WO2021203992A1 - 一种惯性测量模块及无人机 - Google Patents

一种惯性测量模块及无人机 Download PDF

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Publication number
WO2021203992A1
WO2021203992A1 PCT/CN2021/083349 CN2021083349W WO2021203992A1 WO 2021203992 A1 WO2021203992 A1 WO 2021203992A1 CN 2021083349 W CN2021083349 W CN 2021083349W WO 2021203992 A1 WO2021203992 A1 WO 2021203992A1
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WO
WIPO (PCT)
Prior art keywords
inertial measurement
hanger
circuit board
heat
groove
Prior art date
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PCT/CN2021/083349
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English (en)
French (fr)
Inventor
高焓
张添保
陈刚
Original Assignee
深圳市道通智能航空技术股份有限公司
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Application filed by 深圳市道通智能航空技术股份有限公司 filed Critical 深圳市道通智能航空技术股份有限公司
Publication of WO2021203992A1 publication Critical patent/WO2021203992A1/zh
Priority to US17/936,903 priority Critical patent/US20230228573A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C17/00—Aircraft stabilisation not otherwise provided for
    • B64C17/02—Aircraft stabilisation not otherwise provided for by gravity or inertia-actuated apparatus
    • B64C17/06—Aircraft stabilisation not otherwise provided for by gravity or inertia-actuated apparatus by gyroscopic apparatus
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • 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
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/83—Electronic components structurally integrated with aircraft elements, e.g. circuit boards carrying loads
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/166—Mechanical, construction or arrangement details of inertial navigation systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography

Definitions

  • the embodiment of the utility model relates to the technical field of unmanned aerial vehicles, in particular to an inertial measurement module and an unmanned aerial vehicle.
  • Inertial measurement components are used to detect the posture information of moving objects.
  • Inertial measurement components generally include an accelerometer and a gyroscope; among them, the accelerometer is used to detect the acceleration component of the object, and the gyroscope is used to detect the angle information of the object. Due to the function of measuring the three-axis attitude angle (or angular rate) and acceleration of an object, the inertial measurement unit is usually used as the core component of navigation and guidance, and is widely used in vehicles, ships, robots, and aircraft that require motion control.
  • the inventor of the present utility model found that: at present, in the inertial measurement assembly of the drone, the heat conducting material directly covers the surface of the thermal resistance and the inertial measurement body, and passes through the upper shell and the lower shell. Cooperate and clamp the heat-conducting material so that the heat generated by the thermal resistance can be transferred to the inertial measurement body, so that the inertial measurement body is at a normal operating temperature.
  • this assembly structure there is a squeeze between the thermally conductive material and the inertial measurement body.
  • the inertial measurement body is subject to stress changes due to temperature changes, which will cause inaccuracy and inaccuracy of flight control. Stability, it is more inconvenient to use.
  • the embodiments of the present invention provide an inertial measurement module and an unmanned aerial vehicle that are convenient to use.
  • An inertial measurement module including:
  • the circuit board is installed on a surface of the hanger
  • the inertial measurement component includes a thermal resistance and an inertial measurement unit, the thermal resistance and the inertial measurement unit are mounted on the circuit board at intervals;
  • the heat-conducting element is installed on the circuit board and is located on the same surface as the inertial measurement component.
  • the emitted heat is transferred to the inertial measurement unit;
  • a cover plate is provided with a first groove on one surface thereof, and the cover plate is detachably mounted on the hanger, so that the first groove and a surface of the hanger form a storage space, and the circuit Both the board and the heat-conducting element are accommodated in the storage space, and the heat-conducting element and the bottom of the first groove are arranged at a predetermined interval.
  • one end surface of the heat conducting member abuts against the thermal resistor, and a side surface adjacent to the end surface abuts against the side surface of the inertial measurement unit.
  • the hanger is provided with a second groove, and the circuit board is detachably installed in the second groove.
  • the inertial measurement module further includes an adhesive layer, both end surfaces of the adhesive layer are in contact with the hanger and one end surface of the circuit board respectively, and the adhesive layer is used to connect the The circuit board is bonded in the second groove.
  • the side wall of the second groove is provided with an opening, and the opening is used to connect the internal space of the second groove with the outside, and the connection line of the circuit board protrudes from the opening .
  • the inertial measurement module further includes a heat insulation frame installed between the hanger and the cover plate, so that the hanger and the cover plate are spaced apart.
  • the heat insulation frame is provided with positioning holes
  • the hanger is provided with positioning protrusions
  • the positioning holes are sleeved on the positioning protrusions so that the heat insulation frame is positioned and installed on the hanger .
  • the inertial measurement module further includes a screw
  • the cover plate is provided with a communicating hole
  • the positioning protrusion is provided with a threaded hole
  • the threaded end of the screw is connected to the threaded hole after passing through the communicating hole. Screw connection, so that the cover plate can be detachably installed on the hanger.
  • the number of the positioning hole, the positioning protrusion, the communication hole and the threaded hole are all four.
  • An unmanned aerial vehicle includes the above-mentioned inertial measurement module.
  • the inertial measurement module of the embodiment of the utility model includes a hanger, a circuit board, a heat conducting member and a cover plate.
  • the circuit board is installed on one end of the hanger and is used to install the inertial measurement component.
  • the thermal conductive element is installed on the circuit board and is located on the same surface as the inertial measurement component.
  • the inertial measurement component includes a thermal resistance and an inertial measurement unit. The thermal resistance and inertial measurement unit are installed on the circuit board at a preset installation position.
  • one surface of the cover plate is provided with a first groove, and the cover plate is detachably installed on the hanger to make The first groove and a surface of the hanger form a storage space.
  • the circuit board and the heat-conducting element are both contained in the storage space, and the heat-conducting element and the bottom of the first groove are arranged at a predetermined interval.
  • Fig. 1 is a schematic diagram of the structure of an inertial measurement module of one embodiment of the present invention
  • Figure 2 is an exploded view of the structure of Figure 1;
  • FIG. 3 is a schematic diagram of the structure of the cover plate in FIG. 2;
  • Figure 4 is a cross-sectional view of Figure 1 from another angle
  • Fig. 5 is another schematic diagram of the structure of Fig. 1.
  • the inertial measurement module 100 provided by one of the embodiments of the present invention includes a hanger 10, a circuit board 20, a heat conducting member 30, and a cover 40, and the circuit board is mounted on the hanger 10.
  • the circuit board is used to mount the inertial measurement component 50
  • the heat conducting member 30 is mounted on the circuit board 20 and is located on the same surface as the inertial measurement component 50.
  • the inertial measurement assembly 50 includes a thermal resistor 51 and an inertial measurement unit 52.
  • the thermal resistor 51 and the inertial measurement unit 52 are installed on the circuit board 20 at a preset installation position, and the heat conducting member 30 is used for It is in contact with the thermal resistor 51 and the inertial measurement unit 52 so that the heat emitted by the thermal resistor 51 is transferred to the inertial measurement unit 52.
  • the cover plate 40 is provided with a first groove 41 on one surface thereof, and the cover plate 40 is detachably installed on the hanger 10 so that the first groove 41 is connected to the hanger 10
  • a storage space is formed on one surface, the circuit board 20 and the heat conducting member 30 are both contained in the storage space, and the heat conducting member 30 and the bottom of the first groove 41 are arranged at a predetermined distance .
  • the thermal conductive member 30 is made of a material with a high thermal conductivity, which may be metal, plastic, or thermal conductive glue. In this embodiment, the thermal conductive member 30 is thermal conductive glue. Wherein, the thermally conductive member 30 can be arranged on the circuit board 20 in two ways. One is that the thermally conductive member 30 directly covers the thermal resistor 51 and the upper surface of the inertial measurement unit 52, which is The thermal resistor 51 and the inertial measurement unit 52 are away from the surface of the circuit board 20; the second is that one end surface of the heat conducting member 30 is in contact with the thermal resistor 51 and a side surface adjacent to the end surface Abuts against the side surface of the inertial measurement unit 52.
  • the heat conducting member 30 is mounted on the circuit board in the second arrangement.
  • the hanger 10 is provided with a second groove 11, and the circuit board 20 is detachably installed in the second groove 11. It is understandable that the outer dimension of the second groove 11 is slightly larger than the outer dimension of the circuit board 20, and the depth of the second groove 11 is greater than the thickness of the circuit board 20 to facilitate the circuit The board 20 can be received in the second groove 11.
  • the inertial measurement module 100 further includes an adhesive layer (not shown), and two end surfaces of the adhesive layer respectively abut against one end surface of the hanger 10 and the circuit board 20, The bonding layer is used to bond the circuit board 20 to the second groove 11.
  • the circuit board 20 may also be fixedly installed in the second groove 11 in other ways, for example, through a threaded connection, or through a snap connection.
  • the side wall of the second groove 11 is provided with an opening 111, and the opening 111 is used to connect the internal space of the second groove 11 with the outside, so that the circuit board 20 can communicate with the outside.
  • the connection lines of the sprocket protrude from the opening 111.
  • the inertial measurement module 100 further includes a heat insulation frame 60 installed between the hanger 10 and the cover 40 to The hanger 10 and the cover 40 are spaced apart. Specifically, when in use, the heat-insulating frame 60 surrounds the circuit board 20, and at the same time, the heat-insulating frame 60 prevents the hanger 10 from directly contacting the cover 40, increasing the The difficulty of the inertial measurement component 50 transferring heat to the outside, thereby reducing or isolating the inertial measurement component 50 on the circuit board 20 from dissipating heat to the outside, greatly reducing the warm-up preparation time of the inertial measurement component 50 before the drone takes off .
  • the heat insulation frame 60 is provided with positioning holes 61
  • the hanger 10 is provided with positioning protrusions 12
  • the positioning holes 61 are sleeved on the positioning protrusions 12 so that the insulation
  • the thermal frame 60 is positioned and installed on the hanger 10.
  • the number of the positioning holes 61 and the positioning protrusions 12 are both four. It is understandable that through the coordinated use of the positioning holes 61 and the positioning protrusions 12, the installation efficiency of the heat insulation frame 60 and the hanger 10 can be improved.
  • the inertial measurement module 100 further includes a screw 70, the cover plate 40 is provided with a communicating hole 42, the positioning protrusion 12 is provided with a threaded hole (not labeled), and the threaded end of the screw 70 After passing through the communicating hole 42, it is threadedly connected with the threaded hole, so that the cover plate 40 is detachably installed on the hanger 10, and the heat insulation frame 60 abuts against the cover plate 40.
  • the number of the communicating holes 42 and the threaded holes are both four.
  • the inertial measurement module 100 of the embodiment of the present invention includes a hanger 10, a circuit board 20, a heat-conducting member 30, and a cover 40.
  • the circuit board 20 is installed on one end of the hanger 10 and is used to install the inertial
  • the measuring component 50, the heat conducting element 51 is mounted on the circuit board 20 and is located on the same surface as the inertial measurement component 50, wherein the inertial measurement component 50 includes the thermal resistor 51 and the inertial measurement unit 52.
  • the thermal resistor 51 and the inertial measurement unit 52 are installed on the circuit board 20 at a preset installation position, and the heat conducting member 30 is used to abut the thermal resistor 51 and the inertial measurement unit 52 , So that the heat emitted by the thermal resistor 51 is transferred to the inertial measurement unit 52, a first groove 41 is provided on one surface of the cover plate 40, and the cover plate 40 is detachably mounted on the
  • the hanger 10 is such that the first groove 41 and a surface of the hanger 10 form a storage space, the circuit board 20 and the heat conducting element 30 are both contained in the storage space, and the heat conducting element 30 It is arranged at a predetermined distance from the bottom of the first groove 41.
  • An unmanned aerial vehicle provided by another embodiment of the present invention includes the inertial measurement module 100 of the above-mentioned embodiment.

Abstract

一种惯性测量模块（100），包括挂架（10）、电路板（20）、导热件（30）以及安装于挂架（10）上的盖板（40），电路板（20）安装于挂架（10）的一端面，并用于安装惯性测量组件（50）以及导热件（30），其中，惯性测量组件（50）包括热电阻（51）以及惯性测量单元（52），导热件（30）用于与热电阻（51）以及惯性测量单元（52）相抵接，以使热电阻所散发的热量传递至惯性测量单元（52），盖板（40）的一表面设有第一凹槽（41），且第一凹槽（41）与挂架（10）的一表面形成收纳空间，电路板（20）以及导热件（30）均收容于收纳空间内，且导热件（30）与第一凹槽（41）的槽底之间以预设间距设置。由此，盖板（40）与导热件（30）两者之间并未接触，导热件（30）将与惯性测量单元（52）之间不相互挤压，降低或防止惯性测量单元（52）受到由于温度变化引起的应力变化，提高了飞行控制的准确性以及稳定性，使用起来更为方便。

Description

一种惯性测量模块及无人机
本申请要求于2020年4月8日提交中国专利局、申请号为2020205083745、申请名称为“一种惯性测量模块及无人机”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。
【技术领域】
本实用新型实施例涉及无人机技术领域，尤其是涉及一种惯性测量模块及无人机。
【背景技术】
惯性测量组件用于检测运动物体的姿态信息。惯性测量组件一般包括加速度计和陀螺；其中，加速度计用于检测物体的加速度分量，陀螺用于检测物体的角度信息。由于具有测量物体三轴姿态角(或角速率)以及加速度的功能，惯性测量单元通常作为导航和制导的核心部件，并且广泛地应用于车辆、轮船、机器人以及飞行器等需要运动控制的设备中。
本实用新型的发明人在实施本实用新型的过程中，发现：目前，无人机的惯性测量组件，其导热材料直接覆盖于热电阻以及惯性测量本体两者表面，并通过上壳与下壳配合夹紧导热材料，以使热电阻所产生的热量可传递至惯性测量本体，使得惯性测量本体处于正常工作温度。然而在此装配结构中，导热材料与惯性测量本体两者之间存在挤压，当无人机飞行过程中，惯性测量本体受到由于温度变化引起的应力变化将引起飞行控制的不准确性与不稳定性，使用起来较为不便。
【实用新型内容】
为了解决上述技术问题，本实用新型实施例提供了一种使用方便的惯性测量模块及无人机。
本实用新型实施例解决其技术问题采用以下技术方案：
一种惯性测量模块，包括：
挂架；
电路板，安装于所述挂架的一表面；
惯性测量组件,包括热电阻以及惯性测量单元，所述热电阻以及所述惯性测量单元间隔安装于所述电路板上；
导热件，安装于所述电路板，并与所述惯性测量组件位于同一表面,其中，所述导热件用于与所述热电阻以及所述惯性测量单元相抵接，以使所述热电阻所散发的热量传递至所述惯性测量单元；
盖板，其一表面设有第一凹槽，所述盖板可拆卸地安装于所述挂架，以使所述第一凹槽与所述挂架的一表面形成收纳空间，所述电路板以及所述导热件均收容于所述收纳空间内，且所述导热件与所述第一凹槽的槽底之间以预设间距设置。
可选的，所述导热件的一端面与所述热电阻相抵接，且与该端面相邻的一侧面与所述惯性测量单元的侧面相抵接。
可选的，所述挂架设有第二凹槽，所述电路板可拆卸地安装于所述第二凹槽内。
可选的，所述惯性测量模块还包粘结层，所述粘结层的两端面分别与所述挂架以及所述电路板的一端面相抵接，所述粘结层用于将所述电路板粘结于所述第二凹槽内。
可选的，所述第二凹槽的侧壁设有开口，所述开口用于使所述第二凹槽的内部空间与外界相连通，所述电路板的连接线路从所述开口伸出。
可选的，所述惯性测量模块还包括隔热框，所述隔热框安装于所述挂架以及所述盖板之间，以使所述挂架与所述盖板间隔设置。
可选的，所述隔热框设有定位孔，所述挂架设有定位凸起，所述定位孔套设于所述定位凸起，以使所述隔热框定位安装于所述挂架。
可选的，所述惯性测量模块还包括螺钉，所述盖板设有连通孔，所述定位凸起设有螺纹孔，所述螺钉的螺纹端穿过所述连通孔后与所述螺纹孔螺纹连接，以使所述盖板可拆卸地安装于所述挂架。
可选的，所述定位孔、定位凸起、所述连通孔以及所述螺纹孔的数量均为四个。
本实用新型实施例解决其技术问题还采用以下技术方案：
一种无人机，包括上述所述的惯性测量模块。
本实用新型实施例的有益效果是：本实用新型实施例的惯性测量模块，包括挂架、电路板、导热件以及盖板，电路板安装于挂架的一端面，并用于安装惯性测量组件，导热件安装于电路板上，并与惯性测量组件位于同一表面，其中，惯性测量组件包括热电阻以及惯性测量单元，热电阻以及惯性测量单元以预设安装位置安装于电路板上，导热件用于与热电阻以及惯性测量单元相抵接，以使热电阻所散发的热量传递至惯性测量单元，盖板的一表面设有第一凹槽，且盖板可拆卸地安装于挂架，以使第一凹槽与挂架的一表面形成收纳空间，电路板以及导热件均收容于收纳空间内，且导热件与第一凹槽的槽底之间以预设间距设置。由此，盖板与导热件两者之间并未接触，导热件与惯性测量单元之间不相互挤压，降低或防止惯性测量单元受到由于温度变化引起的应力变化，提高了飞行控制的准确性以及稳定性，使用起来更为方便。
【附图说明】
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1是本实用新型其中一个实施例的惯性测量模块的结构示意图；
图2是图1的结构分解图；
图3是图2中盖板的结构示意图；
图4是图1的另一角度的剖视图；
图5是图1的另一结构示意图。
【具体实施方式】
为了便于理解本实用新型，下面结合附图和具体实施例，对本实用新型进行更详细的说明。需要说明的是，当元件被表述“固定于”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“上”、“下”、“内”、“外”、“垂直的”、“水平的”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本实用新型和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本实用新型的限制。此外，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性。
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本实用新型的技术领域的技术人员通常理解的含义相同。在本实用新型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，不是用于限制本实用新型。本说明书所使用的术语“和/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。
此外，下面所描述的本实用新型不同实施例中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
如图1-3所示，本实用新型其中一个实施例提供的惯性测量模块100，包括挂架10、电路板20、导热件30以及盖板40，所述电路板安装于所述挂架10的一表面，并且所述电路板用于安装惯性测量组件50，所述导热件30安装于所述电路板20，并与所述惯性测量组件50位于同一表面。其中，所述惯性测量组件50包括热电阻51以及惯性测量单元52，所述热电阻51以及所述惯性测量单元52以预设安装位置安装于所述电路板20，所述导热件30用于与所述热电阻51以及所述惯性测量单元52相抵接，以使所述热电阻51所散 发的热量传递至所述惯性测量单元52。而所述盖板40，其一表面设有第一凹槽41，所述盖板40可拆卸地安装于所述挂架10，以使所述第一凹槽41与所述挂架10的一表面形成收纳空间，所述电路板20以及所述导热件30均收容于所述收纳空间内，且所述导热件30与所述第一凹槽41的槽底之间以预设间距设置。由此，所述盖板40与导热件30两者之间并未接触，所述导热件30与所述惯性测量单元52之间不相互挤压，降低或防止所述惯性测量单元52受到由于温度变化引起的应力变化，提高了飞行控制的准确性以及稳定性，使用起来更为方便。
对于所述导热件30，其由导热系数较高的材质制成，可以是金属，也可以是塑胶，还可以是导热胶，在本实施例中，所述导热件30为导热胶。其中，所述导热件30在所述电路板20上有两种布置方式，其一是所述导热件30直接覆盖在所述热电阻51以及所述惯性测量单元52的上表面，该表面为所述热电阻51以及所述惯性测量单元52远离所述电路板20的表面；其二是所述导热件30的一端面与所述热电阻51相抵接，且与该端面相邻的一侧面与所述惯性测量单元52的侧面相抵接，此时所述惯性测量单元52远离所述电路板20的一表面不与所述导热件30接触，即所述导热件30在实现传导热量的同时，避开了所述惯性测量单元52的安装位置。在本实施例中，所述导热件30采用第二种的布置方式安装于电路板上。
在一些实施例中，所述挂架10设有第二凹槽11，所述电路板20可拆卸地安装于所述第二凹槽11内。可理解的，所述第二凹槽11的外形尺寸略大于所述电路板20的外形尺寸，且所述第二凹槽11的深度要大于所述电路板20的厚度，以便于所述电路板20可收纳于所述第二凹槽11内。
在一些实施例中，所述惯性测量模块100还包括粘结层(图未示)，所述粘结层的两端面分别与所述挂架10以及所述电路板20的一端面相抵接，所述粘结层用于将所述电路板20粘结与所述第二凹槽11内。当然，所述电路板20也可以通过其它方式固定安装于所述第二凹槽11内，例如通过螺纹连接固定，也可以通过卡扣连接固定。
在一些实施例中，所述第二凹槽11的侧壁设有开口111，所述开口111用于使所述第二凹槽11的内部空间与外界相连通，以使所述电路板20的连 接线路从所述开口111伸出。
请参阅图4与图5，在一些实施例中，所述惯性测量模块100还包括隔热框60，所述隔热框60安装于所述挂架10以及所述盖板40之间，以使所述挂架10与所述盖板40间隔设置。具体的，在使用时，所述隔热框60围着所述电路板20，同时，所述隔热框60避免了所述挂架10与所述盖板40直接接触，增大了所述惯性测量组件50向外界传递热量的难度，从而减少或隔断所述电路板20上的所述惯性测量组件50向外界散发热量，大幅度降低无人机起飞前惯性测量组件50的预热准备时间。
在一些实施例中，所述隔热框60设有定位孔61，所述挂架10设有定位凸起12，所述定位孔61套设于所述定位凸起12，以使所述隔热框60定位安装于所述挂架10。在本实施例中，所述定位孔61与所述定位凸起12的数量均为四个。可理解的，通过所述定位孔61以及所述定位凸起12的配合使用，可以提高所述隔热框60与所述挂架10的安装效率。
在一些实施例中，所述惯性测量模块100还包括螺钉70，所述盖板40设有连通孔42，所述定位凸起12设有螺纹孔(未标示)，所述螺钉70的螺纹端穿过所述连通孔42后与所述螺纹孔螺纹连接，以使所述盖板40可拆卸地安装于所述挂架10，并且所述隔热框60与所述盖板40相抵接。在本实施例中，所述连通孔42以及所述螺纹孔的数量均为四个。
本实用新型实施例的惯性测量模块100，包括挂架10、电路板20、导热件30以及盖板40，所述电路板20安装于所述挂架10的一端面，并用于安装所述惯性测量组件50，所述导热件51安装于所述电路板20上，并与所述惯性测量组件50位于同一表面，其中，所述惯性测量组件50包括所述热电阻51以及所述惯性测量单元52，所述热电阻51以及所述惯性测量单元52以预设安装位置安装于所述电路板20上，所述导热件30用于与所述热电阻51以及所述惯性测量单元52相抵接，以使所述热电阻51所散发的热量传递至所述惯性测量单元52，所述盖板40的一表面设有第一凹槽41，且所述盖板40可拆卸地安装于所述挂架10，以使所述第一凹槽41与所述挂架10的一表面形成收纳空间，所述电路板20以及所述导热件30均收容于收纳空间内，且所述导热件30与所述第一凹槽41的槽底之间以预设间距设置。由此，所述 盖板40与所述导热件30两者之间并未接触，所述导热件30与所述惯性测量单元52之间不相互挤压，降低或防止所述惯性测量单元52受到由于温度变化引起的应力变化，提高了飞行控制的准确性以及稳定性，使用起来更为方便。
本实用新型另一实施例提供的无人机，包括上述实施例的惯性测量模块100。
以上所述仅为本实用新型的实施方式，并非因此限制本实用新型的专利范围，凡是利用本实用新型说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本实用新型的专利保护范围内。

Claims (10)

  1. 一种惯性测量模块，其特征在于，包括：
    挂架；
    电路板，安装于所述挂架的一表面；
    惯性测量组件,包括热电阻以及惯性测量单元，所述热电阻以及所述惯性测量单元间隔安装于所述电路板上；
    导热件，安装于所述电路板，并与所述惯性测量组件位于同一表面,其中，所述导热件用于与所述热电阻以及所述惯性测量单元相抵接，以使所述热电阻所散发的热量传递至所述惯性测量单元；
    盖板，其一表面设有第一凹槽，所述盖板可拆卸地安装于所述挂架，以使所述第一凹槽与所述挂架的一表面形成收纳空间，所述电路板以及所述导热件均收容于所述收纳空间内，且所述导热件与所述第一凹槽的槽底之间以预设间距设置。
  2. 根据权利要求1所述的惯性测量模块，其特征在于，所述导热件的一端面与所述热电阻相抵接，且与该端面相邻的一侧面与所述惯性测量单元的侧面相抵接。
  3. 根据权利要求1所述的惯性测量模块，其特征在于，所述挂架设有第二凹槽，所述电路板可拆卸地安装于所述第二凹槽内。
  4. 根据权利要求3所述的惯性测量模块，其特征在于，还包粘结层，所述粘结层的两端面分别与所述挂架以及所述电路板的一端面相抵接，所述粘结层用于将所述电路板粘结于所述第二凹槽内。
  5. 根据权利要求4所述的惯性测量模块，其特征在于，所述第二凹槽的侧壁设有开口，所述开口用于使所述第二凹槽的内部空间与外界相连通，所述电路板的连接线路从所述开口伸出。
  6. 根据权利要求1-5任意一项所述的惯性测量模块，其特征在于，还包括隔热框，所述隔热框安装于所述挂架以及所述盖板之间，以使所述挂架与所述盖板间隔设置。
  7. 根据权利要求6所述的惯性测量模块，其特征在于，所述隔热框设有定位孔，所述挂架设有定位凸起，所述定位孔套设于所述定位凸起，以使所述隔热框定位安装于所述挂架。
  8. 根据权利要求7所述的惯性测量模块，其特征在于，还包括螺钉，所述盖板设有连通孔，所述定位凸起设有螺纹孔，所述螺钉的螺纹端穿过所述连通孔后与所述螺纹孔螺纹连接，以使所述盖板可拆卸地安装于所述挂架。
  9. 根据权利要求8所述的惯性测量模块，其特征在于，所述定位孔、定位凸起、所述连通孔以及所述螺纹孔的数量均为四个。
  10. 一种无人机，其特征在于，包括权利要求1-9任意一项所述的惯性测量模块。
PCT/CN2021/083349 2020-04-08 2021-03-26 一种惯性测量模块及无人机 WO2021203992A1 (zh)

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