CN207917166U - A kind of IMU mechanisms and unmanned plane - Google Patents
A kind of IMU mechanisms and unmanned plane Download PDFInfo
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- CN207917166U CN207917166U CN201820067718.6U CN201820067718U CN207917166U CN 207917166 U CN207917166 U CN 207917166U CN 201820067718 U CN201820067718 U CN 201820067718U CN 207917166 U CN207917166 U CN 207917166U
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Abstract
The utility model discloses a kind of IMU mechanisms and unmanned planes.IMU mechanisms include IMU modules, holder, dampening assembly and pedestal；IMU modules are rack-mount；Dampening assembly includes shock detection switching device and piezoelectric elements, and shock detection switching device and piezoelectric elements are installed on pedestal, and piezoelectric elements are connected with holder；Shock detection switching device is arranged to be used for the vibrations of detection pedestal, and the vibrations detected are converted to electric signal, so that piezoelectric elements generate the vibrations of mechanically deform filter bases.Piezoelectric elements can effectively eliminate that IMU modules are affected by vibrations by the vibrations of mechanically deform filter bases, to ensure that the accuracy of detection of IMU modules.
Description
Technical Field
The utility model relates to an inertia measurement unit field, more specifically relates to an IMU mechanism and unmanned aerial vehicle.
Background
An IMU (Inertial measurement unit) is a device that measures the three-axis attitude angle (or angular velocity) and acceleration of an object. And the attitude displacement can be precisely adjusted by calculating the attitude data measured by the IMU.
The IMU is mainly applied to equipment needing motion control, such as automobiles and robots, and is also applied to occasions needing precise displacement calculation by using postures, such as inertial navigation equipment of submarines, airplanes, missiles and spacecrafts.
The IMU is susceptible to deviation of measured data due to external vibration, and therefore, the IMU needs to be subjected to a shock absorption operation. The existing IMU shock absorption modes mainly comprise two modes, one mode is that the IMU is buffered and damped through the cladding of soft materials, and the other mode is that a shock absorption ball is additionally arranged on a support of the IMU to realize shock absorption. The former damping method is liable to affect the normal operation of the IMU due to interference with the IMU. The latter damping mode occupies a large space.
Use unmanned aerial vehicle as an example, when unmanned aerial vehicle's motor was high-speed rotatory, the vibrations of motor transmitted unmanned aerial vehicle's IMU, directly influenced unmanned aerial vehicle's posture adjustment. If the soft material is coated outside the IMU of the unmanned aerial vehicle, the IMU cannot work normally when the IMU interferes with the soft material. If set up the shock attenuation ball on unmanned aerial vehicle's IMU's installing support, then the installation space of IMU demand is great.
Accordingly, it is desirable to provide an IMU structure that ameliorates at least one of the problems of the prior art.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a new technical scheme of IMU structure.
According to a first aspect of the present invention, an IMU structure is provided.
The IMU structure comprises an IMU module, a bracket, a damping component and a base; wherein,
the IMU module is mounted on the bracket;
the shock absorption assembly comprises a shock detection conversion device and a piezoelectric element, the shock detection conversion device and the piezoelectric element are both arranged on the base, and the piezoelectric element is connected with the support;
the vibration detection and conversion device is used for detecting vibration of the base and converting the detected vibration into an electric signal, so that the piezoelectric element generates mechanical deformation to filter the vibration of the base.
Optionally, an IMU module mounting cavity is arranged on the support, and the IMU module is located in the IMU module mounting cavity;
the IMU mechanism further includes a first epoxy block overlying a surface of the IMU module to secure the IMU module within the cradle.
Optionally, the shock assembly further comprises an elastomeric bumper;
and two ends of the elastic buffer part are respectively connected with the bracket and the piezoelectric element.
Optionally, the elastic buffer is made of foam.
Optionally, the elastomeric buffer has a cylindrical shape;
one bottom surface of the elastic buffer part is connected with the surface of the support in an adhesive mode, and the other bottom surface of the elastic buffer part is connected with the piezoelectric element in an adhesive mode.
Optionally, the shock detection conversion device comprises a shock sensor;
a vibration sensor cavity is formed in the base, and the vibration sensor is located in the vibration sensor cavity;
the shock assembly also includes a second epoxy block that overlies the vibration sensor such that the vibration sensor is secured within the mount.
Optionally, the piezoelectric element is a sheet structure, and a piezoelectric element cavity is formed in the base and fixed in the piezoelectric cavity.
Optionally, the vibration sensor cavity and the piezoelectric element cavity are in communication, and the piezoelectric element cavity is located between the vibration sensor cavity and the support.
Optionally, a projected area of the support on the plane of the piezoelectric element is smaller than a surface area of the piezoelectric element.
According to the utility model discloses a second aspect provides an unmanned aerial vehicle.
The unmanned aerial vehicle comprises the IMU mechanism of the utility model;
the IMU mechanism is mounted within the drone via the base.
According to one embodiment of the present disclosure, the piezoelectric element of the IMU mechanism can filter the vibration of the base through mechanical deformation, so that active vibration reduction of the IMU mechanism is realized, and the influence of vibration on the IMU module is effectively eliminated, thereby ensuring the detection precision of the IMU module.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments of the invention, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
Fig. 1 is a schematic structural diagram of an IMU mechanism according to an embodiment of the present disclosure.
FIG. 2 is a cross-sectional view of an embodiment of the IMU mechanism of the present disclosure.
FIG. 3 is an exploded view of an embodiment of the IMU mechanism of the present disclosure.
The figures are labeled as follows:
the device comprises an IMU module-1, a support-2, an IMU module installation cavity-20, a shock absorption component-3, a shock detection conversion device-31, a vibration sensor-310, a piezoelectric element-32, an elastic buffer element-33, a second epoxy glue block-34, a fixing element-35, a base-4, a vibration sensor cavity-41, a piezoelectric element cavity-42 and a first epoxy glue block-5.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: unless specifically stated otherwise, the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
As shown in fig. 1-3, the IMU mechanism of the present disclosure includes an IMU module 1, a bracket 2, a damper assembly 3, and a base 4. The IMU module 1 may typically comprise an accelerometer, a gyroscope, etc. The shape of the support 2 can be set according to actual requirements, for example, the support 2 has a frame structure or a cavity structure. The base 4 may be used to mount the IMU mechanism to associated equipment such as automobiles, robots, drones, and the like.
The IMU module 1 is mounted on a support 2. The IMU module 1 may be mounted on the support 2 by gluing or clipping or the like.
The damper assembly 3 includes a shock detection switching device 31 and a piezoelectric element 32. The vibration detection conversion device 31 refers to a device that can detect vibration and convert the detected vibration into an electrical signal. The vibration detection conversion device 31 and the piezoelectric element 32 are both mounted on the base 4, and the piezoelectric element 32 is connected to the cradle 2. The vibration detection conversion device 31 and the piezoelectric device 32 can be mounted on the base 4 by gluing or fastening. The connection between the piezo element 32 and the holder 2 may be achieved by welding or gluing, etc.
The vibration detection conversion device 31 can detect the vibration of the base 4 and convert the detected vibration into an electrical signal so that the piezoelectric element 32 generates mechanical deformation to filter the vibration of the base 4. The mechanical deformation generated by the piezoelectric element 32 filters or weakens the vibration of the base 4, and the influence of the vibration on the bracket 2 connected with the piezoelectric element 32 is effectively reduced or eliminated, so that the detection precision of the IMU module 1 mounted on the bracket 2 is ensured.
The shock detection switching device 31 may be a single functional device or may be constituted by a plurality of parts. For example, the shock detection switching device 31 may include a shock detection sensor, which may be, for example, a vibration sensor or an IMU module, etc., and a control element. The shock detection sensor may detect a shock, and the control element may convert the shock detected by the shock detection sensor into an electrical signal that causes the piezoelectric element 32 to produce a mechanical deformation that filters the vibrations of the base 4. As another example, the vibration detection conversion device 31 is a single sensor that can directly convert the detected vibration into an electrical signal that can mechanically deform the piezoelectric element 32. The piezoelectric element 32 refers to a structural member made of a piezoelectric material, and the piezoelectric element 32 may have a sheet-like or block-like structure. In specific implementation, the electric signal of the shock detection and conversion device 31 may be directly transmitted to the piezoelectric element 32, or the piezoelectric element 32 may be exposed to an electric field formed by the electric signal of the shock detection and conversion device 31, so that the piezoelectric element 32 is mechanically deformed.
When external vibration is transmitted to the base 4, the vibration detection and conversion device 31 converts the detected vibration into an electrical signal, and the piezoelectric element 32 is mechanically deformed by the electrical signal. The mechanical deformation generated by the piezoelectric element 32 filters the vibration of the base 4, so that the active shock absorption of the IMU mechanism is realized, and the influence of the vibration on the IMU module 1 is effectively eliminated, thereby ensuring the detection precision of the IMU module 1. According to the difference of the vibrations of base 4, the utility model discloses a damper 3 can make corresponding adjustment to the vibrations of base 4 voluntarily, reaches the absorbing effect of initiative.
Optionally, the IMU mechanism further comprises a first epoxy block 5. An IMU module installation cavity 21 is arranged on the support 2, and the IMU module 1 is positioned in the IMU module installation cavity 21. The first block of epoxy 5 overlies the surface of the IMU module 1 so that the IMU module 1 is secured within the cradle 21. Generally, the shape of the IMU module mounting cavity 21 matches the shape of the measurement site of the IMU module 1. First epoxy glue piece 5 accessible glue the rifle and directly annotate epoxy to IMU module installation cavity 21 and form to first epoxy glue piece 5 can set up to fill up IMU module installation cavity 21, makes the top surface of first epoxy glue piece 5 flush mutually with the peripheral surface of IMU module installation cavity 21 on the support 2. The first epoxy glue block 5 may serve a gluing function. In addition, the first epoxy glue block 5 can also keep the temperature of the IMU module 1 and reduce the temperature change speed of the IMU module 1, so that the performance of the IMU module 1 is more stable and the measurement is more accurate.
Optionally, the shock absorbing assembly 3 further comprises an elastomeric bumper 33. Both ends of the elastic buffer 33 are connected to the holder 2 and the piezoelectric element 32, respectively. Coupling the frame 2 and the piezoelectric element 32 together by means of the elastomeric damper 33 facilitates more effective filtering or attenuation of vibrations transmitted from the base 4. The elastic buffer 33 may be made of foam or silicone. In this way, the damping component 3 can actively adjust the vibration of the base 4 according to the difference of the vibration of the base 4, and the elastic buffer 33 can passively filter or weaken the vibration transmitted by the base 4, so as to achieve the effect of combining active damping and passive damping.
Further, the elastic buffer 33 is made of foam. The range of hardness adjustment of the foam elastic cushion member 33 is wide.
Further, the elastic buffer member 33 has a cylindrical shape. One bottom surface of the elastic buffer member 33 is adhesively bonded to the surface of the holder 2, and the other bottom surface of the elastic buffer member 33 is adhesively bonded to the piezoelectric element 32. The cylindrical elastic buffer member 33 has a good shock absorbing effect.
In addition, an elastic buffer mounting cavity for placing an elastic buffer may also be provided on the bracket 2. The elastomeric cushion mounting cavity may be adjacent to the IMU module mounting cavity 20, separated by a partition. One bottom surface of the elastic buffer 33 is adhesively bonded to the bottom wall of the elastic buffer mounting cavity, and a portion of the side surface of the elastic buffer 33 is located in the elastic buffer mounting cavity, and the other bottom surface of the elastic buffer 33 is adhesively bonded to the piezoelectric element 32.
Optionally, the shock absorbing assembly 3 further comprises a second epoxy block 34. The shock detection switching device 31 includes a vibration sensor 310. The base 4 is provided with a vibration sensor cavity 41, and the vibration sensor 310 is located in the vibration sensor cavity 41. The second epoxy block 34 covers the vibration sensor 41 so that the vibration sensor 41 is fixed in the base 4. Typically, the shape of the vibration sensor cavity 41 matches the shape of the vibration sensor 310. The second epoxy block 34 may be formed by directly injecting epoxy into the vibration sensor cavity 41 by a glue gun. The second epoxy block 34 may function as a glue. In addition, the second epoxy block 34 is also beneficial to maintaining the temperature of the vibration sensor 41, so that the measurement of the vibration sensor 41 is more accurate.
Further, the piezoelectric element 32 has a sheet-like structure. The base 4 is provided with a piezoelectric element cavity 42, and the piezoelectric element 32 is fixed in the piezoelectric element cavity 42. The securing of the piezoelectric element 32 within the piezoelectric cavity 42 may be accomplished in a variety of ways, for example, the piezoelectric element 32 may be secured within the piezoelectric cavity 42 by gluing or bolting. In particular implementations, the piezoelectric element 32 may be secured within the piezoelectric chamber 42 using a securing member 35, such as a bolt or an epoxy block. In general, the fixing member 35 may be provided in plural, and the plural fixing members 35 contact with the edge of the piezoelectric element 32, so as to fix the piezoelectric element 32 without affecting the mechanical deformation of the piezoelectric element 32.
Further, the vibration sensor chamber 41 and the piezoelectric element chamber 42 communicate, and the piezoelectric element chamber 42 is located between the vibration sensor chamber 41 and the holder 2. That is, the piezoelectric element chamber 42 is located above the vibration sensor chamber 41 in the direction in which the base 4 approaches the holder 2 and below the holder 2 in the direction in which the holder 2 approaches the base 4. This arrangement facilitates more efficient vibration filtering by the piezoelectric element 32. The terms "upper" and "lower" merely indicate relative positional relationships between the components of the IMU mechanism that do not change when the IMU mechanism is displaced, flipped or inverted.
Further, the projected area of the support 2 on the plane of the piezoelectric element 32 is smaller than the surface area of the piezoelectric element 32, so as to filter the vibration more efficiently.
The IMU mechanism of the present disclosure is described below, taking as an example the embodiment shown in the drawings:
as shown in fig. 3, the IMU mechanism includes an IMU module 1, a bracket 2, a damper assembly 3, a base 4, and a first epoxy block 5.
The holder 2 has a block-like structure. An IMU module mounting cavity 20 is formed in one surface of the support 2, and the IMU module 1 is fixed in the IMU module mounting cavity 20 through a first epoxy glue block 5 formed by injecting epoxy glue.
The base 4 has a vibration sensor chamber 41 and a piezoelectric element chamber 42, the vibration sensor chamber 41 and the piezoelectric element chamber 42 communicate, and the piezoelectric element chamber 42 is adjacent to the holder 2 compared to the vibration sensor chamber 41.
The damper assembly 3 includes a shock detection conversion device 31, a piezoelectric element 32, an elastic cushion 33, a second epoxy block 34, and a fixing member 35. The vibration detection conversion device 31 includes a vibration sensor 310, and the vibration sensor 310 is fixed in the vibration sensor cavity 41 of the base 4 by forming a second epoxy block 34 by injecting epoxy. The piezoelectric element 32 is held in the piezoelectric element chamber 42 of the base plate 4 by a holding member 35 formed by injecting epoxy glue. The elastic buffer 33 is made of foam and has a cylindrical shape. One bottom surface of the elastic buffer member 33 is adhesively bonded to the surface of the holder 2, and the other bottom surface of the elastic buffer member 33 is adhesively bonded to the surface of the piezoelectric element 32.
The vibration sensor 310 in this embodiment may detect the vibration of the base 4, and the vibration detection conversion device 31 may convert the detected vibration into an electrical signal, so that the piezoelectric element 32 generates mechanical deformation to filter the vibration of the base 4. When the external vibration is transmitted to the base 4, the vibration sensor 310 detects the vibration and converts the detected vibration into an electrical signal by the vibration detection and conversion device 31, and the piezoelectric element 32 is mechanically deformed by the electrical signal. The vibration of the base 4 is filtered by the mechanical deformation generated by the piezoelectric element 32, and the influence of the vibration on the bracket 2 connected with the piezoelectric element 32 is effectively reduced or eliminated, so that the detection precision of the IMU module 1 installed on the bracket 2 is ensured.
The utility model also discloses an unmanned aerial vehicle.
This unmanned aerial vehicle includes this disclosed IMU mechanism. The IMU mechanism is mounted in the drone via a base 4. The mounting position and the mounting means of base 4 can be according to unmanned aerial vehicle's specific structural design. For example, the base 4 may be fixedly connected with the battery compartment and the housing of the drone by screws or bolts.
This piezoelectric element accessible mechanical deformation of unmanned aerial vehicle's IMU mechanism filters the vibrations that transmit to base 4 from unmanned aerial vehicle, effectively eliminates IMU module 1 and receives the influence of vibrations to IMU module 1's detection precision has been guaranteed.
Although certain specific embodiments of the present invention have been described in detail by way of example, it should be understood by those skilled in the art that the foregoing examples are for purposes of illustration only and are not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.
Claims (10)
1. An IMU mechanism is characterized by comprising an IMU module, a bracket, a damping component and a base; wherein,
the IMU module is mounted on the bracket;
the shock absorption assembly comprises a shock detection conversion device and a piezoelectric element, the shock detection conversion device and the piezoelectric element are both arranged on the base, and the piezoelectric element is connected with the support;
the vibration detection and conversion device is used for detecting vibration of the base and converting the detected vibration into an electric signal, so that the piezoelectric element generates mechanical deformation to filter the vibration of the base.
2. The IMU mechanism of claim 1, wherein an IMU module mounting cavity is provided on the support, the IMU module being located within the IMU module mounting cavity;
the IMU mechanism further includes a first epoxy block overlying a surface of the IMU module to secure the IMU module within the cradle.
3. The IMU mechanism of claim 1, wherein the damper assembly further comprises an elastomeric damper;
and two ends of the elastic buffer part are respectively connected with the bracket and the piezoelectric element.
4. The IMU mechanism of claim 3, wherein said elastomeric bumpers are foam.
5. The IMU mechanism of claim 4, wherein the elastomeric damper has a cylindrical shape;
one bottom surface of the elastic buffer part is connected with the surface of the support in an adhesive mode, and the other bottom surface of the elastic buffer part is connected with the piezoelectric element in an adhesive mode.
6. The IMU mechanism of any of claims 1-5, wherein the shock detection transducing means comprises a vibration sensor;
a vibration sensor cavity is formed in the base, and the vibration sensor is located in the vibration sensor cavity;
the shock assembly also includes a second epoxy block that overlies the vibration sensor such that the vibration sensor is secured within the mount.
7. The IMU mechanism of claim 6, wherein the piezoelectric element is a sheet-like structure, and wherein the base has a piezoelectric element cavity therein, the piezoelectric element being secured within the piezoelectric cavity.
8. The IMU mechanism of claim 7, wherein the vibration sensor cavity and the piezo element cavity are in communication, and the piezo element cavity is located between the vibration sensor cavity and the support.
9. The IMU mechanism of claim 7, wherein a projected area of the support onto a plane of the piezoelectric element is smaller than a surface area of the piezoelectric element.
10. A drone, comprising an IMU mechanism as claimed in any one of claims 1 to 9;
the IMU mechanism is mounted within the drone via the base.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820067718.6U CN207917166U (en) | 2018-01-15 | 2018-01-15 | A kind of IMU mechanisms and unmanned plane |
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| CN201820067718.6U CN207917166U (en) | 2018-01-15 | 2018-01-15 | A kind of IMU mechanisms and unmanned plane |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108146645A (en) * | 2018-01-15 | 2018-06-12 | 歌尔股份有限公司 | A kind of IMU mechanisms and unmanned plane |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108146645A (en) * | 2018-01-15 | 2018-06-12 | 歌尔股份有限公司 | A kind of IMU mechanisms and unmanned plane |
| CN108146645B (en) * | 2018-01-15 | 2025-01-21 | 歌尔股份有限公司 | IMU mechanism and unmanned aerial vehicle |
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