CN108839808A - Flight control assemblies and unmanned vehicle - Google Patents

Abstract

The invention discloses a flight control device and an unmanned aerial vehicle. The flight control device includes a box body and a flight control computer circuit board placed in the box body. The box body is also provided with an inertial measurement circuit board, a counterweight shell and a plurality of vibration-damping connectors. The inertial measurement circuit board is fixedly connected to the counterweight shell. Below, the counterweight shell is provided with a plurality of support points, and the counterweight shell is supported and arranged in the box body through the vibration-damping connectors corresponding to the support points one by one. In the box body of the flight control device, the present invention utilizes the counterweight shell and the vibration-damping connector to form a point-supported vibration-damping structure, thereby reducing the volume of the vibration-damping structure, and the inertia measurement circuit board is arranged in the box of the flight control device. Vibration reduction is realized in the body, and the degree of integration is high, which is conducive to simplifying the connection between the inertial measurement circuit board and the flight control computer circuit board, and reduces the production cost of the unmanned aerial vehicle.

Description

Flight Controls and Unmanned Aerial Vehicles

technical field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a flight control device and an unmanned aerial vehicle.

Background technique

Vibration damping for flight controls is critical in the design of unmanned aerial vehicles. The inertial measurement unit of an unmanned aerial vehicle generally includes an accelerometer and a gyroscope, which measure the angular velocity and acceleration of an object in three-dimensional space, and send it to the flight control computer, which is used to calculate the attitude of the unmanned aerial vehicle, which is very important in navigation. application value.

Currently, there are deficiencies in vibration damping of inertial measurement units on UAVs. For example, most of the existing unmanned aerial vehicles use large-area damping pads (such as sponges) for vibration damping, which are relatively large in size. Therefore, the inertial measurement unit and the flight control computer can only be used for vibration damping as a whole, which is not conducive to unmanned aerial vehicles. The miniaturization design of the manned aircraft; or the inertial measurement unit and the flight control computer need to be isolated for vibration reduction, which increases the complexity of the connection process between the inertial measurement unit and the flight control computer, and increases the production cost and defective rate.

Contents of the invention

In view of the poor vibration-damping structure of the inertial measurement unit of the unmanned aerial vehicle in the prior art, a flight control device and an unmanned aerial vehicle of the present invention are proposed to overcome the above-mentioned problems or at least partially solve the above-mentioned problems.

In order to achieve the above object, the present invention adopts the following technical solutions:

According to one aspect of the present invention, a flight control device is provided, including a box body and a flight control computer circuit board placed in the box body, and an inertial measurement circuit board, a counterweight shell and a plurality of The vibration-damping connector, the inertial measurement circuit board is fixedly connected under the counterweight shell, and the counterweight shell is provided with a plurality of support points, and the counterweight shell is provided through one-to-one correspondence with the support points. The vibration-damping connector is supported and arranged in the box body.

Optionally, the vibration-damping connector is a vibration-damping ball, a first connecting rod extends from the upper side of the vibration-damping ball, and a first anti-retraction ring is arranged on the first connecting rod, and the counterweight shell A first connection hole is provided corresponding to the first connection rod, the first connection rod passes through the first connection hole, and the first anti-retraction ring is clamped and fixed with the counterweight shell.

Optionally, along the direction of the first connecting rod and/or perpendicular to the direction of the first connecting rod, the vibration-damping ball is provided with a through hole.

Optionally, a connecting bridge is also provided in the box body, and the connecting bridge is fixedly connected with the flight control computer circuit board and placed under the vibration-damping ball, and the connecting bridge is provided with a second connecting hole, A second connecting rod extends from the lower side of the shock-absorbing ball, and a second backstop ring is arranged on the second connecting rod, and the second connecting rod passes through the second connecting hole, and the second backstop ring The ring is clamped and fixed with the connecting bridge.

Optionally, the first anti-retraction ring and the second anti-retraction ring are conical, and the apex of the cone faces outside of the vibration-damping ball.

Optionally, the bottom of the connecting bridge is provided with a boss base, and the height of the boss base is greater than the length of the second connecting rod protruding from the second connecting hole.

Optionally, a barometer is provided on the inertial measurement circuit board; the box body forms a first air pressure chamber communicating with the external environment, and the counterweight case and the inertial measurement circuit board form a second air pressure chamber, so The balance weight shell is provided with a vent hole communicating with the first air pressure chamber and the second air pressure chamber.

Optionally, the box body is provided with an opening corresponding to the wire connector of the flight control computer circuit board, and the first air pressure cavity communicates with the external environment through the opening.

Optionally, in the second air pressure cavity, an air pressure disturbance buffer sponge is arranged on the lower side of the air hole of the weight shell.

According to another aspect of the present invention, an unmanned aerial vehicle is provided, and the unmanned aerial vehicle is provided with the flight control device as described in any one of the above items.

In summary, the beneficial effects of the present invention are:

In the box body of the flight control device, a point-supported vibration-damping structure is formed by using the counterweight shell and the vibration-damping connector, thereby reducing the volume of the vibration-damping structure, and the inertial measurement circuit board is arranged in the box body of the flight control device to realize Vibration reduction and high integration are beneficial to simplify the connection between the inertial measurement circuit board and the flight control computer, and reduce the production cost of the unmanned aerial vehicle.

Description of drawings

Fig. 1 is a side structural schematic diagram of an embodiment of the flight control device of the present invention;

Fig. 2 is an exploded view of the IMU module in the embodiment shown in Fig. 1;

FIG. 3 is a schematic diagram of the overall structure of the IMU module shown in FIG. 2 after assembly;

Fig. 4 is a schematic diagram of the assembly method of the inertial measurement unit shown in Fig. 3 in the flight control computer box;

Fig. 5 is a perspective view of an embodiment of the damping ball in the flight control device of the present invention;

Fig. 6 is a sectional view of the embodiment of the damping ball shown in Fig. 5;

7 is a perspective view of another embodiment of the damping ball in the flight control device of the present invention;

Fig. 8 is a sectional view of the embodiment of the damping ball shown in Fig. 7;

Fig. 9 is an exploded view of another embodiment of the flight control device of the present invention;

In the figure, 1. Counterweight shell; 11. Avoidance groove; 12. Cooling hole; 13. First connection hole; 14. Fourth connection hole; 15. Vent hole; 2. Inertial measurement circuit board; 21. Fifth Connecting hole; 22, barometer; 3, damping ball; 31, first connecting rod; 32, first backstop ring; 33, second connecting rod; 34, second backstop ring; 35, axial through hole ; 36, radial through hole; 4, upper shell; 41, opening; 5, lower shell; 6, connecting bridge; 61, second connecting hole; 62, boss base; 63, third connecting hole; 7, the first Two fasteners; 8, the first fastener; 9, the flight control computer circuit board; 91, the line connector; 10, the air pressure disturbance buffer sponge.

Detailed ways

In order to make the object, technical solution and advantages of the present invention clearer, the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings.

The technical idea of the present invention is: use the counterweight shell and the vibration-damping connector to form a point-supported vibration-damping structure, arrange the inertial measurement circuit board in the box body of the flight control device and realize vibration-damping, reducing the volume of the vibration-damping structure, At the same time, the inertial measurement circuit board is arranged in the box body of the flight control device, which has a high degree of integration, which is conducive to simplifying the connection between the inertial measurement circuit board and the flight control computer, and reduces the production cost of the unmanned aerial vehicle.

Embodiment one

Fig. 1-4 shows an embodiment of the flight control device of the present invention, with reference to shown in Fig. 1-4, a kind of flight control device comprises a box body and a flight control computer circuit board 9 placed in the box body (see Fig. 4 ). In this embodiment, an inertial measurement circuit board 2, a counterweight shell 1 and a plurality of vibration-damping connectors are also arranged in the box body, the inertial measurement circuit board 2 is fixedly connected under the counterweight shell 1, and the counterweight shell 1 is provided with There are a plurality of support points, and the counterweight shell 1 is supported and arranged in the box body through vibration-damping connectors corresponding to the support points one by one.

As shown in Figure 1, the box body of the flight control device includes an upper shell 4 and a lower shell 5 spliced together. In the box body of the flight control device, a flight control computer circuit board 9 is electrically connected to the inertial measurement circuit board 2, Obtain the data collected by the inertial measurement circuit board 2, and use this to perform attitude judgment and flight control on the unmanned aerial vehicle.

The counterweight shell 1 can be made of metal material and has a relatively large weight to increase the inertia and reduce the vibration natural frequency of the inertial measurement circuit board 2. The counterweight shell 1 cooperates with the vibration-damping connector to form a point-supported damping The vibration damping system realizes the damping and vibration reduction of the inertial measurement circuit board 2 in the box body of the flight control device. The present application integrates the inertial measurement circuit board 2 into the box body of the flight control device, thus, the electrical connection structure between the inertial measurement circuit board 2 and the flight control computer can be set more concisely, so as to reduce the manufacturing cost and assembly of the unmanned aerial vehicle Craft difficulty. Moreover, the metal counterweight shell 1 also has an electromagnetic shielding effect, which can prevent the components on the inertial measurement circuit board 2 from being subjected to external electromagnetic interference, and improve the reliability of the inertial detection of the unmanned aerial vehicle.

In this embodiment, the damping connector is a damping ball 3, a first connecting rod 31 is extended on the upper side of the damping ball 3, a first backstop ring 32 is arranged on the first connecting rod 31, and the counterweight shell 1 A first connection hole 13 is provided corresponding to the first connection rod 31 , the first connection rod 31 passes through the first connection hole 13 , and the first anti-retraction ring 32 is clamped and fixed with the counterweight shell 1 , as shown in FIGS. 2-3 .

The vibration-damping ball 3 can be made of elastic material (such as rubber, etc.), and the vibration-damping effect can be realized by its own elasticity.

In some embodiments of the present invention, the damping ball 3 is provided with a through hole along the direction of the first connecting rod 31 and/or perpendicular to the direction of the first connecting rod 31 . Hollow out the vibration-damping ball 3 to form a through hole, which can increase the elasticity of the vibration-damping ball 3 and reduce the quality of the vibration-damping ball 3. The specific hollowing method can be selected according to the material hardness of the vibration-damping ball 3 and the weight of the counterweight shell 1 , so as to achieve the balance between the structural strength requirement and the elasticity requirement of the vibration-damping ball 3 .

5 and 6 show an embodiment of the damping ball 3 , as shown in FIG. 5 and FIG. 6 , along the direction of the first connecting rod 31 , the damping ball 3 is provided with an axial through hole 35 . Figure 7 and Figure 8 show another embodiment of the damping ball 3, as shown in Figure 7 and Figure 8, along the radial direction perpendicular to the direction of the first connecting rod 31, the damping ball 3 is provided with a radial through hole 36 , and two vertical through-holes 36 are provided to form a “cross” shape, so that the damping ball 3 is balanced symmetrically. Of course, the above two methods can also be used in combination, and the vibration-damping ball 3 can be hollowed out to form a through hole both vertically and along the direction of the first connecting rod 31 .

In this embodiment, a connecting bridge 6 is also provided in the box body, and the connecting bridge 6 is fixedly connected with the flight control computer circuit board 9 and is placed under the shock-absorbing ball 3. The connecting bridge 6 is provided with a second connecting hole 61 to reduce vibration. The lower side of the vibrating ball 3 is extended with a second connecting rod 33, and the second connecting rod 33 is provided with a second stop ring 34. The second connecting rod 33 passes through the second connecting hole 61, and the second stop ring 34 and the connecting bridge 6 is clamped and fixed, as shown in Figure 2.

In this embodiment, the first anti-retraction ring 32 and the second anti-retraction ring 34 are conical, and the apex of the cone faces the outside of the shock-absorbing ball 3, so that the connecting rod of the shock-absorbing ball 3 is connected from the inertial measurement circuit board 2 to the The connecting hole of the bridge 6 passes through.

In this embodiment, the bottom of the connecting bridge 6 is provided with a boss base 62 , and the height of the boss base 62 is greater than the length of the second connecting rod 33 protruding from the second connecting hole 61 . Therefore, under the support of the boss base 62, the second connecting rod 33 does not come into contact with the flight control computer circuit board 9 after the second connecting rod 33 passes through, which avoids deformation or falling off of the damping ball 3 due to contact extrusion.

In this embodiment, the first connecting rod 31 and the second connecting rod 33 respectively have an auxiliary guiding function. After the damping ball 3 is guided into the first connecting hole 13 or the second connecting hole 61 to complete the clamping, it can be The first connecting rod 31 or the second connecting rod 33 is removed according to space requirements.

In this embodiment, a third connecting hole 63 is provided on the boss base 62, and the connecting bridge 6 is fixedly connected to the flight control computer circuit board 9 through the first fastener 8 passing through the third connecting hole 63 (see Fig. 4). The first fastener 8 is, for example, a commonly used fastener such as a fastening bolt, which will not be repeated here.

Continuing to refer to FIG. 3 , in this embodiment, the lower surface of the counterweight case 1 is provided with an avoidance groove 11 for avoiding the components of the inertial measurement circuit board 2 , so as to protect the components such as the accelerometer and the gyroscope of the inertial measurement circuit board 2 not damaged.

More preferably, the top of the avoidance groove 11 of the counterweight shell 1 is also provided with a heat dissipation hole 12, so that the accelerometer and gyroscope and other components on the inertial measurement circuit board 2 can be fully dissipated to ensure its normal operation and extended use. life.

In this embodiment, the counterweight case 1 is provided with a fourth connection hole 14, the inertial measurement circuit board 2 is provided with a fifth connection hole 21 corresponding to the position of the fourth connection hole 14, the counterweight case 1 and the inertial measurement circuit board 2 The connection is fixed by the second fastener 7 (see FIG. 3 ) passing through the fourth connection hole 14 and the fifth connection hole 21 . The second fastener 7 is, for example, a commonly used fastener such as a fastening bolt, which will not be repeated here.

When assembling the flight control device of this embodiment, as shown in the exploded view of Figure 2, the counterweight shell 1, the inertial measurement circuit board 2, the vibration-damping ball 3 and the connecting bridge 6 are assembled together to form a structure as shown in Figure 3 The inertial measurement unit module, and then as shown in Figure 4, assemble the inertial measurement unit module into the lower shell of the flight control device, and finally splice the upper shell and the lower shell of the flight control device to complete the assembly.

Embodiment two

In another embodiment of the flight control device of the present invention, different from the first embodiment above, the flight control computer circuit board 9 is provided with a second connection hole, and a second connection rod extends from the lower side of the shock-absorbing ball. The connecting rod is provided with a second anti-retraction ring, the second connecting rod passes through the second connection hole, and the second anti-retraction ring is clipped and fixed with the flight control computer circuit board 9 . That is to say, the second connecting rod and the second backstop ring on the lower side of the shock-absorbing ball 3 are directly connected to the flight control computer circuit board 9, and are no longer transferred through the connecting bridge 6, so as to further reduce the production cost.

Embodiment three

Fig. 9 discloses another embodiment of the flight control device of the present invention. As shown in Fig. 9, compared with Embodiment 1, in the embodiment shown in Fig. 9, the inertia measurement circuit board 2 is provided with a barometer 22; the box body Form the first air pressure chamber that communicates with the external environment. The counterweight shell 1 and the inertial measurement circuit board 2 are fastened by fixing screws to form the second air pressure chamber. The counterweight shell 1 is provided with a The ventilation hole 15. The barometer 22 is located in the second air pressure chamber.

In this embodiment, the barometer 22 is arranged on the inertial measurement circuit board 2 to achieve the purpose of measuring the air pressure and measuring the altitude according to the air pressure. The barometer 22 can combine ultrasonic waves and TOF (Time of flight, time-of-flight ranging method) to realize relative height and absolute height measurement. Moreover, the box body of the flight control device forms a relatively airtight first air pressure chamber as a first-stage air pressure buffer zone, and the combination of the counterweight shell 1 and the inertial measurement circuit board 2 forms a relatively airtight second air pressure chamber as a second-stage air pressure buffer. The buffer zone can realize a two-stage airflow buffering effect, so as to prevent the airflow driven by the aircraft from interfering with the accuracy of the data measured by the barometer 22 .

In the embodiment shown in FIG. 9 , the upper shell 4 of the box is provided with an opening 41 corresponding to the wire connector 91 of the flight control computer circuit board 9 , and the first air pressure chamber communicates with the external environment through the opening 41 . Preferably, on this basis, the second air pressure chamber communicates with the first air pressure chamber through the air hole 15 , and the parts of the second air pressure chamber except the air hole 15 and the parts of the first air pressure chamber except the opening 41 are kept sealed.

In the embodiment shown in FIG. 9 , in the second air pressure cavity, an air pressure disturbance buffer sponge 10 is disposed on the lower side of the air hole 15 of the weight shell 1 . The air pressure disturbance buffer sponge 10 is placed on the top of the avoidance groove 11 of the counterweight shell 1, covering the vent hole 15 connecting the first air pressure chamber and the second air pressure chamber, and the air pressure gauge 22 is located at the bottom of the avoidance groove 11, that is, the air pressure gauge Sponge 10 is separated between 22 and air hole 15, and the setting of sponge 10 is in order to form the tertiary pressure buffer zone of airflow buffering effect, to ensure that the data measured by barometer 22 is less influenced by the airflow disturbance produced by aircraft.

Embodiment Four

The present invention also discloses an unmanned aerial vehicle, which is provided with the flight control device as described in any one of the above embodiments.

In the flight control device of the present invention, in the box body of the flight control device, a point-supported vibration-damping structure is formed by using a counterweight shell and a vibration-damping connector, thereby reducing the volume of the vibration-damping structure, and the inertial measurement circuit board is arranged Vibration reduction is realized in the box body of the flight control device, and the degree of integration is high, which is beneficial to simplify the connection between the inertial measurement circuit board and the flight control computer, and reduces the manufacturing cost of the unmanned aerial vehicle. In addition, in the preferred embodiment of the present invention, the counterweight has multiple functions such as electromagnetic shielding, counterweight and air pressure buffer chamber, which improves the reliability of the flight control device. The block, the inertial measurement circuit board and the air pressure disturbance buffer sponge form multiple air pressure disturbance buffers, so that the barometer set on the inertial measurement circuit board can accurately measure the air pressure data to calculate the altitude of the aircraft flight, and solve the problem of air flow generated by the aircraft flight Interference problems with barometer measurements.

The above descriptions are only specific implementations of the present invention. Under the above teaching of the present invention, those skilled in the art can make other improvements or modifications on the basis of the above embodiments. Those skilled in the art should understand that the above specific description is only to better explain the object of the present invention, and the protection scope of the present invention should be determined by the protection scope of the claims.

Claims (10)

1. A flight control device, comprising a box body and a flight control computer circuit board placed in the box body, characterized in that, the box body is also provided with an inertial measurement circuit board, a counterweight shell and a plurality of vibration-damping connections The inertial measurement circuit board is fixedly connected under the counterweight housing, and the counterweight housing is provided with a plurality of supporting points, and the counterweight housing is connected to the supporting points one by one through the reducing weights. The vibration connector is supported and arranged in the box body. 2. The flight control device according to claim 1, wherein the vibration-damping connector is a vibration-damping ball, and a first connecting rod is extended on the upper side of the vibration-damping ball, and a first connecting rod is mounted on the first connecting rod. A first anti-retraction ring is provided, and the counterweight shell is provided with a first connection hole corresponding to the first connecting rod, and the first connection rod passes through the first connection hole, and the first anti-retraction ring and The counterweight shell is clamped and fixed. 3 . The flight control device according to claim 2 , wherein, along the direction of the first connecting rod and/or perpendicular to the direction of the first connecting rod, the vibration-damping ball is provided with a through hole. 4 . 4. The flight control device according to claim 2, wherein a connecting bridge is further provided in the box body, and the connecting bridge is fixedly connected with the circuit board of the flight control computer and placed under the vibration-damping ball , the connecting bridge is provided with a second connecting hole, the lower side of the damping ball is extended with a second connecting rod, the second connecting rod is provided with a second anti-back ring, and the second connecting rod passes through The second connection hole, the second backstop ring are clamped and fixed with the connection bridge. 5 . The flight control device according to claim 4 , wherein the first anti-retraction ring and the second anti-retraction ring are conical, and the tops of the cones face outside the vibration-damping ball. 5 . 6. The flight control device according to claim 4, wherein the bottom of the connecting bridge is provided with a boss base, and the height of the boss base is larger than that of the second connecting rod protruding from the second connecting rod. The length of the hole. 7. The flight control device according to claim 1, wherein the inertial measurement circuit board is provided with a barometer; the box body forms a first air pressure cavity communicated with the external environment, and the counterweight shell and The inertial measurement circuit board forms a second air pressure cavity, and the counterweight shell is provided with a vent hole communicating the first air pressure cavity and the second air pressure cavity. 8. The flight control device according to claim 7, wherein the box body is provided with an opening corresponding to the wire connector of the flight control computer circuit board, and the first air pressure cavity communicates with the outside through the opening. The environment is connected. 9 . The flight control device according to claim 7 or 8 , characterized in that, in the second air pressure cavity, an air pressure disturbance buffer sponge is arranged on the lower side of the air hole of the weight shell. 10 . 10. An unmanned aerial vehicle, characterized in that, the unmanned aerial vehicle is provided with the flight control device according to any one of claims 1-9.