CN112594313A - Vibration reduction structure and sensing device carrying mechanism comprising same and detection unmanned aerial vehicle - Google Patents
Vibration reduction structure and sensing device carrying mechanism comprising same and detection unmanned aerial vehicle Download PDFInfo
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- CN112594313A CN112594313A CN202011480711.5A CN202011480711A CN112594313A CN 112594313 A CN112594313 A CN 112594313A CN 202011480711 A CN202011480711 A CN 202011480711A CN 112594313 A CN112594313 A CN 112594313A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 45
- 238000001514 detection method Methods 0.000 title claims abstract description 18
- 230000009467 reduction Effects 0.000 title claims description 30
- 238000013016 damping Methods 0.000 claims abstract description 62
- 238000004364 calculation method Methods 0.000 claims description 8
- 238000013433 optimization analysis Methods 0.000 claims description 8
- 238000013461 design Methods 0.000 claims description 7
- 238000005457 optimization Methods 0.000 claims description 6
- 239000013585 weight reducing agent Substances 0.000 claims 2
- 239000000523 sample Substances 0.000 claims 1
- 230000008447 perception Effects 0.000 abstract description 27
- 239000006096 absorbing agent Substances 0.000 abstract description 17
- 230000000694 effects Effects 0.000 abstract description 16
- 230000035939 shock Effects 0.000 abstract description 15
- 230000004044 response Effects 0.000 description 11
- 238000002955 isolation Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F3/00—Spring units consisting of several springs, e.g. for obtaining a desired spring characteristic
- F16F3/08—Spring units consisting of several springs, e.g. for obtaining a desired spring characteristic with springs made of a material having high internal friction, e.g. rubber
- F16F3/087—Units comprising several springs made of plastics or the like material
- F16F3/0873—Units comprising several springs made of plastics or the like material of the same material or the material not being specified
- F16F3/0876—Units comprising several springs made of plastics or the like material of the same material or the material not being specified and of the same shape
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
- F16F15/08—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with rubber springs ; with springs made of rubber and metal
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
- F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
- F16M13/022—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle repositionable
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
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Abstract
The invention relates to the technical field of structural vibration control, and discloses a vibration damping structure, a sensing device carrying mechanism comprising the vibration damping structure and a detection unmanned aerial vehicle, wherein in the vibration damping structure, a main bearing plate (7) and an auxiliary bearing plate (9) are connected through rubber vibration dampers (8) which are symmetrically distributed, and the main bearing plate (7) and the auxiliary bearing plate (9) are arranged in parallel; the sensing device (16) is arranged on the auxiliary bearing plate; the damping structure is arranged on a supporting mechanism of the sensing device through a main bearing plate, and the main bearing plate is positioned between each rubber damper and the supporting mechanism. This damping structure will need to reach the perception device of maximum damping effect and install alone on assisting the bearing plate, reduces the bearing pressure of rubber shock absorber as far as possible, makes perception device obtain better damping effect simultaneously, furthest reduces perception device and receives the influence of unmanned aerial vehicle vibration.
Description
Technical Field
The invention relates to the technical field of structural vibration control, in particular to a vibration reduction structure, a sensing device carrying mechanism comprising the vibration reduction structure and a detection unmanned aerial vehicle.
Background
Unmanned aerial vehicle technique can be used in many fields, for example fields such as aerial photography, agricultural plant protection, electric power patrol inspection, disaster relief. Generally, the unmanned aerial vehicle needs to be installed with a detection device, such as a radar detection device, a TOF detection device, a vision sensor, etc., and the unmanned aerial vehicle can detect the distance, position, speed, etc. of target objects around the unmanned aerial vehicle relative to the unmanned aerial vehicle through the detection device.
To surveying unmanned aerial vehicle, survey the target object and accomplish through the perception device, but because the vibration that the unmanned aerial vehicle motor rotated and arouses, and the shake that produces in the high-speed motion process, can influence unmanned aerial vehicle perception device's detection precision greatly, so the stability of current unmanned aerial vehicle perception device carrying structure is one of main technical index, vibration during flight is important influence factor, especially the vibration degree of perception device carrying structure is very important to the influence of unmanned aerial vehicle perception device signal identification precision.
At present, an unmanned aerial vehicle sensing device mainly adopts a passive vibration isolation method (such as adding damping rubber and a vibration isolator) and an active vibration isolation method (motor driving and algorithm compensation) as main means. In the invention of a composite vibration damping structure for an airborne photoelectric system (No. CN107606020B, No. 2019.05.31), a composite vibration damping structure formed by combining a steel wire vibration damper and a rubber vibration damper is invented in the prior art, the structure has a good vertical vibration damping effect, the vibration damping effect in other two directions is poor, the overall mass is large, and the overall load factor of an unmanned aerial vehicle is greatly challenged.
1. In the passive damping structure of current perception device, to the great condition of diversified vibration or amplitude, structure bearing capacity is more weak, leads to the vibration condition to great amplitude, and the damping effect variation to can not play good formation of image effect. And when the unmanned aerial vehicle gesture changes great, if can not be good carry out vibration control, very easily influence the damping structure and even cause destruction, reduce structure life cycle.
2. The sensing device is steady to need realizing through electronic equipment detecting system among the current sensing device initiative damping structure adjustment process, nevertheless has certain hysteresis quality and power consumptive problem, seriously influences unmanned aerial vehicle's time of endurance, causes the unmanned aerial vehicle energy not enough, the problem that proruption problem and work efficiency are low easily appears. Meanwhile, the complex structure can also lead to weight increase, and the risk of damage to the bearing part of the structure is improved.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problems in the prior art, the invention provides a vibration reduction structure, a sensing device carrying mechanism comprising the vibration reduction structure and a detection unmanned aerial vehicle, and aims to solve the problem that the carried load related to the detection unmanned aerial vehicle bears larger vibration response under the actual vibration working condition in the working process. Design the good detection unmanned aerial vehicle perception device damping structure of lightweight and vibration isolation performance and have very strong realistic meaning.
The technical scheme is as follows: the invention provides a vibration reduction structure for carrying and detecting a sensing device of an unmanned aerial vehicle, which comprises a main bearing plate, an auxiliary bearing plate and a plurality of rubber vibration absorbers, wherein the main bearing plate is connected with the auxiliary bearing plate through the rubber vibration absorbers which are symmetrically distributed, and the main bearing plate is arranged in parallel with the auxiliary bearing plate; the sensing device is carried on the auxiliary bearing plate; the vibration damping structure is arranged on a supporting mechanism of the sensing device through the main bearing plate, and the main bearing plate is positioned between each rubber vibration damper and the supporting mechanism.
Further, by setting the first-order natural frequency to be improved as an optimization target and the model volume as a design variable, structural optimization analysis and calculation are carried out on the main bearing plate, and a vibration-damping weight-reducing through hole is formed in the main bearing plate, so that the upper limit of the residual designable volume of the main bearing plate is 30% of the original volume. In order to alleviate the weight of this damping structure as far as possible, guarantee simultaneously that first-order natural frequency is higher, promote damping performance when losing weight promptly, after the structure optimization analysis calculation of computer software program, reduce the weight of main bearing plate as far as possible under the condition that satisfies the structure safety and satisfy the damping demand, with the bearing pressure that reduces unmanned aerial vehicle supporting mechanism, simultaneously, promote the first-order natural frequency of main bearing plate, promote perception device damping structure's whole damping performance.
Further, by setting the first-order natural frequency to be improved as an optimization target and the model volume as a design variable, structural optimization analysis and calculation are carried out on the auxiliary bearing plate, and an auxiliary vibration-damping and weight-reducing through hole is formed in the auxiliary bearing plate, so that the upper limit of the residual designable volume of the auxiliary bearing plate is 30% of the original volume. In order to lighten the weight of this damping structure as far as possible, guarantee simultaneously that first-order natural frequency is higher, promote damping performance when losing weight promptly, after the structure optimization analysis calculation of computer software program, the weight of assisting the bearing plate is being reduced as far as possible in the condition that satisfies the structure safety and satisfy the damping demand to reduce unmanned aerial vehicle supporting mechanism's bearing pressure, simultaneously, promote the first-order natural frequency of assisting the bearing plate, promote perception device damping structure's whole damping performance.
Furthermore, the corresponding positions of one opposite side of the main bearing plate and the auxiliary bearing plate are respectively provided with symmetrically distributed mounting holes, and two ends of each rubber shock absorber are respectively mounted in the corresponding mounting holes of the main bearing plate and the auxiliary bearing plate. A plurality of rubber shock absorbers are in the main bearing plate and assist the setting of symmetrical overall arrangement between the bearing plate, also can weaken the vibration response that transmits perception device from unmanned aerial vehicle furthest, effectively improve the damping effect, make rubber shock absorber all have great promotion to the vibration performance in three degree of freedom direction simultaneously.
The invention also provides a carrying mechanism of the sensing device of the unmanned aerial vehicle, which comprises the vibration reduction structure.
Further, survey unmanned aerial vehicle perception device and carry on mechanism still include supporting mechanism, supporting mechanism includes a pair of support frame, a pair of fixed frame hasp, a pair of frame connecting pipe, a pair of connection hasp, a pair of angle lock sleeve and a horizontal stay tube, and is a pair of the support frame is through a pair of fixed frame hasp and a pair of the frame connecting pipe is connected, and is a pair of the connecting pipe is through a pair of connection hasp with the both ends of horizontal stay tube are connected, main bearing plate in the damping structure is through a pair of angle lock sleeve with the horizontal stay tube is connected. The vibration generated by the unmanned aerial vehicle during flying is transmitted to the main bearing plate through the support frame, the fixed frame lock catch, the frame connecting pipe, the connecting lock catch, the horizontal supporting pipe and the angle locking sleeve in sequence, and then transmitted to the auxiliary bearing plate and the sensing device on the auxiliary bearing plate after being damped by the rubber vibrator; the frame connecting pipe is arranged on the supporting frame through the fixed frame lock catch, maintains a stable position relation with the supporting frame, realizes a connection relation with the horizontal supporting pipe through the connecting lock catch, is connected with the main bearing plate through the angle locking sleeve, weakens the vibration transmitted to the auxiliary bearing plate by depending on the vibration damping characteristic of the rubber vibration damper arranged on a transmission path, and controls the vibration working condition of the sensing device arranged on the auxiliary bearing plate; avoid the supporting mechanism and assist the bearing plate contact in the damping structure, vibration when can effectively avoiding unmanned aerial vehicle to fly is transmitted for assisting the bearing plate through the supporting mechanism, effectively reduces the vibration of assisting the last perception device of bearing plate.
Furthermore, the fixed frame lock catch comprises a lock catch lower half sleeve, a lock catch upper half sleeve and a fixing bolt, the lock catch lower half sleeve is locked at one end of the frame connecting pipe, one side of the lock catch lower half sleeve is hinged with the lock catch upper half sleeve, and the other side of the lock catch lower half sleeve is locked and fixed on the support frame through the fixing bolt and the lock catch upper half sleeve.
Furthermore, the concave surface structures of the lower half sleeve and the upper half sleeve of the lock catch are non-circular arc surfaces with concave middle parts and convex two ends. The concave surface structure of the lower half cover of the lock catch and the concave surface structure of the upper half cover of the lock catch are designed into non-arc surface structures with concave middle parts and convex two ends, and the concave surface structures can be effectively clamped on the support frame in assembly, so that the position relation of the support frame and the rack connecting pipe after assembly is guaranteed, and the support frame and the rack connecting pipe are firmly fixed.
Furthermore, the main bearing plate is also provided with a deconcentrator, a mobile power supply and a USB-CAN box which are not in contact with the auxiliary bearing plate and are arranged from bottom to top according to the weight. The deconcentrator, the mobile power supply and the USB-CAN box are all arranged on the main bearing plate and are in close but complementary contact with the auxiliary bearing plate, so that the vibration generated by the flight of the unmanned aerial vehicle CAN be effectively prevented from being transmitted to the auxiliary bearing plate through the deconcentrator, the mobile power supply and the USB-CAN box, and the vibration source of the sensing device is effectively reduced; the installation positions of the deconcentrator, the mobile power supply and the USB-CAN box on the main bearing plate are installed from bottom to top according to the weight, the inertia moment of the whole vibration reduction structure on the unmanned aerial vehicle support frame CAN be reduced by the installation method, and the bearing pressure of the support frame is reduced.
The invention also provides a detection unmanned aerial vehicle which comprises the vibration reduction structure.
Has the advantages that: according to the invention, the rubber shock absorber is directly connected with the main bearing plate and the auxiliary bearing plate, and the sensing device which needs to achieve the maximum shock absorption effect is independently arranged on the auxiliary bearing plate, so that the bearing pressure of the rubber shock absorber is reduced as much as possible, and meanwhile, the sensing device obtains a better shock absorption effect. The main bearing plate is arranged on a supporting mechanism for supporting the sensing device, the main bearing plate is arranged on the unmanned aerial vehicle through the supporting mechanism, all mechanical structures for the sensing device to normally work are prevented from contacting with the auxiliary bearing plate, so that vibration generated by the unmanned aerial vehicle during flying can be damped by the rubber vibration damper after being transmitted to the main bearing plate through the supporting mechanism and other necessary structures, and the influence of the vibration of the unmanned aerial vehicle on the sensing device on the auxiliary bearing plate is reduced to the maximum extent; a plurality of rubber shock absorbers are in the main bearing plate and assist the setting of symmetrical overall arrangement between the bearing plate, also can weaken the vibration response that transmits perception device from unmanned aerial vehicle furthest, effectively improve the damping effect, make rubber shock absorber all have great promotion to the vibration performance in three degree of freedom direction simultaneously.
In addition, this damping structure is applicable to the harsh field of surveying unmanned aerial vehicle vibration environment, has all carried out the structural optimization design to the main bearing plate and the supplementary bearing plate of transmission vibration, makes the structure promote can bear bigger load, simultaneously, uses vibration isolation material (rubber shock absorber) isolated high-frequency vibration, weakens the vibration response of transmitting perception device from unmanned aerial vehicle, accomplishes the lightweight structure when perception device damping structure effectively weakens vibration response. And the vibration reduction structure is a pure mechanical structure, so that the response of the vibration reduction system is faster than that of an electronic system, and the vibration reduction system is more energy-saving. This damping structure adopts the suspension structure simultaneously, has abundant installation space and dismantles characteristics such as convenient, surveys unmanned aerial vehicle actual work, not only does benefit to the installation of portability loads such as perception device, improves its detection working property, can guarantee its reliable and stable working property requirement simultaneously.
Drawings
Fig. 1 is a schematic structural view of a vibration reduction structure for carrying a sensing device of an unmanned aerial vehicle according to embodiment 1 of the present invention;
FIG. 2 is a schematic structural view of a main bearing plate;
FIG. 3 is a schematic structural view of an auxiliary bearing plate;
fig. 4 is a schematic structural view of a sensing device carrying mechanism for detecting an unmanned aerial vehicle in embodiment 2;
FIG. 5 is a schematic view of a lock catch of the fixed frame;
FIG. 6 is a schematic view of the concave structures of the lower arc-shaped cover and the upper arc-shaped cover of the lock catch in the lock catch of the fixed frame;
FIG. 7 is a frequency response curve comparison map of the unmanned aerial vehicle body and the sensing device after vibration reduction by the vibration reduction structure;
in the figure: the device comprises a support frame 1, a fixed frame lock catch 2, a frame connecting pipe 3, a connecting lock catch 4, a horizontal supporting pipe 5, an angle locking sleeve 6, a main bearing plate 7, a main vibration damping and weight reducing through hole 701, a rubber vibration damper 8, an auxiliary bearing plate 9, an auxiliary vibration damping and weight reducing through hole 901, a box fixing groove 10, a USB-CAN box 11, a mobile power supply 12, a mobile power supply fixing plate 13, a deconcentrator fixing groove 14, a deconcentrator 15, a sensing device 16, a lock catch lower arc sleeve 18, a lock catch upper arc sleeve 19 and a fixing bolt 7.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
Embodiment 1:
the embodiment provides a vibration reduction structure for carrying and detecting a sensing device of an unmanned aerial vehicle, as shown in fig. 1, the vibration reduction structure comprises a main bearing plate 7, an auxiliary bearing plate 9 and four rubber vibration dampers 8, wherein the main bearing plate 7 and the main bearing plate 9 are connected through the rubber vibration dampers 8 which are symmetrically arranged, and the main bearing plate 7 and the auxiliary bearing plate 9 are arranged in parallel; the corresponding positions of one opposite side of the main bearing plate 7 and the auxiliary bearing plate 9 are respectively provided with four mounting holes which are symmetrically distributed, and two ends of the four rubber vibration absorbers 8 are respectively arranged in the mounting holes corresponding to the main bearing plate 7 and the auxiliary bearing plate 9. As shown in fig. 2 and 3, by setting the first-order lifting natural frequency as an optimization target and the model volume as a design variable, structural optimization analysis and calculation are performed on the main bearing plate 7 and the auxiliary bearing plate 9, four main vibration-damping weight-reducing through holes 701 are formed in the main bearing plate 7, two auxiliary vibration-damping weight-reducing through holes 901 are formed in the auxiliary bearing plate 9, and the upper limit of the remaining designable volume of the main bearing plate 7 and the auxiliary bearing plate 9 is respectively set to be 30% of the original volume, so that the vibration-damping performance is improved while the weight is reduced. The sensing device 16 is arranged at the front part of the auxiliary bearing plate 9 and fixed by using screws, and the auxiliary bearing plate 9 is positioned between each rubber shock absorber 8 and the sensing device 16; the damping structure is arranged on a supporting mechanism of a sensing device 16 through a main bearing plate 7, and the main bearing plate 7 is positioned between each rubber damper 8 and the supporting mechanism.
In the embodiment, the rubber damper 8 is directly connected with the main bearing plate 7 and the auxiliary bearing plate 9, and the sensing device 16 which needs to achieve the maximum damping effect is independently installed on the auxiliary bearing plate 9, so that the bearing pressure of the rubber damper 8 is reduced as much as possible, and meanwhile, the sensing device 16 obtains a better damping effect. The main bearing plate 7 is arranged on a supporting mechanism for supporting the sensing device 16, and the main bearing plate 7 is arranged on the unmanned aerial vehicle through the supporting mechanism, so that vibration generated by the unmanned aerial vehicle during flying can be damped by the rubber vibration damper 8 after being transmitted to the main bearing plate 7 through the supporting mechanism, and the influence of the vibration of the sensing device 16 on the auxiliary bearing plate 9 on the unmanned aerial vehicle can be reduced to the maximum extent; a plurality of rubber shock absorbers 8 are in the main bearing plate 7 and the setting of assisting the symmetrical layout between the bearing plate 9, also can weaken the vibration response that transmits perception device 16 from unmanned aerial vehicle furthest, effectively improve the damping effect, make rubber shock absorbers 8 all have great promotion to the vibration performance of three degree of freedom direction simultaneously. Under the condition that satisfies the structure safety and satisfy the damping demand, through the weight of the main bearing plate 7 of minimizing after the structure optimization analysis calculation with assist bearing plate 9 to reduce unmanned aerial vehicle supporting mechanism's bearing pressure, simultaneously, promote the first-order natural frequency of main bearing plate 7 and assistance bearing plate 9, promote the whole damping performance of 16 damping structures of perception device.
Embodiment 2:
this embodiment provides a survey unmanned aerial vehicle perception device and carries on mechanism, as shown in fig. 4, mainly constitute by supporting mechanism and the damping structure among the embodiment 1, supporting mechanism includes a pair of support frame 1, a pair of fixed frame hasp 2, a pair of frame connecting pipe 3, a pair of connection hasp 4 (preferred T type connection hasp), a horizontal support pipe 5 and a pair of angle lock sleeve 6, frame connecting pipe 3 and horizontal support pipe 5 are preferred to use T300's carbon fiber pipe (carbon fiber has intensity big on physical properties, the modulus is high, the density is low, characteristics such as linear expansion coefficient is little, its overall structure intensity of putting up is high, the quality is little, constitute stable whole with the support frame). The pair of support frames 1 are connected with the pair of frame connecting pipes 3 through the pair of fixed frame lock catches 2, the pair of frame connecting pipes 3 are connected with the two ends of the horizontal support pipe 5 through the pair of T-shaped connecting lock catches 4, and the opening directions of the T-shaped connecting lock catches 4 are locked through bolts, so that the horizontal support pipe 5 and the frame connecting pipes 3 at the two ends are bound together. In the vibration damping structure of embodiment 1, the main bearing plate 7 is connected to the horizontal support pipe 5 through the pair of angle locking sleeves 6, and a fastening gasket is provided between the main bearing plate 7 and the pair of angle locking sleeves 6, so that the angle locking sleeves and the main bearing plate are fastened and connected. The main bearing plate 7 is also provided with a deconcentrator 15, a mobile power supply 12 and a USB-CAN box 11 which are not in contact with the auxiliary bearing plate 9, and the deconcentrator 15, the mobile power supply 12 and the USB-CAN box 11 are respectively fixed on the main bearing plate 7 by screws from bottom to top according to the weight through a deconcentrator fixing groove 14, a mobile power supply fixing plate 13 and a box fixing groove 10.
The structure of the fixed frame lock catch 2 is shown in fig. 5, and comprises a lock catch lower half sleeve 17, a lock catch upper half sleeve 18 and a fixing bolt 19, wherein the lock catch lower half sleeve 17 is locked at one end of the frame connecting pipe 3, one side of the lock catch lower half sleeve 17 is hinged with the lock catch upper half sleeve 18, and the other side of the lock catch lower half sleeve 17 is locked with the lock catch upper half sleeve 18 through the fixing bolt 19 and fixed on the support frame. The concave structures of the lower half sleeve 17 and the upper half sleeve 18 of the lock catch are non-circular arc surfaces with convex middle parts and concave ends, and a schematic plan view is shown in fig. 6.
The specific structure of the vibration damping structure in this embodiment is completely the same as that in embodiment 1, and is not described herein again.
In the embodiment, the vibration generated by the unmanned aerial vehicle during flying is transmitted to the main bearing plate 7 through the support frame 1, the fixed frame lock catch 2, the frame connecting pipe 3, the connecting lock catch 4, the horizontal support pipe 5 and the angle locking sleeve 6 in sequence, and then transmitted to the auxiliary bearing plate 9 and the sensing device 16 on the auxiliary bearing plate after being damped by the rubber vibrator 8; the sensing device 16 which needs to achieve the maximum vibration reduction effect is independently arranged on the auxiliary bearing plate 9 of the vibration reduction structure, so that the bearing pressure of the rubber vibration absorber 8 is reduced as much as possible, and meanwhile, the sensing device 16 obtains better vibration reduction effect. Install main bearing plate 7 on being used for supporting the supporting mechanism of perception device 16, main bearing plate 7 passes through supporting mechanism and installs on unmanned aerial vehicle, all mechanical structure that supply perception device 16 normal work all avoid with assisting bearing plate 9 contact for the vibration that unmanned aerial vehicle produced when flying just can be damped by rubber shock absorber 8 after transmitting main bearing plate 7 through supporting mechanism and other necessary structures, furthest reduces on assisting bearing plate 9 and feels device 16 and receive the influence of unmanned aerial vehicle vibration.
Embodiment 3:
this embodiment provides a survey unmanned aerial vehicle, and this survey sensing device on the unmanned aerial vehicle carries on the mechanism and is the mechanism of carrying in embodiment 2 promptly, and the damping structure in this carrying on the mechanism is the damping structure in embodiment 1 promptly, and unmanned aerial vehicle's sensing device 16 installs the front side at the supplementary bearing plate 9 of this damping structure promptly.
Through the simulation of experiment test to surveying unmanned aerial vehicle vibration operating mode, gather the vibration response time domain signal of perception device 16 and fuselage through vibration data record appearance, compare two vibration signal curves, can obtain effectively weakening the vibration response who transmits to perception device 16 through this 16 damping structures of perception device. As shown in FIG. 7, the unmanned aerial vehicle body without vibration reduction and the sensing device after vibration reduction through the vibration reduction structure have better vibration isolation effect by comparing frequency responses in the X direction and the Z direction, and the vibration reduction structure can reduce the vibration amplitude by more than 20 dB.
The above embodiments are merely illustrative of the technical concepts and features of the present invention, and the purpose of the embodiments is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (10)
1. A vibration damping structure for carrying and detecting a sensing device of an unmanned aerial vehicle is characterized by comprising a main bearing plate (7), an auxiliary bearing plate (9) and a plurality of rubber vibration dampers (8), wherein the main bearing plate (7) is connected with the auxiliary bearing plate (9) through the rubber vibration dampers (8) which are symmetrically arranged, and the main bearing plate (7) is arranged in parallel with the auxiliary bearing plate (8); the sensing device (16) is carried on the auxiliary bearing plate (9); the damping structure is arranged on a supporting mechanism of the sensing device (16) through the main bearing plate (7), and the main bearing plate (7) is positioned between each rubber damper (8) and the supporting mechanism.
2. The vibration reduction structure for carrying the sensing device of the unmanned aerial vehicle for detection according to claim 1, wherein the structure optimization analysis calculation is performed on the main bearing plate (7) by setting the first-order natural frequency as an optimization target and the model volume as a design variable, and a main vibration reduction weight reduction through hole (701) is formed in the main bearing plate, so that the upper limit of the residual designable volume of the main bearing plate is 30% of the original volume.
3. The vibration reduction structure for carrying the sensing device of the unmanned aerial vehicle for detection according to claim 1, wherein the auxiliary bearing plate (9) is subjected to structural optimization analysis and calculation by setting a first-order natural frequency as an optimization target and a model volume as a design variable, and an auxiliary vibration reduction and weight reduction through hole (901) is formed in the auxiliary bearing plate, so that the upper limit of the residual designable volume of the auxiliary bearing plate is 30% of the original volume.
4. The vibration damping structure for carrying the unmanned aerial vehicle sensing device for detection according to any one of claims 1 to 3, wherein symmetrically distributed mounting holes are respectively formed in corresponding positions on one opposite side of the main bearing plate (7) and the auxiliary bearing plate (9), and two ends of each rubber vibration damper (8) are respectively mounted in the corresponding mounting holes of the main bearing plate (7) and the auxiliary bearing plate (9).
5. A mechanism for carrying a sensing device of a detection unmanned aerial vehicle, characterized by comprising the vibration damping structure of any one of claims 1 to 4.
6. The sensing device carrying mechanism for the unmanned aerial vehicle according to claim 5, further comprising a support mechanism, wherein the support mechanism comprises a pair of support frames (1), a pair of fixed frame latches (2), a pair of frame connecting pipes (3), a pair of connecting latches (4), a horizontal support pipe (5) and a pair of angle locking sleeves (6), the pair of support frames (1) are connected with the pair of frame connecting pipes (3) through the pair of fixed frame latches (2), the pair of frame connecting pipes (3) are connected with two ends of the horizontal support pipe (5) through the pair of connecting latches (4), and a main bearing plate (7) in the vibration reduction structure is connected with the horizontal support pipe (5) through the pair of angle locking sleeves (6).
7. The mechanism of claim 6, wherein the fixed frame lock catch (2) comprises a lower lock catch half sleeve (17), an upper lock catch half sleeve (18) and a fixing bolt (19), the lower lock catch half sleeve (17) is locked at one end of the frame connecting pipe (3), one side of the lower lock catch half sleeve (17) is hinged to the upper lock catch half sleeve (18), and the other side of the lower lock catch half sleeve (17) is locked and fixed on the support frame (1) through the fixing bolt (19) and the upper lock catch half sleeve (18).
8. The mechanism of claim 7, wherein the concave structures of the lower half lock catch sleeve (17) and the upper half lock catch sleeve (18) are non-circular arc surfaces with a concave middle part and convex two ends.
9. The mechanism of claim 6, wherein the main bearing plate (7) is further provided with a wire divider (15), a mobile power supply (12) and a USB-CAN box (11), wherein the wire divider is not in contact with the auxiliary bearing plate (9) and is arranged from top to bottom according to the weight of the main bearing plate.
10. A probe drone, characterized in that it comprises a vibration-damping structure according to any one of claims 1 to 4.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113844665A (en) * | 2021-09-22 | 2021-12-28 | 贵州电网有限责任公司 | Three optical pod stabilising arrangement of gaN that transmission of electricity patrolled line was used |
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| CN106742007A (en) * | 2016-12-24 | 2017-05-31 | 天津天信通达科技有限公司 | A kind of buffer-type head |
| CN110683063A (en) * | 2019-09-27 | 2020-01-14 | 中国科学院沈阳自动化研究所 | Laser radar passive vibration damping device for large-load unmanned aerial vehicle |
| CN111670314A (en) * | 2018-02-05 | 2020-09-15 | 托马斯·奥伊勒-罗勒 | Vibration damper |
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| CN106742007A (en) * | 2016-12-24 | 2017-05-31 | 天津天信通达科技有限公司 | A kind of buffer-type head |
| CN111670314A (en) * | 2018-02-05 | 2020-09-15 | 托马斯·奥伊勒-罗勒 | Vibration damper |
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| CN113844665A (en) * | 2021-09-22 | 2021-12-28 | 贵州电网有限责任公司 | Three optical pod stabilising arrangement of gaN that transmission of electricity patrolled line was used |
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