CN111946770B - Combined type vibration damper and unmanned aerial vehicle - Google Patents
Combined type vibration damper and unmanned aerial vehicle Download PDFInfo
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- CN111946770B CN111946770B CN202010812610.7A CN202010812610A CN111946770B CN 111946770 B CN111946770 B CN 111946770B CN 202010812610 A CN202010812610 A CN 202010812610A CN 111946770 B CN111946770 B CN 111946770B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/022—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using dampers and springs in combination
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- 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
- B64D47/08—Arrangements of cameras
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
- F16F15/08—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with rubber springs ; with springs made of rubber and metal
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F2230/00—Purpose; Design features
- F16F2230/18—Control arrangements
Abstract
The invention discloses a composite vibration damping device and an unmanned aerial vehicle, wherein the composite vibration damping device comprises a vibration damping support, a primary vibration damping module, a secondary vibration damping module, a controller and a sensor unit; the vibration reduction bracket comprises a supporting arm; the primary vibration damping module and the secondary vibration damping module are respectively arranged on two sides of the supporting arm; the first-stage vibration reduction module comprises a first active vibration reduction unit and a first passive vibration reduction unit, and the first passive vibration reduction unit is arranged on the first active vibration reduction unit and is used for being connected with the rack; the secondary vibration reduction module comprises a second active vibration reduction unit and a second passive vibration reduction unit, and the second passive vibration reduction unit is arranged on the second active vibration reduction unit and is used for being connected with the holder or the load support; the sensor unit is arranged on the vibration reduction bracket and is connected with the controller; the first active vibration reduction unit and the second active vibration reduction unit are connected with the controller and controlled by the controller. The invention can effectively slow down the vibration of each frequency band and improve the vibration reduction effect on the unmanned aerial vehicle.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle damping, in particular to a combined type damping device and an unmanned aerial vehicle.
Background
At present, the vibration can appear in the unmanned aerial vehicle that takes photo by plane at the flight process, seriously influences and shoots, consequently need stabilize the cloud platform and guarantee the stability of camera. Vibration is generally reduced by passive vibration isolation of vibration-damping components attached to the fuselage. Thereby can reach the purpose of buffering damping for unmanned aerial vehicle motion through above-mentioned mode cloud platform, but can not keep apart the influence of the higher frequency vibration that unmanned aerial vehicle own power produced and shake, and lead to the instability of shooing.
The vibration source between unmanned aerial vehicle and the cloud platform mainly is engine (or motor), rotor and unmanned aerial vehicle organism. Taking a typical 10 kg-class unmanned helicopter as an example, the rotation speeds of an engine and a rotor wing are respectively about 10000rpm and about 1500rpm, the corresponding vibration frequencies are respectively about 167Hz and about 25Hz, and the vibration sources respectively form high-frequency vibration and medium-frequency vibration. In addition, the unmanned aerial vehicle organism can produce because of the gust disturbance and rock at the flight in-process. The body shakes below 5Hz more, and low-frequency vibration between the unmanned aerial vehicle and the holder is formed. The vibration damping frequency band of the rubber vibration damping ball is narrow and is mainly distributed in a high frequency band. Therefore, the damping effect of the rubber damping ball is limited, and the damping effect in the middle frequency band and the low frequency band is poor. On the abominable oil of vibration environment moved unmanned aerial vehicle and oil-electricity hybrid unmanned aerial vehicle, the simple application effect that adopts rubber damping ball is especially not enough.
Disclosure of Invention
The technical problem to be solved by the embodiment of the invention is how to improve the vibration reduction effect of the unmanned aerial vehicle.
In order to solve the above problem, in a first aspect, an embodiment of the present invention provides a composite vibration damping device, including: the vibration damping device comprises a vibration damping support, a primary vibration damping module, a secondary vibration damping module, a controller and a sensor unit; the vibration reduction bracket comprises a support arm; the primary vibration reduction module and the secondary vibration reduction module are respectively arranged on two sides of the supporting arm; the first-stage vibration reduction module comprises a first active vibration reduction unit and a first passive vibration reduction unit, and the first passive vibration reduction unit is arranged on the first active vibration reduction unit and is used for being connected with the rack; the secondary vibration reduction module comprises a second active vibration reduction unit and a second passive vibration reduction unit, and the second passive vibration reduction unit is arranged on the second active vibration reduction unit and is used for being connected with the holder or the load support; the sensor unit is arranged on the vibration reduction bracket and is connected with the controller; the first active vibration reduction unit and the second active vibration reduction unit are connected with the controller and controlled by the controller.
The further technical scheme is that the first passive vibration damping unit comprises a rubber vibration damping pad.
The further technical scheme is that the first active vibration reduction unit comprises a mounting frame and a plurality of linear motors arranged in the mounting frame.
The further technical scheme is that the second passive vibration damping unit comprises a rubber vibration damping pad.
The further technical scheme is that the second active vibration reduction unit comprises a mounting frame and a plurality of linear motors arranged in the mounting frame.
The further technical scheme is that the sensor unit comprises an acceleration sensor, a gyroscope and a pressure sensor; the acceleration sensor, the gyroscope and the pressure sensor are all connected with the controller.
The vibration reduction support comprises four support arms, wherein the adjacent support arms are vertical to each other, and the nonadjacent support arms are collinear.
The further technical scheme is that the two sides of each supporting arm are respectively provided with the primary vibration reduction module and the secondary vibration reduction module.
The composite vibration damping device further comprises a power supply unit, wherein the power supply unit is respectively connected with the controller, the primary vibration damping module and the secondary vibration damping module.
In a second aspect, the present invention provides a drone comprising a composite vibration damping device as described in the first aspect.
Compared with the prior art, the embodiment of the invention can achieve the following technical effects:
according to the technical scheme, the first passive vibration damping unit and the second passive vibration damping unit absorb the vibration of medium and high frequencies, and the controller controls the first active vibration damping unit and the second active vibration damping unit to reversely vibrate to counteract the vibration of medium and low frequencies, so that the vibration of each frequency band can be effectively reduced, and the vibration damping effect on the unmanned aerial vehicle is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a composite vibration damping device according to an embodiment of the present invention;
FIG. 2 is a top view of a composite damping device according to an embodiment of the present invention;
fig. 3 is a schematic circuit structure diagram of a composite vibration damping device according to an embodiment of the present invention.
Reference numerals
The damping support 10, the primary damping module 20, the secondary damping module 30, the controller 40, the sensor unit 50, the power supply unit 60, the support arm 11, the first active damping unit 21, the first passive damping unit 22, the second active damping unit 31, the second passive damping unit 32, the mounting frame 211 and the linear motor 212.
Detailed Description
The technical solutions in the embodiments will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, wherein like reference numerals represent like elements in the drawings. It is apparent that the embodiments to be described below are only a part of the embodiments of the present invention, and not all of them. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the embodiments of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the embodiments of the invention. As used in the description of embodiments of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
Referring to fig. 1 to 3, an embodiment of the present invention provides a composite damping device, which includes a damping bracket 10, a primary damping module 20, a secondary damping module 30, a controller 40, and a sensor unit 50.
The damping mount 10 comprises a support arm 11; the primary damping module 20 and the secondary damping module 30 are respectively disposed on two sides of the supporting arm 11.
The primary vibration damping module 20 includes a first active vibration damping unit 21 and a first passive vibration damping unit 22, and the first passive vibration damping unit 22 is disposed on the first active vibration damping unit 21 and is used for being connected with a frame (for example, a frame of an unmanned aerial vehicle).
The secondary damping module 30 includes a second active damping unit 31 and a second passive damping unit 32, and the second passive damping unit 32 is disposed on the second active damping unit 31 and is used for connecting with the pan/tilt head or the load bracket.
The sensor unit 50 is disposed on the damper bracket 10 and connected to the controller 40. The sensor unit 50 is used to detect the vibration state of the damper bracket 10.
The first active damping unit 21 and the second active damping unit 31 are both connected to the controller 40 and controlled by the controller 40. The controller 40 controls the first and second active vibration damping units 21 and 31 to reduce vibration according to the detection signal transmitted from the sensor unit 50.
The primary function of the first and second passive damping units 22, 32 is to absorb the vibrational energy emitted by the vibration source, and in particular to prevent synchronous vibrations due to the resonance effect of the vibrational waves. The first passive vibration reduction unit 22 and the second passive vibration reduction unit 32 have a good vibration isolation and reduction effect on medium-high frequency vibration.
The first active vibration damping unit 21 and the second active vibration damping unit 31 are active vibration damping, and mainly aim at medium and low frequency vibration, harmful vibration is counteracted in a reverse vibration mode under the control of the controller 40, and the conduction of unfavorable interference vibration waves is counteracted, so that the vibration isolation and vibration damping effects are achieved.
Specifically, the controller 40 monitors and predicts the frequency, directional amplitude, and intensity of vibration in advance through the sensor unit 50, and controls the first and second active vibration damping units 21 and 31 to vibrate in opposite directions to cancel out the harmful vibration.
According to the technical scheme, the first passive vibration damping unit 22 and the second passive vibration damping unit 32 absorb medium-high frequency vibration, and the controller 40 controls the first active vibration damping unit 21 and the second active vibration damping unit 31 to vibrate in opposite directions to counteract the medium-low frequency vibration, so that vibration of each frequency band can be effectively reduced, and the vibration damping effect on the unmanned aerial vehicle is improved.
With continued reference to fig. 1-3, in certain embodiments, such as the present embodiment, the first passive damping unit 22 includes rubber damping pads.
Specifically, the rubber vibration-damping pad may be a cylindrical rubber vibration-damping pad, a square rubber vibration-damping pad, or a spherical rubber vibration-damping pad. The vibration damping effect of the rubber vibration damping pad is closely related to the damping performance of rubber, and the vibration isolation and damping effect on medium-high frequency vibration is better.
Further, the first active vibration damping unit 21 includes a mounting frame 211 and a plurality of linear motors 212 disposed in the mounting frame 211. Specifically, two linear motors 212 for vertical vibration are mounted on an upper bottom plate of the mounting frame 211, and one linear motor 212 for horizontal vibration is mounted on each of both side plates of the mounting frame 211.
Further, the second passive damping unit 32 includes a rubber damping pad.
Specifically, the rubber vibration-damping pad may be a cylindrical rubber vibration-damping pad, a square rubber vibration-damping pad, or a spherical rubber vibration-damping pad. The vibration damping effect of the rubber vibration damping pad is closely related to the damping performance of rubber, and the vibration isolation and damping effect on medium-high frequency vibration is better.
Further, the second active vibration damping unit 31 includes a mounting frame 211 and a plurality of linear motors 212 disposed in the mounting frame 211. Specifically, two linear motors 212 for vertical vibration are mounted on an upper bottom plate of the mounting frame 211, and one linear motor 212 for horizontal vibration is mounted on each of both side plates of the mounting frame 211.
It is to be understood that, in the embodiment of the present invention, the structure of the first active vibration damping unit 21 is the same as that of the second active vibration damping unit 31. The structure of the first passive damping unit 22 is the same as that of the second passive damping unit 32.
Further, the sensor unit 50 includes an acceleration sensor, a gyroscope, and a pressure sensor. The acceleration sensor, the gyroscope, and the pressure sensor are all connected to the controller 40.
It is understood that, in order to more accurately detect the vibration state of the damper bracket 10, the number of the speed sensors, the gyroscopes, and the pressure sensors may be plural and distributed on the damper bracket 10.
The acceleration sensor is used for detecting the acceleration of the vibration damping support 10, and the gyroscope is used for detecting the position of the vibration damping support 10. The pressure sensor is used to detect the pressure to which the damper bracket 10 is subjected.
The controller 40 monitors and predicts the frequency, direction, amplitude, intensity, and other factors of the vibration in advance from the detection data of the acceleration sensor, the gyroscope, and the pressure sensor.
Further, the vibration reduction support 10 comprises four support arms 11, the adjacent support arms 11 are perpendicular to each other, the nonadjacent support arms 11 are collinear, and the four support arms 11 are arranged in a cross shape; the primary damping module 20 and the secondary damping module 30 are respectively arranged on two sides of each supporting arm 11.
Further, the composite vibration damping device further includes a power supply unit 60, and the power supply unit 60 is connected to the controller 40, the primary vibration damping module 20, and the secondary vibration damping module 30, respectively.
The power supply unit 60 is used for supplying power to the controller 40, the primary damping module 20 and the secondary damping module 30.
The power supply unit 60 may be embodied as a battery, for example, a lithium battery.
The damping principle of the composite damping device provided by the invention is explained as follows:
the first passive damping unit (rubber damping pad) of one-level damping module is fixed in unmanned aerial vehicle's frame, and cloud platform or load support are connected to the passive damping unit (rubber damping pad) of second of secondary damping module.
When unmanned aerial vehicle moves, engine and motor operation arouse that frame vibration transmits combined type vibration damper, at first keep apart and weaken the transduction of vibration by the first passive damping unit (rubber damping pad) of one-level damping module, and main well high frequency vibration is weakened by the absorbed energy, and the well low frequency vibration after the filtration is weakened and subducts by the first initiative damping unit of one-level damping module and the second initiative damping unit of secondary damping module in proper order.
The damping coefficient of rubber itself is high, and well vibration isolation and the effect of inhaling are played to the middle high frequency vibration energy, can absorb and keep apart the high frequency vibration energy of unmanned aerial vehicle engine operation, filters the conduction that reduces the vibration.
The first active vibration reduction unit mainly plays a role in regularly medium-low frequency vibration energy of the machine body and actively counteracts and weakens vibration.
The second active vibration reduction unit mainly captures the residual vibration or the burst vibration processed by the first active vibration reduction unit, actively counteracts and weakens the residual vibration again, and achieves a more stable effect.
The vibration reduction support comprises four supporting arms, and two sides of each supporting arm are respectively provided with a primary vibration reduction module and a secondary vibration reduction module. The primary vibration damping module and the secondary vibration damping module on the single supporting arm can vibrate up and down, left and right; when the primary vibration damping modules and the secondary vibration damping modules on the four supporting arms are matched to operate, not only can the primary vibration damping modules generate vertical, left-right and front-back linear vibration, but also can perform triaxial inclination and rotation type vibration, so that different harmful interference vibration transmitted from a machine body can be fully reduced.
The embodiment of the invention provides an unmanned aerial vehicle which comprises the composite vibration damping device provided by the embodiment.
It should be noted that the unmanned aerial vehicle provided by the present invention includes other structures for implementing basic functions of the unmanned aerial vehicle besides the structures described in the above embodiments, and the other structures of the unmanned aerial vehicle are well known to those skilled in the art and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, while the invention has been described with respect to the above-described embodiments, it will be understood that the invention is not limited thereto but may be embodied with various modifications and changes.
While the invention has been described with reference to specific embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (5)
1. The utility model provides a combined type vibration damper, is applied to among the unmanned aerial vehicle, its characterized in that includes: the vibration damping device comprises a vibration damping support, a primary vibration damping module, a secondary vibration damping module, a controller and a sensor unit; the vibration reduction bracket comprises a support arm; the primary vibration reduction module and the secondary vibration reduction module are respectively arranged on two sides of the supporting arm; the first-stage vibration reduction module comprises a first active vibration reduction unit and a first passive vibration reduction unit, and the first passive vibration reduction unit is arranged on the first active vibration reduction unit and is used for being connected with the rack; the secondary vibration reduction module comprises a second active vibration reduction unit and a second passive vibration reduction unit, and the second passive vibration reduction unit is arranged on the second active vibration reduction unit and is used for being connected with the holder or the load support; the sensor unit is arranged on the vibration reduction bracket and is connected with the controller; the first active vibration reduction unit and the second active vibration reduction unit are connected with the controller and controlled by the controller; the first active vibration reduction unit comprises a mounting frame and a plurality of linear motors arranged in the mounting frame, the second active vibration reduction unit comprises a mounting frame and a plurality of linear motors arranged in the mounting frame, two linear motors used for vertical vibration are mounted on an upper bottom plate of the mounting frame, and two linear motors used for left-right vibration are respectively mounted on two side plates of the mounting frame;
the vibration reduction support comprises four support arms, adjacent support arms are vertical to each other, and nonadjacent support arms are collinear; the two sides of each supporting arm are respectively provided with the first-stage vibration damping module and the secondary vibration damping module, wherein, the first-stage vibration damping module on the single supporting arm and the secondary vibration damping module generate vertical and horizontal vibration, and the first-stage vibration damping module on the four supporting arms and the secondary vibration damping module generate vertical, horizontal, front and back linear vibration, triaxial inclination and rotary vibration when in matched operation so as to reduce different harmful interference vibration transmitted from a machine body.
2. The composite damping device of claim 1, wherein the second passive damping unit comprises a rubber damping pad.
3. The composite vibration damping device according to claim 1, wherein the sensor unit includes an acceleration sensor, a gyroscope, and a pressure sensor; the acceleration sensor, the gyroscope and the pressure sensor are all connected with the controller.
4. The composite vibration damping device according to claim 1, further comprising a power supply unit connected to the controller, the primary vibration damping module, and the secondary vibration damping module, respectively.
5. An unmanned aerial vehicle comprising a composite vibration damping device as claimed in any one of claims 1 to 4.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010812610.7A CN111946770B (en) | 2020-08-13 | 2020-08-13 | Combined type vibration damper and unmanned aerial vehicle |
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| CN202010812610.7A CN111946770B (en) | 2020-08-13 | 2020-08-13 | Combined type vibration damper and unmanned aerial vehicle |
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| CN111946770A CN111946770A (en) | 2020-11-17 |
| CN111946770B true CN111946770B (en) | 2022-03-04 |
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| WO2022126417A1 (en) * | 2020-12-16 | 2022-06-23 | 深圳市大疆创新科技有限公司 | Vibration reduction assembly, unmanned aerial vehicle, and vibration reduction method for unmanned aerial vehicle |
| CN113446349A (en) * | 2021-07-12 | 2021-09-28 | 中国科学技术大学 | Vibration suppression method and device for water washing unmanned aerial vehicle |
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