Inertial sensor damping structure suitable for large overload environment

Abstract

The invention relates to the technical field of inertial sensors, and relates to an inertial sensor damping structure suitable for a large overload environment. The device comprises an upper supporting seat, a lower supporting seat, a fixed upper cover and a fixed lower cover, the fixed upper cover and the fixed lower cover are combined to form a bearing assembly for accommodating the inertial sensor, and the inertial sensor is packaged on the inner side of the bearing assembly; the fixed upper cover and the fixed lower cover are fixedly connected through a fastener; the upper supporting seat and the lower supporting seat are combined to form a cage type protection structure which is used for covering the bearing assembly to form a constraint area, and the bearing assembly moves in the constraint area; the bearing assembly is connected with the cage type protection structure through a plurality of energy absorption pieces. The bearing assembly body and the cage type protection structure are kept suspended; through special design, the inertial measurement unit is constrained in a limited activity area, and good physical constraint is achieved during large overload. Compared with the prior art, the damping device has the advantages of being wide in shock absorption breadth, high in overload resistance and capable of achieving hardware limiting, and can flexibly and efficiently act on inertial sensor damping of equipment such as unmanned aerial vehicles, unmanned ships and unmanned vehicles.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of inertial sensor, in particular to a shock absorption structure of inertial sensor suitable for large overload environment. BACKGROUND

[0002] Inertial sensor (IMU) is widely used in unmanned aerial vehicle, it is a core sensor, integrated with multiple elements, mainly used to measure the angular velocity and linear acceleration of the object, and then calculate the attitude (pitch, roll, yaw), speed and position of the object through algorithm; A typical IMU usually contains a gyroscope and an accelerometer; the gyroscope is used to measure the rotational angular velocity of the object around its X, Y and Z axes, and the angle change can be calculated by integrating the angular velocity, so as to know the current attitude of the unmanned aerial vehicle; the accelerometer includes a movable mass inside. When the sensor accelerates, the mass will be displaced by the inertial force, and the linear acceleration can be calculated by measuring the displacement; when the unmanned aerial vehicle is stationary or moving at a constant speed, the acceleration measured by the accelerometer is the gravity vector. By analyzing this vector, the pitch and roll angles of the unmanned aerial vehicle relative to the horizontal plane can be calculated.

[0003] When the unmanned aerial vehicle is flying, especially the multi-rotor unmanned aerial vehicle, a large amount of high-frequency vibration will be generated. These vibrations mainly come from: Unbalance of motor, slight deformation or unbalance of propeller, aerodynamic disturbance; these vibrations will be transmitted to the flight control and IMU through the frame, which will affect the readings of the IMU, so it is necessary to design a shock absorption module for the inertial sensor (IMU). The common shock absorption methods include mechanical shock absorption and software filtering; however, with the rapid development of unmanned aerial vehicles, controllers are emerging, and manufacturers often do not consider the impact of large overload on inertial sensors when designing controllers, which causes structural failure of the inertial sensor in large overload environment (10-100G), resulting in inaccurate measurement data, and thus causing the unmanned aerial vehicle to crash, causing high property loss and personnel loss.

[0004] Therefore, how to design a shock absorption structure suitable for the inertial sensor of unmanned aerial vehicle in large overload environment has become a technical problem to be solved. SUMMARY

[0005] The present application aims at the problems in the background art, and provides a shock absorption structure of inertial sensor suitable for large overload environment.

[0006] The technical scheme of the present application, the first aspect of the present application provides a shock absorption structure of inertial sensor suitable for large overload environment, which comprises an upper support seat, a lower support seat, a fixed upper cover and a fixed lower cover. The fixed upper cover and the fixed lower cover are combined to form a bearing assembly containing the inertial sensor, the inertial sensor is packaged inside the bearing assembly; the fixed upper cover and the fixed lower cover are fixedly connected by fasteners; The upper support seat and the lower support seat are combined to form a cage protection structure for covering the bearing assembly, forming a constraint area in the upper, lower, left and right directions of the bearing assembly, so that the movement range of the bearing assembly is limited within the constraint area; the bearing assembly is connected with the cage protection structure through a plurality of energy-absorbing members; the bearing assembly body is suspended and does not directly contact the cage protection structure.

[0007] Preferably, the four corners of the upper support seat are provided with first connecting feet extending outwardly; A connecting head is mounted on the first connecting foot, and a plurality of positioning holes are arranged on each connecting head; A plurality of circular or elliptical first holes are formed in the surface of the upper support seat.

[0008] Preferably, the four corners of the lower support seat are provided with second connecting feet extending outwardly; a plurality of tubular connecting members are reserved in the second connecting feet; the fasteners pass through the positioning holes and are threadedly connected with the tubular connecting members to connect and fasten the upper support seat and the lower support seat; A plurality of circular or elliptical second holes are formed in the lower support seat.

[0009] Preferably, the inner side of the first connecting foot is a bevel, and a fourth positioning groove for cooperating with the energy-absorbing member is arranged at the bevel; A first positioning groove for cooperating with the energy-absorbing member is arranged at the corresponding position of the second connecting foot.

[0010] Preferably, the fixed upper cover is an octahedral structure, and the upper surface thereof is a closed octagonal plane; Four of the eight surfaces are provided with second positioning grooves for cooperating with the energy-absorbing member; the other four surfaces are provided with counterbores for reserving fastener connection; The second positioning grooves and the counterbores are arranged alternately.

[0011] Preferably, the fixed lower cover is an octahedral structure, and the lower surface thereof is an open octagonal hollow part; Four of the eight surfaces are provided with third positioning grooves for cooperating with the energy-absorbing member; the other four surfaces are provided with positioning columns for reserving fastener connection; the fasteners are threadedly connected with the positioning columns after passing through the counterbores to fix the fixed upper cover and the fixed lower cover; The third positioning grooves and the positioning columns are arranged alternately. The fixed lower cover is reserved with a mounting part and a limiting part for mounting the inertial sensor.

[0012] Preferably, the energy-absorbing member includes an upper energy-absorbing sponge and a lower energy-absorbing sponge; Several upper energy-absorbing sponges are set, and the two ends of each upper energy-absorbing sponge are respectively aligned and installed with the fourth positioning groove and the second positioning groove; Several lower energy-absorbing sponges are provided, and the two ends of each lower energy-absorbing sponge are respectively aligned and installed with the first positioning groove and the third positioning groove.

[0013] A second aspect of the present invention provides a drone suitable for high overload environments, equipped with the aforementioned inertial sensor, including a controller integrating the inertial sensor; The controller is mounted on the top mounting surface of the drone and is used in high-overload environments.

[0014] Preferably, the gravitational acceleration range in a high overload environment is 10-100G.

[0015] Preferably, the controller includes a protective shell and a heat-conducting plate located at the bottom for support; one end of the heat-conducting plate is provided with an air inlet, and one end of the protective shell is reserved with a slot to cooperate with the air inlet; Several connectors are reserved at the other end of the protective shell. The signal line passes through the protective shell and goes deep into the controller to connect electrically with the internal equipment. The inertial sensor is fixed on the heat-conducting plate, and at least two sets of fans for heat dissipation are reserved at its installation position; the controller is also equipped with several connectors for fixing to the drone.

[0016] Compared with the prior art, the present invention has the following beneficial technical effects: This invention employs a cage-like structure, providing all-around coverage. When the inertial measurement unit (IMU) is subjected to a sudden large overload and deforms, the physical structure confines the IMU within its bounded space, preventing further deformation. As the inertial force weakens, the elastic force of the energy-absorbing sponge restores it to its original position. This design confines the IMU to a limited area of ​​movement, providing excellent physical constraint under large overload conditions. Compared to existing technologies, this invention features a wide shock absorption amplitude, strong overload resistance, and hardware limiting capabilities, enabling flexible and efficient vibration damping for inertial sensors in devices such as drones, unmanned surface vessels, and autonomous vehicles. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the inertial sensor vibration damping structure in an embodiment of the present invention; Figure 2 This is a schematic diagram of the internal structure of the inertial sensor vibration damping structure in an embodiment of the present invention; Figure 3 This is a schematic diagram of the fixed upper and lower cover combination state of the inertial sensor shock absorption structure in an embodiment of the present invention; Figure 4This is a structural diagram of the upper and lower covers in a separated state according to an embodiment of the present invention; Figure 5 A schematic diagram of a drone equipped with this inertial sensor vibration reduction structure; Figure 6 A schematic diagram of the controller that houses the vibration damping structure of this inertial sensor; Figure 7 This is a schematic diagram of the internal structure of the controller.

[0018] Reference numerals: 1. Upper support base; 11. First connecting foot; 12. Connector; 13. Positioning hole; 14. First opening; 2. Lower support base; 21. Second connecting foot; 22. First positioning groove; 23. Second opening; 3. Fixed upper cover; 31. Second positioning groove; 32. Countersunk hole; 4. Fixed lower cover; 41. Hollowed-out part; 42. Third positioning groove; 5. Upper energy-absorbing sponge; 6. Lower energy-absorbing sponge; 7. Controller; 71. Air inlet; 72. Connector; 73. Plug; 74. Protective shell; 75. Heat-conducting plate; 76. Fan; 8. UAV. Detailed Implementation Example 1

[0019] like Figure 1 As shown in the figure, the inertial sensor vibration damping structure suitable for high overload environments proposed in this embodiment includes an upper support base 1, a lower support base 2, a fixed upper cover 3, and a fixed lower cover 4. The fixed upper cover 3 and the fixed lower cover 4 are combined to form a support assembly for accommodating the inertial sensor, and the inertial sensor is encapsulated inside the support assembly; the fixed upper cover 3 and the fixed lower cover 4 are fixedly connected by fasteners; The upper support 1 and the lower support 2 are combined to form a cage-like protective structure, which is used to cover the load-bearing component and form a constraint area in the four directions of the load-bearing component, so that the range of motion of the load-bearing component is limited to the constraint area; the load-bearing component is connected to the cage-like protective structure through several energy-absorbing components; the load-bearing component body and the cage-like protective structure remain suspended and do not directly contact each other.

[0020] In the embodiment, first, the inertial sensor as a whole is installed in the bearing assembly formed by the combination of the fixed upper cover 3 and the fixed lower cover 4, and the inertial sensor is protected; then the upper support seat 1 and the lower support seat 2 are combined to form a cage structure, and a plurality of energy-absorbing members are used to connect the bearing assembly; the energy-absorbing members themselves play the role of support and support, so that the bearing assembly remains in a suspended state of mutual non-direct contact with respect to the external cage structure; the use of energy-absorbing members can also block the mechanical vibration generated by the operation of the unmanned aerial vehicle 8 from being further transmitted to the bearing assembly; the cage structure can also maintain the attitude of the inertial sensor under heavy overload, so that it does not deviate from the original constraint position, thereby ensuring that no structural failure occurs; when the inertial sensor is subjected to a large instantaneous overload, the energy-absorbing members will elastically deform, and due to the physical structure limitation, the inertial sensor will be constrained in the bound space formed by the cage structure, so that it cannot continue to deform; when the inertial force weakens, the elastic force of the energy-absorbing sponge will make it return to the original position, protecting the inertial sensor.

[0021] As shown in Figure 2 In the embodiment, the four corners of the upper support seat 1 are provided with first connecting feet 11 extending outward; the first connecting feet 11 are provided with connecting heads 12, and each connecting head 12 is provided with a plurality of positioning holes 13; a plurality of circular or elliptical first openings 14 are formed on the surface of the upper support seat 1. The four corners of the lower support seat 2 are provided with second connecting feet 21 extending outward; a plurality of tubular connecting members are reserved in the second connecting feet 21; fasteners pass through the positioning holes 13 and are threadedly connected with the tubular connecting members to connect and fasten the upper support seat 1 and the lower support seat 2; a plurality of circular or elliptical second openings 23 are formed on the lower support seat 2. The design of the protruding first connecting feet 11 and the second connecting feet 21 of the upper support seat 1 and the lower support seat 2 allows the space between the upper support seat and the lower support seat to accommodate the bearing assembly; after the upper support seat and the lower support seat are connected by the fasteners, a hard cage-like exoskeleton is formed to play a protective role; the design of the first openings 14 and the second openings 23 on the upper support seat and the lower support seat can reduce the weight of the cage structure while not affecting the flow of gas, so as to facilitate air blowing and heat dissipation.

[0022] In the embodiment, the inner side of the first connecting feet 11 is a slope, and a fourth positioning groove is arranged at the slope for cooperating with the energy-absorbing member; a first positioning groove 22 is arranged at the corresponding position of the second connecting feet 21 for cooperating with the energy-absorbing member.

[0023] As shown in Figure 2 The fixed upper cover 3 is an octahedral structure as a whole, and the upper surface thereof is a closed planar octagon; four of the eight surfaces are provided with second positioning grooves 31 for cooperating with the energy-absorbing member; the other four surfaces are provided with counterbores 32 for reserving fastener connection; the second positioning grooves 31 and the counterbores 32 are arranged alternately. Figure 4As shown, the fixed lower cover 4 is an octahedral structure as a whole, and its lower surface is an open octagonal hollow part 41; four of the eight sides are provided with third positioning grooves 42 for cooperating with the energy-absorbing members; the other four sides are provided with positioning columns for reserving fastener connection; the fastener is connected with the positioning column through the counterbore 32, thereby fixing the fixed upper cover 3 and the fixed lower cover 4; the third positioning grooves 42 are staggered with the positioning columns; the fixed lower cover 4 reserves an installation part and a limiting part for installing the inertial sensor. The hollow part 41 of the fixed lower cover 4 corresponds to the second opening 23, and the heat generated by the operation of the inertial sensor can be transferred to the entire housing of the bearing assembly, i.e. the fixed upper cover 3 and the fixed lower cover 4; the design of the hollow part 41 can facilitate the flow of gas for heat dissipation; when the gas flows, the airflow speed inside the bearing assembly housing is accelerated to improve the heat dissipation efficiency; at the same time, the inertial sensor is installed facing away from the hollow part 41, thereby reducing the influence of the airflow on the measurement accuracy of the inertial sensor.

[0024] As shown in the drawings, Figure 2 In this embodiment, the energy-absorbing members include upper energy-absorbing sponges 5 and lower energy-absorbing sponges 6; the upper energy-absorbing sponges 5 are provided in plurality, and the two ends of each upper energy-absorbing sponge 5 are respectively installed in position with the fourth positioning groove and the second positioning groove 31; the lower energy-absorbing sponges 6 are provided in plurality, and the two ends of each lower energy-absorbing sponge 6 are respectively installed in position with the first positioning groove 22 and the third positioning groove 42. The first to fourth positioning grooves are evenly distributed at the specified positions by 4 equal parts of 360 degrees, so that the entire inertial sensor is centrally symmetrically distributed, and the center of gravity coincides with the center of mass; the energy-absorbing sponges are selected according to the weight of the bearing assembly to ensure that the elastic coefficient meets the actual needs; that is, in the normal state, the energy-absorbing sponges support the bearing assembly, so that it does not directly contact the cage structure, and at the same time, the vibration transmitted during the operation of the unmanned aerial vehicle is blocked; in the large overload environment, the energy-absorbing sponges are elastically deformed to play a buffering role, and cooperate with the cage structure to form a spatial constraint; when the inertial force is weakened, the elastic force of the energy-absorbing sponges will make them return to the original position, thereby protecting the inertial sensor. Embodiment 2

[0025] As shown in the drawings, Figure 5 This embodiment provides an unmanned aerial vehicle suitable for a large overload environment, which is installed with the inertial sensor damping structure in embodiment 1, and includes a controller 7 integrated with the inertial sensor damping structure; the controller 7 is installed on the top mounting surface of the unmanned aerial vehicle 8 and is applied in the large overload environment, and the gravitational acceleration range in the large overload environment is 10-100G.

[0026] As shown in the drawings, Figure 6 The controller 7 includes a protective shell 74 and a heat-conducting plate 75 at the bottom for supporting; one end of the heat-conducting plate is provided with an air inlet 71, and one end of the protective shell 74 is reserved with a slot for cooperating with the air inlet 71.

[0027] AsFigure 7 As shown, the other end of the protective shell 74 has several plugs 73. The signal line passes through the protective shell 74 and extends into the inside of the controller 7 to be electrically connected to the internal equipment. The inertial sensor is fixed on the heat conduction plate 75, and at least two sets of fans 76 for heat dissipation are reserved at its installation position. The controller 7 is also equipped with several connectors 72 that are fixed to the UAV 8.

[0028] In this embodiment, the fan 76 operates to draw air during drone operation; external air enters the controller through the air inlet 71, providing airflow cooling for the internal components; simultaneously, the heat generated by the components during operation can be transferred to the heat-conducting plate 75 for uniform heat dissipation; for the inertial sensor, the airflow mainly flows at high speed through the cage structure and the periphery of the supporting component for heat dissipation; the airflow inside the supporting component is constrained by the integrated PCB board and the cutout 41, and the airflow does not directly generate large wind pressure from the surface of the inertial sensor. The large wind pressure is concentrated on the back of the PCB board, which can directly dissipate heat from the PCB board, ensuring good heat dissipation of the device while reducing sensor measurement accuracy problems caused by wind pressure.

[0029] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention.

Claims

1. A vibration damping structure for inertial sensors suitable for high overload environments, characterized in that, It includes an upper support base (1), a lower support base (2), a fixed upper cover (3), and a fixed lower cover (4); The fixed upper cover (3) and the fixed lower cover (4) are combined to form a carrier component that accommodates the inertial sensor, and the inertial sensor is encapsulated inside the carrier component; the fixed upper cover (3) and the fixed lower cover (4) are fixedly connected by fasteners; The upper support (1) and the lower support (2) are combined to form a cage-like protective structure, which is used to cover the load-bearing component and form a constraint area in the four directions of the load-bearing component, so that the range of motion of the load-bearing component is limited to the constraint area; the load-bearing component is connected to the cage-like protective structure through several energy-absorbing components; the load-bearing component body and the cage-like protective structure remain suspended and do not directly contact each other.

2. The inertial sensor vibration damping structure suitable for high overload environments according to claim 1, characterized in that, The upper support base (1) has four corners with first connecting feet (11) extending outwards. Connector (12) is installed on the first connecting foot (11), and each connector (12) is provided with several positioning holes (13). Several circular and elliptical first openings (14) are made on the surface of the upper support (1).

3. The inertial sensor vibration damping structure suitable for high overload environments according to claim 1 or 2, characterized in that, The lower support base (2) has four corners with second connecting feet (21) extending outward; several tubular connectors are reserved in the second connecting feet (21); fasteners pass through the positioning holes (13) and are threadedly connected with the tubular connectors to make the upper support base (1) and the lower support base (2) connected and fastened. Several circular and elliptical second openings (23) are provided on the lower support base (2).

4. The inertial sensor vibration damping structure suitable for high overload environments according to claim 3, characterized in that, The inner side of the first connecting foot (11) is a slope, and a fourth positioning groove is provided on the slope for installation in conjunction with the energy-absorbing component; A first positioning groove (22) is provided at the corresponding position of the second connecting foot (21) for installation in conjunction with the energy-absorbing component.

5. The inertial sensor vibration damping structure suitable for high overload environments according to claim 1, characterized in that, The fixed top cover (3) is an octahedral structure, and its upper surface is a closed octagonal plane; Four of the eight sides are provided with second positioning grooves (31) for installation with energy-absorbing components; the other four sides are provided with countersunk holes (32) for fastener connection. The second positioning groove (31) and the countersunk hole (32) are staggered.

6. The inertial sensor vibration damping structure suitable for high overload environments according to claim 1, characterized in that, The fixed lower cover (4) is an octahedral structure, and its lower surface is a regular octagonal open cutout (41). Four of the eight sides are provided with third positioning grooves (42) for installation with energy-absorbing components; the other four sides are provided with positioning posts for fastener connection; the fasteners pass through the countersunk hole (32) and are threadedly connected to the positioning posts to fix the upper cover (3) and the lower cover (4); The third positioning groove (42) is staggered with the positioning post; The lower cover (4) is fixed with a reserved mounting part and a limiting part for the installation of the inertial sensor.

7. The inertial sensor vibration damping structure suitable for high overload environments according to claim 1, characterized in that, The energy-absorbing component includes an upper energy-absorbing sponge (5) and a lower energy-absorbing sponge (6); Several upper energy-absorbing sponges (5) are provided, and the two ends of each upper energy-absorbing sponge (5) are respectively aligned and installed with the fourth positioning groove and the second positioning groove (31); Several lower energy-absorbing sponges (6) are provided, and the two ends of each lower energy-absorbing sponge (6) are respectively aligned and installed with the first positioning groove (22) and the third positioning groove (42).

8. A drone suitable for high overload environments, equipped with an inertial sensor vibration damping structure as described in any one of claims 1-7, characterized in that, Including a controller with integrated inertial sensors (7); The controller (7) is mounted on the top mounting surface of the drone (8) and is used in high overload environments.

9. The UAV suitable for high overload environments according to claim 8, characterized in that, The gravitational acceleration range in high overload environments is 10-100G.

10. The UAV suitable for high overload environments according to claim 8, characterized in that, The controller (7) includes a protective shell (74) and a heat-conducting plate (75) located at the bottom for support; an air inlet (71) is provided at one end of the heat-conducting plate, and a slot is reserved at one end of the protective shell (74) to cooperate with the air inlet (71); Several connectors (73) are reserved at the other end of the protective shell (74). The signal line passes through the protective shell (74) and extends into the controller (7) to be electrically connected to the internal equipment. The inertial sensor is fixed on the heat-conducting plate (75), and at least two sets of fans (76) for heat dissipation are reserved at its installation position; the controller (7) is also equipped with several connectors (72) that are fixed to the UAV (8).

Images