Imu shock absorbing device and drone

Abstract

The utility model relates to an unmanned plane technical field discloses an IMU damping device and unmanned plane, this IMU damping device includes: first cover, second cover, damping part, sensing module, connecting piece and elastic part, first cover and second cover are along the height direction interval arrangement, at least two damping parts are located between first cover and second cover, and the both side end surfaces of sensing module abut two damping parts respectively, and sensing module is used to carry out inertia measurement, and the top of connecting piece is clamped the top surface of first cover, and connecting piece passes through first cover and forms the slidable activity cooperation, and the bottom of connecting piece is adjustably connected with second cover, and connecting piece passes through the connecting height of adjusting with second cover, controls the interval of first cover and second cover, and the compression amount of first cover and second cover to damping part, and the both ends of elastic part support first cover and second cover respectively, the utility model discloses through the interval of controlling two side cover, adjusts the damping degree.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and more particularly to an IMU shock absorption device and an UAV. Background Technology

[0002] As a crucial component of drones, the IMU (Inertial Measurement Unit) directly impacts drone performance with its data accuracy and precision. To mitigate the effects of vibrations generated during drone flight, such as those from propellers and motors, on the IMU, IMU vibration damping devices are necessary. However, due to the drastically different vibrations produced by different drone models, IMU vibration damping devices require replacement of the damping components when changing installation locations. Adjusting the damping force involves modifying the thickness or stiffness of the damping components, resulting in complex installation and removal processes and low debugging efficiency. Utility Model Content

[0003] This application aims to address at least one of the technical problems existing in the prior art or related technologies.

[0004] The first aspect of this application proposes an IMU vibration damping device, which includes: a first cover plate, a second cover plate, a damping element, a sensing module, a connector, and an elastic element. The first cover plate and the second cover plate are spaced apart along the height direction. At least two damping elements are located between the first cover plate and the second cover plate. The two end faces of the sensing module abut against the two damping elements respectively. The sensing module is used for inertial measurement. The top of the connector is engaged with the top surface of the first cover plate. The connector passes through the first cover plate and forms a slidable movable fit. The bottom of the connector is adjustablely connected to the second cover plate. By adjusting the connection height between the connector and the second cover plate, the distance between the first cover plate and the second cover plate, as well as the compression of the damping element by the first cover plate and the second cover plate, are controlled. The two ends of the elastic element support the first cover plate and the second cover plate respectively.

[0005] In some technical solutions provided in this application, the connecting part includes: a connecting rod, a limiting part, and a mating part. The connecting rod extends along the height direction, the limiting part is located at the top of the connecting rod, the limiting part is located on the side of the first cover plate away from the second cover plate, and is engaged with the top surface of the first cover plate. The mating part is located at the bottom of the connecting rod, and the mating part is adjustablely connected to the second cover plate.

[0006] In some of the technical solutions provided in this application, the sensing module includes: an IMU sensor and a counterweight assembly. The IMU sensor is used for inertial measurement, and the counterweight assembly encloses the IMU sensor.

[0007] In some of the technical solutions provided in this application, the counterweight assembly includes: at least two detachably connected counterweight blocks, an IMU sensor disposed between the two counterweight blocks, a clearance groove provided on the connecting surface of the counterweight blocks, and a connecting cable of the IMU sensor extending out of the clearance groove.

[0008] In some of the technical solutions provided in this application, the counterweight assembly further includes: adjusting shims, which are disposed between the two counterweight blocks. The number of adjusting shims is adjustable to control the height of the counterweight assembly and the mass ratio of the counterweight assembly to the IMU sensor.

[0009] In some of the technical solutions provided in this application, the mass ratio is related to the type of drone. When the drone is a racing drone, the mass ratio is 3:1 to 5:1, and when the drone is a quadcopter, the mass ratio is 5:1 to 8:1.

[0010] In some of the technical solutions provided in this application, the shock absorber is provided with a central hole that extends through the height direction.

[0011] In some of the technical solutions provided in this application, multiple elastic elements are arranged circumferentially around the sensing module.

[0012] In some of the technical solutions provided in this application, the elastic element is spirally arranged around the outside of the connector.

[0013] The second aspect of the technical solution of this application proposes a drone that includes any of the aforementioned IMU shock absorption devices.

[0014] Compared with related technologies, this utility model has at least the following beneficial effects: This application sets up a connector and an elastic element between the two side covers. By adjusting the connection position of the connector, the distance between the two side covers can be controlled, and the compression of the shock absorber can be flexibly adjusted to regulate the shock absorption force, thereby meeting the vibration capability requirements of different UAVs. This improves the flexibility and convenience of IMU shock absorber debugging, avoids frequent disassembly and assembly of shock absorber during debugging, reduces debugging difficulty, and improves debugging efficiency. Attached Figure Description

[0015] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of some embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 An exploded view of an IMU vibration damping device according to an embodiment of this application; Figure 2 An assembly diagram of an IMU vibration damping device according to an embodiment of this application.

[0016] in, Figure 1 and Figure 2 The correspondence between the reference numerals and component names in the attached drawings is as follows: 10. IMU shock absorption device; 100. First cover plate; 110. Through hole; 200. Second cover plate; 300. Shock absorber; 310. Center hole; 400. Sensing module; 410. IMU sensor; 420. Counterweight assembly; 421. Counterweight block; 4211. Clearance groove; 422. Adjustment shim; 500. Connector; 510. Linkage rod; 520. Limiting part; 530. Mating part; 600. Elastic element. Detailed Implementation

[0017] To better understand the above technical solutions, the technical solutions of the embodiments of this application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of this application and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this application, rather than limitations on the technical solutions of this application. In the absence of conflict, the embodiments of this application and the technical features in the embodiments can be combined with each other.

[0018] The first aspect of this application provides an IMU damping device 10, such as Figure 1 and Figure 2 As shown, the IMU vibration damping device 10 includes: a first cover plate 100, a second cover plate 200, vibration damping components 300, a sensing module 400, a connector 500, and an elastic component 600. The first cover plate 100 and the second cover plate 200 are spaced apart along the height direction. At least two vibration damping components 300 are located between the first cover plate 100 and the second cover plate 200. The two end faces of the sensing module 400 respectively abut against the two vibration damping components 300. The sensing module 400 is used for inertial measurement. The top of the connector 500... The top surface of the first cover plate 100 is snapped into place, and the connector 500 passes through the first cover plate 100 and forms a slidable movable fit. The bottom of the connector 500 is adjustablely connected to the second cover plate 200. By adjusting the connection height between the connector 500 and the second cover plate 200, the distance between the first cover plate 100 and the second cover plate 200, as well as the amount of compression of the first cover plate 100 and the second cover plate 200 on the shock absorber 300, are controlled. The two ends of the elastic member 600 support the first cover plate 100 and the second cover plate 200 respectively.

[0019] In this embodiment, the two side cover plates include a first cover plate 100 and a second cover plate 200 disposed opposite to each other, and the two side cover plates are spaced apart along the height direction. Figure 2The arrow at position X points in the vertical direction, and the second cover plate 200 is located below the first cover plate 100. At least two opposing shock absorbers 300 are provided between the first cover plate 100 and the second cover plate 200. The shock absorbers 300 are made of shock-absorbing materials such as shock-absorbing sponge or shock-absorbing silicone. A sensing module 400 for measuring the inertia of the UAV is located between the two shock absorbers 300. The upper and lower surfaces of the sensing module 400 are respectively attached to the shock absorbers 300. The shock absorbers 300 bidirectionally clamp the sensing module 400 to absorb and filter vibrations through elastic deformation, providing vibration buffering for the sensing module 400 and reducing the interference of vibrations on the accuracy of inertial measurement.

[0020] The top of the connector 500 extends upwards from the top surface of the first cover plate 100 and engages with the top surface for a limiting engagement. The first cover plate 100 has a through hole 110, through which the connector 500 passes while engaging with a clearance fit. The bottom of the connector 500 is adjustablely connected to the second cover plate 200. For example, the connector 500 and the second cover plate 200 are connected by threads, slots, or pins. By adjusting the connection position of the connector 500 with the second cover plate 200 in the height direction, the distance between the first cover plate 100 and the second cover plate 200 is controlled, thereby changing the pressing force of the two cover plates on the inner shock absorber 300 and flexibly adjusting the compression and damping capacity of the shock absorber 300. An elastic element 600 is provided between the first cover plate 100 and the second cover plate 200. The hardness of the elastic element 600 is much higher than that of the shock absorber 300. The elastic element 600 can be a rigid spring. The two ends of the elastic element 600 are respectively connected to the first cover plate 100 and the second cover plate 200, and provide mutual support for the first cover plate 100 and the second cover plate 200 along the height direction. The support of the elastic element 600 prevents the distance between the two cover plates from being affected by vibration conditions, ensuring that the vibration can be transmitted to the shock absorber 300 for absorption and buffering. Furthermore, the supporting force of the elastic element 600 shares the weight of the first cover plate 100, ensuring that the shock absorber 300 is in a compressed state due to the distance between the two cover plates, while avoiding the shock absorber 300 bearing the additional weight of the first cover plate 100, thus fully utilizing the shock absorption capacity of the shock absorber 300. This application sets a connector 500 and an elastic element 600 between the two side covers. By adjusting the connection position of the connector 500, the distance between the two side covers can be controlled, and the compression of the shock absorber 300 can be flexibly adjusted to regulate the shock absorption force, thereby meeting the vibration capability requirements of different UAVs. This improves the flexibility and convenience of debugging the IMU shock absorber 10, avoids frequent disassembly and assembly of the shock absorber 300 during debugging, reduces debugging difficulty, and improves debugging efficiency.

[0021] In some embodiments provided in this application, such as Figure 1As shown, the connector 500 includes a connecting rod 510, a limiting part 520, and a mating part 530. The connecting rod 510 extends along the height direction. The limiting part 520 is located at the top of the connecting rod 510 and is located on the side of the first cover plate 100 away from the second cover plate 200, and is engaged with the top surface of the first cover plate 100. The mating part 530 is located at the bottom of the connecting rod 510 and is adjustablely connected to the second cover plate 200.

[0022] In this embodiment, the vertically extending connecting rod 510 passes through the through hole 110 of the upper cover plate. The two ends of the connecting rod 510 are respectively provided with a limiting part 520 and a mating part 530. The limiting part 520 is located on the top of the first cover plate 100 to engage with the top surface of the first cover plate 100 and limit the height of the first cover plate 100. The mating part 530 controls the height of the second cover plate 200 by adjusting the height of its connection position with the second cover plate 200.

[0023] Exemplarily, the mating part 530 is provided with threads, and the second cover plate 200 is provided with threaded holes. The threads of the mating part 530 are connected to the threaded holes. The connecting member 500 controls the height of the second cover plate 200 by adjusting the screwing depth of the threads, achieving stepless adjustment. In some embodiments, the connecting member 500 is a bolt or screw, and the limiting part 520 is a screw head. In other embodiments, the connecting rod 510 is a stud, and the limiting part 520 is a nut that mates with it.

[0024] In some embodiments provided in this application, such as Figure 1 As shown, the sensing module 400 includes an IMU sensor 410 and a counterweight assembly 420. The IMU sensor 410 is used for inertial measurement, and the counterweight assembly 420 encloses the IMU sensor 410.

[0025] In this embodiment, the counterweight component 420 encloses the IMU sensor 410, providing structural protection while increasing the overall mass of the sensing module 400, increasing the inertia of the sensing module 400, reducing the sway amplitude caused by vibration, and improving the vibration reduction performance of the vibration reduction system.

[0026] In some embodiments provided in this application, such as Figure 1 As shown, the counterweight assembly 420 includes: at least two detachably connected counterweight blocks 421, an IMU sensor 410 disposed between the two counterweight blocks 421, a clearance groove 4211 provided on the connecting surface of the counterweight blocks 421, and the connecting cable of the IMU sensor 410 extending out of the clearance groove 4211.

[0027] In this embodiment, the counterweights 421 on the upper and lower sides are connected by screws to install the IMU sensor 410 in the middle of the counterweight assembly 420. The two counterweights 421 can detachably clamp the IMU sensor 410. At least one counterweight 421 has a relief groove 4211 on its connecting surface. The relief groove 4211 provides an extension channel for the IMU's connection cable. The connection cable is connected to the control module to transmit signals. The two counterweights 421 can simultaneously complete the installation and extension of the IMU sensor 410 through a snap-fit ​​action, which facilitates the disassembly, replacement and maintenance of the IMU sensor 410.

[0028] In some embodiments provided in this application, such as Figure 1 As shown, the counterweight assembly 420 also includes an adjusting shim 422, which is disposed between the two counterweight blocks 421. The number of adjusting shims 422 is adjustable to control the height of the counterweight assembly 420 and the mass ratio of the counterweight assembly 420 to the IMU sensor 410.

[0029] In this embodiment, an adjustable number of shims 422 are installed between the two counterweights 421. By increasing or decreasing the number of shims 422, the overall height of the counterweight assembly 420 is fine-tuned, further adjusting the compression of the shock absorber 300 and improving the adjustability and flexibility of the shock absorption capability. Furthermore, the height-adjustable counterweight assembly 420 can accommodate IMU sensors of different thicknesses, improving its applicability and versatility. As a counterweight component, the shims 422 can flexibly adjust the weight of the counterweight assembly 420, thereby controlling the mass ratio of the counterweight assembly 420 to the IMU sensor, ensuring the mass ratio matches the vibration characteristics of different types of drones.

[0030] For example, the adjusting shim 422 is U-shaped and has a clearance notch that extends from the side of the adjusting shim 422 toward the center. The clearance notch allows the adjusting shim 422 to be directly inserted into the assembly position between the two counterweights 421 from the side, which facilitates the addition or removal of the adjusting shim 422 and facilitates quick adjustment of the number of adjusting shims 422.

[0031] In some embodiments provided in this application, the mass ratio is associated with the type of drone, with a mass ratio of 3:1 to 5:1 in the case of a racing drone and a mass ratio of 5:1 to 8:1 in the case of a quadcopter.

[0032] In this embodiment, a defined mass ratio range is established to match the vibration characteristics of different types of drones, ensuring that the counterweight effect of the sensing module 400 matches the vibration conditions of the corresponding drone model, effectively avoiding resonance. Specifically, smaller racing drones experience higher vibration intensity, so the sensing module 400 can use fewer or no adjusting shims 422, employing a smaller mass ratio of 3:1 to 5:1 to balance lightweight design and vibration reduction. Ordinary small quadcopters experience gentler vibrations, so the number of adjusting shims 422 is increased, employing a larger mass ratio of 5:1 to 8:1 to further suppress vibration disturbances and improve measurement accuracy. By defining the mass ratio parameter range, the difficulty of debugging is reduced.

[0033] In some embodiments provided in this application, such as Figure 1 As shown, the shock absorber 300 has a central hole 310 that extends through the height direction.

[0034] In this embodiment, the shock absorber 300 has a central hole 310 that extends vertically through its central region. The central hole 310 can be a square hole or a circular hole. When the shock absorber 300 is under pressure, the central hole 310 provides an exhaust channel and deformation space, eliminating the problem of air trapped in closed holes and forming an air cushion. This makes the deformation of the shock absorber 300 more uniform and the shock absorption response more stable and timely.

[0035] In another possible embodiment, the sensing module 400 is provided with a plurality of shock absorbers 300 on one side, and the plurality of shock absorbers 300 are distributed at the four corners of the sensing module 400.

[0036] In some embodiments provided in this application, such as Figure 2 As shown, multiple elastic elements 600 are arranged circumferentially around the sensing module 400.

[0037] In this embodiment, the number of elastic elements 600 can be four, six, or eight. Multiple elastic elements 600 are arranged around the circumference of the sensing module 400 to achieve elastic support at multiple circumferential positions, making the force distribution on the first cover plate 100 and the second cover plate 200 more uniform, avoiding uneven force distribution on both sides of the cover plate and causing tilting, making the compression of the shock absorber 300 more uniform in all directions, and making the damping effect of the shock absorber 300 on vibration more balanced.

[0038] In some embodiments provided in this application, such as Figure 2 As shown, the elastic element 600 is spirally arranged around the outside of the connector 500.

[0039] In this embodiment, as the elastic element 600 spirals upwards, it spirals around the connector 500. The connector 500 provides radial limiting and guidance for the elastic element 600, preventing it from laterally tilting or dislodging under pressure and ensuring that the elastic element 600 is compressed along its height. Furthermore, the connector 500 fully utilizes the hollow space of the elastic element 600, improving structural compactness and layout rationality.

[0040] A second aspect of this application provides a drone that includes any of the aforementioned IMU damping devices 10.

[0041] In this embodiment, it should be noted that since the UAV includes the IMU shock absorption device 10 provided in any of the above embodiments, it has all the beneficial technical effects of the IMU shock absorption device 10. To avoid repetition, it will not be described in detail here.

[0042] In this utility model, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "install," "connect," "join," and "fix" should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "join" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0043] In the description of this utility model, it should be understood that the terms "upper", "lower", "left", "right", "front", "rear", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0044] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0045] The above are merely some embodiments of this utility model and are not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An IMU vibration damping device, characterized in that, include: The first cover plate and the second cover plate are spaced apart along the height direction; At least two shock absorbers are located between the first cover plate and the second cover plate; The sensing module has two end faces that abut against the two shock absorbers, and the sensing module is used for inertial measurement. A connector, the top of which snaps into the top surface of the first cover plate, the connector passing through the first cover plate and forming a slidable movable fit, the bottom of which is adjustablely connected to the second cover plate, the connector controlling the distance between the first cover plate and the second cover plate, and the amount of compression of the shock absorber by the first cover plate and the second cover plate by adjusting the connection height with the second cover plate; An elastic element, the two ends of which respectively support the first cover plate and the second cover plate.

2. The IMU vibration damping device according to claim 1, characterized in that, The connector includes: A link that extends along the height direction; A limiting part is provided at the top of the connecting rod. The limiting part is located on the side of the first cover plate away from the second cover plate and is engaged with the top surface of the first cover plate. A mating part is provided at the bottom of the connecting rod, and the mating part is adjustablely connected to the second cover plate.

3. The IMU vibration damping device according to claim 1, characterized in that, The sensing module includes: IMU sensors are used for inertial measurements; A counterweight assembly that encloses the IMU sensor.

4. The IMU vibration damping device according to claim 3, characterized in that, The counterweight assembly includes: At least two detachably connected counterweights are provided, the IMU sensor is disposed between the two counterweights, the connecting surface of the counterweights is provided with a clearance groove, and the connecting cable of the IMU sensor extends out of the clearance groove.

5. The IMU vibration damping device according to claim 4, characterized in that, The counterweight assembly also includes: An adjusting shim is disposed between the two counterweights. The number of the adjusting shims is adjustable to control the height of the counterweight assembly and the mass ratio of the counterweight assembly to the IMU sensor.

6. The IMU vibration damping device according to claim 5, characterized in that, The mass ratio is associated with the type of drone. When the drone is a racing drone, the mass ratio is 3:1 to 5:1, and when the drone is a quadcopter, the mass ratio is 5:1 to 8:

1.

7. The IMU vibration damping device according to any one of claims 1 to 6, characterized in that, The shock absorber is provided with a central hole that extends along the height direction.

8. The IMU vibration damping device according to any one of claims 1 to 6, characterized in that, Multiple elastic elements are arranged circumferentially around the sensing module.

9. The IMU vibration damping device according to any one of claims 1 to 5, characterized in that, The elastic element is spirally arranged around the outside of the connector.

10. A drone, characterized in that, include: The IMU damping device as described in any one of claims 1 to 9.

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