WO2018157633A1 - Amortisseur, panoramique-inclinaison et véhicule aérien sans pilote - Google Patents

Amortisseur, panoramique-inclinaison et véhicule aérien sans pilote Download PDF

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Publication number
WO2018157633A1
WO2018157633A1 PCT/CN2017/113051 CN2017113051W WO2018157633A1 WO 2018157633 A1 WO2018157633 A1 WO 2018157633A1 CN 2017113051 W CN2017113051 W CN 2017113051W WO 2018157633 A1 WO2018157633 A1 WO 2018157633A1
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WO
WIPO (PCT)
Prior art keywords
vibration
shock absorber
damping member
connecting portion
pan
Prior art date
Application number
PCT/CN2017/113051
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English (en)
Chinese (zh)
Inventor
唐国金
马维力
Original Assignee
深圳市道通智能航空技术有限公司
湖南省道通科技有限公司
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Publication date
Application filed by 深圳市道通智能航空技术有限公司, 湖南省道通科技有限公司 filed Critical 深圳市道通智能航空技术有限公司
Publication of WO2018157633A1 publication Critical patent/WO2018157633A1/fr

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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

Definitions

  • the present application relates to the field of drones, and more particularly to a vibration damping member, a cloud platform and a drone using the vibration damping member.
  • UAV aerial photography is achieved by mounting a camera at the bottom of the drone's fuselage.
  • the camera is mounted on the bottom of the drone's fuselage through a gimbal connection.
  • the prior art gimbal includes a vibration damping member, and the vibration damping member is made of a flexible material such as silicone rubber or rubber, so that a flexible connection is formed between the body and the camera, which acts as a vibration isolation, so that the camera takes a clear picture.
  • the existing vibration damper as shown in Fig. 1, due to the structure and shape limitation, the natural frequency corresponding to the second-order mode is correspondingly reduced while the compliance is sufficiently low.
  • the natural frequency corresponding to the second-order mode is frequency-coupled with the vibration component of the fuselage in the high-frequency range, resulting in resonance in the high-frequency range, so that the vibration of the pan-tilt is amplified, so that the expected vibration isolation effect cannot be achieved.
  • the acceleration response at the connection between the vibration damper and the fuselage is used as the vibration input, and the acceleration response at the connection between the cloud platform and the camera is used as the vibration output to perform the vibration test on the unmanned aerial platform.
  • the vibration of the UAV pan/tilt in the interval of 210Hz ⁇ 300Hz is the main part of its vibration.
  • the degree of vibration attenuation of the UAV pan/tilt in the interval of 210 Hz to 300 Hz is significantly smaller than that of other frequency ranges, and there is a peak near 245 Hz.
  • the test results show that the gimbal has a natural frequency near the frequency point of 245 Hz, which is coupled with the frequency of the input excitation of the vibration source to generate resonance, which leads to vibration amplification.
  • the present application provides a vibration damping member including a connecting portion and a buffer portion respectively located at both ends of the connecting portion, the cross-sectional dimension of the vibration damping member gradually decreasing in a direction from the buffer portion toward the connecting portion small.
  • the buffer portions are symmetrically disposed at both ends of the connecting portion.
  • the buffer portion has a truncated cone shape.
  • At least one of the outer surface and the inner surface of the buffer portion is stepped.
  • the buffer portion is hemispherical.
  • the buffer portion smoothly transitions to the connecting portion.
  • the outer contour shape of the vibration damper is a hyperboloid.
  • the vibration damping member is filled with a damping material.
  • the application further provides a pan/tilt head, comprising a first connecting plate, a second connecting plate and a vibration damping member, wherein the first connecting plate and the second connecting plate are connected by the vibration damping member, the vibration damping member It is the vibration damper described above.
  • the application also provides a drone comprising a fuselage and the above-mentioned pan/tilt connected to the fuselage.
  • the shock absorbing member provided by the present application has a cross-sectional dimension of the connecting portion at the middle portion smaller than that of the buffer portion at both ends, and reduces the central volume and reduces the central mass compared with the existing structure.
  • the vibration damper has higher flexibility and greatly increases the natural frequency corresponding to the second-order mode of the damper, avoiding frequency coupling between the damper and the fuselage in the high-frequency part, so that the pan-tilt is in the range of 50 Hz to 300 Hz.
  • the vibration inside can be reduced by more than 50%, effectively isolating the high-frequency vibration from the body, making the picture taken by the camera clearer.
  • FIG. 1 is a schematic structural view of a conventional vibration damper
  • 2, 3 and 4 are vibration response diagrams (time domain portions) of the pan-tilt output in the prior art under vibration of 5 to 300 Hz;
  • FIG. 5 and FIG. 6 are vibration input and output response diagrams (frequency domain portions) of a prior art gimbal under vibration of 5 to 300 Hz;
  • FIG. 7 is a perspective structural view of a vibration damper embodiment 1 of the present application.
  • Figure 8 is a cross-sectional view of the vibration damper of Figure 7;
  • Figure 9 is a cross-sectional view showing a second embodiment of the vibration damper of the present application.
  • Figure 10 is a cross-sectional view showing a third embodiment of the vibration damper of the present application.
  • Figure 11 is a cross-sectional view showing a fourth embodiment of the vibration damper of the present application.
  • FIG. 12 is a schematic structural view of a pan/tilt head according to the present application.
  • Figure 13 is a schematic structural view of a drone of the present application.
  • Figure 14 is a partial enlarged view of the portion A of Figure 13;
  • Figure 15 is a comparison diagram of the acceleration response of the X-axis
  • Figure 16 is a comparison diagram of the acceleration response of the Y-axis
  • Figure 17 is a comparison of the acceleration response of the Z-axis.
  • the damper 100 is hollow, and includes a connecting portion 102 and a buffer portion 101 respectively located at both ends of the connecting portion 102.
  • the size of the cross section of the damper member 100 gradually decreases along the direction from the buffer portion 101 toward the connecting portion 102.
  • the cross section of the damper member 100 refers to a section perpendicular to the central axis L of the damper member 100.
  • the damper member 100 has a circular cross section.
  • the connecting portion 102 is a portion where the two buffer portions 101 are connected.
  • the buffer portions 101 are symmetrically disposed at both ends of the connecting portion 102, that is, the buffer portions 101 having the same structure and shape are symmetrically disposed at both ends of the connecting portion 102. It can be understood that in other embodiments, the structure and shape of the two buffer portions 101 may also be different.
  • Buffer The portion 101 has a hollow truncated cone shape, and the connecting portion 101 has a hollow cylindrical shape. At least one of the outer surface and the inner surface of the buffer portion 101 is stepped to form a multi-layered stepped structure, that is, the outer diameter of the buffer portion 101 is stepped down in the direction in which the buffer portion 101 is directed toward the connecting portion 102. When subjected to pressure or tension, the buffer portion 101 can be folded along the stepped structure to further buffer and vibration.
  • the damping member 100 may also be filled with a damping material, which may be a flexible material such as foam or a damping grease, thereby further improving the vibration damping effect.
  • a damping material which may be a flexible material such as foam or a damping grease, thereby further improving the vibration damping effect.
  • the vibration damper 100 can be integrally molded by using a flexible material such as silica gel or rubber.
  • the shock absorbing member provided in the embodiment of the present application has a smaller size of the buffer portion at the two ends of the connecting portion at the middle portion, and the central portion is reduced in volume, the middle portion is reduced, and the vibration absorbing member is more flexible than the existing structure.
  • the natural frequency corresponding to the second-order mode of the vibration-damping member is greatly improved, and the frequency coupling between the vibration-damping member and the fuselage in the high-frequency portion is avoided, so that the vibration of the pan-tilt system in the range of 50 Hz to 300 Hz can be reduced by 50.
  • the vibration damper can effectively isolate the high-frequency vibration from the fuselage, making the picture taken by the camera on the gimbal clearer.
  • FIG. 9 is a schematic structural diagram of a vibration damping device 200 according to an embodiment of the present application.
  • the vibration damper 200 still includes the connecting portion 202 and the buffer portion 201 respectively located at both ends of the connecting portion 202, and the cross-sectional dimension of the damper member 200 is directed from the buffer portion 201 toward the connecting portion 202. slowing shrieking.
  • the difference from the previous embodiment is that although the buffer portion 201 is still in the shape of a hollow truncated cone in the present embodiment, there is no stepped structure on the inner and outer surfaces thereof, and the central portion of the buffer portion 201 is a truncated cone-shaped hollow body, buffered.
  • the diameter of the portion 201 gradually decreases toward the connecting portion 202 along the buffer portion 201.
  • FIG. 10 is a shock absorbing member 300 according to an embodiment of the present invention, including a connecting portion 302 and a buffer portion 301 respectively located at two ends of the connecting portion 302.
  • the cross-sectional dimension of the vibration damping member 300 is directed to the connecting portion 302 along the self-buffering portion 101. The direction is gradually decreasing.
  • the buffer portion 301 in this embodiment has a hollow hemispherical shape.
  • the position of the fold of each folding deformation is different, and the folding fatigue at the same position can be reduced. To prevent breakage at the crease and prolong the service life of the vibration damper.
  • FIG. 11 is a vibration damping member 400 according to an embodiment of the present application, including a connecting portion 402 and a buffer portion 401 respectively located at two ends of the connecting portion 402.
  • the cross-sectional dimension of the vibration damping member 400 is directed to the connecting portion 402 along the self-buffering portion 401. The direction is gradually decreasing.
  • the buffer portion 401 to the connecting portion 402 are smooth transitions, and specifically, the outer contour shape of the vibration damping member 400 is a hyperboloid.
  • the damper 400 of the present embodiment has a smooth transition from the buffer portion 402 to the connecting portion 401, and the stress concentration of the connecting portion of the buffer portion 402 to the connecting portion 401 can be avoided when subjected to pressure or tension. The risk of breakage caused by repeated folding or deformation is avoided at this point, and the service life of the vibration damping member 400 is prolonged.
  • the outer contour structure of the hyperboloid is more susceptible to torsional deformation when subjected to a torsional force, and the vibration force component along the circumferential direction of the vibration damper 400 can be eliminated, thereby further improving the cushioning and vibration isolation effect.
  • the embodiment of the present application discloses a pan/tilt head 10 that includes a first connecting plate 11 , a second connecting plate 12 , and is connected between the first connecting plate 11 and the second connecting plate 12 .
  • Damper 100 As an example, the vibration damper 100 shown in FIG. 12 is the vibration damper 100 shown in FIG. It can be understood that the vibration damper of FIGS. 8 to 10 can also be applied to the platform 10.
  • the embodiment of the present application further discloses a drone 20 that includes a body 21 and the above-described pan/tilt head 10 connected to the body 21 .
  • Fig. 15 is a comparison diagram of the acceleration response of the X-axis
  • Fig. 16 is a corresponding comparison diagram of the acceleration of the Y-axis
  • Fig. 17 is a corresponding comparison diagram of the acceleration of the Z-axis.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Vibration Prevention Devices (AREA)
  • Studio Devices (AREA)

Abstract

L'invention concerne un amortisseur de chocs (100), comprenant une partie de liaison (102) et des parties tampon (101) situées respectivement sur l'une ou l'autre extrémité de la partie de liaison, la taille en section transversale de l'amortisseur diminuant progressivement le long de la direction allant d'une partie tampon à la partie de liaison. L'invention concerne en outre un panoramique-inclinaison (10) ayant l'absorbeur de chocs, et un véhicule aérien sans pilote (20). La partie centrale de l'amortisseur est de taille plus petite que les deux extrémités, ce qui réduit le volume et la masse de la partie centrale, de sorte que l'absorbeur de chocs ait une plus grande flexibilité et que la fréquence inhérente correspondant à un mode de vibration de second ordre de l'absorbeur de chocs soit considérablement améliorée, ce qui permet d'éviter le couplage de fréquence, dans une partie haute fréquence, entre l'absorbeur de chocs et une carrosserie de véhicule. L'amortisseur peut efficacement isoler la vibration haute fréquence de la carrosserie du véhicule de sorte que l'image prise par une caméra panoramique-inclinable soit plus nette et plus stable.
PCT/CN2017/113051 2017-03-03 2017-11-27 Amortisseur, panoramique-inclinaison et véhicule aérien sans pilote WO2018157633A1 (fr)

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CN201710124800.8 2017-03-03
CN201710124800.8A CN106838117A (zh) 2017-03-03 2017-03-03 减振件、云台及无人机

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114248940A (zh) * 2020-09-22 2022-03-29 苏州臻迪智能科技有限公司 云台减震机构及智能飞行器

Families Citing this family (4)

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CN106838117A (zh) * 2017-03-03 2017-06-13 深圳市道通智能航空技术有限公司 减振件、云台及无人机
CN107672777A (zh) * 2017-09-18 2018-02-09 深圳市道通智能航空技术有限公司 无人机及其减振装置
CN107740847A (zh) * 2017-11-28 2018-02-27 深圳市道通智能航空技术有限公司 减震装置、具有此减震装置的云台组件及无人机
CN110979750B (zh) * 2019-12-17 2022-01-07 湖北航天技术研究院总体设计所 一种带削弱槽塔式缓冲件的火工品缓冲装置

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WO1994010475A1 (fr) * 1992-10-29 1994-05-11 Woco Franz-Josef Wolf & Co. Ressort a noyau toroidal
US5957441A (en) * 1997-09-05 1999-09-28 Miner Enterprises, Inc. Hourglass-shaped elastomeric compression spring
CN104379959A (zh) * 2014-03-31 2015-02-25 深圳市大疆创新科技有限公司 减震装置和应用所述减震装置的飞行器
CN104696428A (zh) * 2015-02-13 2015-06-10 柳州金鸿橡塑有限公司 橡胶动力吸振器
CN105156530A (zh) * 2015-09-10 2015-12-16 青岛四方车辆研究所有限公司 中凹形叠层橡胶弹簧
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CN106838117A (zh) * 2017-03-03 2017-06-13 深圳市道通智能航空技术有限公司 减振件、云台及无人机
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Publication number Priority date Publication date Assignee Title
CN114248940A (zh) * 2020-09-22 2022-03-29 苏州臻迪智能科技有限公司 云台减震机构及智能飞行器

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