CN211810278U

CN211810278U - Motion sensor module and movable platform

Info

Publication number: CN211810278U
Application number: CN201922472502.5U
Authority: CN
Inventors: 蒋李; 陈凯; 孙笑轩
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2020-10-30
Anticipated expiration: 2029-12-31

Abstract

The utility model provides a motion sensor module and movable platform, include: a motion sensor; a carrier for carrying a motion sensor, the motion sensor being removably mounted on the carrier; the mounting frame is used for connecting an external mechanism, and the mounting frame and the bearing frame are arranged at intervals; the vibration reduction mechanisms are dispersedly arranged around the bearing frame, one end of each vibration reduction mechanism is connected with the mounting frame, and the other end of each vibration reduction mechanism is connected with the bearing frame; wherein the axial stiffness of each damping mechanism is greater than the radial stiffness and the axial direction of the damping mechanism extends obliquely from the carrier towards the outside. This technical scheme can reduce the anisotropic damping effect difference of motion sensor module, can improve motion sensor's control accuracy, to the motion sensor including the gyroscope, can reduce the control delay of gyroscope to a certain extent.

Description

Motion sensor module and movable platform

Technical Field

The embodiment of the utility model provides a motion sensor's installation technique especially relates to motion sensor module and movable platform.

Background

Motion sensors are a common detection instrument and have certain applications in a number of industries. With the continuous development of the technology, the types of motion sensors have become more and more, and the commonly used motion sensors mainly include an acceleration sensor, a gyroscope, a geomagnetic sensor, an Inertial Measurement Unit (IMU), and the like, wherein the IMU internally includes an accelerometer and a gyroscope; the accelerometer is used for detecting the acceleration component of the object, and the gyroscope is used for detecting the angle information of the object; typically, the IMU is mounted at the center of gravity of the object. Due to the function of measuring the three-axis attitude angle (or angular velocity) and acceleration of an object, the IMU is generally used as a core component for navigation and guidance, and is widely applied to equipment such as vehicles, ships, robots, aircrafts and the like which need to be subjected to motion control.

Taking the IMU as an example, the IMU module is very important for controlling the flight of the drone, and due to the excitation of the aerodynamic load and the dynamic unbalance load of the blades, the fuselage may contain many high-frequency vibration components, which are collected by the IMU, but these high-frequency components are not helpful for the control system, so a vibration damping system of the motion sensor needs to be added.

Most of the existing damping systems have large X, Y, Z three-direction translation frequency difference, so that the anisotropic damping effect difference is large. The rotation frequency is not high enough, particularly for a traversing machine, the traversing machine belongs to a small unmanned aerial vehicle with high racing speed and short endurance time, the unmanned aerial vehicle is directly controlled by gyroscope feedback in a manual mode, extremely low control delay is needed at the moment, and if the rotation frequency is too low, the control delay of the gyroscope can be caused.

SUMMERY OF THE UTILITY MODEL

To the above-mentioned defect among the prior art, the embodiment of the utility model provides a motion sensor module and unmanned vehicles helps reducing the anisotropic damping effect difference of motion sensor module, and has reduced the control delay of gyroscope to a certain extent.

The embodiment of the utility model provides a first aspect provides a motion sensor module, include:

a motion sensor;

the bearing frame is used for bearing the motion sensor, and the motion sensor is detachably arranged on the bearing frame;

the mounting frame is used for connecting an external mechanism, and the mounting frame and the bearing frame are arranged at intervals;

the vibration reduction mechanisms are dispersedly arranged around the bearing frame, one end of each vibration reduction mechanism is connected with the mounting frame, and the other end of each vibration reduction mechanism is connected with the bearing frame;

wherein each of the damping mechanisms has an axial rigidity greater than a radial rigidity, and an axial direction of the damping mechanism extends obliquely outward from the carrier.

Further, the bearing frame comprises a bearing base body and a plurality of connecting parts extending from the edge of the bearing base body, and the connecting parts are used for detachably connecting the vibration damping mechanism.

Furthermore, the connecting portion is provided with a connecting hole, and one end of the vibration reduction mechanism is sleeved in the connecting hole.

Further, the connecting portion extends from the bearing base body towards the outer side of the bearing base body in a bending mode.

Further, the mounting frame comprises a mounting base body and a plurality of supporting portions extending from the edge of the mounting base body, and the supporting portions are used for being detachably connected with the vibration damping mechanism.

Furthermore, the supporting part is provided with a mounting hole, and one end of the vibration damping mechanism is embedded into the mounting hole.

Further, the support portion extends obliquely from the mounting base toward the outer side of the mounting base.

Further, the mounting base and the bearing base are arranged in parallel.

Furthermore, the number of the vibration reduction mechanisms is 2N, wherein N is more than or equal to 1, and the 2N vibration reduction mechanisms are symmetrically arranged by taking the center line of the bearing frame as a symmetrical axis.

Further, the plurality of vibration reduction mechanisms are distributed in a central symmetry mode relative to the central shaft of the bearing frame.

Further, the weight of the N vibration reduction mechanisms located on one side of the symmetry axis is the same as the weight of the N vibration reduction mechanisms located on the other side of the symmetry axis.

Further, the damping mechanism comprises at least one of:

damping ball, damping pad, spring.

Further, the vibration reduction mechanism comprises a vibration reduction ball which is a solid ball or a hollow ball;

the number of the damping balls of each damping mechanism is one; or the number of the damping balls of each damping mechanism is at least two, and at least two damping balls are connected in series.

Preferably, the ratio of the axial stiffness to the radial stiffness of the vibration damping ball is 1.5-9.

Preferably, the included angle between the axis of the vibration damping ball and the horizontal plane is 30-50 degrees.

Further, the inclination angles of the vibration reduction mechanisms are the same.

Furthermore, the materials of the vibration reduction mechanisms are the same or different.

Further, in the above-mentioned case,

the connection mode of the vibration reduction mechanism and the mounting rack comprises at least one of the following modes: snap connection, screw connection, bonding, hinging and pin joint;

and/or the connection mode of the vibration damping mechanism and the bearing frame comprises at least one of the following modes: snap connection, screw connection, bonding, hinging and pin joint.

Furthermore, the connection angle between the vibration damping mechanism and the bearing frame is adjustable, and the connection angle between the vibration damping mechanism and the mounting frame is adjustable.

Further, the device also comprises a locking device; the vibration reduction mechanism is rotatably connected with the bearing frame and the mounting frame;

the locking device is arranged between the vibration damping mechanism and the bearing frame and used for locking the connection angle between the vibration damping mechanism and the bearing frame; and/or the locking device is arranged between the vibration reduction mechanism and the mounting frame and is used for locking the connection angle between the vibration reduction mechanism and the mounting frame.

Further, the motion sensor includes an IMU.

Further, the mounting frame is frame-shaped.

The embodiment of the utility model provides a second aspect provides a movable platform, include: the motion sensor module comprises a body and the motion sensor module arranged on the body.

The embodiment of the utility model provides a motion sensor module and movable platform, including bearing the frame that is used for bearing motion sensor, and set up a plurality of damping mechanism between the mounting bracket of being connected external mechanism, effectively reduce the vibration that external mechanism brought motion sensor, every damping mechanism's axial rigidity is greater than radial rigidity, and damping mechanism's axial is from bearing frame outside tilt extension, therefore, this technical scheme can reduce the anisotropic damping effect difference of motion sensor module, can improve motion sensor's control accuracy, to the motion sensor including the gyroscope, can reduce the control delay of gyroscope to a certain extent.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required 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 for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.

Fig. 1 is a schematic structural diagram of a motion sensor module according to an embodiment of the present invention;

fig. 2 is an exploded view of a motion sensor module according to an embodiment of the present invention;

fig. 3 is a first transfer function diagram of the system translation of the motion sensor module according to the embodiment of the present invention;

fig. 4 is a second diagram of a transfer function of the system translation of the motion sensor module according to an embodiment of the present invention;

fig. 5 is a third diagram of a transfer function of the system translation of the motion sensor module according to the embodiment of the present invention;

fig. 6 is a first diagram of a transfer function of system rotation of the motion sensor module according to an embodiment of the present invention;

fig. 7 is a second diagram of a transfer function of system rotation of the motion sensor module according to an embodiment of the present invention;

fig. 8 is a third diagram of a transfer function of system rotation of the motion sensor module according to the embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect.

Furthermore, the term "coupled" is intended to include any direct or indirect coupling. Thus, if a first device couples to a second device, that connection may be through a direct connection, or through an indirect connection via other devices.

It should be understood that the term "and/or" is used herein only to describe an association relationship of associated objects, and means that there may be three relationships, for example, a1 and/or B1, which may mean: a1 exists alone, A1 and B1 exist simultaneously, and B1 exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

Some embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

The utility model discloses the motion sensor module is used for dismantling or the non-detachable mode is installed on movable platform's fuselage, can cushion the vibration of movable platform fuselage, prevents that the vibration of fuselage from influencing motion sensor's measurement accuracy, reduces the all-round damping effect difference in the motion sensor module translation direction, can improve motion sensor's control accuracy, to the motion sensor including the gyroscope, can reduce the control delay of gyroscope to a certain extent. Wherein the movable platform may comprise an unmanned aerial vehicle, a remote ground robot, or the like.

Example one

Fig. 1 is a schematic structural diagram of a motion sensor module according to an embodiment of the present invention; fig. 2 is an exploded view of a motion sensor module according to an embodiment of the present invention. Referring to fig. 1 and fig. 2, the motion sensor module provided in the embodiment of the present invention can be applied to a movable platform, including: a motion sensor 10, a carrier 20, a mounting bracket 30, and a plurality of vibration dampening mechanisms 40.

Wherein the carriage 20 is used for carrying the motion sensor 10, the motion sensor 10 is detachably mounted on the carriage 20. Taking the motion sensor 10 as an IMU for example, the carriage 20 corresponds to an IMU Board, which refers to a PCBA (Printed Circuit Board + Assembly) Printed Circuit Board with an IMU.

The mounting bracket 30 is used for connecting an external mechanism, and the mounting bracket 30 is arranged opposite to the bearing frame 20 at a distance. The mounting frame 30 may be specifically adapted to be connected to a movable platform, such as an unmanned aerial vehicle, and the external mechanism to which the mounting frame 30 is connected may be a fuselage of the unmanned aerial vehicle. Specifically, the mounting bracket 30 may be detachably connected to an external mechanism.

In one embodiment, the mounting frame 30 may be made of a low-density material such as plastic or carbon fiber, so as to reduce the self weight of the motion sensor module as much as possible while ensuring the mechanical strength, which helps to achieve light weight of the movable platform. In the present embodiment, the specific structure of the mounting frame 30 is not limited, and those skilled in the art can design the mounting frame according to specific practical requirements.

A plurality of damping mechanisms 40 are dispersedly arranged around the carrier 20, one end of each damping mechanism 40 is connected to the mounting frame 30, and the other end of each damping mechanism 40 is connected to the carrier 20. The plurality of damping mechanisms 40 may be symmetrically or uniformly arranged around the carriage 20 to achieve a better damping effect and ensure the motion balance of the movable platform as much as possible.

In this embodiment, the number of the damping mechanisms 40 is not limited, and those skilled in the art can set the damping mechanisms according to specific design requirements, and each two adjacent damping mechanisms 40 have a respective preset distance therebetween, and those skilled in the art can set the preset distance according to specific design requirements.

The damping mechanism 40 at least includes an elastic material with a certain damping effect, for example, the elastic material may be foam, silicone, rubber, or the like. The plurality of damping mechanisms 40 may be made of the same material or different materials.

Specifically, for a single vibration damping mechanism 40, it may only include an elastic portion, that is, the entire body of the vibration damping mechanism 40 is composed of the elastic portion, and the elastic material adopted by the entire body is the same, and for a plurality of vibration damping mechanisms 40, the material adopted by each vibration damping mechanism 40 is the same, for example, one of the vibration damping mechanisms 40 is made of silica gel, and the other vibration damping mechanisms 40 are also made of silica gel, which has stable performance and strong aging resistance. Alternatively, the single vibration damping mechanism 40 may include an elastic portion and a rigid portion, each vibration damping mechanism 40 includes an elastic portion and a rigid portion, the rigid portions of the plurality of vibration damping mechanisms correspond to the same material, and the elastic portions of the plurality of vibration damping mechanisms correspond to the same material, for example, one vibration damping mechanism 40 includes a rigid portion of stainless steel and an elastic portion of silicone, and the other vibration damping mechanisms 40 also include a rigid portion of stainless steel and an elastic portion of silicone. Preferably, the material of each damping mechanism 40 is the same, so that it is ensured that the damping effect of each damping mechanism 40 is substantially the same as much as possible.

Of course, as an alternative, the materials of the plurality of vibration reduction mechanisms 40 may also be different, for example, the material of one of the vibration reduction mechanisms 40 is entirely silica gel, and the material of the other one or more vibration reduction mechanisms 40 is made of stainless steel and silica gel; alternatively, the material of some of the damping mechanisms 40 is silica gel, and the material of other damping mechanisms 40 is foam or the like. The specific material selection of each damping mechanism 40 is not limited in this embodiment, and may be set according to actual conditions.

Wherein the axial stiffness of each vibration damping mechanism 40 is greater than the radial stiffness, and the axial direction of the vibration damping mechanism 40 extends obliquely from the carrier 20 toward the outside. In the present embodiment, "axial direction" of the damping mechanism 40 may refer to a direction in which both ends of the damping mechanism 40 are connected, and "radial direction" may refer to a direction perpendicular to the direction in which both ends of the damping mechanism 40 are connected.

For the damping mechanism 40, with three translational directions, X, Y, Z, the greater the stiffness in a direction, the higher the corresponding translational frequency in that direction, and the lower the damping effect with higher translational frequency. The vibration damping mechanism 40 in the prior art is vertically arranged, and for the vibration damping mechanism with axial rigidity greater than radial rigidity, the translational frequency in the Z direction is higher than the translational frequencies in the X direction and the Y direction, so that the vibration damping effect in the Z direction is not good enough under certain conditions, and finally the over-range of the accelerometer in the Z direction is caused.

In order to solve the above problem, each damping mechanism 40 in the motion sensor module of the present embodiment is obliquely disposed to sufficiently balance X, Y, Z the translational frequencies in the three translational directions, so as to reduce the difference between the frequencies in the three translational directions.

The axial direction of each vibration damping mechanism 40 extends obliquely from the carrier 20 toward the outside, and since the axial stiffness of each vibration damping mechanism 40 is greater than the radial stiffness, the entire motion sensor module can be formed into an inner splayed structure, and the rotational frequency of the vibration damping mechanism 40 is increased. Taking the movable platform as an unmanned aerial vehicle and the motion sensor as an IMU (including a gyroscope) as an example, the IMU indirectly obtains the attitude of the unmanned aerial vehicle according to the sensing of the angle or the attitude change of the IMU. Therefore, the smaller the action delay between the IMU and the unmanned aerial vehicle, the better, that is, the faster the IMU follows the rotation when the unmanned aerial vehicle rotates, the more accurately the attitude of the unmanned aerial vehicle can be reflected. It will be appreciated that the higher the frequency of rotation of the damping mechanism 40, the faster the drone will follow in the IMU as it rotates, thereby reducing the latency of the IMU. When the rotation frequency is the highest, the IMU does not rotate relative to the unmanned aerial vehicle, and the control delay is the minimum under the condition, so that the control precision of the IMU is improved. This embodiment is through the damping system who is interior eight shapes with the design of motion sensor module, from this, can effectively improve the rotational frequency of motion sensor module, improves IMU's control accuracy.

In the present embodiment, further, the damping mechanism 40 may include at least one of a damping ball, a damping pad, a spring, and the like.

Wherein, the plurality of damping mechanisms 40 may be damping balls; or all of the plurality of damping mechanisms 40 may be springs; or the plurality of vibration reduction mechanisms can be vibration reduction pads; or part of the vibration damping mechanisms 40 are vibration damping balls, and other vibration damping mechanisms 40 are springs; or part of the vibration reduction mechanisms 40 are vibration reduction balls, and other vibration reduction mechanisms 40 are vibration reduction pads; or part of the vibration damping mechanisms 40 are springs, and other vibration damping mechanisms 40 are vibration damping pads; or, one of the damping mechanisms 40 is a damping ball, the other damping mechanism 40 is a spring, and the other damping mechanism 40 is a damping pad; or, the middle part of the plurality of damping mechanisms 40 is a combination of damping balls and springs, and the others are a combination of damping balls and damping pads; or, the middle part of the plurality of damping mechanisms 40 is a combination of damping balls, springs and damping pads, and the other damping mechanisms 40 are one or two combinations of damping balls, springs or damping pads; alternatively, some of the plurality of damping mechanisms 40 are a combination of springs and damping pads, others are a combination of damping pads and damping balls, and so forth. The different materials of each vibration damping mechanism 40 mainly cause different damping coefficients, and the vibration damping effects corresponding to different damping coefficients are different, and the setting mode of each vibration damping mechanism 40 can be set according to specific needs, which is not exemplified in this embodiment.

In this embodiment, the damping mechanism 40 is connected between the carrier 20 and the mounting bracket 30, and is configured to generate tensile or compressive deformation to buffer the vibration transmitted to the carrier 20 from an external mechanism (such as the fuselage of an unmanned aerial vehicle) through the mounting bracket 30, so as to achieve damping of the carrier 20 and thus the motion sensor, thereby improving the measurement accuracy of the motion sensor and ensuring that the motion sensor does not generate overrange and aliasing phenomena.

In the present embodiment, the damping mechanism 40 may preferably include a damping ball 42, which is a solid ball or a hollow ball. Wherein the number of the damping balls 42 of each damping mechanism 40 is one; alternatively, the number of the damping balls 42 of each damping mechanism is two, and the two damping balls 42 are connected in series. When the damping ball is a solid ball, it helps to improve the connection strength between the carrier 20 and the mounting bracket 30, and when the damping ball is a hollow ball, the easier the elastic deformation of the damping mechanism 40 is, it helps to improve the damping effect, and can effectively reduce the overall weight, and help to improve the light-weight requirement. In a comprehensive consideration, a more preferable mode may be that the vibration reduction ball is provided with a through hole, so that the connection strength is ensured, the vibration reduction effect is ensured, the overall weight is reduced, and the lightweight of the movable platform is facilitated.

In one embodiment, as shown in fig. 1, the damping mechanism 40 includes a rigid portion 41 and two damping balls 42 connected in series with the rigid portion 41, the rigid portion 41 may be connected to the damping balls 42 to form a hollow structure in the middle, or the rigid portion 41 may be hollow, and the damping balls 42 may be hollow balls, but the rigid portion 41 is not connected to the damping balls 42, or only the rigid portion 41 may be hollow and the damping balls 42 may be solid balls, or only the damping balls 42 may be hollow balls and the rigid portion 41 may be solid. This can reduce the weight of the damper mechanism 40 as much as possible, and improve the degree of weight reduction of the movable platform.

In addition, when the damping balls 42 are designed as double balls, when the damping frequencies in the X and Y directions are the same, the damping frequency point in the Z direction of the double balls is lower, and the damping effect of the double balls is better.

In addition, the damping ball 42 may be made of rubber, and can maintain good damping performance at low temperature.

Through continuous tests, the ratio of the axial stiffness to the radial stiffness of the vibration damping ball is preferably 1.5-9. This ratio is determined primarily by the shape of the damping ball. Furthermore, the included angle between the axis of the vibration damping ball and the horizontal plane is 30-50 degrees. At this time, the vibration reduction ball can achieve the optimal effect of balancing the translation frequency of each translation direction and improving the rotation frequency as much as possible.

To better illustrate the technical effects of the present embodiment, the following description will take data obtained by the inventors through specific experiments as an example. For an IMU vibration reduction mechanism of a certain model, under the condition that the vibration reduction mechanism is vertically arranged, three translational frequencies (X, Y, Z) are 90Hz, 100Hz and 160Hz, and 3 rotational frequencies (roll, pitch and yaw) are 255Hz, 180Hz and 140 Hz; the 3 translation frequencies (X, Y, Z) of the inner octagon vibration damping mechanism arranged by adopting the scheme of the embodiment are 100Hz, 107Hz and 136Hz, and the three rotation frequencies (roll, pitch and yaw) are 265Hz, 234Hz and 180 Hz; by comparing the vibration reduction frequencies obtained by calculation under the two configurations, the difference of the translation frequencies in the three directions is reduced from 70Hz to 36Hz, and the vibration reduction frequencies in the pitch and yaw directions are increased by 40-50 Hz after the vibration reduction mechanism is arranged in an inner eight shape.

Fig. 3 is a first transfer function diagram of the system translation of the motion sensor module according to the embodiment of the present invention; in fig. 3, the Y input curve approaches the horizontal axis infinitely and substantially coincides with the horizontal axis, and the Z input curve approaches the horizontal axis. Fig. 4 is a second diagram of a transfer function of the system translation of the motion sensor module according to an embodiment of the present invention; in fig. 4, the X input curve and the Z input curve approach the horizontal axis without limitation and substantially coincide with the horizontal axis. Fig. 5 is a third diagram of a transfer function of the system translation of the motion sensor module according to the embodiment of the present invention; in fig. 5, the X input curve is close to the horizontal axis, and the Y input curve approaches the horizontal axis infinitely and substantially coincides with the horizontal axis. As can be seen from fig. 3 to 5, the vibration reduction frequencies in the respective translation directions are relatively close to each other, and the difference is relatively small.

Fig. 6 is a first diagram of a transfer function of system rotation of the motion sensor module according to an embodiment of the present invention; in fig. 6, the beta input curve and the gamma input curve approach the horizontal axis without limitation and are basically overlapped with the horizontal axis; fig. 7 is a second diagram of a transfer function of system rotation of the motion sensor module according to an embodiment of the present invention; in fig. 7, the α input curve is close to the horizontal axis, and the γ input curve approaches the horizontal axis infinitely and substantially coincides with the horizontal axis. Fig. 8 is a third diagram of a transfer function of system rotation of the motion sensor module according to the embodiment of the present invention. In fig. 8, the α input curve is close to the horizontal axis, and the β input curve approaches the horizontal axis infinitely and substantially coincides with the horizontal axis. As can be seen from fig. 6 to 8, the rotational frequency in each direction is high.

The motion sensor module that this embodiment provided, including the carrier that is used for bearing motion sensor, and set up a plurality of damping mechanism between the mounting bracket of being connected external mechanism, effectively reduce the vibration that external mechanism brought motion sensor, every damping mechanism's axial rigidity is greater than radial rigidity, and damping mechanism's axial is from bearing frame outside tilt extension, therefore, this technical scheme can reduce the anisotropic damping effect difference of motion sensor module, can improve motion sensor's control accuracy, to the motion sensor including the gyroscope, can reduce the control delay of gyroscope to a certain extent.

Further, the number of the damping mechanisms 40 may be 2N, wherein N is the number of the 2N damping mechanisms 40 symmetrically arranged with the central line of the carrier 20 as the symmetry axis. That is, the number of the damping mechanisms 40 is even, and the even number of the damping mechanisms 40 are symmetrically arranged by taking the center line of the bearing frame 20 as the symmetry axis X1, which is beneficial to improving the balance degree of the two sides of the bearing frame 20, so that the forces on the two sides of the bearing frame 20 are balanced as much as possible, and the motion balance of the movable platform can be improved.

It is understood that the number of the damping mechanisms 40 may be four, six, eight, twelve, etc., and the present embodiment is not limited thereto, and those skilled in the art can select an appropriate number of damping mechanisms 40 in consideration of the cost and the damping effect.

Further, the weight of the N damping mechanisms 40 located on one side of the axis of symmetry is the same as the weight of the N damping mechanisms 40 located on the other side of the axis of symmetry. The weight of the vibration reduction mechanisms 40 positioned on the two sides of the symmetry axis is the same, the balance of the motion sensor module and the motion balance of the movable platform can be further guaranteed, and the flight safety can be improved for the unmanned aerial vehicle.

It should be noted that the structure of each of the carrier 20 and the mounting bracket 30 is also generally axisymmetrical. Thereby, the motion balance of the movable platform is strictly ensured.

Of course, in some embodiments, the plurality of vibration reduction mechanisms 40 may be distributed centrally symmetrically with respect to the central axis of the carrier 20. The effect of improving the motion balance of the movable platform can also be achieved. Further, it is preferable that the inclination angles of the respective vibration reduction mechanisms 40 are the same, thereby further improving the balance of the motion sensor module.

In some embodiments, an escape space a for moving the carrier 20 relative to the mounting bracket 30 may be formed between the mounting bracket 30 and the carrier 20. The movement of the carrier 20 relative to the mounting bracket 30 refers to the amount of movement of the carrier 20 remaining after being damped by the damping mechanism 40 during the generation of the vibration.

When the carrier 20 is mounted on the mounting frame 30, the vibration damping mechanism 40 is elastically deformed when vibration occurs, and the carrier 20 is movable at least in the vertical direction and the horizontal direction with respect to the mounting frame 30. The vertical direction (Z direction) is a direction perpendicular to the mounting bracket 30 and the loading bracket 20, and the horizontal direction (including X, Y direction) is a direction perpendicular to the vertical direction. The escape space a prevents the shock absorbing effect of the shock absorbing mechanism 40 from being reduced by collision with the mounting frame 30 during movement of the carrier 20 relative to the mounting frame 30.

Specifically, a through hole or a groove for accommodating the carrier 20 may be provided on the mounting bracket 30, and the through hole or the groove forms the avoiding space a. The escape space a is formed by reserving an escape distance of 2mm or more in each direction of the movement of the carriage 20 relative to the mounting bracket 30. When no vibration occurs, the vertical distance between the wall of the through-hole and the side edge in the direction of movement of the carrier 20 is 2mm or more than 2 mm. Alternatively, in another embodiment, the vertical distance between the side walls of the recess and the side edges of the carrier 20 is 2mm or more than 2mm and the distance between the bottom wall of the recess and the surface of the carrier 20 facing the mounting frame 30 is 2mm or more than 2mm when no vibration occurs. Of course, it should be noted that the reserved avoidance distance is not limited to at least 2mm, and may be determined according to the deformation characteristics of the selected damping mechanism 40, where the avoidance distance is larger when the selected damping mechanism 40 is elastically deformed to a larger extent, and the avoidance distance may be slightly smaller when the damping mechanism 40 is deformed to a smaller extent.

Preferably, the mounting frame 30 may have a frame shape, for example, as shown in fig. 1, the mounting frame 30 has a rectangular frame shape, and the middle of the frame 30 is hollowed out (i.e., a through hole) to form an escape space for the movement of the loading frame 20.

In addition, the frame-shaped mounting frame 30 can provide an escape space a, and the weight of the mounting frame 30 can be reduced as much as possible to increase the light weight of the movable platform.

The connection between the damping mechanism 40 and the mounting bracket 30 may include at least one of: snap connection, screw connection, bonding, hinging and pin joint; and/or the connection between the damping mechanism 40 and the carrier 20 comprises at least one of the following: snap connection, screw connection, bonding, hinging and pin joint.

The connection mode between the damping mechanism 40 and the mounting bracket 30 may be a detachable connection mode such as a detachable snap connection, a screw connection, and the like, wherein the screw connection may be a connection between the damping mechanism 40 and the mounting bracket 30 by a fastener such as a bolt and the like; or non-detachable connection modes such as non-detachable buckle connection, bonding and the like, or can also be rotatably connected together in a hinged or pivoted mode. The specific configuration can be selected according to actual needs, and is not described in detail in this embodiment.

The connection between the damping mechanism 40 and the carrier 20 may also be a detachable connection such as a detachable snap connection, a screw connection, or the like, specifically, the damping mechanism 40 and the mounting bracket 30 may be connected by a fastener such as a bolt; or non-detachable connection modes such as non-detachable buckle connection, bonding and the like, or can also be rotatably connected together in a hinged or pivoted mode. The connection between the damping mechanism 40 and the mounting bracket 30 may be the same as or different from the connection between the damping mechanism 40 and the carrier 20, and is not particularly limited.

The reliable connection of the damping mechanism 40 to the carrier 20 and the mounting bracket 30 can be ensured by any of the above connection methods. When the damping mechanism 40 is removably coupled to the carrier 20 and/or the mounting bracket 30, replacement, maintenance or position adjustment of the damping mechanism 40 may be facilitated. When the damping mechanism 40 is non-removably attached to the carrier 20 and/or the mounting bracket 30, the stability of the damping mechanism 40 after attachment can be further improved. When the damping mechanism 40 is rotatably connected with both the carrier 20 and the mounting frame 30, the connection angle between the damping mechanism 40 and the carrier 20 and the mounting frame 30 can be effectively adjusted, and the flexibility is better.

In some embodiments, the angle of connection between the damping mechanism 40 and the carrier 20 is adjustable, and the angle of connection between the damping mechanism 40 and the mounting bracket 10 is adjustable. Specifically, the damping mechanism 40 may be rotatably coupled (e.g., hinged, pivoted, ball-hinged) to the carrier 20, and the damping mechanism 40 may be rotatably coupled (e.g., hinged, pivoted, ball-hinged) to the mounting bracket 10. The connection angle between the damping mechanism 40 and the bearing frame 20 and the mounting frame 30 is adjustable, so that the connection angle between the damping mechanism 40 and the bearing frame 20 and the mounting frame 30 can be flexibly adjusted, various working conditions or structural requirements can be met, and the flexibility is good.

It will be appreciated that the mounting means of the motion sensor board in this embodiment may also comprise locking means (not shown in the figures). A locking device may be provided between the damping mechanism 40 and the carrier 20 for locking the connection angle between the damping mechanism 40 and the carrier 20; and/or, a locking device is arranged between the damping mechanism 40 and the mounting frame 30 for locking the connection angle between the damping mechanism 40 and the mounting frame 30. The locking device may be any locking device used for locking a rotating pair in the prior art, for example, when the rotating pair is a ball hinge, the locking device may be a bolt, and the end of the bolt is used for abutting against one of the rotating members to prevent one of the rotating members from rotating relative to the other rotating member by friction force, so as to achieve locking, and if the connection angle between the damping mechanism 40 and the carrier 20 and the mounting bracket 30 needs to be adjusted again, only the bolt needs to be unscrewed reversely. The specific structure and locking manner of the locking device may be various, and those skilled in the art may adopt a corresponding locking device according to actual needs and design needs, and the embodiment is not limited herein.

The connection angle between the damping mechanism 40 and the carrier 20 and the mounting bracket 30 can be fixed by the locking device, and the stability after connection is ensured. If the connection angle between the damping mechanism 40 and the carrier 20 and the mounting bracket 30 needs to be adjusted again, namely the locking of the locking device needs to be released, the operation is convenient.

It should be noted that, if the connection angle between the damping mechanism 40 and the carrier 20 and the mounting bracket 30 needs to be fixed, only one of the damping mechanisms 40 needs to be fixed by the locking device, and of course, when all the damping mechanisms 40 are locked by the locking device, the stability after locking is the best.

Example two

The present embodiment is described with reference to the first embodiment, and referring to fig. 1 and 2, a specific structure of the carrier 20, the mounting bracket 30 and the damping mechanism 40 is described, where the carrier 20 includes a carrier base 21 and a plurality of connecting portions 22 extending from an edge of the carrier base 21, and the connecting portions 22 are used for detachably connecting the damping mechanism 40. The motion sensor 10 may be disposed in the middle of the carrier substrate 21, in one embodiment, the carrier substrate 21 may have a rectangular shape, and the connection portion 22 may be formed to extend from the corner edge of the carrier substrate 21.

Further, as shown in fig. 1 and fig. 2, the connecting portion 22 is provided with a connecting hole 221, and one end of the damping mechanism 40 is sleeved in the connecting hole 221. One end of the damping mechanism 40 is fitted into the connection hole 221, and the end portion thereof is provided with a coming-off preventing portion 43 for preventing the damping mechanism 40 from coming off from the connection hole 221. The connecting portion 22 may be bent and extended from the carrier base 21 toward the outer side of the carrier base 21. More specifically, connecting portion 22 can be from bearing base member 21 towards the outside of bearing base member 21 and the extension of buckling downwards, so, can be under the unchangeable condition of axis and the contained angle of horizontal direction that keeps damping mechanism 40, effectively shorten the interval between bearing frame 20 and the mounting bracket 30, and then reduce the height of motion sensor module, to unmanned vehicles, on the basis of the technological effect that the above-mentioned embodiment described of assurance, can also effectively reduce unmanned vehicles's vertical height, be favorable to unmanned vehicles's miniaturized design.

Similarly, the mounting bracket 30 includes a mounting base 31 and a plurality of supports 32 extending from an edge of the mounting base 31, the supports 32 being adapted to detachably couple with the damping mechanism 40. Specifically, the support portion 32 may be provided with a mounting hole 321, and one end of the damping mechanism 40 is inserted into the mounting hole 321. The mounting hole 321 of the support portion 32 and one end of the damping mechanism 40 can be detachably mounted by a fastener, such as a bolt and a washer, and the damping mechanism 40 and the support portion 32 can be detachably connected, so that the damping mechanism 40 can be detached from the mounting frame 30 to facilitate replacement or reassembly of the damping mechanism 40. In one embodiment, the mounting base 31 may also have a rectangular shape, and the supporting portion 32 may be formed to extend from a corner edge of the mounting base 31.

The support portion 32 extends obliquely from the mounting base 31 toward the outside of the mounting base 31. More specifically, supporting part 32 can be from bearing base member 21 towards the outside of bearing base member 21 and upwards the extension of buckling, so, can be under the unchangeable condition of axis and the contained angle of horizontal direction that keeps damping mechanism 40, effectively shorten the interval between bearing frame 20 and the mounting bracket 30, and then reduce the height of motion sensor module, to unmanned vehicles, on the basis of the technological effect that the above-mentioned embodiment describes of assurance, can also effectively reduce unmanned vehicles's vertical height, be favorable to unmanned vehicles's miniaturized design.

In addition, preferably, the mounting base 31 may be disposed in parallel with the carrier base 21. The mounting base body 31 and the bearing base body 21 can be plate-shaped and arranged in parallel, so that the space can be effectively saved, and the space waste is avoided.

EXAMPLE III

The embodiment provides a movable platform, and the movable platform of the embodiment is an unmanned aerial vehicle, a remote control ground robot or a holder. Comprises a machine body and a motion sensor module arranged on the machine body; wherein the motion sensor module comprises a motion sensor 10, a carrier 20, a mounting frame 30 and a plurality of damping mechanisms 40.

The mounting bracket 30 is used for connecting an external mechanism, and the mounting bracket 30 is arranged opposite to the bearing frame 20 at a distance.

A plurality of damping mechanisms 40 are dispersedly arranged around the carrier 20, one end of each damping mechanism 40 is connected to the mounting frame 30, and the other end of each damping mechanism 40 is connected to the carrier 20. Wherein the axial stiffness of each vibration damping mechanism 40 is greater than the radial stiffness, and the axial direction of the vibration damping mechanism 40 extends obliquely from the carrier 20 toward the outside. In the present embodiment, "axial direction" of the damping mechanism 40 may refer to a direction in which both ends of the damping mechanism 40 are connected, and "radial direction" may refer to a direction perpendicular to the direction in which both ends of the damping mechanism 40 are connected.

The movable platform that this embodiment provided, including the motion sensor module, the motion sensor module is including the carrier that is used for bearing motion sensor, and set up a plurality of damping mechanism between the mounting bracket of being connected external mechanism, effectively reduce the vibration that external mechanism brought motion sensor, every damping mechanism's axial rigidity is greater than radial rigidity, and damping mechanism's axial is from the carrier towards the outside slope extension, therefore, this technical scheme can reduce the anisotropic damping effect difference of motion sensor module, can improve motion sensor's control accuracy, to the motion sensor including the gyroscope, can reduce the control delay of gyroscope to a certain extent.

Further, the weight of the N damping mechanisms 40 located on one side of the axis of symmetry is the same as the weight of the N damping mechanisms 40 located on the other side of the axis of symmetry.

Of course, in some embodiments, the plurality of vibration reduction mechanisms 40 may be distributed centrally symmetrically with respect to the central axis of the carrier 20. Preferably, the inclination angles of the respective damping mechanisms 40 are the same.

In some embodiments, the angle of connection between the damping mechanism 40 and the carrier 20 is adjustable, and the angle of connection between the damping mechanism 40 and the mounting bracket 10 is adjustable.

It will be appreciated that the mounting means of the motion sensor board in this embodiment may also comprise locking means (not shown in the figures). A locking device may be provided between the damping mechanism 40 and the carrier 20 for locking the connection angle between the damping mechanism 40 and the carrier 20; and/or, a locking device is arranged between the damping mechanism 40 and the mounting frame 30 for locking the connection angle between the damping mechanism 40 and the mounting frame 30.

The structure and function of the motion sensor module in the movable platform provided in this embodiment are the same as those of the first embodiment, and specific reference may be made to the description of the first embodiment, which is not repeated in this embodiment.

Example four

In the present embodiment, a specific structure of the carrier 20, the mounting bracket 30 and the damping mechanism 40 is described based on the third embodiment, as shown in fig. 1 and fig. 2, the carrier 20 includes a carrier base 21 and a plurality of connecting portions 22 extending from an edge of the carrier base 21, and the connecting portions 22 are used for detachably connecting the damping mechanism 40.

Further, as shown in fig. 1 and fig. 2, the connecting portion 22 is provided with a connecting hole 221, and one end of the damping mechanism 40 is sleeved in the connecting hole 221. The connecting portion 22 may be bent and extended from the carrier base 21 toward the outer side of the carrier base 21.

Similarly, the mounting bracket 30 includes a mounting base 31 and a plurality of supports 32 extending from an edge of the mounting base 31, the supports 32 being adapted to detachably couple with the damping mechanism 40. Specifically, the support portion 32 may be provided with a mounting hole 321, and one end of the damping mechanism 40 is inserted into the mounting hole 321.

The support portion 32 extends obliquely from the mounting base 31 toward the outside of the mounting base 31.

In addition, preferably, the mounting base 31 may be disposed in parallel with the carrier base 21.

The structure and function of the motion sensor module in the movable platform provided in this embodiment are the same as those of the embodiment two, and the description of the embodiment two may be specifically referred to, which is not repeated in this embodiment.

In the several embodiments provided in the present invention, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.

Claims

1. A motion sensor module, comprising:

a motion sensor;

2. The motion sensor module of claim 1, wherein the carrier includes a carrier base and a plurality of coupling portions extending from an edge of the carrier base, the coupling portions configured to removably couple the vibration reduction mechanism.

3. The motion sensor module according to claim 2, wherein the connecting portion is provided with a connecting hole, and one end of the vibration damping mechanism is sleeved in the connecting hole; and/or the presence of a catalyst in the reaction mixture,

the connecting part is bent and extended from the bearing base body to the outer side of the bearing base body.

4. The motion sensor module of claim 2, wherein the mounting bracket includes a mounting base and a plurality of supports extending from an edge of the mounting base, the supports configured to removably couple to the vibration reduction mechanism.

5. The motion sensor module according to claim 4, wherein the support portion is provided with a mounting hole, and one end of the vibration damping mechanism is embedded in the mounting hole; and/or the presence of a catalyst in the reaction mixture,

the support part extends from the mounting base body to the outer side of the mounting base body in an inclined manner; and/or the presence of a catalyst in the reaction mixture,

the mounting base body and the bearing base body are arranged in parallel.

6. The motion sensor module according to claim 1, wherein the number of the damping mechanisms is 2N, wherein N is more than or equal to 1, and the 2N damping mechanisms are symmetrically arranged by taking the center line of the bearing frame as a symmetry axis; and/or the presence of a catalyst in the reaction mixture,

the plurality of vibration reduction mechanisms are distributed in a central symmetry mode relative to the central shaft of the bearing frame.

7. The motion sensor module of claim 6, wherein the weight of the N dampening mechanisms on one side of the axis of symmetry is the same as the weight of the N dampening mechanisms on the other side of the axis of symmetry.

8. The motion sensor module of claim 1, wherein the vibration dampening mechanism comprises at least one of:

damping ball, damping pad, spring.

9. The motion sensor module of claim 8, wherein the vibration dampening mechanism comprises a vibration dampening ball that is a solid ball or a hollow ball;

10. The motion sensor module of claim 9, wherein the ratio of the axial stiffness to the radial stiffness of the damping balls is 1.5-9;

and/or the included angle between the axis of the vibration damping ball and the horizontal plane is 30-50 degrees.

11. The motion sensor module of claim 1, wherein the tilt angle of each of the dampening mechanisms is the same; and/or the materials of the vibration reduction mechanisms are the same or different.

12. The motion sensor module of claim 1,

and/or the connection mode of the vibration damping mechanism and the bearing frame comprises at least one of the following modes: snap connection, screw connection, bonding, hinging and pin joint;

and/or the presence of a catalyst in the reaction mixture,

the damping mechanism and the bearing frame are adjustable in connection angle, and the damping mechanism and the mounting frame are adjustable in connection angle.

13. The motion sensor module of claim 12, further comprising a locking device; the vibration reduction mechanism is rotatably connected with the bearing frame and the mounting frame;

14. A movable platform, comprising: a body, the motion sensor module of any of claims 1-13 mounted on the body.

15. The movable platform of claim 14, wherein the movable platform is an unmanned aerial vehicle, a remotely controlled ground robot, or a pan-tilt head.