WO2019052201A1 - 无人机及其减振装置 - Google Patents
无人机及其减振装置 Download PDFInfo
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- WO2019052201A1 WO2019052201A1 PCT/CN2018/086068 CN2018086068W WO2019052201A1 WO 2019052201 A1 WO2019052201 A1 WO 2019052201A1 CN 2018086068 W CN2018086068 W CN 2018086068W WO 2019052201 A1 WO2019052201 A1 WO 2019052201A1
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- extension
- vibration damping
- damping device
- inertial measurement
- bellows body
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- 238000013016 damping Methods 0.000 title claims abstract description 119
- 238000005259 measurement Methods 0.000 claims abstract description 96
- 239000000463 material Substances 0.000 claims description 14
- 239000006260 foam Substances 0.000 claims description 5
- 239000002184 metal Substances 0.000 claims description 4
- 238000002955 isolation Methods 0.000 abstract description 6
- 230000000694 effects Effects 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/20—Constructional aspects of UAVs for noise reduction
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
Definitions
- the invention relates to the technical field of drones, in particular to a drone and a vibration damping device thereof.
- UAVs contain specific equipment that requires a stable environment during operation, such as inertial measurement devices. Under the influence of external air resistance and its own power device, the drone will generate vibration excitation during the flight and transmit it to specific equipment, causing large vibrations on specific equipment.
- the inertial measurement device is one of the most central sensors of the UAV. It is used to measure the angular velocity and acceleration of the UAV's fuselage, and then to calculate the UAV's own attitude, ensuring the UAV's safe navigation in the external environment.
- measurement accuracy is one of the most critical indicators. The noise caused by the vibration of the fuselage is an important factor affecting the measurement accuracy of the inertial measurement device.
- the conventional UAV uses a damping ball suspension to mount a fixed inertial measuring device to isolate the fixed inertial measuring device.
- the damping device in which the damping ball suspension is mounted has a large difference in the natural frequencies corresponding to the translational modes of the three directions.
- the so-called three directions are one vertical direction and two horizontal directions.
- the natural frequency corresponding to the translational mode of the vertical vibration direction of the above-mentioned vibration damping device is much larger than the natural frequency corresponding to the translational vibration modes of the two horizontal directions, so that the vibration in three directions cannot be simultaneously realized effectively when passing through the vibration damping device. Vibration isolation, so that the measurement accuracy of the inertial measurement device is poor.
- a vibration damping device for connecting a fuselage of an unmanned aerial vehicle and an inertial measurement device, the vibration damping device comprising:
- a bellows body for absorbing vibration and deforming
- first extension portion disposed at an end of the bellows body, the first extension portion for connecting the body
- a second extension portion disposed on an end of the bellows body away from the first extension portion, the second extension portion for connecting the inertial measurement device.
- the bellows body, the first extension and the second extension are integrally formed to make the structure of the vibration damping device compact.
- the material of the vibration damping device is rubber or foam or soft rubber or metal, so that the structure of the vibration damping device has a certain flexibility and can better absorb vibration.
- the damper device further includes a damper member that is respectively filled in the cavity of the bellows body, the first extension, and the second extension.
- the corrugated tube body has a corrugated shape that is zigzag or wavy or convex.
- the bellows body has a rectangular or elliptical cross section; or the bellows body has a hyperbolic or rectangular cross section.
- An unmanned aerial vehicle comprising: a fuselage, an inertial measurement device, and the vibration damping device according to any of the above embodiments, wherein the first extension is connected to the fuselage, and the second extension is connected to the inertial measurement device .
- the drone further includes a weight plate, and the second extension is coupled to the inertial device by the weight plate.
- the body includes a connected body and a circuit board
- the first extension is connected to the circuit board, and vibration generated on the body is transmitted to the first extension through the circuit board.
- the first extension portion is transmitted to the bellows body for absorption, so that the vibration is transmitted to the second extension portion through the bellows body, and the measurement precision of the inertial measurement device can be ensured.
- connection between the first extension and the fuselage is a connection of one or two or more first specific points, such that the first extension and the fuselage pass one or Two or more first specific points are fixedly constrained;
- the periphery of the first extension is coupled to the body to securely connect the first extension to the body.
- connection between the second extension and the inertial measurement device is a connection of one or two or more second specific points, such that the second extension passes between the inertial measurement device and the inertial measurement device.
- One or two or more second specific points are fixedly constrained;
- the circumference of the second extension is connected to the inertial measurement device to securely connect the second extension to the inertial measurement device.
- the first extension portion is disposed at an end of the bellows body, and the first extension portion is coupled to the body, and the second extension portion is disposed on the end of the bellows body away from the first extension portion
- the second extension is connected to the inertial measurement device to connect the fuselage and the inertial measurement device together by the vibration damping device; since the bellows body is used for absorbing vibration and deforming, when the vibration of the airframe of the aircraft is transmitted When the vibration damping device is applied, the bellows body absorbs vibration and shrinks or elongates or bends, so that the vibration transmitted to the inertial measuring device through the vibration damping device is small; the above-mentioned vibration damping device greatly increases the vibration damping device
- the dimension in the horizontal direction is such that the dimension of the horizontal direction of the vibration damping device is larger than the dimension of the vertical direction, so that the natural frequencies corresponding to the three-direction translational vibration mode of the vibration damping device are substantially the same,
- the measurement accuracy solves the problem of poor measurement accuracy of the inertial measurement device; when designing, the parameters such as the size, shape and wall thickness of the bellows body can be changed to adjust the translational modes of the three directions of the fuselage. Natural frequency.
- FIG. 1 is a partial schematic view of a drone including a vibration damping device of an embodiment
- Figure 2 is a schematic view of a vibration damping device of an embodiment
- Figure 3 is a partial enlarged view of the vibration damping device shown in Figure 1;
- FIG. 4 is a schematic diagram showing analysis data of one of the horizontal direction translational modes of the finite element analysis of the vibration damping device of the unmanned aerial vehicle shown in FIG. 1;
- FIG. 5 is a schematic diagram showing analysis data of another horizontal direction translational vibration mode of the finite element analysis of the vibration damping device of the unmanned aerial vehicle shown in FIG. 1;
- Fig. 6 is a schematic view showing the analysis data of the vertical direction translational vibration mode of the finite element analysis of the vibration damping device of the unmanned aerial vehicle shown in Fig. 1.
- the drone and its vibration damping device will be more fully described below with reference to the related drawings.
- a preferred embodiment of the drone and its damping device is given in the drawings.
- the drone and its damping device can be implemented in many different forms and are not limited to the embodiments described herein. Rather, the purpose of providing these embodiments is to make the disclosure of the drone and its damper device more thorough and comprehensive.
- a vibration damping device is used to connect the fuselage of the drone and the inertial measurement device;
- the vibration damping device includes: a bellows body, a first extension, and a second extension; for example, the bellows The body is for absorbing vibration and deforming; for example, the first extension is disposed at an end of the bellows body; for example, the first extension is for connecting the body; for example, the second An extension is disposed on the bellows body at an end remote from the first extension; for example, the second extension is for connecting the inertial measurement device.
- a vibration damping device is used to connect a fuselage of an unmanned aerial vehicle and an inertial measurement device, the vibration damping device comprising: a bellows body, a first extension and a second extension; the bellows body is for absorbing Vibrating and deforming, the first extension is disposed at an end of the bellows body, the first extension is for connecting the body; the second extension is disposed on the bellows body Along from the end of the first extension, the second extension is for connecting the inertial measurement device.
- the vibration damping device 100 of one embodiment is used to connect the body 200 of the drone and the inertial measurement device 300.
- the vibration damping device 100 includes a bellows body 110, a first extension portion 120, and a second extension portion 130.
- the bellows body 110 is for absorbing vibration and deforming.
- the first extending portion 120 is disposed at an end of the bellows body 110, and the first extending portion 120 is configured to connect the body 200, that is, the end of the first extending portion 120 facing away from the bellows body 110. Connected to the body 200.
- the second extension 130 is disposed on the end of the bellows body 110 away from the first extension 120, and the second extension 130 is used to connect the inertial measurement device 300, ie, the second extension
- the end of the 130 that faces away from the bellows body 110 is coupled to the inertial measurement device 300. Since the first extending portion 120 is disposed at an end of the bellows body 110, and the first extending portion 120 is coupled to the body 200, the second extending portion 130 is disposed on the end of the bellows body 110 away from the first extending portion 120, The second extension portion 130 is connected to the inertial measurement device 300 such that the body 200 and the inertial measurement device 300 are connected together by the vibration damping device 100.
- the bellows body Since the bellows body is used to absorb vibration and deform, when the vibration of the fuselage 200 of the drone is transmitted to the vibration damping device 100, the bellows body 110 absorbs the vibration and shrinks or elongates or bends, so that the passage is reduced.
- the vibration transmitted from the vibration device 100 to the inertial measurement device 300 is small.
- the vibration damping device 100 described above greatly increases the size of the vibration damping device 100 in the horizontal direction such that the size of the vibration damping device 100 in the horizontal direction is larger than the vertical direction, so that the vibration damping device 100 is moved in three directions.
- the natural frequencies corresponding to the types are substantially identical, and the problem that the natural frequencies corresponding to the three-direction translational vibration modes of the vibration damping device 100 have a large difference is solved.
- the vibration of the three directions can achieve effective vibration isolation at the same time through the vibration damping device 100, the measurement accuracy of the inertial measurement device 300 can be ensured, and the problem of poor measurement accuracy of the inertial measurement device 300 can be solved; Parameters such as the size, shape, and wall thickness of the bellows body 110 are adjusted to adjust the natural frequency corresponding to the translational modes of the three directions of the body 200.
- the cross section of the first extending portion 120 is T-shaped, so that the contact portion of the first extending portion 120 facing away from the bellows body 110 and the body 200 is larger, so that the first extending portion 120 and the body 200 are The connection is stronger.
- the second extension portion 130 has a T-shaped cross section, so that the contact portion of the second extension portion 130 facing away from the bellows body 110 and the inertial measurement device 300 is larger, so that the second extension portion 130 is The connection of the inertial measurement device 300 is stronger.
- the bellows body 110, the first extension 120 and the second extension 130 are integrally formed to make the structure of the vibration damping device 100 compact.
- the bellows body 110, the first extension portion 120, and the second extension portion 130 are injection molded, making the vibration damping device 100 easy to manufacture and low in cost.
- the bellows body 110, the first extension 120 and the second extension 130 may also be separately formed and joined together by gluing.
- the material of the vibration damping device 100 is rubber or foam or soft rubber or metal, so that the structure of the vibration damping device 100 has a certain flexibility, and can better absorb vibration.
- the material of the vibration damping device 100 is rubber.
- the material of the vibration damping device 100 may also be foam or other flexible material of rubber.
- the vibration damping device 100 may be a spring structure.
- the vibration damping device 100 includes a bellows body 110, a first extension 120, and a second extension 130.
- the bellows body 110, the first extension portion 120 and the second extension portion 130 are integrally formed, so that the structure of the vibration damping device 100 is relatively compact.
- the material of the vibration damping device 100 is rubber.
- the first extension 120 is connected to an end of the bellows body 110, and the first extension 120 is used to connect the body 200, that is, the end of the first extension 120 facing away from the bellows body 110. Connected to the body 200.
- the second extension portion 130 is connected to an end of the bellows body 110 away from the first extension portion 120, and the second extension portion 130 is used for connecting the inertial measurement device 300, that is, the second extension portion.
- the end of the 130 that faces away from the bellows body 110 is coupled to the inertial measurement device 300. Since the first extending portion 120 is connected to the end of the bellows body 110, and the first extending portion 120 is connected to the body 200, the second extending portion 130 is connected to the end of the bellows body 110 away from the first extending portion 120, The second extension portion 130 is connected to the inertial measurement device 300 such that the body 200 and the inertial measurement device 300 are connected together by the vibration damping device 100.
- the corrugated tube body 110 has a corrugated shape that is zigzag or wavy or convex.
- the bellows body 110 has a corrugated shape in a zigzag shape.
- the bellows body 110 has a corrugated shape having a triangular shape or a trapezoidal shape.
- the vibration damping device 100 includes a bellows body 110, a first extension 120, and a second extension 130.
- the bellows body 110, the first extension portion 120 and the second extension portion 130 are integrally formed, so that the structure of the vibration damping device 100 is relatively compact.
- the material of the vibration damping device 100 is rubber.
- the bellows body 110 has a corrugated shape in a zigzag shape.
- the first extension 120 is connected to an end of the bellows body 110, and the first extension 120 is used to connect the body 200, that is, the end of the first extension 120 facing away from the bellows body 110.
- the second extension portion 130 is connected to an end of the bellows body 110 away from the first extension portion 120, and the second extension portion 130 is used for connecting the inertial measurement device 300, that is, the second extension portion.
- the end of the 130 that faces away from the bellows body 110 is coupled to the inertial measurement device 300.
- the first extending portion 120 is connected to the end of the bellows body 110, and the first extending portion 120 is connected to the body 200, the second extending portion 130 is connected to the end of the bellows body 110 away from the first extending portion 120, The second extension portion 130 is connected to the inertial measurement device 300 such that the body 200 and the inertial measurement device 300 are connected together by the vibration damping device 100.
- the bellows body 110 has a rectangular or elliptical shape or a circular shape in cross section. In the embodiment, the bellows body 110 has a circular cross section.
- the longitudinal section of the bellows body has a hyperbolic or rectangular shape.
- the vibration damping device 100 includes a bellows body 110, a first extension 120, and a second extension 130.
- the bellows body 110, the first extension portion 120 and the second extension portion 130 are integrally formed, so that the structure of the vibration damping device 100 is relatively compact.
- the material of the vibration damping device 100 is rubber.
- the bellows body 110 has a corrugated shape in a zigzag shape, and the bellows body 110 has a circular cross section.
- the first extending portion 120 is disposed at an end of the bellows body 110, and the first extending portion 120 is configured to connect the body 200, that is, the end of the first extending portion 120 facing away from the bellows body 110. Connected to the body 200.
- the second extension 130 is disposed on the end of the bellows body 110 away from the first extension 120, and the second extension 130 is used to connect the inertial measurement device 300, ie, the second extension The end of the 130 that faces away from the bellows body 110 is coupled to the inertial measurement device 300.
- the first extending portion 120 is connected to the end of the bellows body 110, and the first extending portion 120 is connected to the body 200, and the second extending portion 130 is disposed on the end of the bellows body 110 away from the first extending portion 120.
- the second extension portion 130 is connected to the inertial measurement device 300 such that the body 200 and the inertial measurement device 300 are connected together by the vibration damping device 100.
- the vibration damping device 100 further includes a damping member that is respectively filled in the cavity of the bellows body 110, the first extension portion 120, and the second extension portion 130, so that the vibration damping device 100 has Better damping effect.
- the damper is glued to the inner wall of the cavity.
- the damping member is an elastic glue or a spring.
- the material of the damper member is rubber or foam or the like.
- the vibration damping device 100 includes a bellows body 110, a first extension 120, a second extension 130, and a damper. The bellows body 110, the first extension portion 120 and the second extension portion 130 are integrally formed, so that the structure of the vibration damping device 100 is relatively compact.
- the damper members are respectively filled in the cavity of the bellows body 110, the first extension portion 120, and the second extension portion 130.
- the material of the vibration damping device 100 is rubber.
- the bellows body 110 has a corrugated shape in a zigzag shape, and the bellows body 110 has a circular cross section.
- the first extending portion 120 is disposed at an end of the bellows body 110, and the first extending portion 120 is configured to connect the body 200, that is, the end of the first extending portion 120 facing away from the bellows body 110. Connected to the body 200.
- the second extension 130 is disposed on the end of the bellows body 110 away from the first extension 120, and the second extension 130 is used to connect the inertial measurement device 300, ie, the second extension
- the end of the 130 that faces away from the bellows body 110 is coupled to the inertial measurement device 300. Since the first extending portion 120 is connected to the end of the bellows body 110, and the first extending portion 120 is connected to the body 200, the second extending portion 130 is connected to the end of the bellows body 110 away from the first extending portion 120, The second extension portion 130 is connected to the inertial measurement device 300 such that the body 200 and the inertial measurement device 300 are connected together by the vibration damping device 100.
- the bellows body 110 When the vibration of the fuselage 200 of the drone is transmitted to the vibration damping device 100, the bellows body 110 absorbs the vibration and contracts or elongates or bends, so that the vibration is transmitted to the inertial measurement device 300 through the vibration damping device 100. Smaller, and because the damping members are respectively filled in the bellows body 110, the first extension portion 120 and the second extension portion 130, the damping member has the effect of absorbing vibration, so that the vibration damping device 100 has better vibration damping effect. .
- the present invention further provides a drone 10 including a body 200, an inertial measurement device 300, and the vibration damping device 100 according to any of the above embodiments, wherein the first extension 120 connects the The second extension 130 is coupled to the inertial measurement device 300.
- the drone 10 includes a body 200, an inertial measurement device 300, and a vibration damping device 100.
- the damper device 100 includes a bellows body 110, a first extension 120, and a second extension 130.
- the first extending portion 120 is disposed at an end of the bellows body 110, and the first extending portion 120 is coupled to the body 200, that is, the end of the first extending portion 120 facing away from the bellows body 110 is connected to On the fuselage 200.
- the second extending portion 130 is disposed on an end of the bellows body 110 away from the first extending portion 120, and the second extending portion 130 is connected to the inertial measuring device 300, that is, the second extending portion 130.
- the end facing away from the bellows body 110 is coupled to the inertial measurement device 300. Since the first extending portion 120 is connected to the end of the bellows body 110, and the first extending portion 120 is connected to the body 200, the second extending portion 130 is connected to the end of the bellows body 110 away from the first extending portion 120, The second extension portion 130 is connected to the inertial measurement device 300 such that the body 200 and the inertial measurement device 300 are connected together by the vibration damping device 100.
- the first extension 120 is welded or glued to the body 200 such that the first extension 120 is coupled to the body 200.
- the second extension portion 130 is welded or glued to the inertial measurement device 300 to connect the second extension portion 130 to the inertial measurement device 300.
- the first extension portion 120 is glued to the body 200, and the second extension portion 130 is glued to the inertial measurement device 300.
- the material of the vibration damping device 100 is rubber, and the first extension portion 120, the second extension portion 130, and the bellows body 110 are integrally formed, so that the vibration damping device 100 can be easily manufactured and the cost is low.
- the first extension portion 120 is glued to the body 200, and the second extension portion 130 is glued to the inertial measurement device 300. Since the material of the vibration damping device 100 is rubber, the first extension portion 120 is better glued to the machine.
- the second extension 130 is preferably glued to the inertial measurement device 300.
- the body 200 includes a connected body (not shown) and a circuit board 210.
- the first extension 120 is coupled to the circuit board 210, and the vibration generated on the body passes through the circuit.
- the plate 210 is transmitted to the first extending portion 120, and then transmitted to the bellows body 110 by the first extending portion 120 for absorption, so that the vibration is transmitted to the second extending portion 130 through the bellows body 110, thereby ensuring inertial measurement.
- the measurement accuracy of the device 300 For example, the body and the circuit board 210 are fixed together by screws, so that the body and the circuit board 210 are firmly connected.
- the circuit board 210 is soldered or glued to the body, so that the body and the circuit board 210 are firmly connected.
- the drone further includes a weight plate 320 , and the second extension 130 is connected to the inertial device 300 through the weight plate 320 , specifically, the second extension 130 is connected to the weight plate 320 , and the inertia
- the measuring device 300 is disposed on a side of the weight plate 320 that faces away from the second extension 130, and connects the inertial measurement device to the second extension.
- the weight plate 320 is parallel to the circuit board 210, the vibration damping device 100 is located between the weight plate 320 and the circuit board 210, and the vibration damping device 100 is connected to the weight plate 320 and the circuit board 210, respectively, so that the circuit board 210
- the vibration on the upper surface is transmitted to the weight plate 320 through the vibration damping device 100. Since the vibration damping device 100 can absorb the vibration, the vibration on the circuit board 210 is not easily transmitted to the weight plate 320.
- connection between the first extension 120 and the body 200 is a connection of one or two or more first specific points, such that the first extension 120 and the body 200 A fixed constraint is made between one or two or more first specific points.
- the connection between the second extension 130 and the inertial measurement device 300 is a connection of one or two or more second specific points, such that one or two between the second extension 130 and the inertial measurement device 300 One or more second specific points are fixed.
- the connection between the first extension 120 and the body 200 is a connection of four first specific points, and the connection between the second extension 130 and the inertial measurement device 300 is four.
- the connection of the second specific point is fixed.
- the four first specific points are distributed along the circumferential direction of the end of the first extending portion 120, so that the connection position between the first extending portion 120 and the body 200 is relatively uniform.
- the four second specific points are distributed along the circumferential direction of the end of the second extension 130, so that the connection position between the second extension 130 and the body 200 is relatively uniform.
- the circumference of the first extension 120 is coupled to the body 200 to securely connect the first extension 120 to the body 200.
- the circumference of the second extension portion 130 is connected to the inertial measurement device 300 to firmly connect the second extension portion 130 and the inertial measurement device 300.
- the periphery of the first extension 120 is glued to the body 200 such that the end of the first extension 120 is firmly connected to the body 200.
- the periphery of the second extension 130 is glued to the inertial measurement device 300.
- the circumference is the edge of the circumference, ie the edge of the circumference of the first extension.
- the first extension portion 120 is disposed at an end of the bellows body 110, and the first extension portion 120 is coupled to the body 200, and the second extension portion 130 is disposed to the bellows body 110.
- the second extension 130 Up from the end of the first extension 120, the second extension 130 is connected to the inertial measurement device 300, so that the fuselage 200 and the inertial measurement device 300 are connected together by the vibration damping device 100; since the bellows body is used for absorbing vibration And deformation occurs, when the vibration of the body 200 of the drone 10 is transmitted to the vibration damping device 100, the bellows body 110 absorbs the vibration and contracts or elongates or bends, so that the vibration is transmitted to the inertia through the vibration damping device 100.
- the frequency of the measuring device 300 is small; the above-described vibration damping device 100 greatly increases the size of the vibration damping device 100 in the horizontal direction, so that the horizontal direction dimension of the vibration damping device 100 is larger than the vertical dimension, so that the vibration damping device
- the natural frequencies corresponding to the translational modes of the three directions of 100 are substantially the same, which solves the problem that the natural frequencies corresponding to the three-direction translational vibration modes of the vibration damping device 100 have a large difference; since the vibrations in three directions pass
- the vibration device 100 can achieve effective vibration isolation at the same time, the measurement accuracy of the inertial measurement device 300 can be ensured, and the measurement accuracy of the inertial measurement device 300 can be solved.
- the size and shape of the bellows body 110 can be changed. Parameters such as wall thickness are used to adjust the natural frequency corresponding to the translational modes of the three directions of the body 200.
- the finite element model of the vibration damping device is established to perform finite element analysis on the vibration damping device.
- the natural frequency of the damper device in the two horizontal directions is 48.552 Hz; as shown in Fig. 6, the oscillating mode in the vertical direction
- the natural frequency is 50.053 Hz, that is, the above-mentioned vibration damping device can achieve the consistency of the natural frequency corresponding to the translational modes of the three directions.
Abstract
一种无人机及其减振装置（100），减振装置（100）用于连接无人机的机身（200）和惯性测量装置（300），减振装置（100）包括波纹管本体（110）、用于连接机身（200）的第一延伸部（120）以及用于连接惯性测量装置（300）的第二延伸部（130）；第一延伸部（120）设置于波纹管本体（110）的端部；第二延伸部（130）设置于波纹管本体（110）上远离第一延伸部（120）的端部。由于三个方向的振动通过减振装置时能够同时实现有效地隔振，可以保证惯性测量装置的测量精度。
Description
申请要求于2017年9月18日申请的、申请号为201710842273.4、申请名称为“无人机及其减振装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
本发明涉及无人机的技术领域，特别是涉及一种无人机及其减振装置。
无人机包含一些在工作过程中需要稳定的环境的特定设备，例如惯性测量装置。受外界的空气阻力以及自身动力装置的影响，无人机在飞行过程中会产生振动激励并传递至特定设备上，使特定设备上产生较大的振动。
惯性测量装置是无人机最核心的传感器之一，用于测量无人机的机身的角速度和加速度，进而解算出无人机的自身姿态，保证了无人机在外界环境中安全导航。对于惯性测量装置而言，测量精度是最关键的指标之一。机身的振动引起的噪音是影响惯性测量装置的测量精度的重要因素。
传统的无人机采用减震球悬挂安装固定惯性测量装置的方式对固定惯性测量装置进行隔振。然而，这种减震球悬挂安装的减振装置在三个方向的平动振型对应的固有频率相差较大。所谓的三个方向为一个竖直方向和两个水平方向。上述的减振装置的竖直方向的平动振型对应的固有频率远大于两个水平方向的平动振型对应的固有频率，使三个方向的振动通过减振装置时不能同时实现有效地隔振，从而使惯性测量装置的测量精度较差。
发明内容
基于此，有必要针对三个方向的振动通过减振装置时不能同时实现有效地隔振且惯性测量装置的测量精度较差的问题，提供一种无人机及其减振装置。
一种减振装置，用于连接无人机的机身和惯性测量装置，所述减振装置包 括：
波纹管本体，所述波纹管本体用于吸收振动并发生变形；
第一延伸部，所述第一延伸部设置于所述波纹管本体的端部，所述第一延伸部用于连接所述机身；以及
第二延伸部，所述第二延伸部设置于所述波纹管本体上远离所述第一延伸部的端部，所述第二延伸部用于连接所述惯性测量装置。
在其中一个实施例中，所述波纹管本体、所述第一延伸部和所述第二延伸部一体成型，使减振装置的结构较紧凑。
在其中一个实施例中，所述减振装置的材料为橡胶或泡沫或软胶或金属，使减振装置的结构具有一定的柔性，可以更好地吸振。
在其中一个实施例中，减振装置还包括阻尼件，所述阻尼件分别填充于所述波纹管本体、所述第一延伸部和所述第二延伸部的腔体内。
在其中一个实施例中，所述波纹管本体的波纹形状呈锯齿形或波浪形或凸台形。
在其中一个实施例中，所述波纹管本体的横截面呈矩形状或椭圆形状；或，所述波纹管本体的纵截面呈双曲线状或矩形状。
一种无人机，包括机身、惯性测量装置和上述任一实施例所述的减振装置，所述第一延伸部连接所述机身，所述第二延伸部连接所述惯性测量装置。
在其中一个实施例中，无人机还包括配重板，所述第二延伸部通过所述配重板与所述惯性装置连接。
在其中一个实施例中，所述机身包括相连接的机体和电路板，所述第一延伸部连接于所述电路板上，机体上产生的振动通过电路板传递至第一延伸部上，再由第一延伸部传递至波纹管本体上进行吸收，使振动通过波纹管本体传递至第二延伸部上较小，可以保证惯性测量装置的测量精度。
在其中一个实施例中，所述第一延伸部与所述机身之间的连接为一个或两个或多个第一特定点的连接，使第一延伸部与机身之间通过一个或两个或多个第一特定点进行固定约束；
或，所述第一延伸部的周缘连接于所述机身上，使第一延伸部与机身之间 牢固连接。
在其中一个实施例中，所述第二延伸部与所述惯性测量装置之间的连接为一个或两个或多个第二特定点的连接，使第二延伸部与惯性测量装置之间通过一个或两个或多个第二特定点进行固定约束；
或，所述第二延伸部的周缘连接于所述惯性测量装置上，使第二延伸部与惯性测量装置之间牢固连接。
上述的无人机及其减振装置，第一延伸部设置于波纹管本体的端部，且第一延伸部连接机身，第二延伸部设置于波纹管本体上远离第一延伸部的端部，第二延伸部连接惯性测量装置，使机身和惯性测量装置之间通过减振装置连接于一起；由于波纹管本体用于吸收振动并发生变形，当无人机的机身的振动传导至减振装置上时，波纹管本体吸收振动并发生收缩或伸长或折弯，使通过减振装置传导至惯性测量装置的振动较小；上述的减振装置大幅度地增加了减振装置在水平方向的尺寸，使得减振装置的水平方向的尺寸大于竖直方向的尺寸，使得减振装置的三个方向平动振型对应的固有频率基本一致，解决了减振装置的三个方向平动振型对应的固有频率相差较大的问题；由于三个方向的振动通过减振装置时能够同时实现有效地隔振，可以保证惯性测量装置的测量精度，解决了惯性测量装置的测量精度较差的问题；设计时，可通过改变波纹管本体的尺寸、形状和壁厚等参数，以调整机身的三个方向的平动振型对应的固有频率。
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简单地介绍，显而易见地，下面描述中的附图仅仅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的前提下，还可以根据这些附图获得其他实施例的附图。
图1为包括一实施例的减振装置的无人机的局部示意图；
图2为一实施例的减振装置的示意图；
图3为图1所示减振装置的局部放大图；
图4为图1所示无人机的减振装置的有限元分析的其中一个水平方向平动振型的分析数据示意图；
图5为图1所示无人机的减振装置的有限元分析的另外一个水平方向平动振型的分析数据示意图；
图6为图1所示无人机的减振装置的有限元分析的竖直方向平动振型的分析数据示意图。
为了便于理解本发明，下面将参照相关附图对无人机及其减振装置进行更全面的描述。附图中给出了无人机及其减振装置的首选实施例。但是，无人机及其减振装置可以以许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供这些实施例的目的是使对无人机及其减振装置的公开内容更加透彻全面。
需要说明的是，当元件被称为“固定于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的，并不表示是唯一的实施方式。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在无人机及其减振装置的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
例如，一种减振装置用于连接无人机的机身和惯性测量装置；例如，所述减振装置包括：波纹管本体、第一延伸部以及第二延伸部；例如，所述波纹管本体用于吸收振动并发生变形；例如，所述第一延伸部设置于所述波纹管本体的端部；例如，所述第一延伸部用于连接所述机身；例如，所述第二延伸部设置于所述波纹管本体上远离所述第一延伸部的端部；例如，所述第二延伸部用 于连接所述惯性测量装置。例如，一种减振装置用于连接无人机的机身和惯性测量装置，所述减振装置包括：波纹管本体、第一延伸部以及第二延伸部；所述波纹管本体用于吸收振动并发生变形，所述第一延伸部设置于所述波纹管本体的端部，所述第一延伸部用于连接所述机身；所述第二延伸部设置于所述波纹管本体上远离所述第一延伸部的端部，所述第二延伸部用于连接所述惯性测量装置。
如图1与图2所示，一实施例的减振装置100用于连接无人机的机身200和惯性测量装置300。所述减振装置100包括波纹管本体110、第一延伸部120以及第二延伸部130。波纹管本体110用于吸收振动并发生变形。所述第一延伸部120设置于所述波纹管本体110的端部，所述第一延伸部120用于连接所述机身200，即第一延伸部120上背离波纹管本体110的端部连接于机身200上。所述第二延伸部130设置于所述波纹管本体110上远离所述第一延伸部120的端部，所述第二延伸部130用于连接所述惯性测量装置300，即第二延伸部130上背离波纹管本体110的端部连接于惯性测量装置300上。由于第一延伸部120设置于波纹管本体110的端部，且第一延伸部120连接机身200，第二延伸部130设置于波纹管本体110上远离第一延伸部120的端部，第二延伸部130连接惯性测量装置300，使机身200和惯性测量装置300之间通过减振装置100连接于一起。
由于波纹管本体用于吸收振动并发生变形，当无人机的机身200的振动传导至减振装置100上时，波纹管本体110吸收振动并发生收缩或伸长或折弯，使通过减振装置100传导至惯性测量装置300的振动较小。上述的减振装置100大幅度地增加了减振装置100在水平方向的尺寸，使得减振装置100的水平方向的尺寸大于竖直方向的尺寸，使得减振装置100的三个方向平动振型对应的固有频率基本一致，解决了减振装置100的三个方向平动振型对应的固有频率相差较大的问题。由于三个方向的振动通过减振装置100时能够同时实现有效地隔振，可以保证惯性测量装置300的测量精度，解决了惯性测量装置300的测量精度较差的问题；设计时，可通过改变波纹管本体110的尺寸、形状和壁厚等参数，以调整机身200的三个方向的平动振型对应的固有频率。
例如，第一延伸部120的横截面呈T字型，使第一延伸部120上背离波纹管本体110的端部与机身200接触面积较大，从而使第一延伸部120与机身200的连接更牢固。又如，第二延伸部130的横截面呈T字型，使第二延伸部130上背离波纹管本体110的端部与惯性测量装置300的接触面积较大，从而使第二延伸部130与惯性测量装置300的连接更牢固。
在其中一个实施例中，所述波纹管本体110、所述第一延伸部120和所述第二延伸部130一体成型，使减振装置100的结构较紧凑。例如，所述波纹管本体110、所述第一延伸部120和所述第二延伸部130通过注塑成型，使减振装置100容易制造且成本较低。可以理解，在其他实施例中，所述波纹管本体110、所述第一延伸部120和所述第二延伸部130也可以各自成型，并通过胶接连接于一起。
在其中一个实施例中，所述减振装置100的材料为橡胶或泡沫或软胶或金属，使减振装置100的结构具有一定的柔性，可以更好地吸振。在本实施例中，所述减振装置100的材料为橡胶。在其他实施例中，所述减振装置100的材料还可以为泡沫或橡胶其他柔性材料。例如，当减振装置100的材料为金属时，减振装置100可以为弹簧结构。
例如，所述减振装置100包括波纹管本体110、第一延伸部120以及第二延伸部130。所述波纹管本体110、所述第一延伸部120和所述第二延伸部130一体成型，使减振装置100的结构较紧凑。所述减振装置100的材料为橡胶。所述第一延伸部120连接于所述波纹管本体110的端部，所述第一延伸部120用于连接所述机身200，即第一延伸部120上背离波纹管本体110的端部连接于机身200上。所述第二延伸部130连接于所述波纹管本体110上远离所述第一延伸部120的端部，所述第二延伸部130用于连接所述惯性测量装置300，即第二延伸部130上背离波纹管本体110的端部连接于惯性测量装置300上。由于第一延伸部120连接于波纹管本体110的端部，且第一延伸部120连接机身200，第二延伸部130连接于波纹管本体110上远离第一延伸部120的端部，第二延伸部130连接惯性测量装置300，使机身200和惯性测量装置300之间通过减振装置100连接于一起。
在其中一个实施例中，所述波纹管本体110的波纹形状呈锯齿形或波浪形或凸台形。在本实施例中，所述波纹管本体110的波纹形状呈锯齿形。例如，所述波纹管本体110的波纹形状呈三角形状或梯形状。例如，所述减振装置100包括波纹管本体110、第一延伸部120以及第二延伸部130。所述波纹管本体110、所述第一延伸部120和所述第二延伸部130一体成型，使减振装置100的结构较紧凑。所述减振装置100的材料为橡胶。所述波纹管本体110的波纹形状呈锯齿形。所述第一延伸部120连接于所述波纹管本体110的端部，所述第一延伸部120用于连接所述机身200，即第一延伸部120上背离波纹管本体110的端部连接于机身200上。所述第二延伸部130连接于所述波纹管本体110上远离所述第一延伸部120的端部，所述第二延伸部130用于连接所述惯性测量装置300，即第二延伸部130上背离波纹管本体110的端部连接于惯性测量装置300上。由于第一延伸部120连接于波纹管本体110的端部，且第一延伸部120连接机身200，第二延伸部130连接于波纹管本体110上远离第一延伸部120的端部，第二延伸部130连接惯性测量装置300，使机身200和惯性测量装置300之间通过减振装置100连接于一起。
在其中一个实施例中，所述波纹管本体110的横截面呈矩形状或椭圆形状或圆形状。在本实施例中，所述波纹管本体110的横截面呈圆形状。又如，所述波纹管本体的纵截面呈双曲线状或矩形状。例如，所述减振装置100包括波纹管本体110、第一延伸部120以及第二延伸部130。所述波纹管本体110、所述第一延伸部120和所述第二延伸部130一体成型，使减振装置100的结构较紧凑。所述减振装置100的材料为橡胶。所述波纹管本体110的波纹形状呈锯齿形，且所述波纹管本体110的横截面呈圆形状。所述第一延伸部120设置于所述波纹管本体110的端部，所述第一延伸部120用于连接所述机身200，即第一延伸部120上背离波纹管本体110的端部连接于机身200上。所述第二延伸部130设置于所述波纹管本体110上远离所述第一延伸部120的端部，所述第二延伸部130用于连接所述惯性测量装置300，即第二延伸部130上背离波纹管本体110的端部连接于惯性测量装置300上。由于第一延伸部120连接于波纹管本体110的端部，且第一延伸部120连接机身200，第二延伸部130设置于波 纹管本体110上远离第一延伸部120的端部，第二延伸部130连接惯性测量装置300，使机身200和惯性测量装置300之间通过减振装置100连接于一起。
例如，减振装置100还包括阻尼件，所述阻尼件分别填充于所述波纹管本体110、所述第一延伸部120和所述第二延伸部130的腔体内，使减振装置100具有更好的减振效果。又如，所述阻尼件胶接于所述腔体的内壁上。例如，阻尼件为弹性胶或弹簧。又如，所述阻尼件的材料为橡胶或泡沫等。例如，所述减振装置100包括波纹管本体110、第一延伸部120、第二延伸部130以及阻尼件。所述波纹管本体110、所述第一延伸部120和所述第二延伸部130一体成型，使减振装置100的结构较紧凑。所述阻尼件分别填充于所述波纹管本体110、所述第一延伸部120和所述第二延伸部130的腔体内。所述减振装置100的材料为橡胶。所述波纹管本体110的波纹形状呈锯齿形，且所述波纹管本体110的横截面呈圆形状。所述第一延伸部120设置于所述波纹管本体110的端部，所述第一延伸部120用于连接所述机身200，即第一延伸部120上背离波纹管本体110的端部连接于机身200上。所述第二延伸部130设置于所述波纹管本体110上远离所述第一延伸部120的端部，所述第二延伸部130用于连接所述惯性测量装置300，即第二延伸部130上背离波纹管本体110的端部连接于惯性测量装置300上。由于第一延伸部120连接于波纹管本体110的端部，且第一延伸部120连接机身200，第二延伸部130连接于波纹管本体110上远离第一延伸部120的端部，第二延伸部130连接惯性测量装置300，使机身200和惯性测量装置300之间通过减振装置100连接于一起。当无人机的机身200的振动传导至减振装置100上时，波纹管本体110吸收振动并发生收缩或伸长或折弯，使振动通过减振装置100传导至惯性测量装置300的频率较小，又由于阻尼件分别填充于波纹管本体110、第一延伸部120和第二延伸部130的腔体内，阻尼件具有吸收振动的效果，使减振装置100具有更好的减振效果。
如图1所示，本发明还提供一种包括机身200、惯性测量装置300和上述任一实施例所述的减振装置100的无人机10，所述第一延伸部120连接所述机身200，所述第二延伸部130连接所述惯性测量装置300。例如，无人机10包括机身200、惯性测量装置300和减振装置100。所述减振装置100包括波纹管本体 110、第一延伸部120以及第二延伸部130。所述第一延伸部120设置于所述波纹管本体110的端部，所述第一延伸部120连接所述机身200，即第一延伸部120上背离波纹管本体110的端部连接于机身200上。所述第二延伸部130设置于所述波纹管本体110上远离所述第一延伸部120的端部，所述第二延伸部130连接所述惯性测量装置300，即第二延伸部130上背离波纹管本体110的端部连接于惯性测量装置300上。由于第一延伸部120连接于波纹管本体110的端部，且第一延伸部120连接机身200，第二延伸部130连接于波纹管本体110上远离第一延伸部120的端部，第二延伸部130连接惯性测量装置300，使机身200和惯性测量装置300之间通过减振装置100连接于一起。
在其中一个实施例中，所述第一延伸部120焊接或胶接于所述机身200上，使第一延伸部120连接于机身200上。所述第二延伸部130焊接或胶接于所述惯性测量装置300上，使第二延伸部130连接于惯性测量装置300。在本实施例中，第一延伸部120胶接于机身200上，第二延伸部130胶接于惯性测量装置300上。又如，所述减振装置100的材料为橡胶，第一延伸部120、第二延伸部130和波纹管本体110一体成型，使减振装置100容易制造，成本较低。第一延伸部120胶接于机身200上，第二延伸部130胶接于惯性测量装置300上；由于减振装置100的材料为橡胶，使第一延伸部120较好地胶接于机身200上，第二延伸部130较好地胶接于惯性测量装置300上。
在其中一个实施例中，所述机身200包括相连接的机体(图未示)和电路板210，所述第一延伸部120连接于所述电路板210上，机体上产生的振动通过电路板210传递至第一延伸部120上，再由第一延伸部120传递至波纹管本体110上进行吸收，使振动通过波纹管本体110传递至第二延伸部130上较小，可以保证惯性测量装置300的测量精度。例如，机体与电路板210通过螺钉固定于一起，使机体与电路板210牢固连接。又如，电路板210焊接或胶接于机体上，使机体与电路板210牢固连接。如图3所示，例如，无人机还包括配重板320，第二延伸部130通过配重板320与惯性装置300连接，具体为第二延伸部130连接于配重板320上，惯性测量装置300设于配重板320上背离第二延伸部130的一侧，使惯性测量装置与第二延伸部连接。又如，配重板320平行于电路 板210，减振装置100位于配重板320与电路板210之间，且减振装置100分别与配重板320和电路板210连接，使电路板210上的振动需通过减振装置100才能传递至配重板320上，由于减振装置100能够吸收振动，使电路板210上的振动不易传递至配重板320上。
在其中一个实施例中，所述第一延伸部120与所述机身200之间的连接为一个或两个或多个第一特定点的连接，使第一延伸部120与机身200之间通过一个或两个或多个第一特定点进行固定约束。所述第二延伸部130与所述惯性测量装置300之间的连接为一个或两个或多个第二特定点的连接，使第二延伸部130与惯性测量装置300之间通过一个或两个或多个第二特定点进行固定约束。例如，所述第一延伸部120与所述机身200之间的连接为四个第一特定点的连接，所述第二延伸部130与所述惯性测量装置300之间的连接为四个第二特定点的连接。又如，四个第一特定点沿第一延伸部120的端部的周向间隔分布，使第一延伸部120与机身200之间的连接位置较为均匀。四个第二特定点沿第二延伸部130的端部的周向间隔分布，使第二延伸部130与机身200之间的连接位置较为均匀。
在其中一个实施例中，所述第一延伸部120的周缘连接于所述机身200上，使第一延伸部120与机身200之间牢固连接。所述第二延伸部130的周缘连接于所述惯性测量装置300上，使第二延伸部130与惯性测量装置300之间牢固连接。例如，第一延伸部120的周缘胶接于机身200上，使第一延伸部120的端部与机身200之间牢固连接。第二延伸部130的周缘胶接于惯性测量装置300上。所述周缘为圆周的边缘，即第一延伸部的圆周的边缘。
上述的无人机10及其减振装置100，第一延伸部120设置于波纹管本体110的端部，且第一延伸部120连接机身200，第二延伸部130设置于波纹管本体110上远离第一延伸部120的端部，第二延伸部130连接惯性测量装置300，使机身200和惯性测量装置300之间通过减振装置100连接于一起；由于波纹管本体用于吸收振动并发生变形，当无人机10的机身200的振动传导至减振装置100上时，波纹管本体110吸收振动并发生收缩或伸长或折弯，使振动通过减振装置100传导至惯性测量装置300的频率较小；上述的减振装置100大幅度的 增加了减振装置100在水平方向的尺寸，使得减振装置100的水平方向的尺寸大于竖直方向的尺寸，使得减振装置100的三个方向平动振型对应的固有频率基本一致，解决了减振装置100的三个方向平动振型对应的固有频率相差较大的问题；由于三个方向的振动通过减振装置100时能够同时实现有效地隔振，可以保证惯性测量装置300的测量精度，解决了惯性测量装置300的测量精度较差的问题；设计时，可通过改变波纹管本体110的尺寸、形状和壁厚等参数，以调整机身200的三个方向的平动振型对应的固有频率。
为了验证减振装置三个方向平动振型对应的固有频率基本一致，建立减振装置的有限元模型对减振装置进行有限元分析。经过有限元分析可知，如图4和图5所示，减振装置在两个水平方向平动振型的固有频率均为48.552Hz；如图6所示，在竖直方向平动振型的固有频率为50.053Hz，即上述的减振装置可以实现三个方向平动振型对应的固有频率的一致性。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。
Claims (11)
- 一种减振装置，用于连接无人机的机身和惯性测量装置，其特征在于，所述减振装置包括：波纹管本体，所述波纹管本体用于吸收振动并发生变形；第一延伸部，所述第一延伸部设置于所述波纹管本体的端部，所述第一延伸部用于连接所述机身；以及第二延伸部，所述第二延伸部设置于所述波纹管本体上远离所述第一延伸部的端部，所述第二延伸部用于连接所述惯性测量装置。
- 根据权利要求1所述的减振装置，其特征在于，所述波纹管本体、所述第一延伸部和所述第二延伸部一体成型。
- 根据权利要求1所述的减振装置，其特征在于，所述减振装置的材料为橡胶或泡沫或软胶或金属。
- 根据权利要求1所述的减振装置，其特征在于，还包括阻尼件，所述阻尼件分别填充于所述波纹管本体、所述第一延伸部和所述第二延伸部的腔体内。
- 根据权利要求1所述的减振装置，其特征在于，所述波纹管本体的波纹形状呈锯齿形或波浪形或凸台形。
- 根据权利要求1所述的减振装置，其特征在于，所述波纹管本体的横截面呈矩形状或椭圆形状；或，所述波纹管本体的纵截面呈双曲线状或矩形状。
- 一种无人机，其特征在于，包括机身、惯性测量装置和权利要求1至6中任一项所述的减振装置，所述第一延伸部连接所述机身，所述第二延伸部连接所述惯性测量装置。
- 根据权利要求7所述的无人机，其特征在于，还包括配重板，所述第二延伸部通过所述配重板与所述惯性装置连接。
- 根据权利要求7所述的无人机，其特征在于，所述机身包括相连接的机体和电路板，所述第一延伸部连接于所述电路板上。
- 根据权利要求7所述的无人机，其特征在于，所述第一延伸部与所述机身之间的连接为一个或两个或多个第一特定点的连接；或，所述第一延伸部的周缘连接于所述机身上。
- 根据权利要求7所述的无人机，其特征在于，所述第二延伸部与所述惯性测量装置之间的连接为一个或两个或多个第一特定点的连接；或，所述第二延伸部的周缘连接于所述惯性测量装置上。
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