounting hole 6010 of portion 2112 and first, vibration damping main body 2113 is pressed from both sides towards the head end of upper neck 2112 Hold in the first fit clearance towards the side of vibration damping main body 2113, namely cause head of the vibration damping main body 2113 towards upper neck 2112 End can be pressed into the first mounting hole 6010, reduce the fit clearance between buffering ball 2110 and mounting bracket 1000, not only effectively Rocking between damper mechanism 2000 and mounting bracket 1000 is reduced, effectiveness in vibration suppression is further increased, additionally it is possible to make motion-sensing The more compact structure of the erecting device of device, slows down the arrangement space pressure of complete machine.
In the present embodiment, pass through the interference of the first mounting hole 6010 of the upper neck 2112 and mounting bracket 1000 of buffering ball 2110 Coordinate, vibration damping main body 2113 abuts with mounting bracket 1000 so that being connected firmly between damper mechanism 2000 and mounting bracket 1000, Reliably, and then motion sensor 3000 can be prevented effectively from depart from damper mechanism 2000.
Embodiment eight
On the basis of above-described embodiment five or embodiment six, the first mounting hole can be offered on mounting bracket 1000 6010, upper neck 2112 can be bonded with the first mounting hole 6010 of mounting bracket 1000, so that vibration damping main body 2113 and mounting bracket 1000 support.
Wherein, upper neck 2112 is located in the first mounting hole 6010, and by the upper mounting hole 6010 of neck 2112 and first Bonding, because the surface area of upper neck 2112 is larger, bond area between the upper mounting hole 6010 of neck 2112 and first also compared with Greatly so that bonding force is larger, and then the reliability connected between buffering ball 2110 and mounting bracket 1000 is improved.
It is preferred that on the basis of the first mounting hole 6010 of upper neck 2112 and mounting bracket 1000 is Nian Jie, buffering ball 2110 can also offer centre bore, be screwed buffering ball 2110 and the spiral shell of mounting bracket 1000 by fastener in the centre bore Connect so that the connection between buffering ball 2110 and mounting bracket 1000 is more firmly, reliably；Fastener can be major part screw, bolt Deng.
Preferably, the axial height of upper neck 2112 is less than the depth of the first mounting hole 6010, so that vibration damping main body 2113 Offseted with mounting bracket 1000.Specifically, because the axial height of upper neck 2112 is less than the depth of the first mounting hole 6010, upper neck The first fit clearance is formed between the mounting hole 6010 of portion 2112 and first, the head end of vibration damping main body 2113 is clamped between the first cooperation Gap is towards the side of vibration damping main body 2113, namely enables vibration damping main body 2113 to be pressed into first towards one end of upper neck 2112 Mounting hole 6010, reduces the fit clearance between buffering ball 2110 and mounting bracket 1000, not only effectively reduces damper mechanism Rocking between 2000 and mounting bracket 1000, further increases effectiveness in vibration suppression, additionally it is possible to make the erecting device of motion sensor More compact structure, slow down the arrangement space pressure of complete machine.
In the present embodiment, glued by the upper neck 2112 of buffering ball 2110 with the first mounting hole 6010 of mounting bracket 1000 Connect, vibration damping main body 2113 is abutted with mounting bracket 1000 so that being connected firmly between damper mechanism 2000 and mounting bracket 1000, can Lean on, and then motion sensor 3000 can be prevented effectively from and depart from damper mechanism 2000.
Embodiment nine
On the basis of above-described embodiment five or embodiment six, buffering ball 2110 can detachably connect with mounting bracket 1000 Connect.Preferably, buffering ball 2110 free-hand can be connected with mounting bracket 1000.
The first mounting hole 6010 can be offered in a kind of optional embodiment of the present embodiment, on mounting bracket 1000, is subtracted The upper neck 2112 of ball 2110 of shaking is located in the first mounting hole 6010 of mounting bracket 1000, the upper end 2111 of buffering ball 2110 It is stuck on mounting bracket 1000.Buffering ball 2110 is further opened with centre bore, is screwed buffering ball by fastener in the centre bore 2110 are spirally connected with mounting bracket 1000, and the upper neck 2112 of buffering ball 2110 is clamped in into the first of fastener and mounting bracket 1000 Between the hole wall of mounting hole 6010 so that being connected firmly, reliably between buffering ball 2110 and mounting bracket 1000；Fastener can be with For major part screw or bolt.When upper end 2111 leans with mounting bracket 1000 towards the surface of upper end 2111, it will subtract When the ball 2110 that shakes is stuck on mounting bracket 1000, upper end 2111 can also be clamped in head and the mounting bracket of fastener by fastener 1000 towards between the surface of upper end 2111.
It is preferred that on the basis of buffering ball 2110 and mounting bracket 1000 are spirally connected, can also be by upper neck 2112 and first Mounting hole 6010 is bonded, because the surface area of upper neck 2112 is larger, viscous between the upper mounting hole 6010 of neck 2112 and first Junction product is also larger so that bonding force is larger, and then improves the reliability connected between buffering ball 2110 and mounting bracket 1000.
Preferably, the axial height of upper neck 2112 is less than the depth of the first mounting hole 6010, so that vibration damping main body 2113 Offseted with mounting bracket 1000.Specifically, because the axial height of upper neck 2112 is less than the depth of the first mounting hole 6010, upper neck The first fit clearance of formation of mounting hole 6010 of portion 2112 and first, the head end of vibration damping main body 2113 is clamped in the first fit clearance court To the side of vibration damping main body 2113, namely vibration damping main body 2113 is enabled to be pressed into the first installation towards one end of upper neck 2112 Hole 6010, reduces the fit clearance between buffering ball 2110 and mounting bracket 1000, not only effectively reduce damper mechanism 2000 with Rocking between mounting bracket 1000, further increases effectiveness in vibration suppression, additionally it is possible to make the structure of the erecting device of motion sensor It is more compact, slow down the arrangement space pressure of complete machine.
In another optional embodiment of the present embodiment, the first screwed hole, buffering ball are offered on mounting bracket 1000 2110 upper neck 2112 is formed with external screw thread, will be subtracted by the first screwed hole that upper neck 2112 is screwed on mounting bracket 1000 The ball 2110 that shakes is spirally connected with mounting bracket 1000.Preferably, the axial height of upper neck 2112 is less than the depth of the first mounting hole 6010, So that vibration damping main body 2113 offsets with mounting bracket 1000, to reduce the fit clearance between buffering ball 2110 and mounting bracket 1000, Rocking between damper mechanism 2000 and mounting bracket 1000 is not only effectively reduced, effectiveness in vibration suppression is further improved, additionally it is possible to make fortune The more compact structure of the erecting device of dynamic sensor, slows down the arrangement space pressure of complete machine.
Wherein, the upper end 2111 of buffering ball 2110 and the upper neck 2112 of buffering ball 2110 can also clampings.For example：Subtract Shake ball 2110 upper neck 2112 on can open up the second screwed hole, upper end 2111 is formed with towards one end of upper neck 2112 First projection, the first projection is provided with external screw thread, by the way that the first projection of upper end 2111 is screwed into the second of upper neck 2112 Screwed hole realizes the upper end 2111 of buffering ball 2110 and being spirally connected for upper neck 2112；Or, the upper end of buffering ball 2110 2111 offer the 3rd screwed hole, and it is convex that the upper neck 2112 of buffering ball 2110 is formed with second towards one end of upper end 2111 External screw thread is formed with post, the second projection, by the 3rd screw thread that the second projection of upper neck 2112 is screwed into upper end 2111 Realize the upper end 2111 of buffering ball 2110 and being spirally connected for upper neck 2112 in hole.It is connected by buffering ball 2110 with mounting bracket 1000 When, the upper neck 2112 of buffering ball 2110 is screwed into the screwed hole on mounting bracket 1000 first, then by the upper of buffering ball 2110 End 2111 is spirally connected with upper neck 2112.
Or, the upper end 2111 of buffering ball 2110 is interference fitted with the upper neck 2112 of buffering ball 2110, for example：Vibration damping The first mating holes can be opened up on the upper neck 2112 of ball 2110, upper end 2111 is formed with towards one end of upper neck 2112 One mounting post, the overall diameter of the first mounting post is more than the aperture of the first mating holes；Or, on the upper end 2111 of buffering ball 2110 The second mating holes can be opened up, upper neck 2112 is formed with the second mounting post, the second mounting post towards one end of upper end 2111 Overall diameter be more than the second mating holes aperture.When buffering ball 2110 is connected with mounting bracket 1000, first by buffering ball 2110 upper neck 2112 is screwed into the screwed hole on mounting bracket 1000, then by the upper end 2111 of buffering ball 2110 and upper neck 2112 interference fits.
In the present embodiment, it is spirally connected by buffering ball 2110 with mounting bracket 1000, vibration damping main body 2113 is supported with mounting bracket 1000 Connect so that being connected firmly, reliably between damper mechanism 2000 and mounting bracket 1000, and then motion sensor can be prevented effectively from 3000 depart from damper mechanism 2000.
Embodiment ten
In above-described embodiment five into embodiment nine on the basis of any embodiment, buffering ball 2110 can also include lower neck Portion 2114 and bottom 2115, low portion of neck 2114 are connected with vibration damping main body 2113, and low portion of neck 2114 is used for and aircraft fuselage The second mounting hole 6020 on 4000 coordinates, and bottom 2115 is used to buffering ball 2110 being installed on aircraft fuselage 4000, So that vibration damping main body 2113 is clamped between aircraft fuselage 4000 and mounting bracket 1000.
Wherein, low portion of neck 2114 can be in the form of a column；The overall diameter of low portion of neck 2114 is more than the interior straight of the second mounting hole 6020 Footpath, low portion of neck 2114 is located in the second mounting hole 6020, and low portion of neck 2114 is interference fitted with the second mounting hole 6020 so that Being connected firmly, reliably between buffering ball 2110 and aircraft fuselage 4000, effectively prevent mounting bracket 1000 and damper mechanism Depart from aircraft fuselage 4000, and then effectively prevent the motion sensor 3000 and damper mechanism carried on mounting bracket 1000 2000 depart from aircraft fuselage 4000；
Or, low portion of neck 2114 is located in the second mounting hole 6020, and by the mounting hole 6020 of low portion of neck 2114 and second Bonding, because the surface area of low portion of neck 2114 is larger, bond area between the mounting hole 6020 of low portion of neck 2114 and second also compared with Greatly so that bonding force is larger, and then the reliability connected between buffering ball 2110 and aircraft fuselage 4000 is improved, effectively kept away Mounting bracket 1000 and damper mechanism are exempted from aircraft fuselage 4000 to depart from, and then effectively prevent what is carried on mounting bracket 1000 Motion sensor 3000 and damper mechanism 2000 depart from aircraft fuselage 4000；
Or, centre bore is offered on buffering ball 2110, the upper neck 2112 of buffering ball 2110 is located in mounting bracket 1000 The first mounting hole 6010 in, the low portion of neck 2114 of buffering ball 2110 is located in the second mounting hole 6020, is worn by fastener Cross the centre bore and buffering ball 2110 is fixed mounting bracket 1000, on aircraft fuselage 4000, improve buffering ball 2110 The reliability being connected between mounting bracket 1000, buffering ball 2110 and aircraft fuselage 4000, effectively prevent mounting bracket 1000 and damper mechanism depart from aircraft fuselage 4000, and then effectively prevent the motion sensor carried on mounting bracket 1000 3000 and damper mechanism 2000 depart from aircraft fuselage 4000, wherein, fastener can be major part screw or bolt.
Preferably, the axial height of low portion of neck 2114 is less than the depth of the second mounting hole 6020, so that vibration damping main body 2113 Offseted with aircraft fuselage 4000.Specifically, because the axial height of upper neck 2112 is less than the depth of the second mounting hole 6020, The mounting hole 6020 of low portion of neck 2114 and second the second fit clearance of formation, vibration damping main body 2113 deviates from the tail end of mounting bracket 1000 The second fit clearance is clamped in towards the side of vibration damping main body 2113, namely causes vibration damping main body 2113 towards low portion of neck 2114 Tail end can be pressed into the second mounting hole 6020, reduce the fit clearance between damper mechanism 2000 and aircraft fuselage 4000, Slow down the arrangement space pressure of complete machine, and the second fit clearance is filled up by vibration damping main body 2113, can effectively reduce vibration damping Rocking between mechanism 2000 and aircraft fuselage 4000, vibrates so as to help to reduce.
Buffering ball 2110 can be integrally formed；Or the bottom 2115 of buffering ball 2110 and the clamping of low portion of neck 2114；Or The bottom 2115 of person's buffering ball 2110 is interference fitted with the low portion of neck 2114 of buffering ball 2110, wherein, under buffering ball 2110 Neck 2114 is integrally formed with vibration damping main body 2113, to ensure that it is reliable that buffering ball 2110 is connected with aircraft fuselage 4000 Property.
In the present embodiment, upper end 2111 and the clamping of mounting bracket 1000, the upper neck of buffering ball 2110 of buffering ball 2110 2112 are connected with mounting bracket 1000, and the low portion of neck 2114 of buffering ball 2110 is connected with aircraft fuselage 4000, buffering ball 2110 Bottom 2115 and the clamping of aircraft fuselage 4000, vibration damping main body 2113 are abutted with mounting bracket 1000 and aircraft fuselage 4000, So that being connected firmly, reliably between damper mechanism 2000 and mounting bracket 1000, and then motion sensor can be prevented effectively from 3000 depart from damper mechanism 2000, also cause being connected firmly, reliably for damper mechanism 2000 and aircraft fuselage 4000, and then It is prevented effectively from motion sensor 3000 and damper mechanism 2000 departs from aircraft fuselage 4000 and is thrown out of.
Embodiment 11
In above-described embodiment five into embodiment ten on the basis of any embodiment, damper mechanism 2000 can also include with The counterweight 22002200 that buffering ball 2110 is detachably connected.Counterweight 2200 is also detachably connected with mounting bracket 1000, to increase Plus the inertia of mounting bracket 1000.The mode being detachably connected can for interference fit, bonding, clamping, be spirally connected.
Specifically in the illustrated embodiment, counterweight 2200 can be annular in shape, and counterweight 2200 can be using high density gold Category material is made, so that the lighter in weight of vibration-proof structure, mitigates the deadweight of the erecting device of motion sensor, contribute to aircraft Lightweight；Counterweight 2200 can be fixedly connected by the mode such as being spirally connected, being bonded, be interference fitted with mounting bracket 1000, and be matched somebody with somebody The first mounting hole 6010 is formed on heavy mail 2200 so that buffering ball 2110 by being interference fitted with the first mounting hole 6010, it is be bonded Or be spirally connected and be connected with counterweight 2200 so that the assembly technology of damper mechanism 2000 is simpler, also, is changed in aircraft upgrading Dai Shi, the change to damper mechanism 2000 is less, is conducive to shortening the construction cycle.
In the present embodiment, buffering ball 2110 is abutted with mounting bracket 1000, and counterweight 2200 is fixedly connected with mounting bracket 1000, So that being connected firmly, reliably between damper mechanism 2000 and mounting bracket 1000, and then motion sensor can be prevented effectively from 3000 depart from damper mechanism 2000.
Embodiment 12
In above-described embodiment one into embodiment 11 on the basis of any embodiment, the bullet in multiple damper mechanisms 2000 The damped coefficient of property part 2100 is identical.Wherein, when damper mechanism 2000 surrounds the motion sensor being arranged on mounting bracket 1000 3000 are uniformly arranged, namely elastic component 2100 is uniformly arranged around motion sensor 3000, and each elastic component 2100 and motion When the distance between center of gravity of erecting device of sensor is identical, the damping system of the elastic component 2100 in each damper mechanism 2000 Number is identical, so that the damping action that the erecting device of motion sensor is subject to is uniform and identical, helps further to improve to peace Shelve the effectiveness in vibration suppression of the motion sensor 3000 on 1000.
Embodiment 13
In above-described embodiment one into embodiment 11 on the basis of any embodiment, the installation close to motion sensor is filled The damped coefficient of the elastic component 2100 for the center of gravity put, more than the elastic component 2100 of the center of gravity of the erecting device away from motion sensor Damped coefficient, namely closer to motion sensor erecting device center of gravity elastic component 2100 damped coefficient it is bigger.Its In, it is uniformly arranged when damper mechanism 2000 surrounds the motion sensor 3000 on mounting bracket 1000, namely elastic component 2100 are uniformly arranged around motion sensor 3000, and when between the center of gravity of elastic component 2100 and the erecting device of motion sensor Distance it is incomplete same when, the damped coefficient closer to the elastic component 2100 of the center of gravity of the erecting device of motion sensor is got over Greatly, its vibration is also weaker, helps further to improve the effectiveness in vibration suppression to the motion sensor 3000 on mounting bracket 1000.
Embodiment 14
Continue referring to shown in Fig. 4-5, on the basis of any embodiment, subtract into embodiment 13 in above-described embodiment one Mechanism of shaking 2000 also includes the counterweight 2200 that be connected with mounting bracket 1000, counterweight 2200 for by the Action of Gravity Field of itself in Mounting bracket 1000, to increase the inertia of mounting bracket 1000, so as to further improve the effectiveness in vibration suppression of mounting bracket 1000.
Wherein, counterweight 2200 is annular in shape, and counterweight 2200 can be made of high desnity metal material, multiple vibration damping machines The weight of counterweight 2200 in structure 2000 can be with identical so that the inertia of each counterweight 2200 is identical, ensure that installation The stability of frame 1000.
It is preferred that counterweight 2200 can be also used for adjusting the barycenter of mounting bracket 1000, now, multiple damper mechanisms 2000 In the weight of counterweight 2200 can also differ, by the weight for setting each counterweight 2200 so that mounting bracket 1000 Barycenter and geometric center overlap.It should be noted that when the weight not phase of the counterweight 2200 in multiple damper mechanisms 2000 Meanwhile, the distance between geometric center of each counterweight 2200 and mounting bracket 1000 is correspondingly adjusted, so that each counterweight 2200 inertia is identical.
In the present embodiment, by setting counterweight 2200 on mounting bracket 1000, increase the inertia of mounting bracket 1000, to subtract Influence of the vibration of bug fuselage 4000 to mounting bracket 1000, helps to ensure that the stability of mounting bracket 1000, further Improve effectiveness in vibration suppression of the damper mechanism 2000 to mounting bracket 1000.
Embodiment 15
On the basis of above-described embodiment 14, counterweight 2200 is integrally formed with mounting bracket 1000.Wherein, counterweight 2200 and mounting bracket 1000 can be made of same metal material, eliminate the installation of counterweight 2200, contribute to simplify The assembly technology of the erecting device of motion sensor.
Wherein, counterweight 2200 can also be connected with the elastic component 2100 in damper mechanism 2000, in damper mechanism 2000 Elastic component 2100 can be buffering ball 2110；Buffering ball 2110 can include：Upper end 2111, upper neck 2112, vibration damping master Body 2113, low portion of neck 2114 and bottom 2115, upper neck 2112 are connected between upper end 2111 and vibration damping main body 2113；Match somebody with somebody Heavy mail 2200 on mounting bracket 1000 with offering the first mounting hole 6010 run through, and the upper neck 2112 of buffering ball 2110 is located in In first mounting hole 6010, and the upper end 2111 of buffering ball 2110 is stuck on counterweight 2200, and upper neck 2112 and first is pacified The first fit clearance formed between dress hole 6010, between the head end press-in first of vibration damping main body 2113 towards upper neck 2112 coordinates Gap is towards the side of buffering ball 2110, to carry out vibration damping to mounting bracket 1000.
In the present embodiment, it is integrally formed by counterweight 2200 with mounting bracket 1000 so that matching somebody with somebody in damper mechanism 2000 Being connected firmly, reliably between heavy mail 2200 and mounting bracket 1000, and then motion sensor 3000 and vibration damping can be prevented effectively from Mechanism 2000 departs from.
Embodiment 16
On the basis of above-described embodiment 14, counterweight 2200 is interference fitted with mounting bracket 1000.
Wherein, the 3rd mounting hole 6030 run through is offered on mounting bracket 1000, counterweight 2200 is towards mounting bracket 1000 One end be formed with the first installation base, the first installation base is located in the 3rd mounting hole 6030, and the first installation base Overall diameter is more than the aperture of the 3rd mounting hole 6030, so that counterweight 2200 is fixed on mounting bracket 1000, it is to avoid counterweight The disengaging of part 2200 and mounting bracket 1000；
Or, offered on counterweight 2200 on mounting bracket mounting hole, mounting bracket 1000 towards the surface of counterweight 2200 On be formed with the second installation base, the second installation base is located in mounting bracket mounting hole, and the overall diameter of the second installation base More than the aperture of mounting bracket mounting hole, so that counterweight 2200 is fixed on mounting bracket 1000, it is to avoid counterweight 2200 with The disengaging of mounting bracket 1000.
Counterweight 2200 can also be connected with the elastic component 2100 in damper mechanism 2000, the elasticity in damper mechanism 2000 Part 2100 can be buffering ball 2110.
The concrete structure of buffering ball can be designed according to different demands, for example, in the illustrated embodiment, buffering ball 2110 can include upper end 2111, upper neck 2112, vibration damping main body 2113, low portion of neck 2114 and bottom 2115.Upper neck 2112 are connected between upper end 2111 and vibration damping main body 2113；The first mounting hole run through is offered on counterweight 2200 6010, the upper neck 2112 of buffering ball 2110 is located in the first mounting hole 6010, and the upper end 2111 of buffering ball 2110 is blocked On counterweight 2200, the first fit clearance formed between the upper mounting hole 6010 of neck 2112 and first, vibration damping main body 2113 The first fit clearance is pressed into towards the side of buffering ball 2110 towards the head end of upper neck 2112, to subtract to mounting bracket 1000 Shake.
In the present embodiment, it is interference fitted by counterweight 2200 with mounting bracket 1000 so that matching somebody with somebody in damper mechanism 2000 Being connected firmly, reliably between heavy mail 2200 and mounting bracket 1000, and then motion sensor 3000 and vibration damping can be prevented effectively from Mechanism 2000 departs from.
Embodiment 17
On the basis of above-described embodiment 14, counterweight 2200 is spirally connected with mounting bracket 1000.
Wherein, can be offered on mounting bracket 1000 on the 4th mounting hole, counterweight 2200 can offer the 4th installation Hole, by fastener through the 4th mounting hole on mounting bracket 1000, the 4th mounting hole on counterweight 2200, by counterweight 2200 are fixed on mounting bracket 1000；Or
Counterweight mounting hole is offered on mounting bracket 1000, counterweight mounting hole is provided with internal thread, the direction of counterweight 2200 One end of mounting bracket 1000 is formed with the 3rd installation base, the 3rd installation base and is formed with external screw thread, by by counterweight 2200 the 3rd installation base is screwed into counterweight mounting hole, realizes being spirally connected for counterweight 2200 and mounting bracket 1000；Or,
Elastic component 2100 in damper mechanism 2000 can be buffering ball 2110, and buffering ball 2110 offers centre bore, subtracted The ball 2110 that shakes can include：Upper end 2111, upper neck 2112, vibration damping main body 2113, low portion of neck 2114 and bottom 2115, on Neck 2112 is connected between upper end 2111 and vibration damping main body 2113；Counterweight mounting hole is offered on mounting bracket 1000, is matched somebody with somebody One end of heavy mail 2200 towards mounting bracket 1000 is formed with the 3rd installation base, and the 3rd installation base is located in counterweight mounting hole In, the first mounting hole 6010 is formed with counterweight 2200, the upper neck 2112 of buffering ball 2110 is located in the first mounting hole In 6010, counterweight 2200 is pressed abd fixed on mounting bracket 1000 by being screwed in centre bore of the fastener on buffering ball 2110 On, the disengaging of counterweight 2200 and mounting bracket 1000 can not only be avoided, additionally it is possible to avoid counterweight 2200 and mounting bracket 1000 Between produce relative movement, so as to avoid relative movement between counterweight 2200 and mounting bracket 1000 to buffering ball 2110 The infringement of upper neck 2112, helps to extend the service life of buffering ball 2110.
In the present embodiment, it is spirally connected by counterweight 2200 with mounting bracket 1000 so that the counterweight in damper mechanism 2000 Being connected firmly, reliably between 2200 and mounting bracket 1000, and then motion sensor 3000 and damper mechanism can be prevented effectively from 2000 depart from.
Embodiment 18
Fig. 6 for motion sensor provided in an embodiment of the present invention erecting device in mounting bracket structural representation；It please join According to Fig. 6, in above-described embodiment one into embodiment 17 on the basis of any embodiment, mounting bracket 1000, which is provided with, to be used to install fortune The installing zone 1010 of dynamic sensor 3000, multiple damper mechanisms 2000 are set around installing zone 1010.
Wherein, mounting bracket 1000 can be frame structure, and frame structure can include：The framework of closing, the frame of framework Middle part forms installing zone 1010, and the installing zone 1010 can be cavity, and multiple surrounding cavities of damper mechanism 2000 are set, and motion is passed Sensor 3000 is accommodating in the cavity, and is fixedly connected with motion sensor 3000 with framework by fastener；Framework can be in Polygon, circle or ellipse.
Or, mounting bracket 1000 can be installed with plate-like, such as polygon tabular, circular plate-like shape or oval tabular The middle part of frame 1000 can be installing zone 1010, installing zone 1010 can for concave shape into mounting groove, multiple damper mechanisms 2000 are set around mounting groove, and motion sensor 3000 is arranged in mounting groove.
Preferably, multiple damper mechanisms 2000 are symmetrical arranged centered on installing zone 1010, to ensure that mounting bracket 1000 exists There is preferable isotropism dynamic response under vibration condition, the stability of mounting bracket 1000 is helped to maintain.For example, Mounting bracket 1000 can be with rectangular, and damper mechanism 2000 can be 4, and 4 damper mechanisms 2000 are separately positioned on mounting bracket 1000 4 apexes, because damper mechanism 2000 can include counterweight 2200 so that the weight of mounting bracket 1000 is mainly divided Cloth helps to ensure that the stationarity of mounting bracket 1000 in 4 ports of X-type.
Embodiment 19
Fig. 7 is the 4th kind of structural representation of the erecting device of motion sensor provided in an embodiment of the present invention；Fig. 8 is figure 7 exploded perspective view；Fig. 7-8 are refer to, on the basis of any embodiment, are moved into embodiment 18 in above-described embodiment one The erecting device of sensor also includes：Cover plate 5000, cover plate 5000 is used to motion sensor 3000 being pressed on mounting bracket 1000 On.
In the present embodiment, cover plate 5000 can be made of metal material；It is preferred that cover plate 5000 uses plastic material system Into with the deadweight for the erecting device for mitigating motion sensor, helping to realize the lightweight of aircraft；Cover plate 5000 is away from installation The side of frame 1000 can be provided with multiple lightening grooves, with the deadweight for the erecting device for further mitigating motion sensor, contribute to Realize the lightweight of aircraft.
It could be formed with cover plate 5000 and be formed with lid on the 4th installation base towards mounting bracket 1000, mounting bracket 1000 Plate mounting hole, the overall diameter of the 3rd installation base is more than the internal diameter of cover plate mounting hole, and the 4th installation base and cover plate are installed Hole is interference fitted.Or, it is formed with the 4th installation base towards mounting bracket 1000, mounting bracket 1000 and is formed on cover plate 5000 There is cover plate mounting hole, the 4th installation base is located in cover plate mounting hole, cover plate 5000 is fixed on by peace by gluing mode Shelve on 1000.
In the present embodiment, it is preferable that could be formed with cover plate 5000 on multiple 5th mounting holes 6040, mounting bracket 1000 The 5th mounting hole 6040 of identical quantity is also formed with, the 5th on cover plate 5000 is passed through by fastener such as bolt or screw Cover plate 5000 is fixed on mounting bracket 1000 by the 5th mounting hole 6040 on mounting hole 6040, mounting bracket 1000, so as to In the mounting groove that motion sensor 3000 is pressed on to mounting bracket 1000.
Wherein, it is preferred that being convexly equipped with lug boss towards cover plate 5000 on mounting bracket 1000, the lug boss is cylindrical, convex The 5th mounting hole 6040 is offered in the portion of rising；On cover plate 5000 the accommodating lug boss is offered towards the side of mounting bracket 1000 Circular hole, the circular hole is connected and coaxially with the 5th mounting hole 6040 on mounting bracket 1000, to improve mounting bracket by lug boss 1000 intensity, extends the service life of mounting bracket 1000.
Further, the side of the orientation movements sensor 3000 of cover plate 5000 is provided with pad, to fill up cover plate 5000 and fortune Gap between dynamic sensor 3000, can either protect the mounting surface of motion sensor 3000 and cover plate 5000, can also enter one Step improves the effectiveness in vibration suppression to motion sensor 3000.Wherein, pad can be silica gel pad.
Embodiment 20
Fig. 6 is continued referring to, in above-described embodiment one into embodiment 19 on the basis of any embodiment, mounting bracket 1000 include：Body 1020 is installed, body 1020 is installed and is extended with multiple damping frames 1030, damping frame 1030 towards outside For installing damper mechanism 2000.
Wherein, it can be frame structure to install body 1020, and frame structure can include：The framework of closing, the frame of framework Middle part form installing zone 1010, the installing zone 1010 can be cavity, and multiple surrounding cavities of damper mechanism 2000 are set, motion Sensor 3000 is accommodating in the cavity, and is fixedly connected by fastener with framework；Framework can be with rectangular, circular or ellipse It is circular.
Can be with plate-like, such as circular plate-like shape, oval tabular, polygon tabular it is preferred that installing body 1020, peace Fill body 1020 middle part can be installing zone 1010, installing zone 1010 can for concave shape into mounting groove, multiple vibration damping machines Structure 2000 is set around mounting groove, and motion sensor 3000 is contained in mounting groove, by cover plate 5000 by motion sensor 3000 are pressed on mounting bracket 1000, wherein, the 3rd installation base towards mounting bracket 1000 is could be formed with cover plate 5000, Be formed with the mounting hole of cover plate 5000 on mounting bracket 1000, the 3rd installation base and the second mounting hole 6020 by interference fit or It is spirally connected or is bonded or the mode such as clamping is connected.
Multiple damping frames 1030 can be uniformly arranged around body 1020 is installed, to ensure mounting bracket 1000 in vibrator bar There is preferable isotropism dynamic response under part, preferably effectiveness in vibration suppression is reached, the steady of mounting bracket 1000 is improved Property.
Multiple damping frames 1030 can be diagonally laid out around body 1020 is installed, to reach preferably effectiveness in vibration suppression, and Help to maintain the stationarity of mounting bracket 1000；For example, installing, body is rectangular, and damping frame 1030 can be 4, and 4 subtract The support 1030 that shakes is separately positioned on 4 apexes for installing body 1020, now, and mounting bracket 1000 is in X-type, due to damper mechanism 2000 are arranged on damping frame 1030, and damper mechanism 2000 can include counterweight 2200 so that the weight of mounting bracket 1000 4 ports of X-type are mainly distributed on, the stationarity of mounting bracket 1000 is helped to ensure that.
Embodiment 21
Fig. 9 is the structural representation of unmanned vehicle of the embodiment of the present invention；Fig. 9 and Fig. 1 is refer to, the present embodiment provides one Unmanned vehicle is planted, including：Erecting device, motion sensor 3000 and the flight controller 7100 of motion sensor.
The erecting device of motion sensor includes：Mounting bracket 1000 and multiple damper mechanisms 2000.Motion sensor 3000 are arranged on mounting bracket 1000.Multiple damper mechanisms 2000 are connected with mounting bracket 1000, for being carried out to mounting bracket 1000 Vibration damping.Wherein, multiple damper mechanisms 2000 are respectively separated setting, and each damper mechanism 2000 includes elastic component 2100, elastic component 2100 abut with mounting bracket 1000, to carry out vibration damping to motion sensor 3000.
Flight controller 7100, is electrically connected with motion sensor 3000.
Wherein, unmanned vehicle also includes aircraft fuselage 4000, and the erecting device of motion sensor may be mounted at winged On the carrier of row device fuselage 4000.Aircraft fuselage 4000 can include main casing 4100, branch arm housing 4200 and landing chassis； Landing chassis is connected with main casing 4100, for when unmanned vehicle lands, supporting aircraft fuselage 4000；Branch arm housing 4200 It can be integrally formed, or be connected using dismountable mode, such as threaded connection, clamping, welding, riveting with main casing 4100 Connect, be bonded.
Branch arm housing 4200 is mainly used in carrying rotor assemblies, and rotor assemblies are used to produce lift to support unmanned vehicle Fly in the air.Rotor assemblies can include：Motor 4212 and propeller 4211, motor 4212 are connected with branch arm housing 4200, Propeller 4211 is connected with the output shaft of motor 4212, and motor 4212 is used to drive propeller 4211 to rotate, so as to pass through spiral The rotative power of motor 4212 is converted into the lift for supporting that unmanned vehicle flies in the air by oar 4211.
Carrier can be main casing 4100.Main casing 4100 can include bottom wall and with the side wall that is set around bottom wall, Bottom wall surrounds a receiving space jointly with side wall, and the erecting device of motion sensor can be housed in the receiving space, for example, One end of elastic component 2100 in the erecting device of motion sensor is abutted with mounting bracket 1000, the other end of elastic component 2100 with The bottom wall of main casing 4100 is abutted.
Carrier can be control board 7000.For example, in the embodiment shown in fig. 9, flight controller 7100 can With in control board 7000, and flight controller 7100 is electrically connected with control board 7000, motor 4212 It is connected with control board 7000.Control board 7000 may be mounted on aircraft fuselage 4000, for example, control board 7000 are arranged on the main casing 4100 of aircraft fuselage 4000.One of elastic component 2100 in the erecting device of motion sensor End is abutted with mounting bracket 1000, and the other end of elastic component 2100 is abutted with control board 7000, consequently facilitating motion sensor 3000 electrically connect with flight controller 7100.
Flight controller 7100 is the core parts of unmanned vehicle, for unmanned aerial vehicle control system mode of operation Management, for being resolved to control law and generating control signal, for each sensor in unmanned vehicle and servo system System is managed, for the control of other tasks and electronic unit and data exchange in unmanned vehicle, for receiving ground Instruct and gather unmanned vehicle navigation attitude information etc..
Motion sensor is used for the navigation attitude information for determining and feeding back aircraft, is electrically connected with flight controller, will motion The navigation attitude information transfer for the aircraft that sensor is determined is to flight controller, in order to which flight controller determines subsequent operation.Fortune Dynamic sensor determines that the process of aircraft navigation attitude information is：It is relative by accelerometer (namely acceleration transducer) sense aircraft In the component of acceleration of ground vertical line；By the angle information of gyro (namely velocity sensor) sense aircraft；Analog-digital converter connects The analog variable of each sensor output of motion sensor is received, and analog variable is converted into data signal；Central processor CPU root Luffing angle, angle of inclination and the side-slip angle of aircraft are determined and exported according to the data signal, so that it is determined that the boat of aircraft Appearance information；Wherein, the linearity curve for storing each sensor of motion sensor is used for electric erasable programmable memory device E/EPROM The piece number and sequence number of figure and each sensor of motion sensor, with firm start so that graphics processing unit can read E/ Linearity curve parameter in EPROM, so as to provide initial information for follow-up angle calculation.
The concrete structure and function of the erecting device of motion sensor in the present embodiment are identical with embodiment one, herein not Repeat again.
The unmanned vehicle that the present embodiment is provided, by the erecting device of motion sensor, can avoid prior art In installation form, increase the contradiction of effectiveness in vibration suppression and connection reliability by reducing foam cross-sectional area, i.e. pass through mounting bracket 1000 install motion sensor 3000, and the elastic component 2100 of damper mechanism 2000 is abutted with mounting bracket 1000, so that vibration damping The elastic component 2100 of mechanism 2000 is closely mutually supported with mounting bracket 1000, if desired adjusts effectiveness in vibration suppression, then can be right respectively All or part of damper mechanism is adjusted, so that damper mechanism regulation effectiveness in vibration suppression is relatively easy to, and Being connected firmly between damper mechanism 2000 and mounting bracket 1000, reliability are not influenceed, it is ensured that motion sensor 3000 is detected Accuracy, and then cause flight controller that the navigation attitude of unmanned vehicle is precisely determined.
Embodiment 22
Continue referring to shown in Fig. 2, on the basis of above-described embodiment 21, elastic component 2100 is arranged on mounting bracket 1000 lower section, and mounting bracket 1000 can pressure holding elastic component 2100, make elastic component 2100 occur compression.
The concrete structure and function of the erecting device of motion sensor in the present embodiment are identical with embodiment two, herein not Repeat again.
In the present embodiment, aircraft fuselage 4000 is buffered by the compression of elastic component 2100 and passes to mounting bracket 1000 Vibration, so as to realize the vibration damping to mounting bracket 1000, and then realize the vibration damping to motion sensor 3000, be favorably improved fortune The accuracy that dynamic sensor 3000 is measured.
Embodiment 23
On the basis of above-described embodiment 21, elastic component 2100 is arranged on the top of mounting bracket 1000, and mounting bracket 1000 can pull elastic component 2100, elastic component 2100 is occurred stretcher strain.
The concrete structure and function of the erecting device of motion sensor in the present embodiment are identical with embodiment three, herein not Repeat again.
In the present embodiment, aircraft fuselage 4000 is buffered by the stretcher strain of elastic component 2100 and passes to mounting bracket 1000 Vibration, so as to realize the vibration damping to mounting bracket 1000, and then realize the vibration damping to motion sensor 3000, be favorably improved fortune The accuracy that dynamic sensor 3000 is measured.
Embodiment 24
In above-described embodiment 21 into embodiment 23 on the basis of any embodiment, elastic component 2100 can be Buffering ball, spring, cushion blocking etc..
The concrete structure and function of the erecting device of motion sensor in the present embodiment are identical with example IV, herein not Repeat again.
In the present embodiment, elastic component can be folded between mounting bracket 1000 and aircraft fuselage 4000；Pass through elastic component Stretcher strain or compression buffering aircraft fuselage 4000 pass to the vibration of mounting bracket 1000 so that realize to install The vibration damping of frame 1000, and then the vibration damping to motion sensor 3000 is realized, it is favorably improved the standard of the measurement of motion sensor 3000 True property.
Embodiment 25
Continue referring to shown in Fig. 3-5, on the basis of above-described embodiment 24, buffering ball 2110 includes：Upper end 2111st, upper neck 2112 and vibration damping main body 2113, upper neck 2112 are connected between upper end 2111 and vibration damping main body 2113, on Neck 2112 and upper end 2111 are used to be connected with mounting bracket 1000, and vibration damping main body 2113 is abutted with mounting bracket 1000, and vibration damping Main body 2113 is used to carry out vibration damping to mounting bracket 1000.
The concrete structure and function of the erecting device of motion sensor in the present embodiment are identical with embodiment five, herein not Repeat again.
In the present embodiment, the upper end 2111 of buffering ball 2110 and upper neck 2112 are connected with mounting bracket 1000, buffering ball 2110 vibration damping main body 2113 is abutted with mounting bracket 1000 so that the connection jail between damper mechanism 2000 and mounting bracket 1000 Solid, it is reliable, and then motion sensor 3000 can be prevented effectively from depart from damper mechanism 2000.
Embodiment 26
On the basis of above-described embodiment 25, upper end 2111 is used to buffering ball 2110 being installed on mounting bracket 1000 On.
The concrete structure and function of the erecting device of motion sensor in the present embodiment are identical with embodiment six, herein not Repeat again.
In the present embodiment, upper end 2111 and the clamping of mounting bracket 1000, the upper neck of buffering ball 2110 of buffering ball 2110 2112 are connected with mounting bracket 1000, and vibration damping main body 2113 is abutted with mounting bracket 1000 so that damper mechanism 2000 and mounting bracket Being connected firmly, reliably between 1000, and then motion sensor 3000 can be prevented effectively from depart from damper mechanism 2000.
Embodiment 27
On the basis of above-described embodiment 25 or embodiment 26, the first installation is offered on mounting bracket 1000 Hole 6010, the first mounting hole 6010 of upper neck 2112 and mounting bracket 1000 is interference fitted, so that vibration damping main body 2113 is with installing Frame 1000 is supported.
Preferably, the axial height of upper neck 2112 is less than the depth of the first mounting hole 6010, so that vibration damping main body 2113 Offseted with mounting bracket 1000.Specifically, because the axial height of upper neck 2112 is less than the depth of the first mounting hole 6010, upper neck The first fit clearance is formed between the mounting hole 6010 of portion 2112 and first, vibration damping main body 2113 is pressed from both sides towards the head end of upper neck 2112 Hold in the first fit clearance towards the side of vibration damping main body 2113, namely cause head of the vibration damping main body 2113 towards upper neck 2112 End can be pressed into the first mounting hole 6010, reduce the fit clearance between buffering ball 2110 and mounting bracket 1000, not only effectively Rocking between damper mechanism 2000 and mounting bracket 1000 is reduced, effectiveness in vibration suppression is further increased, additionally it is possible to make motion-sensing The more compact structure of the erecting device of device, slows down the arrangement space pressure of complete machine.
The concrete structure and function of the erecting device of motion sensor in the present embodiment are identical with embodiment seven, herein not Repeat again.
In the present embodiment, pass through the interference of the first mounting hole 6010 of the upper neck 2112 and mounting bracket 1000 of buffering ball 2110 Coordinate, vibration damping main body 2113 abuts with mounting bracket 1000 so that being connected firmly between damper mechanism 2000 and mounting bracket 1000, Reliably, and then motion sensor 3000 can be prevented effectively from depart from damper mechanism 2000.
Embodiment 28
On the basis of above-described embodiment 25 or embodiment 26, the first installation is offered on mounting bracket 1000 Hole 6010, upper neck 2112 is be bonded with the first mounting hole 6010 of mounting bracket 1000, so that vibration damping main body 2113 and mounting bracket 1000 support.
Preferably, the axial height of upper neck 2112 is less than the depth of the first mounting hole 6010, so that vibration damping main body 2113 Offseted with mounting bracket 1000.Specifically, because the axial height of upper neck 2112 is less than the depth of the first mounting hole 6010, upper neck The first fit clearance is formed between the mounting hole 6010 of portion 2112 and first, the head end of vibration damping main body 2113 is clamped between the first cooperation Gap is towards the side of vibration damping main body 2113, namely enables vibration damping main body 2113 to be pressed into first towards one end of upper neck 2112 Mounting hole 6010, reduces the fit clearance between buffering ball 2110 and mounting bracket 1000, not only effectively reduces damper mechanism Rocking between 2000 and mounting bracket 1000, further increases effectiveness in vibration suppression, additionally it is possible to make the erecting device of motion sensor More compact structure, slow down the arrangement space pressure of complete machine.
The concrete structure and function of the erecting device of motion sensor in the present embodiment are identical with embodiment eight, herein not Repeat again.
In the present embodiment, glued by the upper neck 2112 of buffering ball 2110 with the first mounting hole 6010 of mounting bracket 1000 Connect, vibration damping main body 2113 is abutted with mounting bracket 1000 so that being connected firmly between damper mechanism 2000 and mounting bracket 1000, can Lean on, and then motion sensor 3000 can be prevented effectively from and depart from damper mechanism 2000.
Embodiment 29
On the basis of above-described embodiment 25 or embodiment 26, buffering ball 2110 and mounting bracket 1000 are removable Unload connection.Preferably, buffering ball 2110 free-hand can be connected with mounting bracket 1000.
The concrete structure and function of the erecting device of motion sensor in the present embodiment are identical with embodiment nine, herein not Repeat again.
In the present embodiment, by buffering ball 2110 and the clamping of mounting bracket 1000, vibration damping main body 2113 is supported with mounting bracket 1000 Connect so that being connected firmly, reliably between damper mechanism 2000 and mounting bracket 1000, and then motion sensor can be prevented effectively from 3000 depart from damper mechanism 2000.
Embodiment 30
In above-described embodiment 25 into embodiment 29 on the basis of any embodiment, unmanned vehicle fuselage The second mounting hole 6020 is offered on 4000, buffering ball 2110 also includes low portion of neck 2114 and bottom 2115, low portion of neck 2114 It is connected with vibration damping main body 2113, low portion of neck 2114 is used to coordinate with the second mounting hole 6020 on unmanned vehicle fuselage 4000, Bottom 2115 is used to buffering ball 2110 being installed on unmanned vehicle fuselage 4000, and vibration damping main body 2113 is clamped in into nothing Between people's aircraft fuselage 4000 and mounting bracket 1000.
The concrete structure and function of the erecting device of motion sensor in the present embodiment are identical with embodiment ten, herein not Repeat again.
The second mounting hole 6020, such as main casing of unmanned vehicle fuselage 4000 are offered on unmanned vehicle fuselage 4000 The second mounting hole 6020 is offered on the bottom wall of body, low portion of neck 2114 is connected with second mounting hole 6020；Or unmanned flight It is provided with device fuselage 4000 and flies control plate, for example, flies the bottom wall that control plate may be mounted at the main casing of unmanned vehicle fuselage 4000 And in the receiving space that surrounds of side wall, fly to offer the second mounting hole 6020, low portion of neck 2114 and second mounting hole on control plate 6020 connections.
In the present embodiment, upper end 2111 and the clamping of mounting bracket 1000, the upper neck of buffering ball 2110 of buffering ball 2110 2112 are connected with mounting bracket 1000, and the low portion of neck 2114 of buffering ball 2110 is connected with aircraft fuselage 4000, buffering ball 2110 Bottom 2115 and the clamping of aircraft fuselage 4000, vibration damping main body 2113 are abutted with mounting bracket 1000 and aircraft fuselage 4000, So that being connected firmly, reliably between damper mechanism 2000 and mounting bracket 1000, and then motion sensor can be prevented effectively from 3000 depart from damper mechanism 2000, also cause being connected firmly, reliably for damper mechanism 2000 and aircraft fuselage 4000, and then It is prevented effectively from motion sensor 3000 and damper mechanism 2000 departs from aircraft fuselage 4000 and is thrown out of.
Embodiment 31
In above-described embodiment 25 into embodiment 30 on the basis of any embodiment, damper mechanism 2000 also includes Counterweight 2200, what counterweight 2200 was detachably connected with buffering ball 2110, counterweight 2200 is also detachable with mounting bracket 1000 Connection, to increase the inertia of mounting bracket 1000.The mode being detachably connected can for interference fit, bonding, clamping, be spirally connected.
The concrete structure and function of the erecting device of motion sensor in the present embodiment are identical with embodiment 11, herein Repeat no more.
In the present embodiment, buffering ball 2110 is abutted with mounting bracket 1000, and counterweight 2200 is fixedly connected with mounting bracket 1000, So that being connected firmly, reliably between damper mechanism 2000 and mounting bracket 1000, and then motion sensor can be prevented effectively from 3000 depart from damper mechanism 2000.
Embodiment 32
In above-described embodiment 21 into embodiment 31 on the basis of any embodiment, multiple damper mechanisms 2000 In elastic component damped coefficient it is identical.Wherein, when damper mechanism 2000 surrounds the motion-sensing being arranged on mounting bracket 1000 Device 3000 is uniformly arranged, namely elastic component is uniformly arranged around motion sensor 3000, and each elastic component and motion sensor The distance between the center of gravity of erecting device it is identical when, the damped coefficient of the elastic component in each damper mechanism 2000 is identical, with The damping action for being subject to the erecting device of motion sensor is uniform and identical, helps further to improve on mounting bracket 1000 Motion sensor 3000 effectiveness in vibration suppression.
Embodiment 33
In above-described embodiment 21 into embodiment 31 on the basis of any embodiment, close to motion sensor The damped coefficient of the elastic component of the center of gravity of erecting device, more than the elastic component of the center of gravity of the erecting device away from motion sensor Damped coefficient.
Wherein, it is uniformly arranged when damper mechanism 2000 surrounds the motion sensor 3000 on mounting bracket 1000, I.e. elastic component is uniformly arranged around motion sensor 3000, and when between the center of gravity of elastic component and the erecting device of motion sensor Distance it is incomplete same when, the damped coefficient closer to the elastic component of the center of gravity of the erecting device of motion sensor is bigger, its Vibration is also weaker, helps further to improve the effectiveness in vibration suppression to the motion sensor 3000 on mounting bracket 1000.
Embodiment 34
Continue referring to shown in Fig. 4-5, in the base of any embodiment into embodiment 33 of above-described embodiment 21 On plinth, damper mechanism 2000 also includes the counterweight 2200 being connected with mounting bracket 1000, and counterweight 2200 is used for the weight of itself Power acts on mounting bracket 1000, to increase the inertia of mounting bracket 1000.
The concrete structure and function of the erecting device of motion sensor in the present embodiment are identical with embodiment 14, herein Repeat no more.
Wherein, counterweight 2200 is annular in shape, and counterweight 2200 can be made of high desnity metal material, multiple vibration damping machines The weight of counterweight 2200 in structure 2000 can be with identical so that the inertia of each counterweight 2200 is identical, ensure that installation The stability of frame 1000.
In the present embodiment, by setting counterweight 2200 on mounting bracket 1000, increase the inertia of mounting bracket 1000, to subtract Influence of the vibration of bug fuselage 4000 to mounting bracket 1000, helps to ensure that the stability of mounting bracket 1000, further Improve effectiveness in vibration suppression of the damper mechanism 2000 to mounting bracket 1000.
Embodiment 35
On the basis of above-described embodiment 34, counterweight 2200 is integrally formed with mounting bracket 1000.
The concrete structure and function of the erecting device of motion sensor in the present embodiment are identical with embodiment 15, herein Repeat no more.
In the present embodiment, it is integrally formed by counterweight 2200 with mounting bracket 1000 so that matching somebody with somebody in damper mechanism 2000 Being connected firmly, reliably between heavy mail 2200 and mounting bracket 1000, and then motion sensor 3000 and vibration damping can be prevented effectively from Mechanism 2000 departs from.
Embodiment 36
On the basis of above-described embodiment 34, counterweight 2200 is interference fitted with mounting bracket 1000.
The concrete structure and function of the erecting device of motion sensor in the present embodiment are identical with embodiment 16, herein Repeat no more.
In the present embodiment, it is interference fitted by counterweight 2200 with mounting bracket 1000 so that matching somebody with somebody in damper mechanism 2000 Being connected firmly, reliably between heavy mail 2200 and mounting bracket 1000, and then motion sensor 3000 and vibration damping can be prevented effectively from Mechanism 2000 departs from.
Embodiment 37
On the basis of above-described embodiment 34, counterweight 2200 is detachably connected with mounting bracket 1000.
The concrete structure and function of the erecting device of motion sensor in the present embodiment are identical with embodiment 17, herein Repeat no more.
In the present embodiment, it is detachably connected by counterweight 2200 with mounting bracket 1000 so that in damper mechanism 2000 Being connected firmly, reliably between counterweight 2200 and mounting bracket 1000, and then motion sensor 3000 can be prevented effectively from subtracting Mechanism of shaking 2000 departs from.
Embodiment 38
Fig. 6 is continued referring to, on the basis of any embodiment, is pacified into embodiment 37 in above-described embodiment 21 Shelve 1000 and be provided with the installing zone 1010 for being used for installing motion sensor 3000, multiple damper mechanisms 2000 surround installing zone 1010 Set.
The concrete structure and function of the erecting device of motion sensor in the present embodiment are identical with embodiment 18, herein Repeat no more.
Wherein, multiple damper mechanisms 2000 are symmetrical arranged centered on installing zone 1010, to ensure that mounting bracket 1000 is shaking There is preferable isotropism dynamic response under the conditions of dynamic, the stability of mounting bracket 1000 is helped to maintain；Installing zone 1010 can be mounting groove, in order to the installation of motion sensor 3000.
In the present embodiment, multiple damper mechanisms 2000 are set around installing zone 1010, preferably buffer aircraft fuselage 4000 are transferred to the vibration of installing zone 1010, further to improve the effectiveness in vibration suppression to motion sensor 3000.
Embodiment 39
Fig. 7-8 are continued referring to, in above-described embodiment 21 into embodiment 38 on the basis of any embodiment, The erecting device of motion sensor also includes：Cover plate 5000, cover plate 5000 is used to motion sensor 3000 being pressed on mounting bracket On 1000.
The concrete structure and function of the erecting device of motion sensor in the present embodiment are identical with embodiment 19, herein Repeat no more.
In the present embodiment, motion sensor 3000 is pressed on mounting bracket 1000 by cover plate 5000, so that motion is passed Sensor 3000 is firmly installed, reliably with mounting bracket 1000, further improves the effectiveness in vibration suppression to motion sensor 3000；Pass through Do pad is set between motion sensor 3000 at this, to fill up the gap between cover plate 5000 and motion sensor 3000, The mounting surface of motion sensor 3000 and cover plate 5000 can either be protected, can also further be improved to motion sensor 3000 Effectiveness in vibration suppression.
Example IV ten
Fig. 6 is continued referring to, on the basis of any embodiment, is pacified into embodiment 39 in above-described embodiment 21 Shelving 1000 includes:Body 1020 is installed, body 1020 is installed and is extended with multiple damping frames 1030, damping frame towards outside 1030 are used to install damper mechanism 2000.
The concrete structure and function of the erecting device of motion sensor in the present embodiment are identical with embodiment 20, herein Repeat no more.
Wherein, multiple damping frames 1030 can be uniformly arranged around body 1020 is installed, to ensure that mounting bracket 1000 exists There is preferable isotropism dynamic response under vibration condition, preferably effectiveness in vibration suppression is reached, mounting bracket 1000 is improved Stationarity.
Multiple damping frames 1030 can be diagonally laid out around body 1020 is installed, to reach preferably effectiveness in vibration suppression, and Help to maintain the stationarity of mounting bracket 1000；For example, installing, body 1020 is rectangular, and damping frame 1030 is 4, and 4 subtract The support 1030 that shakes is separately positioned on 4 apexes for installing body 104, now, and mounting bracket 1000 is in X-type, due to damper mechanism 2000 are arranged on damping frame 1030, and damper mechanism 2000 can include counterweight 2200 so that the weight of mounting bracket 1000 4 ports of X-type are mainly distributed on, the stationarity of mounting bracket 1000 is helped to ensure that.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic； And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and Scope.

Claims (60)

1. a kind of erecting device of motion sensor, it is characterised in that including：
Mounting bracket, for carrying motion sensor；And
Multiple damper mechanisms, are connected with the mounting bracket, for carrying out vibration damping to the mounting bracket；
Wherein, the multiple damper mechanism is respectively separated setting, and each damper mechanism includes elastic component, the elastic component with The mounting bracket is abutted, to carry out vibration damping to the mounting bracket.
2. the erecting device of motion sensor according to claim 1, it is characterised in that the elastic component is arranged on described Below mounting bracket, and the mounting bracket can elastic component described in pressure holding, the elastic component is occurred compression.
3. the erecting device of motion sensor according to claim 1, it is characterised in that the elastic component is arranged on described Above mounting bracket, and the mounting bracket can pull the elastic component, the elastic component is occurred stretcher strain.
4. the erecting device of motion sensor according to claim 1, it is characterised in that the elastic component is included as follows extremely Few one kind：Buffering ball, spring, cushion blocking.
5. the erecting device of motion sensor according to claim 1, it is characterised in that shown elastic component includes vibration damping Ball；
The buffering ball includes upper end, upper neck and vibration damping main body, and the upper neck is connected to the upper end and subtracted with described Between main body of shaking, the upper neck and upper end are used to be connected with the mounting bracket, and the vibration damping main body is supported with the mounting bracket Connect, and the vibration damping main body is used to carry out vibration damping to the mounting bracket.
6. the erecting device of motion sensor according to claim 5, it is characterised in that the upper end is used for will be described Buffering ball is installed on the mounting bracket.
7. the erecting device of motion sensor according to claim 5, it is characterised in that is offered on the mounting bracket One mounting hole, the first mounting hole of the upper neck and the mounting bracket is interference fitted, so that the vibration damping main body and the peace Shelve and support.
8. the erecting device of motion sensor according to claim 5, it is characterised in that is offered on the mounting bracket One mounting hole, the upper neck is Nian Jie with the first mounting hole of the mounting bracket, so that the vibration damping main body and the mounting bracket Support.
9. the erecting device of the motion sensor according to claim 7 or 8, it is characterised in that the buffering ball it is described The axial height of upper neck is less than the depth of the first mounting hole on the mounting bracket, so that the vibration damping main body is installed with described Frame offsets.
10. the erecting device of motion sensor according to claim 5, it is characterised in that the buffering ball and the peace Shelve and be detachably connected.
11. the erecting device of motion sensor according to claim 5, it is characterised in that under the buffering ball also includes Neck and bottom, the low portion of neck are connected with the vibration damping main body, and the low portion of neck is used for and second on aircraft fuselage Mounting hole coordinates, and the bottom is used to the buffering ball being installed on aircraft fuselage, and the vibration damping main body is clamped Between the aircraft fuselage and the mounting bracket.
12. the erecting device of motion sensor according to claim 5, it is characterised in that the damper mechanism also includes Counterweight, the counterweight is interference fitted with the buffering ball, and the counterweight is also fixedly connected with the mounting bracket, to increase The inertia at position where the elastic component on the mounting bracket.
13. the erecting device of motion sensor according to claim 1, it is characterised in that the damper mechanism also includes Counterweight, the counterweight is abutted with the elastic component, and is detachably connected with the mounting bracket, to increase the mounting bracket The inertia at position where the upper elastic component.
14. the erecting device of motion sensor according to claim 1, it is characterised in that in the multiple damper mechanism The elastic component damped coefficient it is identical.
15. the erecting device of motion sensor according to claim 1, it is characterised in that close to the motion sensor Erecting device center of gravity the elastic component damped coefficient, more than away from the motion sensor erecting device center of gravity The elastic component damped coefficient.
16. the erecting device of motion sensor according to claim 1, it is characterised in that in the multiple damper mechanism The elastic component material it is identical or different.
17. the erecting device of motion sensor according to claim 1, it is characterised in that the damper mechanism also includes The counterweight being connected with the mounting bracket, the counterweight is used for the Action of Gravity Field of itself in the mounting bracket, to increase State the inertia of mounting bracket.
18. the erecting device of motion sensor according to claim 17, it is characterised in that the multiple damper mechanism The weight of counterweight is identical.
19. the erecting device of motion sensor according to claim 17, it is characterised in that the counterweight and the peace Shelve and be integrally formed.
20. the erecting device of motion sensor according to claim 17, it is characterised in that the counterweight and the peace Shelve interference fit.
21. the erecting device of motion sensor according to claim 17, it is characterised in that the counterweight and the peace Shelve and be detachably connected.
22. the erecting device of motion sensor according to claim 1, it is characterised in that the mounting bracket, which is provided with, to be used for The installing zone of the motion sensor is installed, the multiple damper mechanism is set around the installing zone.
23. the erecting device of motion sensor according to claim 22, it is characterised in that the multiple damper mechanism with It is symmetrical arranged centered on the installing zone.
24. the erecting device of motion sensor according to claim 22, it is characterised in that the installing zone is installation Groove.
25. the erecting device of motion sensor according to claim 1, it is characterised in that the peace of the motion sensor Assembling device also includes cover plate, and the cover plate is used to the motion sensor being pressed on the mounting bracket.
26. the erecting device of motion sensor according to claim 25, it is characterised in that the cover plate is installed with described Frame is detachably connected.
27. the erecting device of motion sensor according to claim 25, it is characterised in that the cover plate is towards the fortune The side of dynamic sensor is provided with pad, to fill up the gap between the cover plate and motion sensor.
28. the erecting device of motion sensor according to claim 1, it is characterised in that the mounting bracket includes installing Body, the installation body is used to carry the motion sensor, and the installation body is extended with multiple vibration damping branch towards outside Frame, the damping frame is used to install the damper mechanism.
29. the erecting device of motion sensor according to claim 28, it is characterised in that the multiple damping frame encloses It is uniformly arranged around the installation body.
30. the erecting device of motion sensor according to claim 28, it is characterised in that the multiple damping frame pair Angle is laid out.
31. a kind of unmanned vehicle, it is characterised in that including：Erecting device, motion sensor and the flight control of motion sensor Device processed；
The erecting device of the motion sensor includes mounting bracket and multiple damper mechanisms, and the motion sensor is arranged on institute State on mounting bracket；The multiple damper mechanism is connected with the mounting bracket, for carrying out vibration damping to the mounting bracket；
The flight controller, is electrically connected with the motion sensor；
Wherein, the multiple damper mechanism is respectively separated setting, and each damper mechanism includes elastic component, the elastic component with The mounting bracket is abutted, to carry out vibration damping to the motion sensor.
32. unmanned vehicle according to claim 31, it is characterised in that the elastic component is arranged under the mounting bracket Side, and the mounting bracket can elastic component described in pressure holding, the elastic component is occurred compression.
33. unmanned vehicle according to claim 31, it is characterised in that the elastic component is arranged on the mounting bracket Side, and the mounting bracket can pull the elastic component, the elastic component is occurred stretcher strain.
34. unmanned vehicle according to claim 31, it is characterised in that the elastic component includes following at least one： Buffering ball, spring, cushion blocking.
35. unmanned vehicle according to claim 31, it is characterised in that the elastic component includes buffering ball；
The buffering ball includes upper end, upper neck and vibration damping main body, and the upper neck is connected to the upper end and subtracted with described Between main body of shaking, the upper neck and upper end are used to be connected with the mounting bracket, and the vibration damping main body is supported with the mounting bracket Connect, and the vibration damping main body is used to carry out vibration damping to the mounting bracket.
36. unmanned vehicle according to claim 35, it is characterised in that the upper end is used for the buffering ball card On the mounting bracket.
37. unmanned vehicle according to claim 35, it is characterised in that the first installation is offered on the mounting bracket Hole, the first mounting hole of the upper neck and the mounting bracket is interference fitted, so that the vibration damping main body is supported with the mounting bracket Hold.
38. unmanned vehicle according to claim 35, it is characterised in that the first installation is offered on the mounting bracket Hole, the upper neck is Nian Jie with the first mounting hole of the mounting bracket, so that the vibration damping main body is supported with the mounting bracket.
39. the unmanned vehicle according to claim 37 or 38, it is characterised in that the upper neck of the buffering ball Axial height is less than the depth of the first mounting hole on the mounting bracket, so that the vibration damping main body offsets with the mounting bracket.
40. unmanned vehicle according to claim 35, it is characterised in that the buffering ball and the mounting bracket are detachable Connection.
41. unmanned vehicle according to claim 35, it is characterised in that is offered on the unmanned vehicle fuselage Two mounting holes, the buffering ball also includes low portion of neck and bottom, and the low portion of neck is connected with the vibration damping main body, the lower neck Portion is used to coordinate with the second mounting hole on unmanned vehicle fuselage, and the bottom is used to the buffering ball being installed on nobody On aircraft fuselage, the vibration damping main body is clamped between the unmanned vehicle fuselage and the mounting bracket.
42. unmanned vehicle according to claim 35, it is characterised in that the damper mechanism also includes counterweight, institute State counterweight to be interference fitted with the buffering ball, the counterweight is also fixedly connected with the mounting bracket, to increase the installation The inertia at position where the elastic component on frame.
43. unmanned vehicle according to claim 31, it is characterised in that the damper mechanism also includes counterweight, institute State counterweight to abut with the elastic component, and be detachably connected with the mounting bracket, to increase the bullet on the mounting bracket Property part where position inertia.
44. unmanned vehicle according to claim 31, it is characterised in that the elasticity in the multiple damper mechanism The damped coefficient of part is identical.
45. unmanned vehicle according to claim 31, it is characterised in that close to the erecting device of the motion sensor Center of gravity the elastic component damped coefficient, more than away from the motion sensor erecting device center of gravity the elasticity The damped coefficient of part.
46. unmanned vehicle according to claim 31, it is characterised in that the elasticity in the multiple damper mechanism The material of part is similar and different.
47. unmanned vehicle according to claim 31, it is characterised in that the damper mechanism also includes installing with described The counterweight of frame connection, the counterweight is used for the Action of Gravity Field of itself in the mounting bracket, to increase the mounting bracket Inertia.
48. unmanned vehicle according to claim 47, it is characterised in that the weight of the counterweight of the multiple damper mechanism Amount is identical.
49. unmanned vehicle according to claim 47, it is characterised in that the counterweight and mounting bracket one into Type.
50. unmanned vehicle according to claim 47, it is characterised in that the counterweight is matched somebody with somebody with the mounting bracket interference Close.
51. unmanned vehicle according to claim 47, it is characterised in that the counterweight and the mounting bracket are detachable Connection.
52. unmanned vehicle according to claim 31, it is characterised in that the mounting bracket, which is provided with, to be used to install the fortune The installing zone of dynamic sensor, the multiple damper mechanism is set around the installing zone.
53. unmanned vehicle according to claim 52, it is characterised in that the multiple damper mechanism is with the installing zone Centered on be symmetrical arranged.
54. unmanned vehicle according to claim 52, it is characterised in that the installing zone is mounting groove.
55. unmanned vehicle according to claim 31, it is characterised in that the erecting device of the motion sensor is also wrapped Cover plate is included, the cover plate is used to the motion sensor being pressed on the mounting bracket.
56. unmanned vehicle according to claim 55, it is characterised in that the cover plate detachably connects with the mounting bracket Connect.
57. unmanned vehicle according to claim 55, it is characterised in that between the cover plate and the motion sensor Provided with pad, to fill up the gap between the cover plate and motion sensor.
58. unmanned vehicle according to claim 31, it is characterised in that the mounting bracket includes:Body is installed, it is described Body is installed and is extended with multiple damping frames towards outside, the damping frame is used to install the damper mechanism.
59. unmanned vehicle according to claim 58, it is characterised in that the multiple damping frame is installed around described Body is uniformly arranged.
60. unmanned vehicle according to claim 58, it is characterised in that the multiple damping frame is diagonally laid out.
CN201680002521.8A 2016-05-26 2016-05-26 The mounting device and unmanned vehicle of motion sensor Active CN107074376B (en)

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PCT/CN2016/083481 WO2017201713A1 (en) 2016-05-26 2016-05-26 Mounting device for mounting motion sensor, and unmanned aerial vehicle

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WO2019090755A1 (en) * 2017-11-13 2019-05-16 深圳市大疆创新科技有限公司 Motion sensor assembly and unmanned aerial vehicle
CN108698703B (en) * 2017-11-13 2022-08-26 深圳市大疆创新科技有限公司 Motion sensor subassembly and unmanned aerial vehicle
CN108190036A (en) * 2017-12-25 2018-06-22 中航联创科技有限公司 A kind of inertial navigation shock mitigation system of unmanned plane
CN109496462A (en) * 2017-12-29 2019-03-19 深圳市大疆创新科技有限公司 Center plate unit and unmanned vehicle
CN108601281A (en) * 2018-04-24 2018-09-28 赫星科技有限公司 Damping device, circuit board and the flight unmanned plane for being provided with the circuit board
CN112997024A (en) * 2019-12-31 2021-06-18 深圳市大疆创新科技有限公司 Motion sensor module and movable platform
WO2021134585A1 (en) * 2019-12-31 2021-07-08 深圳市大疆创新科技有限公司 Motion sensor mounting device, motion sensor module, and movable platform
CN112996724A (en) * 2019-12-31 2021-06-18 深圳市大疆创新科技有限公司 Motion sensor's installation device, motion sensor module and movable platform
CN113825974A (en) * 2020-09-28 2021-12-21 深圳市大疆创新科技有限公司 Inertia measurement assembly and unmanned vehicles
WO2022061921A1 (en) * 2020-09-28 2022-03-31 深圳市大疆创新科技有限公司 Inertial measurement assembly and unmanned aerial vehicle
CN113562186A (en) * 2021-07-26 2021-10-29 中国空气动力研究与发展中心低速空气动力研究所 Aircraft and anti-vibration module thereof
CN114560100A (en) * 2022-02-28 2022-05-31 山东省国土测绘院 Survey and drawing unmanned aerial vehicle with vibration isolation cloud platform
CN114560100B (en) * 2022-02-28 2024-01-26 山东省国土测绘院 Survey and drawing unmanned aerial vehicle with vibration isolation cloud platform

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