CN218463885U - IMU mounting structure and unmanned aerial vehicle - Google Patents

Abstract

The application discloses IMU mounting structure and unmanned aerial vehicle, IMU mounting structure include base, balancing weight, first snubber block and install in IMU unit on the balancing weight, the balancing weight orientation one side of base is equipped with first mounting groove in two sides that deviate from mutually of first snubber block, one side embedding in the first mounting groove with the balancing weight is connected, the opposite side butt the base. In this scheme, embedded the installing in the first mounting groove of balancing weight of first snubber block, be about to first snubber block and arrange the inside at the balancing weight, reduced whole IMU mounting structure's size, space utilization obtains improving, the integration of the product of being convenient for, pile up the design.

Description

IMU mounting structure and unmanned aerial vehicle

Technical Field

The application relates to the technical field of inductors, in particular to an IMU mounting structure and an unmanned aerial vehicle.

Background

The IMU is a component for measuring the speed and acceleration of an object in a three-dimensional space and calculating the motion attitude of the object, and generally includes a plurality of sensors such as a speed sensor, an acceleration sensor, and a gyroscope. When using in unmanned aerial vehicle, IMU on the unmanned aerial vehicle calculates unmanned aerial vehicle's flight gesture through measuring speed, acceleration and the isoparametric of inclination under the unmanned aerial vehicle current state, and then carries out real time monitoring to unmanned aerial vehicle's flight state.

For avoiding unmanned aerial vehicle flight in-process fuselage vibrations to cause the influence to IMU's measurement accuracy nature, need be equipped with shock-absorbing structure for it usually when IMU uses. Referring to fig. 1, in the conventional IMU shock-absorbing mounting structure, an IMU plate a is fixed on a counterweight b, upper and lower sides of the counterweight b are respectively provided with an upper shock pad c and a lower shock pad d, and the IMU plate a is clamped between the upper shock pad c and the lower shock pad d through an upper shell e and a lower shell f, so that shock absorption of the IMU is realized. However, in the existing solutions, the upper shock pad c and the lower shock pad d are disposed outside the counterweight b, resulting in a larger overall size of the structure, insufficient space utilization, and unfavorable integration and stacking of products.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model provides an aim at: the utility model provides an IMU mounting structure and unmanned aerial vehicle, it can solve the above-mentioned problem that exists among the prior art.

In order to achieve the purpose, the following technical scheme is adopted in the application:

on the one hand, provide an IMU mounting structure, including base, balancing weight, first snubber block and install in IMU unit on the balancing weight, the balancing weight orientation one side of base is equipped with first mounting groove in two sides that deviate from mutually of first snubber block, one side embedding in the first mounting groove with the balancing weight is connected, the opposite side butt the base.

Optionally, two sides of the first damping block are respectively bonded to the weight block and the base.

Optionally, still include the retaining member, the retaining member runs through the balancing weight and first snubber block with the base is connected, be used for with the balancing weight and first snubber block are connected on the base.

Optionally, the retaining member with still be provided with the second snubber block between the balancing weight, the second snubber block is set up to prevent the retaining member with the balancing weight is direct butt.

Optionally, one side of the counterweight block, which is far away from the base, is provided with a second mounting groove, and the second damping block is mounted in the second mounting groove in an embedded manner.

Optionally, the retaining member includes continuous gland and cylinder, the gland compresses tightly the second snubber block is kept away from one side of balancing weight, the cylinder runs through the second snubber block the balancing weight and connect behind the first snubber block the base realizes will the second snubber block the balancing weight and the first snubber block locking in on the base.

Optionally, the damping device further comprises a second damping block and a locking member, wherein a second mounting groove is formed in one side of the balancing weight, which is far away from the base, and the second damping block is mounted in the second mounting groove in an embedded manner; the retaining member includes continuous gland and cylinder, the gland compresses tightly the second snubber block is kept away from one side of balancing weight, the cylinder runs through the second snubber block the balancing weight and connect behind the first snubber block the base realizes will the second snubber block the balancing weight and first snubber block locking in on the base.

Optionally, the retaining member still includes the connection nail, be equipped with on the base with the connecting hole that the connection nail corresponds, the connection nail runs through the gland and threaded connection behind the cylinder the connecting hole realizes the retaining member lock solid in on the base.

Optionally, a first through hole with a size not smaller than the cross-sectional size of the cylinder is formed in the center of the first damping block, the base is provided with a positioning boss corresponding to the first through hole, and the positioning boss is embedded into the first through hole to limit the rotational motion of the first damping block.

Optionally, the positioning boss is further provided with a positioning protrusion, one end of the cylinder, which is far away from the gland, is provided with a positioning groove corresponding to the positioning protrusion, and the positioning protrusion is embedded into the positioning groove to limit the rotation motion of the cylinder.

Optionally, a second through hole with a size not smaller than the cross-sectional size of the cylinder is formed in the center of the second damping block, the gland comprises a pressing portion and a positioning portion corresponding to the second through hole, the pressing portion presses the second damping block away from the end face of the balancing weight, and the positioning portion is embedded into the second through hole to limit the rotational motion of the second damping block.

Optionally, the sizes of the first mounting groove and the second mounting groove correspond to the sizes of the first damping block and the second damping block, so that the counterweight block is completely limited by the first damping block and the second damping block.

Optionally, the IMU unit includes an x-axis IMU module, a y-axis IMU module, and a z-axis IMU module respectively mounted on three mutually perpendicular side surfaces of each two of the weights.

Optionally, the x-axis IMU module is mounted on a side of the counterweight block away from the base, and a gap is maintained between the x-axis IMU module and the gland.

In another aspect, an unmanned aerial vehicle is provided, including foretell IMU mounting structure.

The beneficial effect of this application does: the utility model provides an IMU mounting structure and unmanned aerial vehicle is provided with first snubber block between balancing weight and base, makes the balancing weight base float relatively, reaches the shock attenuation effect of the IMU unit of installation on the balancing weight. In this scheme, embedded the installing in the first mounting groove of balancing weight of first snubber block, be about to first snubber block and arrange the inside at the balancing weight, reduced whole IMU mounting structure's size, space utilization obtains improving, the integration of the product of being convenient for, pile up the design.

Drawings

The present application will be described in further detail below with reference to the accompanying drawings and examples.

FIG. 1 is an exploded schematic view of a prior art IMU mounting structure;

FIG. 2 is an exploded view of an IMU mounting structure according to an embodiment of the present application;

fig. 3 is a middle sectional view of the IMU mounting structure in an exploded state according to an embodiment of the present application.

In fig. 1:

a. an IMU plate; b. balancing weight; c. an upper shock pad; d. a lower cushion; e. an upper shell; f. a lower shell.

In FIGS. 2-3:

1. an IMU unit; 11. an x-axis IMU module; 12. a y-axis IMU module; 13. a z-axis IMU module; 2. a base; 21. positioning the boss; 22. positioning a projection; 23. connecting holes; 3. a balancing weight; 31. a first mounting groove; 32. a second mounting groove; 4. a first damper block; 41. a first via hole; 5. a second damper block; 51. a second via hole; 6. a locking member; 61. a gland; 611. a pressing part; 612. a positioning part; 62. a cylinder; 621. positioning a groove; 63. and (5) connecting nails.

Detailed Description

In order to make the technical problems solved, technical solutions adopted, and technical effects achieved by the present application clearer, the following describes technical solutions of embodiments of the present application in further detail, and it is obvious that the described embodiments are only a part of embodiments of the present application, but not all embodiments. 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 application.

In the description of the present application, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meaning of the above terms in the present invention can be understood as a specific case by those skilled in the art.

In this application, unless expressly stated or limited otherwise, the recitation of a first feature "on" or "under" a second feature may include the recitation of the first and second features being in direct contact, and may also include the recitation of the first and second features not being in direct contact, but being in contact with another feature between them. Also, the first feature "on," "above" and "over" the second feature may include the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is at a higher level than the second feature. "beneath," "under" and "beneath" a first feature includes the first feature being directly beneath and obliquely beneath the second feature, or simply indicating that the first feature is at a lesser elevation than the second feature.

As shown in fig. 2-3, this embodiment provides an IMU mounting structure, including base 2, balancing weight 3, first snubber block 4 and install in IMU unit 1 on balancing weight 3, balancing weight 3 moves towards one side of base 2 is equipped with first mounting groove 31 in two sides that deviate from each other of first snubber block 4), one side imbeds in the first mounting groove 31 with the balancing weight 3 is connected, the opposite side butt base 2 to realize shock-absorbing function.

Specifically, the first damping block 4 can be embedded in the first mounting groove 31, the first mounting groove 31 is located on the counterweight block 3, and after the first damping block 4 is mounted, the edge of the first damping block 4 is necessarily located inside the edge of the counterweight block 3, that is, the first damping block 4 does not occupy more mounting space because it exceeds the periphery of the counterweight block 3; in order to ensure that a certain distance can be kept between the balancing weight 3 and the base 2 under the support of the first damping block 4, the depth of the first mounting groove 31 needs to be smaller than the thickness of the first damping block 4; and because the elastic buffer performance of first snubber block 4 material itself for balancing weight 3 can float relative to base 2, reduce the vibrations transmission between base 2 and the balancing weight 3, realize the shock-absorbing function to balancing weight 3 and the IMU unit 1 of installation on it. Wherein, in order to ensure the stability of balancing weight 3 installation, be provided with the connecting piece that is used for connecting the two between balancing weight 3 and base 2, perhaps, the both sides of first snubber block 4 are respectively through means of connection and base 2 and balancing weight 3 fixed connection.

Based on above IMU mounting structure, be provided with first snubber block 4 between balancing weight 3 and base 2, make balancing weight 3 float for base 2, reach the shock attenuation effect of the IMU unit 1 of installation on the balancing weight 3. In this scheme, embedded the installing in the first mounting groove 31 of balancing weight 3 of first snubber block 4, be about to first snubber block 4 and arrange in the inside of balancing weight 3, reduced whole IMU mounting structure's size, space utilization obtains improving, the integration of the product of being convenient for, pile up the design.

In some embodiments, two sides of the first damper block 4 are respectively bonded to the weight block 3 and the base 2. Namely, the both sides of first snubber block 4 bond with balancing weight 3 and base through bonding material respectively, directly be fixed in on base 2 with balancing weight 3 through first snubber block 4, its simple structure, simple to operate. Specifically, can set up the viscose respectively in the both sides of first snubber block 4, earlier bond first snubber block 4 in the first mounting groove 31 of balancing weight 3 during the installation, again with have balancing weight 3 of first snubber block 4 glue tight to base 2 on alright.

As another practical way, the first damping block 4 may be connected and fixed with the counterweight 3 and/or the base 2 by a locking member such as a screw or a rivet. For example, an adhesive is disposed on a surface of the first damping block 4 connected to the weight block 3, and during installation, the first damping block 4 is first locked to the base 2 by a screw or a rivet, and then the weight block 3 is fastened to the first damping block 4 by a screw or an adhesive pre-disposed on the first damping block 4 and/or the weight block 3. In order to avoid the influence of the end cap of the screw or rivet contacting the counterweight 3 on the damping, a sinking groove with a depth larger than the thickness of the end cap is formed in the first damping block 4 in advance, and the end cap is embedded into the sinking groove after installation to avoid the contact with the counterweight 3.

For further improving the reliability of the installation of the balancing weight 3, the balancing weight 3 and the first damping block 4 are connected to the base 2 by the locking member 6 in the embodiment, specifically, the locking member 6 runs through the balancing weight 3 and the first damping block 4 and the base 2 are connected, and the balancing weight 3 and the first damping block 4 are connected to the base 2.

Preferably, a second damping block 5 is further arranged between the locking member 6 and the counterweight block 3, and the second damping block 5 is arranged to prevent the locking member 6 from directly abutting against the counterweight block 3.

Through setting up first snubber block 4 and second snubber block 5 for there is not any rigid connection between balancing weight 3 and the base 2, can guarantee to have better shock attenuation effect.

Specifically, referring to fig. 2, a second mounting groove 32 is formed in one side of the counterweight block 3 away from the base 2, and the second damping block 5 is mounted in the second mounting groove 32 in an embedded manner; retaining member 6 is including continuous gland 61 and cylinder 62, gland 61 compresses tightly second snubber block 5 is kept away from one side of balancing weight 3, cylinder 62 runs through second snubber block 5 balancing weight 3 and connect behind the first snubber block 4 base 2 realizes will the second snubber block 5 balancing weight 3 and the locking of first snubber block 4 in on the base 2.

Similarly, the second damper block 5 is disposed in the second mounting groove 32, and the circumference of the second damper block 5 does not exceed the circumference of the counterweight block 3 and occupies more space. The locking piece 6 with the column 62 and the gland 61 is directly used for connection, and one side of the balancing weight 3, which is back to the base 2, is pressed to the base 2, so that the balancing weight 3 is reliably fixed; meanwhile, a second damping block 5 is further arranged between the gland 61 and the base 2, so that the vibration of the base 2 is prevented from being indirectly transmitted to the balancing weight 3 through the locking piece 6. Therefore, the structure of the scheme has the advantages of good reliability and good damping performance.

For realizing reliable connection of retaining member 6 and base 2, retaining member 6 is still including connecting nail 63, be equipped with on the base 2 with connecting the connecting hole 23 that nail 63 corresponds, connecting nail 63 runs through gland 61 and threaded connection behind the cylinder 62 connecting hole 23 realizes retaining member 6 lock in on the base 2.

Specifically, during the assembly, install first snubber block 4, balancing weight 3 and second snubber block 5 on base 2 earlier after, impress cylinder 62 and gland 61 of integral structure in balancing weight 3 and snubber block, later insert the connection nail 63 again and the fastening alright. Therefore, the scheme has the advantages of simple assembly and reliable structure.

In some embodiments, the first damper block 4 is centrally provided with a first through hole 41 having a size not smaller than the cross-sectional size of the column 62, the base 2 is provided with a positioning boss 21 corresponding to the first through hole 41, and the positioning boss 21 is embedded in the first through hole 41 to limit the rotational movement of the first damper block 4.

The size of the first via hole 41 is not smaller than that of the pillar 62, and the pillar 62 can easily pass through the first via hole 41 during assembly; the first via hole 41 corresponds to the positioning boss 21 in size, and is used for limiting the first shock absorption block 4 by using the positioning boss 21, specifically, the first via hole 41 and the positioning boss 21 may be in transition fit or interference fit; based on the deformability of the first damper block 4 itself, the first through hole 41 and the positioning boss 21 are preferably in interference fit, so that the inner circumference of the first damper block 4 can be tightly attached to the outer circumference of the positioning boss 21 after installation, and reliable positioning of the first damper block 4 is realized. This scheme is based on location boss 21, can avoid first snubber block 4 to take place to rotate in the use, and then avoids balancing weight 3 and the rotation of the IMU unit 1 of installation on it, ensures the accuracy of the data of IMU unit monitoring.

Further, still be equipped with location arch 22 on the boss 21 of location, the cylinder 62 is kept away from the one end of gland 61 be equipped with the constant head tank 621 that the location arch 22 corresponds, the protruding 22 embedding of location realizes in the constant head tank 621 being right the rotary motion's of cylinder 62 spacing.

Also, the position of the column 62 can be limited based on the cooperation of the positioning protrusion 22 and the positioning groove 621 on the column 62, so as to prevent the column 62 from rotating relative to the base 2. When the cylinder 62 is made of a flexible material similar to the damper block, the positioning groove 621 and the positioning protrusion 22 are preferably matched with each other by interference fit; when the cylinder 62 is made of a rigid material, the positioning groove 621 and the positioning protrusion 22 are preferably engaged with each other in a transition manner.

Further, a second through hole 51 with a size not smaller than the cross-sectional size of the column 62 is formed in the center of the second damper block 5, the pressing cover 61 includes a pressing portion 611 and a positioning portion 612 corresponding to the second through hole 51, the pressing portion 611 presses the end surface of the second damper block 5 away from the counterweight block 3, and the positioning portion 612 is embedded in the second through hole 51 to limit the rotational motion of the second damper block 5.

On the basis that the locking member 6 is limited and locked by the positioning protrusion 22, the positioning portion 612 on the locking member 6 is used for limiting the position of the second damping block 5, and the second damping block 5 can be prevented from rotating. Also, the second via 51 and the positioning portion 612 are preferably fitted together by interference fit.

Further, the sizes of the first mounting groove 31 and the second mounting groove 32 correspond to the sizes of the first damping block 4 and the second damping block 5, so that the counterweight block 3 is completely limited by the first damping block 4 and the second damping block 5.

So, to balancing weight 3, its upper and lower both sides are by second snubber block 5 and the spacing locking of first snubber block 4 respectively, and balancing weight 3 can not be rotatory by base 2 relatively in the use, has avoided IMU unit 1 of installation on balancing weight 3 to take place the displacement and influence the accuracy of the data of monitoring. Preferably, the first damper block 4 and the first installation groove 31 and the second damper block 5 and the second installation groove 32 are preferably matched in an interference fit manner.

With respect to the IMU unit 1, referring to fig. 2, the IMU unit 1 includes an x-axis IMU module 11, a y-axis IMU module 12, and a z-axis IMU module 13 respectively mounted on three mutually perpendicular sides of the weight block 3.

Specifically, the x-axis IMU module 11, the y-axis IMU module 12, and the z-axis IMU module 13 are respectively used for monitoring the speed and acceleration of the applied device in the x, y, and z directions, and implementing the function of monitoring the omnidirectional movement posture of the applied device.

Further, the x-axis IMU module 11 is mounted on a side surface of the counterweight block 3 away from the base 2, and a space is kept between the x-axis IMU module 11 and the gland 61. The x-axis IMU module 11 and the gland 61 are spaced apart from each other, so that the vibration of the gland 61 is prevented from being transmitted to the x-axis IMU module 11.

On the other hand, this embodiment still provides an unmanned aerial vehicle, includes foretell IMU mounting structure.

The IMU mounting structure that sets up on the unmanned aerial vehicle of this embodiment possesses foretell compact structure, effect that the size is little, and then, is favorable to holistic compact structure of unmanned aerial vehicle, miniaturized design.

In the description herein, it is to be understood that the terms "upper," "lower," "left," "right," and the like are used in an orientation or positional relationship merely for convenience in description and simplicity of operation, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the present application. Furthermore, the terms "first" and "second" are used merely for descriptive purposes and are not intended to have a special meaning.

In the description herein, references to "an embodiment," "an example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be appropriately combined to form other embodiments as will be appreciated by those skilled in the art.

The technical principles of the present application have been described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the present application and is not to be construed in any way as limiting the scope of the application. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present application without inventive effort, which shall fall within the scope of the present application.

Claims (14)

1. The utility model provides an IMU mounting structure, its characterized in that, include base (2), balancing weight (3), first snubber block (4) and install in IMU unit (1) on balancing weight (3), balancing weight (3) orientation one side of base (2) is equipped with first mounting groove (31) in two sides that deviate from mutually of first snubber block (4), one side embedding in first mounting groove (31) with the balancing weight (3) are connected, the opposite side butt base (2).

2. The IMU mounting structure of claim 1, wherein both sides of the first damper block (4) are bonded with the weight block (3) and the base (2), respectively.

3. The IMU mounting structure of claim 1, further comprising a locking member (6), said locking member (6) extending through said weight block (3) and said first damper block (4) to connect with said base (2) for connecting said weight block (3) and said first damper block (4) on said base (2).

4. The IMU mounting structure of claim 3, wherein a second damper block (5) is further provided between the retaining member (6) and the counterweight (3), the second damper block (5) being arranged to prevent direct abutment of the retaining member (6) with the counterweight (3).

5. The IMU mounting structure of claim 4, wherein a side of the weight block (3) away from the base (2) is provided with a second mounting groove (32), and the second damper block (5) is embedded in the second mounting groove (32).

6. The IMU mounting structure of claim 5, wherein the locking member (6) comprises a pressing cover (61) and a column (62) which are connected, the pressing cover (61) presses one side of the second damping block (5) far away from the counterweight block (3), and the column (62) penetrates through the second damping block (5), the counterweight block (3) and the first damping block (4) and then is connected with the base (2), so that the second damping block (5), the counterweight block (3) and the first damping block (4) are locked on the base (2).

7. The IMU mounting structure according to claim 6, wherein the locking member (6) further comprises a connecting nail (63), a connecting hole (23) corresponding to the connecting nail (63) is formed in the base (2), and the connecting nail (63) penetrates through the gland (61) and the column (62) and then is in threaded connection with the connecting hole (23), so that the locking member (6) is locked on the base (2).

8. The IMU mounting structure according to claim 6, wherein the first damper block (4) is centrally provided with a first through hole (41) having a size not smaller than a cross-sectional size of the column (62), the base (2) is provided with a positioning boss (21) corresponding to the first through hole (41), and the positioning boss (21) is embedded in the first through hole (41) to limit the rotational movement of the first damper block (4).

9. The IMU mounting structure according to claim 8, wherein the positioning boss (21) is further provided with a positioning protrusion (22), one end of the column (62) far away from the gland (61) is provided with a positioning groove (621) corresponding to the positioning protrusion (22), and the positioning protrusion (22) is embedded into the positioning groove (621) to limit the rotation motion of the column (62).

10. The IMU mounting structure according to claim 9, wherein the second damper block (5) is centrally provided with a second through hole (51) having a size not smaller than a cross-sectional size of the column (62), the gland (61) includes a pressing portion (611) and a positioning portion (612) corresponding to the second through hole (51), the pressing portion (611) presses an end surface of the second damper block (5) away from the weight block (3), and the positioning portion (612) is embedded in the second through hole (51) to limit a rotational movement of the second damper block (5).

11. The IMU mounting structure of claim 10, wherein the dimensions of the first and second mounting grooves (31, 32) correspond to the dimensions of the first and second damper blocks (4, 5), respectively, so that a complete limitation of the counterweight (3) is achieved by the first and second damper blocks (4, 5).

12. The IMU mounting structure of claim 6, wherein the IMU unit (1) includes x-axis IMU modules (11), y-axis IMU modules (12), and z-axis IMU modules (13) respectively mounted to three mutually perpendicular sides of the counterweight block (3).

13. The IMU mounting structure of claim 12, wherein the x-axis IMU module (11) is mounted to a side of the weight block (3) remote from the base (2) with a spacing between the x-axis IMU module (11) and the gland (61).

14. A drone, comprising an IMU mounting structure according to any one of claims 1-13.

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