WO2019019397A1 - 机臂组件、机架及无人飞行器 - Google Patents

机臂组件、机架及无人飞行器 Download PDF

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Publication number
WO2019019397A1
WO2019019397A1 PCT/CN2017/104944 CN2017104944W WO2019019397A1 WO 2019019397 A1 WO2019019397 A1 WO 2019019397A1 CN 2017104944 W CN2017104944 W CN 2017104944W WO 2019019397 A1 WO2019019397 A1 WO 2019019397A1
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WIPO (PCT)
Prior art keywords
arm
unmanned aerial
assembly
vibration
aerial vehicle
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PCT/CN2017/104944
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English (en)
French (fr)
Inventor
黄宏升
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Priority to CN201780085137.3A priority Critical patent/CN110234569A/zh
Publication of WO2019019397A1 publication Critical patent/WO2019019397A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/32—Rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/70—Constructional aspects of the UAV body

Definitions

  • the invention relates to the field of unmanned aerial vehicles, and in particular to an arm assembly, a frame and an unmanned aerial vehicle.
  • vibration-damping devices such as vibration-damping balls are generally disposed between the internal components such as the camera and the sensor to reduce vibrations transmitted to these internal devices. normal work.
  • the embodiment of the invention provides a manipulator assembly, a frame and an unmanned aerial vehicle, which can reduce vibration of the arm and has a relatively simple structure.
  • the present invention provides an arm assembly for use on an unmanned aerial vehicle, including an arm for carrying a vibration source, and the arm is further provided with a vibration damping assembly, the vibration damping assembly including the support member and The variable stiffness connecting unit is connected between the supporting member and the arm.
  • the rigidity of the damping assembly is smaller than the rigidity of the damping assembly when the supporting member is used to support the arm.
  • the connecting unit comprises a connector made of a material of variable stiffness.
  • the condition for changing the stiffness of the connecting body includes one or more of the following conditions: the connecting body The change in the applied force, the change in the energization state of the connector, the temperature change of the connector, the change in the magnetic field in which the connector is placed, and the change in the illumination conditions of the connector.
  • the vibration damping component further includes a signal transmitting unit, and the signal transmitting unit is configured to send a signal for changing the rigidity of the connecting body to the connecting unit.
  • the connecting body is a flexible connecting body when the support is not used to support the arm.
  • the damping assembly is placed adjacent to the vibration source.
  • the damping assembly is disposed on a side of the arm opposite the vibration source.
  • the support member is a tripod of the unmanned aerial vehicle.
  • the connecting unit is a rigid connecting unit when the support is supported on the ground.
  • the vibration source is a power component of the unmanned aerial vehicle.
  • the present invention provides a frame comprising a body and at least one arm assembly as described above; the arm in the arm assembly is coupled to the body.
  • the present invention provides an unmanned aerial vehicle comprising a frame as described above, wherein the support member is suspended when the UAV is flying, and the support member supports the frame to the bottom surface when the UAV is dropped.
  • the UAV further includes a control unit, and the control unit is configured to change the stiffness of the connecting unit according to the flight state of the UAV.
  • the arm assembly of the present invention may specifically include a machine arm mainly for carrying a vibration source, and at the same time, the arm is further provided with a vibration damping assembly, and the vibration damping assembly comprises a connecting unit having a support member and a variable rigidity, and the connecting unit is connected Between the support and the arm, the stiffness of the damping assembly when the support is not used to support the arm is less than the stiffness of the damping assembly when the support is used to support the arm.
  • the vibration damping assembly of the arm assembly can support the arm or the vibration of the vibration of the vibration source can be neutralized and attenuated by the change of the stiffness of the connecting unit, thereby reducing the vibration amplitude of the arm and the arm.
  • the vibration energy transmitted to the body avoids electronic components such as sensors on the body, or the mechanical structure is loose or damaged due to vibration.
  • FIG. 1 is a schematic structural view of a boom assembly according to Embodiment 1 of the present invention.
  • FIG. 2 is a schematic cross-sectional view of a boom assembly according to Embodiment 1 of the present invention.
  • FIG. 3 is a schematic diagram showing a simplified model of a boom assembly according to Embodiment 1 of the present invention.
  • Figure 4 is a schematic diagram of the amplitude of the simplified model of Figure 3 at different stiffnesses
  • FIG. 5 is a schematic structural diagram of another vibration damping assembly according to Embodiment 1 of the present invention.
  • FIG. 6 is a schematic structural view of a rack according to Embodiment 2 of the present invention.
  • FIG. 7 is a schematic structural diagram of an unmanned aerial vehicle according to Embodiment 3 of the present invention.
  • the arm assembly provided by this embodiment is generally applied to an unmanned aerial vehicle as a main structural component of the unmanned aerial vehicle.
  • the arm assembly may specifically include an arm 1 that can be used to carry the vibration source 2, and at the same time the arm 1 is further provided with a vibration damping assembly 3, and the vibration damping assembly 3 includes a connecting unit 32 having a support member 31 and variable stiffness.
  • the connecting unit 32 is connected between the support member 31 and the arm 1.
  • the arm 1 of the arm assembly can be connected to a vibration source such as a motor of the UAV to serve as a connection and support structure between the vibration source 2 and the body of the UAV.
  • a vibration damping assembly 3 is disposed on the arm 1.
  • the vibration damping assembly 3 can reduce the vibration amplitude of the arm 1, thereby absorbing or attenuating the vibration energy transmitted from the vibration source to the body by the arm 1, avoiding electronic components such as sensors on the body, or It is a situation in which the mechanical structure is loose or damaged due to vibration.
  • the vibration source 2 is generally a power component such as a motor of an unmanned aerial vehicle.
  • the vibration damping assembly 3 includes a support member 31 and a variable rigidity connecting unit 32, and the connecting unit 32 is connected between the support member 31 and the arm 1.
  • the support member 31 is generally a rigid body capable of supporting the arm 1 and the entire unmanned aerial vehicle when the UAV is landing, and the connecting unit 32 between the support member 31 and the arm 1 has a variable rigidity.
  • the connecting unit 32 When the UAV is landing, the connecting unit 32 has a large rigidity, thereby becoming a rigid body, and can be stably supported under the arm 1 together with the support member 31 to ensure the posture of the UAV on the ground.
  • the rigidity of the connecting unit 32 becomes small, thereby functioning as a vibration damping together with the support member 31.
  • the support member 31 generally has a certain mass. Therefore, once the arm 1 vibrates, the support member 31 is driven by the arm 1 under the connection of the connecting unit 32 to also generate a certain amplitude and frequency of shaking.
  • the connecting unit 32 Since the ability of the connecting unit 32 to resist the elastic deformation under the vibration force of the arm 1 changes, the connecting unit 32 generates a certain elastic deformation, under the influence of the elastic deformation, The transmission of the vibrational force of the arm 1 produces a hysteresis, so that the vibration frequency and the vibration amplitude of the support member 31 are inconsistent with the vibration frequency and the vibration amplitude of the entire arm 1, but exhibit a certain variation with the stiffness of the connecting unit 32. Change the law.
  • the connecting unit 32 and the supporting member 31 and the arm 1 exhibit different vibration frequencies, vibration amplitudes, and vibration directions, and the vibration of the support member 31 when the arm 1 is vibrating. It is possible to offset the vibration of the arm 1 to reduce the vibration of the entire arm 1.
  • FIG. 3 is a schematic diagram of a simplified model of the arm assembly provided by the first embodiment of the present invention.
  • the mass is assumed that the machine arm 1 is M, and the machine has an elastic arm 1 K 1, and the mass of the support member 31 is m, the connection between the connection unit 1 and the arm 31 of the machine 32 since the rigidity of the support member It is small, so it can be approximated as a system with both elastic K2 and damping C.
  • the arm 1 produces a vibration amplitude of X 1 under the vibration of the vibration source
  • the amplitude of the vibration generated by the support member 31 is X 2 .
  • the mass m of the support member 31 will generally be less than the mass M of the arm 1.
  • ⁇ is the amplification factor
  • the amplification factor can be used to represent the amplitude of the forced vibration, and thus the corresponding amplification factor can be obtained by taking different stiffness values K 2 .
  • K 2 can take different values such as 0.1, 0.15, 0.2, 0.25, and 0.3.
  • Figure 4 is a schematic illustration of the amplitude of the simplified model of Figure 3 at different stiffnesses. As shown in Fig. 4, the horizontal axis represents the ratio between the vibration excitation and the resonance frequency, and the vertical axis represents the amplification factor. Different amplification factors can be used to obtain different amplification factors.
  • the connecting unit 32 is changed between different stiffnesses, there is a suitable stiffness such that the amplification factor is small, and the amplitude of the arm 1 is small, and the vibration is effectively attenuated.
  • the connecting unit 32 can be approximated as a system having damping and elasticity, when the rigidity of the connecting unit 32 is changed from large to small, there is a suitable rigidity so that the arm 1 can have a small amplitude, and thus The rigidity of the connecting unit 32 is maintained at this stiffness value to reduce the vibration amplitude of the arm 1 to prevent the upper part of the body from being disturbed by the vibration of the arm 1.
  • the connecting unit 32 can achieve a change in stiffness in a variety of ways.
  • the change in stiffness is achieved, for example, by deformation of the mechanism, or a special material whose stiffness can be varied is used as a member in the connecting unit or the like.
  • the connecting unit 32 comprises a connecting body made of a material of variable stiffness.
  • the connecting body is connected between the arm 1 and the support member 31, and the material constituting the connecting body has a variable rigidity.
  • the material constituting the connecting body has a large rigidity, and can stably support the arm 1 and the unmanned aerial vehicle; and when the UAV leaves the ground, the rigidity of the material of the connecting body is higher.
  • the vibration damping assembly 3 can be combined with the support member 31 to reduce the vibration of the arm 1 and protect the components in the body from vibration.
  • the stiffness or elastic modulus of the material constituting the connecting body should be changed according to other external conditions to be suitable for different use occasions. This can control the connecting body to exhibit different stiffness through the change of the take-off and landing state of the UAV.
  • the change of the external conditions may be spontaneously formed due to the change of the unmanned aircraft's take-off and landing state, or may be changed by inputting different control signals by the control device.
  • the condition for changing the stiffness of the connecting body may include, but is not limited to, one or more of the following conditions: a change in the force applied by the connecting body, a change in the energizing state of the connecting body, a temperature change of the connecting body, and a magnetic field in which the connecting body is placed. Changes, changes in lighting conditions to which the connector is exposed, and the like. In this way, when it is desired to change the rigidity of the connecting body, it can be realized by applying force, energizing, changing temperature, applying a magnetic field or performing illumination.
  • the material constituting the connecting body may be a polyurethane-based composite damping material, and the inside thereof contains magnetic particles, and when the magnetic field strength of the material changes, the elastic modulus of the material may undergo a large change, so that the material
  • the connected body is changed from a rigid connecting body having a high rigidity to a soft connecting body having a high elasticity, or a soft connecting body to a hard connecting body or the like.
  • FIG. 5 is a schematic structural diagram of another vibration damping assembly according to Embodiment 1 of the present invention.
  • the damper assembly 3 may further include a signal transmitting unit 33 for transmitting
  • the connecting unit 32 transmits a signal for changing the rigidity of the connecting body.
  • the signal may be a plurality of different signals such as a force signal, an electrical signal, a temperature signal, a magnetic signal, or an optical signal.
  • the signal transmitting unit 33 can transmit a corresponding signal to the connecting unit 32 to control the stiffness to achieve a corresponding change.
  • the rigidity of the connecting body becomes large, so that the connecting body and the support member 31 can be stably supported under the arm 1 to provide good support for the unmanned aerial vehicle;
  • the rigidity of the connecting body becomes small to absorb and attenuate the vibration of the arm 1.
  • the rigidity of the connecting body generally has a sufficiently small rigidity.
  • the connecting body is a flexible connecting body when the support member 31 is not used to support the arm 1.
  • the flexible connecting body has good elasticity, and can make a flexible connection between the support member 31 and the arm 1, so that it has good elasticity and damping, and can improve the vibration damping effect on the arm 1.
  • the vibration source such as the motor on the arm 1 is generally located at one end of the arm 1 or near the end, and the other end of the arm 1 is connected to the body of the UAV
  • the vibration of the vibration source 2 is Under the influence of the motion, the arm 1 generally generates a large amplitude.
  • the vibration damping assembly 3 is disposed at different parts of the arm 1, and the damping effect is different because the damping assembly 3 is different from the body. In order to improve the vibration damping effect, the vibration damping assembly 3 can be disposed adjacent to the vibration source 2.
  • the point of application of the support member 31 and the connecting unit 32 in the damper assembly 3 on the arm 1 when vibrating is similar to the position of the urging point of the vibration source 2 on the arm 1, and the influence on the amplitude of the arm 1 is similar.
  • the vibration damping effect is easy to control, and the attenuation effect on the vibration source 2 is good.
  • the vibration damping assembly 3 can be disposed on the side of the arm 1 opposite to the vibration source 2.
  • the vibration source 2 and the vibration damping assembly 3 are respectively disposed on opposite sides of the arm 1, and the vibration source 2 and the vibration damping assembly 3 are both kept at the same distance from the body, and thus the vibration caused by the vibration source 2 can be damped by the vibration damping assembly 3.
  • the vibration on the arm 1 is generally attenuated to a large extent, which can effectively reduce the vibration.
  • the vibration damping assembly 3 can be located on the lower side of the arm 1, and the support member 31 of the vibration damping assembly 3 can be directly used to support the arm 1 and the entire Unmanned aerial vehicle.
  • the UAV does not need to additionally set the stand, but the support member 31 in the vibration damping assembly can be directly used as the stand of the UAV to support the UAV.
  • the bottom end of the support member 31 may be supported on the ground, and the top end portion of the support member 31 is connected to the connection unit 32.
  • the support member 31 can be firmly supported under the arm 1 to provide support for the entire unmanned aerial vehicle.
  • the entire damping assembly 3 should be a rigid body structure to provide a stable support structure.
  • the connecting unit 32 should be a rigid connecting unit when the supporting member 31 is supported on the ground, and has sufficient rigidity to maintain the original shape and structure when the weight of the arm 1 is received, thereby avoiding the lack of support. The human aircraft is tipped over or damaged.
  • the arm assembly may specifically include an arm, and the arm is mainly used to carry a vibration source, and the arm is further provided with a vibration damping assembly, and the vibration damping assembly includes a connecting unit having a support member and a variable rigidity, and the connection is The unit is connected between the support and the arm, and the stiffness of the damping assembly when the support is not used to support the arm is less than the stiffness of the damping assembly when the support is used to support the arm.
  • the vibration damping assembly of the arm assembly can support the arm or the vibration of the vibration of the vibration source can be neutralized and attenuated by the change of the stiffness of the connecting unit, thereby reducing the vibration amplitude of the arm and the arm.
  • the vibration energy transmitted to the body avoiding electronic components such as sensors on the body, or mechanical structures due to vibration It causes looseness, damage, and the like.
  • FIG. 6 is a schematic structural diagram of a rack according to Embodiment 2 of the present invention.
  • the frame 200 provided in this embodiment includes a body 101 and at least one arm assembly 100 as described in the foregoing first embodiment; the arm 1 in the arm assembly 100 is coupled to the body 101.
  • the structure, the working principle, and the use effect of the arm assembly 100 have been described in detail in the foregoing first embodiment, and are not described herein again.
  • the rack 200 in this embodiment can be used as a main structural component of an unmanned aerial vehicle, and includes a functional device that can be used for carrying a load and the like, and a body 101 that sets components such as a control system and a power supply, and at least one body 101
  • the connected arm assembly 100 includes an arm 1 connected to the body 101.
  • the arm 1 is usually provided with a power component.
  • a vibration source of the arm 1 is formed, and the arm is formed.
  • the vibration damping assembly in the assembly 100 can neutralize and attenuate the vibration of the arm 1 by changing the rigidity of the connecting unit, thereby avoiding the phenomenon that the device is loose or damaged due to excessive vibration of the arm 1.
  • the rigidity of the connecting unit in the damper assembly becomes large, the damper assembly can be formed into a rigid body as a whole to achieve stable support of the arm 1 in the unmanned aerial vehicle landing state.
  • the frame includes a body and at least one arm assembly; the arm in the arm assembly is coupled to the body; and the arm assembly specifically includes an arm, the arm is mainly used to carry a vibration source, and the arm is also A vibration damping assembly is provided.
  • the vibration damping assembly includes a connecting unit having a support member and a variable rigidity. The connecting unit is connected between the support member and the arm. When the support member is not used to support the arm, the rigidity of the vibration damping assembly is smaller than that of the support member. Damping the stiffness of the assembly when supporting the arm.
  • the vibration damping assembly of the arm assembly can support the arm or the vibration of the vibration of the vibration source can be neutralized and attenuated by the change of the stiffness of the connecting unit, thereby reducing the vibration amplitude of the arm and the arm.
  • the vibration energy transmitted to the body avoids electronic components such as sensors on the body, or the mechanical structure is loose or damaged due to vibration.
  • FIG. 7 is a schematic structural diagram of an unmanned aerial vehicle according to Embodiment 3 of the present invention.
  • the unmanned aerial vehicle 300 provided in this embodiment includes the rack 200 described in the second embodiment.
  • the support member When the unmanned aerial vehicle 300 is flying, the support member is suspended, and when the unmanned aerial vehicle 300 is lowered, the support member is The support frame 200 is on the bottom surface.
  • the stiffness of the damping assembly 3 in the frame 200 is less than the stiffness of the damping assembly 3 when the UAV 300 landed on the ground. This can be used to reduce the vibration of the UAV 300 during flight by the change in the stiffness of the damping assembly 3, or when the UAV 300 is landing. Supporting role.
  • the specific structure, working principle, and use effect of the arm assembly in the rack 200 and the rack 200 have been described in detail in the foregoing Embodiments 1 and 2, and details are not described herein again.
  • the unmanned aerial vehicle 300 may further include a control unit (not shown) for changing the stiffness of the connecting unit according to the flight state of the unmanned aerial vehicle 300.
  • the control unit can automatically know the state of the unmanned aerial vehicle 300, for example, whether it is in a state of landing on the ground or in a flight state, and change the rigidity of the connecting unit according to the flight state, so as to be suitable for ground support requiring greater rigidity.
  • the state is either a damping state that requires less stiffness.
  • the control unit can also accept the user's instructions so that the user can manually control the stiffness of the connecting unit for different use situations.
  • the unmanned aerial vehicle includes a frame.
  • the stiffness of the vibration damping component in the frame is less than the stiffness of the vibration damping component when the UAV is landing on the ground;
  • the arm assembly may specifically include
  • the arm is mainly used for carrying the vibration source, and the arm is further provided with a vibration damping assembly.
  • the vibration damping assembly comprises a connecting unit having a supporting member and a variable rigidity, and the connecting unit is connected between the supporting member and the arm. The stiffness of the damping assembly when the support is not used to support the arm is less than the stiffness of the damping assembly when the support is used to support the arm.
  • the vibration damping assembly of the arm assembly can support the arm or the vibration of the vibration of the vibration source can be neutralized and attenuated by the change of the stiffness of the connecting unit, thereby reducing the vibration amplitude of the arm and the arm.
  • the vibration energy transmitted to the body avoids electronic components such as sensors on the body, or the mechanical structure is loose or damaged due to vibration.

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  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Vibration Prevention Devices (AREA)

Abstract

一种机臂组件、机架及无人飞行器。该机臂组件(100)，应用在无人飞行器(300)上，包括机臂(1)，所述机臂(1)用于承载振动源(2)，所述机臂(1)上还设置有减振组件(3)，所述减振组件(3)包括支撑件(31)和可变刚度的连接单元(32)，所述连接单元(32)连接在所述支撑件(31)与所述机臂(1)之间，所述支撑件(31)不用于支撑所述机臂(1)时所述减振组件(3)的刚度小于所述支撑件(31)用于支撑所述机臂(1)时所述减振组件(3)的刚度。上述结构能够对机臂进行减振，同时结构较为简单。

Description

机臂组件、机架及无人飞行器 技术领域
本发明涉及无人飞行器领域，尤其涉及一种机臂组件、机架及无人飞行器。
背景技术
随着科技的发展，无人飞行器等小型无人设备得到了越来越广泛的应用。
目前，由于无人飞行器在飞行过程中，电机和螺旋桨等动力元件在不停转动时，会产生大量的振动。而这些振动会沿着机臂传递至无人飞行器的传感器、摄像机等内部器件。为了避免这些振动对无人飞行器内部器件的正常工作造成不利影响，摄像机和传感器等内部器件和机体之间一般设置有减振球等减振装置，以减少传递至这些内部器件上的振动，确保正常工作。
然而，由于无人飞行器的内部器件较多，为每个内部器件单独设置减振结构，会造成无人飞行器结构较为复杂，且成本较高。
发明内容
本发明实施例提供一种机臂组件、机架及无人飞行器，能够对机臂进行减振，同时结构较为简单。
第一方面，本发明提供一种机臂组件，应用在无人飞行器上，包括机臂，机臂用于承载振动源，机臂上还设置有减振组件，减振组件包括具有支撑件和可变刚度的连接单元，连接单元连接在支撑件与机臂之间，支撑件不用于支撑机臂时减振组件的刚度小于支撑件用于支撑机臂时所述减振组件的刚度。
可选的，连接单元包括由刚度可变的材料制成的连接体。
可选的，连接体的刚度的变化条件包括以下条件的一种或多种：连接体 受到的作用力变化、连接体的通电状态变化、连接体的温度变化、连接体所处的磁场变化、连接体所受的光照条件变化。
可选的，减振组件还包括信号发射单元，信号发射单元用于向连接单元发送用于改变连接体的刚度的信号。
可选的，连接体在支撑件不用于支撑机臂时为柔性连接体。
可选的，减振组件临近振动源设置。
可选的，减振组件设置在机臂的与振动源相对的一侧。
可选的，支撑件为无人飞行器的脚架。
可选的，连接单元在支撑件支撑在地面上时为刚性连接单元。
可选的，振动源为无人飞行器的动力元件。
第二方面，本发明提供一种机架，包括机体和至少一个如上所述的机臂组件；机臂组件中的机臂和机体连接。
第三方面，本发明提供一种无人飞行器，包括如上所述的机架，当无人飞行器飞行时，支撑件悬空，当无人飞行器降落时，支撑件支撑机架于底面。
可选的，无人飞行器还包括控制单元，控制单元用于根据无人飞行器的飞行状态改变连接单元的刚度。
本发明的机臂组件具体可包括机臂，机臂主要用于承载振动源，同时机臂上还设置有减振组件，减振组件包括具有支撑件和可变刚度的连接单元，连接单元连接在支撑件与机臂之间，支撑件不用于支撑机臂时减振组件的刚度小于支撑件用于支撑机臂时减振组件的刚度。这样机臂组件的减振组件既能够对机臂进行支撑，也可以利用连接单元的刚度变化产生能够对振动源的振动进行中和和衰减的振动，从而减少机臂的振动幅度和由机臂传递至机体的振动能量，避免机体上的传感器等电子器件，或者是机械结构因振动而产生松动、损坏等情况。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例一提供的机臂组件的结构示意图；
图2是本发明实施例一提供的机臂组件的截面示意图；
图3是本发明实施例一提供的机臂组件的简化模型示意图；
图4是图3中的简化模型在不同刚度下的振幅示意图；
图5是本发明实施例一提供的另一种减振组件的结构示意图；
图6是本发明实施例二提供的一种机架的结构示意图；
图7是本发明实施例三提供的一种无人飞行器的结构示意图。
附图标记说明：
1—机臂；2—振动源；3—减振组件；31—支撑件；32—连接单元；33—信号发射单元；100—机臂组件；101—机体；200—机架；300—无人飞行器。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
图1是本发明实施例一提供的机臂组件的结构示意图。图2是本发明实施例一提供的机臂组件的截面示意图。如图1和图2所示，本实施例提供的机臂组件一般应用于无人飞行器上，以作为无人飞行器的主要结构部件。机臂组件具体可包括机臂1，机臂1可用于承载振动源2，同时机臂1上还设置有减振组件3，减振组件3包括具有支撑件31和可变刚度的连接单元32，连接单元32连接在支撑件31与机臂1之间，支撑件31不用于支撑机臂1时减振组件3的刚度小于支撑件31用于支撑机臂1时减振组件3的刚度。
具体的，机臂组件的机臂1可以和无人飞行器的电机等振动源相连接，从而作为振动源2与无人飞行器的机体之间的连接和支撑结构。机臂1上设置有减振组件3。当发动机等振动源2产生振动时，减振组件3能够减少机臂1的振动幅度，从而吸收或衰减振动源由机臂1传递至机体的振动能量，避免机体上的传感器等电子器件，或者是机械结构因振动而产生松动、损坏等情况。其中，振动源2一般为无人飞行器的电机等动力元件。
为了减少机臂1的振动，减振组件3包括有支撑件31与可变刚度的连接单元32，连接单元32连接在支撑件31与机臂1之间。其中，支撑件31一般为刚体，能够在无人飞行器降落时用于支撑机臂1以及整个无人飞行器，而位于支撑件31与机臂1之间的连接单元32具有可变的刚度，当无人飞行器降落时，连接单元32具有较大的刚度，从而变为刚体，能够和支撑件31一同稳固的支撑在机臂1下方，以保证无人飞行器在地面上的放置姿态。而无人飞行器位于空中或者其他支撑件31不需要支撑的状态时，连接单元32的刚度变小，从而与支撑件31一同起到减振作用。
其中，支撑件31一般具有一定的质量，因而一旦机臂1产生振动，支撑件31就会在连接单元32的连接作用下被机臂1带动而同样产生一定幅度和频率的晃动。当连接单元32的刚度变化时，由于连接单元32在机臂1的振动作用力下的抵御弹性形变的能力发生了变化，所以连接单元32会产生一定的弹性形变，在弹性形变的影响下，机臂1的振动作用力的传递产生了迟滞，使得支撑件31的振动频率与振动幅度与机臂1整体的振动频率和振动幅度并不一致，而是随连接单元32的刚度变化呈现出一定的变化规律。因而只要合理设置连接单元32的刚度，即可使机臂1在振动时，连接单元32和支撑件31与机臂1呈现出不同的振动频率、振动幅度以及振动方向，且支撑件31的振动能够对机臂1的振动产生一定的抵消，从而减少整个机臂1的振动。
具体的，图3是本发明实施例一提供的机臂组件的简化模型示意图。如图3所示，假设机臂1的质量为M，且机臂1具有弹性K1，而支撑件31的质量为m，连接在机臂1与支撑件31之间的连接单元32由于刚度较小，所以可以近似看做同时具有弹性K2与阻尼C的系统。当机臂1在振动源的振动下产生了X1的振动幅度时，支撑件31所产生的振动幅度为X2。一般的，支撑件31的质量m通常会小于机臂1的质量M。
假设振动源振动所产生的激振力为f＝f0sin(ωt)，机臂1和支撑件31的受力分析为：
Figure PCTCN2017104944-appb-000001
Figure PCTCN2017104944-appb-000002
则可解得机臂1的振动幅度的稳态解为：
Figure PCTCN2017104944-appb-000003
其中，β为放大因子。
Figure PCTCN2017104944-appb-000004
假设其中
Figure PCTCN2017104944-appb-000005
则
Figure PCTCN2017104944-appb-000006
其中，放大因子可以用于表示受迫振动的振幅，因而可以通过取不同的刚度值K2，以分别得到对应的放大因子。例如，可以取M＝1,m＝0.4，K1＝1,C＝0.3，而K2可以取0.1、0.15、0.2、0.25、0.3等不同取值。图4是图3中的简化模型在不同刚度下的振幅示意图。如图4所示，横轴为振动激励与共振频率之间的比值，而纵轴为放大因子。分别用不同的刚度值，可得到不同的放大因子的变化曲线。当连接单元32在不同刚度之间改变时，存在有合适的刚度，使得放大因子较小，而机臂1的振幅较小，振动得到有效衰减。
这样，由于连接单元32可近似为具有阻尼和弹性的系统，因而当连接单元32的刚度由大到小变化时，会存在一个合适的刚度，使得机臂1能够具有较小的振幅，因而可将连接单元32的刚度保持在此刚度值，以减小机臂1的振动振幅，避免机体上部件受到机臂1的振动干扰。
为了实现对机臂1的减振效果，连接单元32可以利用多种方式实现刚度的改变。例如通过机构变形而实现刚度的改变，或者采用刚度可变化的特殊材料作为连接单元中的构件等。作为一种优选的实施方式，连接单元32包括由刚度可变的材料制成的连接体。连接体连接在机臂1和支撑件31之间，且构成连接体的材料具有可变的刚度。这样当无人飞行器位于地面上时，构成连接体的材料具有较大的刚度，能够对机臂1以及无人飞行器进行稳固支撑；而当无人飞行器离开地面时，连接体的材料的刚度较小，可以与支撑件31一起组成减振组件3，以减小机臂1的振动，保护机体内的部件免受振动影响。
具体的，构成连接体的材料，其刚度或者弹性模量应可随其它外界条件的变化而改变，以适用于不同的使用场合。这样可以通过无人飞行器的起降状态的变化来控制连接体呈现不同的刚度。其中，外界条件的改变既可以是由于无人飞行器起降状态改变而自发形成，也可以是通过控制装置输入不同的控制信号所改变。
其中，连接体的刚度的变化条件可以包括但不限于以下条件的一种或多种：连接体受到的作用力变化、连接体的通电状态变化、连接体的温度变化、连接体所处的磁场变化、连接体所受的光照条件变化等。这样当想要改变连接体的刚度时，即可采用施力、通电、改变温度、施加磁场或者进行光照等方式实现。例如，构成连接体的材料可以为聚氨酯基复合阻尼材料，且内部包含有磁性粒子，当该材料所处的磁场强度变化时，该材料的弹性模量即可产生较大的变化，使该材料所构成的连接体由刚度较高的硬质连接体变为弹性较高的软质连接体，或者由软质连接体变为硬质连接体等。
图5是本发明实施例一提供的另一种减振组件的结构示意图。如图5所示，当组成连接体的材料的刚度可随外界条件而变化时，为了对连接体的刚度进行控制，减振组件3还可以包括信号发射单元33，信号发射单元33用于向连接单元32发送用于改变连接体的刚度的信号。具体的，该信号可以为力信号、电信号、温度信号、磁信号或者光信号等多种不同信号。当需要机臂组件中的连接体产生符合应用场合的刚度变化时，信号发射单元33即可向连接单元32发射对应的信号，以控制刚度实现相应的改变。例如，当无人飞行器需要降落至地面上时，连接体的刚度变大，以使连接体和支撑件31能够稳固的支撑在机臂1下方，为无人飞行器提供良好的支撑；而当无人飞行器处于飞行过程或者其它不需要支撑件31提供支撑的场合时，连接体的刚度变小，以吸收和衰减机臂1的振动。
为了对机臂1起到良好的减振效果，连接体的刚度一般具有足够小的刚度。作为一种可选的实施方式，连接体在支撑件31不用于支撑机臂1时为柔性连接体。柔性连接体具有良好的弹性，可使支撑件31和机臂1之间为柔性连接，这样具有良好的弹性和阻尼，能够提高对机臂1的减振作用。
由于机臂1上的电机等振动源一般位于机臂1的一端端部或者靠近端部的位置，而机臂1的另一端和无人飞行器的机体连接，所以在振动源2的振 动影响下，机臂1一般会产生较大的振幅。而将减振组件3设置在机臂1上的不同部位，由于减振组件3离机体的远近不同，而形成的减振效果也不同。为了提高减振效果，减振组件3可以临近振动源2设置。这样减振组件3中支撑件31和连接单元32在振动时在机臂1上的施力点与振动源2在机臂1上的施力点位置相近，对机臂1的振幅的影响也相近，减振效果便于控制，对振动源2的衰减效果较好。
一般的，减振组件3可设置在机臂1的与振动源2相对的一侧。这样振动源2和减振组件3分别设置在机臂1的相对两侧，振动源2与减振组件3均和机体保持相同的距离，因而振动源2所造成的振动可以被减振组件3很好的中和，机臂1上的振动的衰减程度一般较大，可以有效起到减振作用。
一般的，由于振动源2通常设置在机臂1的上侧，因而减振组件3可以位于机臂1的下侧，且减振组件3的支撑件31可直接用于支撑机臂1以及整个无人飞行器。此时，无人飞行器不用额外设置脚架，而可以让减振组件中的支撑件31直接作为无人飞行器的脚架，以对无人飞行器进行支撑。具体的，支撑件31的底端可以支撑在地面上，而支撑件31的顶端部分与连接单元32连接。支撑件31可以稳固的支在机臂1下方，为整个无人飞行器提供支撑。
无人飞行器处于降落状态时，如果连接单元32的刚度不足，则有可能在机臂1的重力作用下产生较大的弹性形变，并导致机臂1甚至整个无人飞行器失去支撑，从而发生倾斜或侧翻。为了保证支撑件31能够对机臂1和整个无人飞行器进行良好而稳固的支撑，整个减振组件3均应为刚体结构，以提供稳固的支撑结构。这样，连接单元32在支撑件31支撑在地面上时应为刚性连接单元，其具有足够的刚度，在承受机臂1的重量时仍能维持原先的形状和结构，避免因支撑不足而造成无人飞行器翻倒或损坏。
本实施例中，机臂组件具体可包括机臂，机臂主要用于承载振动源，同时机臂上还设置有减振组件，减振组件包括具有支撑件和可变刚度的连接单元，连接单元连接在支撑件与机臂之间，支撑件不用于支撑机臂时减振组件的刚度小于支撑件用于支撑机臂时减振组件的刚度。这样机臂组件的减振组件既能够对机臂进行支撑，也可以利用连接单元的刚度变化产生能够对振动源的振动进行中和和衰减的振动，从而减少机臂的振动幅度和由机臂传递至机体的振动能量，避免机体上的传感器等电子器件，或者是机械结构因振动 而产生松动、损坏等情况。
图6是本发明实施例二提供的一种机架的结构示意图。如图6所示，本实施例提供的机架200包括机体101和至少一个如前述实施例一所述的机臂组件100；机臂组件100中的机臂1和机体101连接。其中，机臂组件100的结构、工作原理和使用效果均已在前述实施例一中进行了详细说明，此处不再赘述。
具体的，本实施例中的机架200可作为无人飞行器的主要结构部件，其包括有可用于承载负载等功能设备，以及设置控制系统和电源等部件的机体101，和至少一个与机体101相连的机臂组件100，机臂组件100包括有和机体101连接的机臂1，机臂1上通常设置有动力元件，动力元件工作时，就会形成机臂1的振动源，而机臂组件100中的减振组件可以通过改变连接单元的刚度，而对机臂1的振动进行中和及衰减，避免因机臂1的振动过强而造成设备松脱或损坏等现象。而减振组件中的连接单元的刚度变大时，可以使减振组件整个形成刚体，以在无人飞行器降落状态下对机臂1实现稳固的支撑。
本实施例中，机架包括机体和至少一个机臂组件；机臂组件中的机臂和机体连接；机臂组件具体可包括机臂，机臂主要用于承载振动源，同时机臂上还设置有减振组件，减振组件包括具有支撑件和可变刚度的连接单元，连接单元连接在支撑件与机臂之间，支撑件不用于支撑机臂时减振组件的刚度小于支撑件用于支撑机臂时减振组件的刚度。这样机臂组件的减振组件既能够对机臂进行支撑，也可以利用连接单元的刚度变化产生能够对振动源的振动进行中和和衰减的振动，从而减少机臂的振动幅度和由机臂传递至机体的振动能量，避免机体上的传感器等电子器件，或者是机械结构因振动而产生松动、损坏等情况。
图7是本发明实施例三提供的一种无人飞行器的结构示意图。如图7所示，本实施例提供的无人飞行器300包括上述实施例二所述的机架200，当无人飞行器300飞行时，支撑件悬空，而当无人飞行器300降落时，支撑件支撑机架200于底面上。机架200中减振组件3的刚度要小于当无人飞行器300降落于地面时，减振组件3的刚度。这样能够通过减振组件3的刚度变化而起到无人飞行器300飞行中的减振作用，或者在无人飞行器300降落时 的支撑作用。其中，机架200以及机架200内的机臂组件的具体结构、工作原理和使用效果均已在前述实施例一和二中进行了详细说明，此处不再赘述。
其中，作为一种可选的方式，无人飞行器300还可以包括控制单元(图中未示出)，控制单元用于根据无人飞行器300的飞行状态改变连接单元的刚度。具体的，控制单元可以自动获知无人飞行器300的状态，例如是处于降落在地面上的状态还是处于飞行状态，并根据该飞行状态改变连接单元的刚度，以适用于需要较大刚度的地面支撑状态或者是需要较小刚度的减振状态。而控制单元也可以接受用户的指令，以使用户可以手动控制连接单元的刚度以适用于不同的使用场合。
本实施例中，无人飞行器包括机架，当无人飞行器飞行时机架中减振组件的刚度要小于当无人飞行器降落于地面时，减振组件的刚度；其中机臂组件具体可包括机臂，机臂主要用于承载振动源，同时机臂上还设置有减振组件，减振组件包括具有支撑件和可变刚度的连接单元，连接单元连接在支撑件与机臂之间，支撑件不用于支撑机臂时减振组件的刚度小于支撑件用于支撑机臂时减振组件的刚度。这样机臂组件的减振组件既能够对机臂进行支撑，也可以利用连接单元的刚度变化产生能够对振动源的振动进行中和和衰减的振动，从而减少机臂的振动幅度和由机臂传递至机体的振动能量，避免机体上的传感器等电子器件，或者是机械结构因振动而产生松动、损坏等情况。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (31)

  1. 一种机臂组件，应用在无人飞行器上，包括机臂，所述机臂用于承载振动源，其特征在于，所述机臂上还设置有减振组件，所述减振组件包括具有支撑件和可变刚度的连接单元，所述连接单元连接在所述支撑件与所述机臂之间，所述支撑件不用于支撑所述机臂时所述减振组件的刚度小于所述支撑件用于支撑所述机臂时所述减振组件的刚度。
  2. 根据权利要求1所述的机臂组件，其特征在于，所述连接单元包括由刚度可变的材料制成的连接体。
  3. 根据权利要求2所述的机臂组件，其特征在于，所述连接体的刚度的变化条件包括以下条件的一种或多种：所述连接体受到的作用力变化、所述连接体的通电状态变化、所述连接体的温度变化、所述连接体所处的磁场变化、所述连接体所受的光照条件变化。
  4. 根据权利要求1所述的机臂组件，其特征在于，所述减振组件还包括信号发射单元，所述信号发射单元用于向所述连接单元发送用于改变所述连接体的刚度的信号。
  5. 根据权利要求1-4任一项所述的机臂组件，其特征在于，所述连接体在所述支撑件不用于支撑所述机臂时为柔性连接体。
  6. 根据权利要求1-4任一项所述的机臂组件，其特征在于，所述减振组件临近所述振动源设置。
  7. 根据权利要求6所述的机臂组件，其特征在于，所述减振组件设置在所述机臂的与所述振动源相对的一侧。
  8. 根据权利要求1-4任一项所述的机臂组件，其特征在于，所述支撑件为所述无人飞行器的脚架。
  9. 根据权利要求8所述的机臂组件，其特征在于，所述连接单元在所述支撑件支撑在地面上时为刚性连接单元。
  10. 根据权利要求1-4任一项所述的机臂组件，其特征在于，所述振动源为所述无人飞行器的动力元件。
  11. 一种机架，其特征在于：
    包括机体和机臂组件；
    所述机臂组件应用在无人飞行器上，包括机臂，所述机臂用于承载振动源，其特征在于，所述机臂上还设置有减振组件，所述减振组件包括具有支撑件和可变刚度的连接单元，所述连接单元连接在所述支撑件与所述机臂之间，所述支撑件不用于支撑所述机臂时所述减振组件的刚度小于所述支撑件用于支撑所述机臂时所述减振组件的刚度；
    所述机臂组件中的机臂和所述机体连接。
  12. 根据权利要求11所述的机臂组件，其特征在于，所述连接单元包括由刚度可变的材料制成的连接体。
  13. 根据权利要求12所述的机臂组件，其特征在于，所述连接体的刚度的变化条件包括以下条件的一种或多种：所述连接体受到的作用力变化、所述连接体的通电状态变化、所述连接体的温度变化、所述连接体所处的磁场变化、所述连接体所受的光照条件变化。
  14. 根据权利要求11所述的机臂组件，其特征在于，所述减振组件还包括信号发射单元，所述信号发射单元用于向所述连接单元发送用于改变所述连接体的刚度的信号。
  15. 根据权利要求11-14任一项所述的机臂组件，其特征在于，所述连接体在所述支撑件不用于支撑所述机臂时为柔性连接体。
  16. 根据权利要求11-14任一项所述的机臂组件，其特征在于，所述减振组件临近所述振动源设置。
  17. 根据权利要求16所述的机臂组件，其特征在于，所述减振组件设置在所述机臂的与所述振动源相对的一侧。
  18. 根据权利要求11-14任一项所述的机臂组件，其特征在于，所述支撑件为所述无人飞行器的脚架。
  19. 根据权利要求18所述的机臂组件，其特征在于，所述连接单元在所述支撑件支撑在地面上时为刚性连接单元。
  20. 根据权利要求11-14任一项所述的机臂组件，其特征在于，所述振动源为所述无人飞行器的动力元件。
  21. 一种无人飞行器，包括机架，其特征在于，
    所述包括机体和机臂组件；
    所述机臂组件应用在无人飞行器上，包括机臂，所述机臂用于承载振动 源，其特征在于，所述机臂上还设置有减振组件，所述减振组件包括具有支撑件和可变刚度的连接单元，所述连接单元连接在所述支撑件与所述机臂之间，所述支撑件不用于支撑所述机臂时所述减振组件的刚度小于所述支撑件用于支撑所述机臂时所述减振组件的刚度；
    所述机臂组件中的机臂和所述机体连接；
    当所述无人飞行器飞行时，支撑件悬空，当所述无人飞行器降落于地面时，所述支撑件支撑所述机架于地面。
  22. 根据权利要求21所述的无人飞行器，其特征在于，所述连接单元包括由刚度可变的材料制成的连接体。
  23. 根据权利要求22所述的无人飞行器，其特征在于，所述连接体的刚度的变化条件包括以下条件的一种或多种：所述连接体受到的作用力变化、所述连接体的通电状态变化、所述连接体的温度变化、所述连接体所处的磁场变化、所述连接体所受的光照条件变化。
  24. 根据权利要求21所述的无人飞行器，其特征在于，所述减振组件还包括信号发射单元，所述信号发射单元用于向所述连接单元发送用于改变所述连接体的刚度的信号。
  25. 根据权利要求21-24任一项所述的无人飞行器，其特征在于，所述连接体在所述支撑件不用于支撑所述机臂时为柔性连接体。
  26. 根据权利要求21-24任一项所述的无人飞行器，其特征在于，所述减振组件临近所述振动源设置。
  27. 根据权利要求26所述的无人飞行器，其特征在于，所述减振组件设置在所述机臂的与所述振动源相对的一侧。
  28. 根据权利要求21-24任一项所述的无人飞行器，其特征在于，所述支撑件为所述无人飞行器的脚架。
  29. 根据权利要求28所述的无人飞行器，其特征在于，所述连接单元在所述支撑件支撑在地面上时为刚性连接单元。
  30. 根据权利要求21-24任一项所述的无人飞行器，其特征在于，所述振动源为所述无人飞行器的动力元件。
  31. 根据权利要求21-30任意一项所述的无人飞行器，其特征在于，还包括控制单元，所述控制单元用于根据所述无人飞行器的飞行状态改变所述连接单元的刚度。
PCT/CN2017/104944 2017-07-28 2017-09-30 机臂组件、机架及无人飞行器 Ceased WO2019019397A1 (zh)

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