阅读说明：本技术 一种飞行器及其抗振模块 (Aircraft and anti-vibration module thereof ) 是由 徐开明 高大鹏 李佳鹏 冯国涛 许可 吴志刚 陈辅政 尹欣繁 陈敏 时广轶 吴天 于 2021-07-26 设计创作，主要内容包括：本发明公开了一种飞行器及其抗振模块,抗振模块包括用以安装传感器组件的载台,及与所述载台配合连接并能够缓冲飞行器工作时对传感器组件产生的振动的抗振单元。上述抗振模块应用于飞行器中,将角度及加速度传感器从飞行控制器中外移至抗振模块中,并通过抗振单元缓冲掉由于飞行器工作而产生的振动,这样可以满足无人机在不同工作环境下的抗振要求,从而可以改善角度及加速度传感器由于受到振动而导致数据偏差的情况,有利于提高角度及加速度传感器检测数据的精确性。(The invention discloses an aircraft and an anti-vibration module thereof, wherein the anti-vibration module comprises a carrier platform for mounting a sensor assembly and an anti-vibration unit which is matched and connected with the carrier platform and can buffer the vibration generated to the sensor assembly when the aircraft works. The anti-vibration module is applied to the aircraft, the angle and acceleration sensor is moved to the anti-vibration module from the flight controller, vibration generated by operation of the aircraft is buffered through the anti-vibration unit, and therefore the anti-vibration requirements of the unmanned aerial vehicle under different working environments can be met, the condition that the angle and acceleration sensor cause data deviation due to vibration can be improved, and the accuracy of data detection of the angle and acceleration sensor is improved.)

1. An anti-vibration module is characterized by comprising a carrier for mounting a sensor assembly (100) and an anti-vibration unit which is matched and connected with the carrier and can buffer vibration generated to the sensor assembly (100) when an aircraft works.

2. Anti-vibration module according to claim 1, characterized in that said anti-vibration unit is embodied as a single-axis anti-vibration unit (101), said stage being embodied as a plate-shaped stage (102), said single-axis anti-vibration unit (101) comprising a plurality of dampers (1011) detachably connected to said plate-shaped stage (102).

3. The anti-vibration module of claim 2, wherein the plate-shaped carrier (102) is provided with a plurality of threaded holes (1023) which are arranged in one-to-one correspondence with the dampers (1011) and are used for screwing the dampers (1011).

4. Anti-vibration module according to claim 3, characterized in that the plate-shaped carrier (102) comprises an outer peripheral portion (1021) and a carrying portion (1022) provided in the outer peripheral portion (1021) for mounting and carrying the sensor assembly (100), all the threaded hole locations (1023) being provided in the outer peripheral portion (1021).

5. Anti-vibration module according to claim 4, characterized in that four corners of said peripheral portion (1021) are provided with guide members.

6. Anti-vibration module according to claim 5, wherein any of said guiding assemblies comprises a guiding optical axis (1012) penetrating said outer periphery (1021) and a guiding linear bearing (1013) fixed in a through hole of said outer periphery (1021) for linear movement of said plate stage (102) along said guiding optical axis (1012).

7. Anti-vibration module according to any of claims 4 to 6, characterized in that two said dampers (1011) are arranged in opposite directions on either short side and on the long side of said peripheral portion (1021).

8. The anti-vibration module of claim 1, wherein the anti-vibration unit is specifically a three-axis anti-vibration unit (201), the stage is specifically a T-shaped stage (202), and the three-axis anti-vibration unit (201) comprises an X-axis movement damping component which is connected with the T-shaped stage (202) in a matching manner and enables the T-shaped stage (202) to move along an X-axis direction to achieve damping, a Y-axis movement damping component which is connected with the T-shaped stage (202) in a matching manner and enables the T-shaped stage (202) to move along a Y-axis direction to achieve damping, and a Z-axis movement damping component which is connected with the X-axis movement damping component and the Y-axis movement damping component in a matching manner and enables the X-axis movement damping component and the Y-axis movement damping component to move along a Z-axis direction to achieve damping.

9. The anti-vibration module according to claim 8, wherein the Z-axis movement damping assembly comprises four Z-axis moving blocks (2013) respectively arranged at four corners of the three-axis anti-vibration unit (201), the X-axis movement damping assembly comprises two oppositely arranged X-axis moving blocks (2011), the X-axis moving block (2011) between the two Z-axis moving blocks (2013) is arranged on any short side of the three-axis anti-vibration unit (201), the Y-axis movement damping assembly comprises two oppositely arranged Y-axis moving blocks (2012), and the Y-axis moving block (2012) between the two Z-axis moving blocks (2013) is arranged on any long side of the three-axis anti-vibration unit (201);

a first optical axis (2014) penetrating through the T-shaped carrying platform (202) is fixedly connected between the two X-axis moving blocks (2011), and a first elastic piece (2019) sleeved on the first optical axis (2014) is arranged between any one of the X-axis moving blocks (2011) and the T-shaped carrying platform (202);

a second optical axis (2015) penetrating through the T-shaped carrying platform (202) is fixedly connected between the two Y-axis moving blocks (2012), and a second elastic part (2020) sleeved on the second optical axis (2015) is arranged between any one of the Y-axis moving blocks (2012) and the T-shaped carrying platform (202);

a third optical axis (2016) penetrating through the Y-axis moving block (2012) is fixedly connected between the two Z-axis moving blocks (2013) on any long side of the three-axis anti-vibration unit (201), and a third elastic piece (2021) sleeved on the third optical axis (2016) is arranged between any one Z-axis moving block (2013) and the Y-axis moving block (2012);

a fourth optical axis (2017) penetrating through the X-axis moving block (2011) is fixedly connected between the two Z-axis moving blocks (2013) on any short side of the three-axis anti-vibration unit (201), and a fourth elastic piece (2022) sleeved on the fourth optical axis (2017) is arranged between any one Z-axis moving block (2013) and the X-axis moving block (2011);

the Z-axis moving vibration damping assembly further comprises four fifth optical axes (2018) which penetrate through the four Z-axis moving blocks (2013) respectively, optical axis fixing bearings (1014) are fixedly connected to two ends of any one of the fifth optical axes (2018), and a fifth elastic piece (2023) sleeved on the fifth optical axis (2018) is arranged between any one of the optical axis fixing bearings (1014) and the Z-axis moving block (2013).

10. An aircraft, characterized in that it comprises an anti-vibration module as claimed in any one of claims 1 to 9.

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an anti-vibration module. The invention also relates to an aircraft with the anti-vibration module.

Background

The unmanned aerial vehicle is a remote control aircraft which does not need boarding and driving in a broad sense, and the operation modes of the unmanned aerial vehicle include remote control, guidance, automatic driving and the like, and the unmanned aerial vehicle is generally classified into military and civil unmanned aerial vehicles according to the application. Unmanned aerial vehicle's use is gradually extensive, no matter see through distal end remote control or automatic flight, and VTOL unmanned aerial vehicle all can accomplish many first tasks because of not being restricted by the topography, and receives the wide use, and including aerial photography, commodity circulation, exploration or military activities etc.. However, in the existing unmanned aerial vehicle, the sensor assembly (angle and acceleration sensor) is located inside the flight controller, and the unmanned aerial vehicle may vibrate during flight, so that data deviation of the sensor assembly inside the flight controller is caused.

Therefore, how to avoid the data deviation of the sensor assembly in the flight controller caused by the vibration generated when the unmanned aerial vehicle flies is a technical problem that needs to be solved by the technical personnel in the field at present.

Disclosure of Invention

The invention aims to provide an anti-vibration module which can meet the anti-vibration requirements of an unmanned aerial vehicle in different working environments, so that the data deviation caused by the vibration of an angle sensor and an acceleration sensor can be improved. Another object of the invention is to provide an aircraft comprising an anti-vibration module as described above.

In order to achieve the above purpose, the present invention provides an anti-vibration module, which includes a carrier for mounting a sensor assembly, and an anti-vibration unit coupled to the carrier and capable of buffering vibration generated to the sensor assembly when an aircraft is in operation.

Optionally, the anti-vibration unit is embodied as a single-shaft anti-vibration unit, the stage is embodied as a plate-shaped stage, and the single-shaft anti-vibration unit includes a plurality of dampers detachably connected to the plate-shaped stage.

Optionally, the plate-shaped carrier is provided with a plurality of threaded hole sites which are arranged in one-to-one correspondence with the dampers and are used for screwing the dampers.

Optionally, the plate-shaped carrier includes an outer periphery and a bearing portion disposed in the outer periphery for mounting and bearing the sensor assembly, and all the screw holes are disposed in the outer periphery.

Optionally, four corners of the outer periphery are each provided with a guide assembly.

Optionally, any one of the guide assemblies includes a guide optical axis penetrating through the outer peripheral portion and a guide linear bearing fixed in a through hole of the outer peripheral portion for the plate-shaped stage to move linearly along the guide optical axis.

Optionally, two dampers are arranged on any short side and long side of the outer periphery in different directions.

Optionally, the anti-vibration unit is specifically a three-axis anti-vibration unit, the carrier is specifically a T-shaped carrier, and the three-axis anti-vibration unit includes an X-axis movement damping assembly that is connected to the T-shaped carrier in a matching manner and supplies the T-shaped carrier to move along the X-axis direction to achieve damping, a Y-axis movement damping assembly that is connected to the T-shaped carrier in a matching manner and supplies the T-shaped carrier to move along the Y-axis direction to achieve damping, and a Z-axis movement damping assembly that is connected to the X-axis movement damping assembly and the Y-axis movement damping assembly in a matching manner and supplies the X-axis movement damping assembly and the Y-axis movement damping assembly to move along the Z-axis direction to achieve damping.

Optionally, the Z-axis movement damping assembly includes four Z-axis moving blocks respectively disposed at four corners of the three-axis anti-vibration unit, the X-axis movement damping assembly includes two X-axis moving blocks disposed oppositely, the X-axis moving block disposed between the two Z-axis moving blocks is disposed on any short side of the three-axis anti-vibration unit, the Y-axis movement damping assembly includes two Y-axis moving blocks disposed oppositely, and the Y-axis moving block disposed between the two Z-axis moving blocks is disposed on any long side of the three-axis anti-vibration unit;

a first optical axis penetrating through the T-shaped carrying platform is fixedly connected between the two X-axis moving blocks, and a first elastic piece sleeved on the first optical axis is arranged between any one of the X-axis moving blocks and the T-shaped carrying platform;

a second optical axis penetrating through the T-shaped carrying platform is fixedly connected between the two Y-axis moving blocks, and a second elastic piece sleeved on the second optical axis is arranged between any one of the Y-axis moving blocks and the T-shaped carrying platform;

a third optical axis penetrating through the Y-axis moving blocks is fixedly connected between the two Z-axis moving blocks on any long side of the three-axis anti-vibration unit, and a third elastic piece sleeved on the third optical axis is arranged between any one of the Z-axis moving blocks and the Y-axis moving block;

a fourth optical axis penetrating through the X-axis moving blocks is fixedly connected between the two Z-axis moving blocks on any short side of the three-axis anti-vibration unit, and a fourth elastic piece sleeved on the fourth optical axis is arranged between any one of the Z-axis moving blocks and the X-axis moving block;

the Z-axis moving vibration damping assembly further comprises four fifth optical axes which penetrate through the four Z-axis moving blocks respectively, optical axis fixing bearings are fixedly connected to two ends of any one of the fifth optical axes, and a fifth elastic piece sleeved on the fifth optical axis is arranged between any one of the optical axis fixing bearings and the Z-axis moving block.

The invention also provides an aircraft comprising an anti-vibration module as defined in any one of the preceding claims.

Compared with the background art, the anti-vibration module provided by the embodiment of the invention comprises a carrier and an anti-vibration unit, wherein the carrier is used for mounting the sensor assembly, the sensor assembly comprises the angle and acceleration sensor, the anti-vibration unit is connected with the carrier in a matched mode, and the anti-vibration unit can buffer vibration generated to the sensor assembly when the aircraft works. That is to say, the requirement of the accuracy of the detection data of the sensor assembly is met by installing the sensor assembly on the carrying platform in a positioning mode and buffering the vibration generated by the operation of the aircraft through the anti-vibration unit. Compared with the traditional aircraft without the anti-vibration unit, the anti-vibration module provided by the embodiment of the invention is applied to the aircraft, the angle and acceleration sensor is externally moved into the anti-vibration module from the flight controller, and the vibration generated by the operation of the aircraft is buffered by the anti-vibration unit, so that the anti-vibration requirements of the unmanned aerial vehicle under different working environments can be met, the situation that the angle and acceleration sensor has data deviation due to the vibration can be improved, and the accuracy of the angle and acceleration sensor in detecting data can be improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an anti-vibration module according to an embodiment of the present invention;

FIG. 2 is a front view of FIG. 1;

FIG. 3 is a top view of the plate stage of FIG. 1 with the sensor assembly mounted thereon;

fig. 4 is a schematic structural diagram of another anti-vibration module according to an embodiment of the present invention;

FIG. 5 is a schematic view of the vibration suppression module of FIG. 4 moving in a horizontal plane;

FIG. 6 is a schematic view of the vibration suppression module of FIG. 4 moving in a vertical plane;

fig. 7 is a schematic diagram of the replacement of the vibration damping module of fig. 1 with the vibration damping module of fig. 4.

Wherein:

100-a sensor assembly;

101-single-axis anti-vibration unit, 102-plate-shaped carrying platform;

1011-damper, 1012-guide optical axis, 1013-guide linear bearing and 1014-optical axis fixed bearing;

1021-outer perimeter, 1022-load bearing, 1023-thread hole locations;

201-triaxial anti-vibration unit, 202-T type carrying platform;

2011-X axis moving block, 2012-Y axis moving block, 2013-Z axis moving block, 2014-first optical axis, 2015-second optical axis, 2016-third optical axis, 2017-fourth optical axis, 2018-fifth optical axis, 2019-first elastic element, 2020-second elastic element, 2021-third elastic element, 2022-fourth elastic element and 2023-fifth elastic element.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The core of the invention is to provide the anti-vibration module which can meet the anti-vibration requirements of the unmanned aerial vehicle in different working environments, so that the data deviation caused by the vibration of the angle and acceleration sensors can be improved. Another core of the invention is to provide an aircraft comprising an anti-vibration module as described above.

In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

The anti-vibration module provided by the embodiment of the invention comprises a carrier and an anti-vibration unit, wherein the carrier is used for mounting the sensor assembly 100, the sensor assembly 100 comprises an angle and acceleration sensor, the anti-vibration unit is connected with the carrier in a matching way, and the anti-vibration unit can buffer the vibration generated to the sensor assembly 100 when an aircraft works.

That is, the requirement of the sensor assembly 100 for the accuracy of the detected data can be met by positioning and mounting the sensor assembly 100 on the stage and buffering the vibration generated by the operation of the aircraft by the anti-vibration unit.

The angle sensor and the acceleration sensor are elements that are applied to a flight controller in the prior art and are used for detecting flight angle data and acceleration data, respectively, and the angle sensor and the acceleration sensor are in data communication with the flight controller, and the flight controller is used for performing related control of flight according to the detected data.

Compared with the traditional aircraft without the anti-vibration unit, the anti-vibration module provided by the embodiment of the invention is applied to the aircraft, the angle and acceleration sensors are moved from the flight controller to the anti-vibration module, the angle and acceleration sensors are positioned by the carrier, and the anti-vibration unit is used for buffering the vibration generated by the operation of the aircraft, so that the anti-vibration requirements of the unmanned aerial vehicle under different working environments can be met, the condition that the angle and acceleration sensors have data deviation due to the vibration can be improved, and the accuracy of the detection data of the angle and acceleration sensors can be improved.

Of course, according to actual needs, the vibration damping units with different structures can be adopted to meet the vibration damping requirements under different conditions according to the angle and the data deviation influence caused by the vibration of the acceleration sensor under different working environments.

Specifically, the vibration damping requirements of the angle and acceleration sensor in two different working environments will be described below, the first working environment being a case of reciprocating vibration generated in a single axial direction, in which case a single-axis (Z-axis) vibration damping unit is installed at a position perpendicular to the vibration direction, and the second working environment being a case of multiple vibrations generated in multiple axial directions, in which case a three-axis (X, Y, Z-axis) vibration damping unit is installed at a position parallel to the ground.

As a specific example, as shown in fig. 1 to 3, the anti-vibration unit is embodied as a single-axis anti-vibration unit 101, the stage is embodied as a plate-shaped stage 102, and the single-axis anti-vibration unit 101 includes a plurality of dampers 1011 detachably attached to the plate-shaped stage 102. In order to facilitate the assembly of the damper 1011 and the plate-shaped carrier 102, a plurality of threaded hole locations 1023 are arranged on the plate-shaped carrier 102, the threaded hole locations 1023 are arranged in one-to-one correspondence with all the dampers 1011, and the threaded hole locations 1023 are used for screwing the dampers 1011.

In consideration of the environment in which the uniaxial anti-vibration unit 101 is applied, that is, the environment in which the structure is simplified and which has a large assembly space, it is preferable to select a micro damper which has a long life and is stable in performance.

In this way, the effect of the buffer structure formed by the plurality of dampers 1011 is similar to the effect of a shock absorber on an automobile or a motorcycle, and the plurality of dampers 1011 serving as buffer media can buffer the vibration generated by the aircraft in the ascending and descending processes, so that the anti-vibration requirement of the unmanned aerial vehicle in the ascending and descending process can be met, and the condition that the angle and acceleration sensors are subjected to the vibration in the Z-axis direction to cause data deviation can be improved.

Specifically, the plate-shaped stage 102 includes an outer peripheral portion 1021 and a carrying portion 1022, wherein the carrying portion 1022 is provided inside the outer peripheral portion 1021, the carrying portion 1022 is used for mounting and carrying the sensor assembly 100, and all the screw hole positions 1023 are provided in the outer peripheral portion 1021. Preferably, the entire plate-shaped stage 102 may be provided as the plate-shaped stage 102 having a rectangular cross section, the carrier part 1022 and the outer peripheral part 1021 are integrally formed, the outer peripheral part 1021 includes two long-side structures and two short-side structures, and all the dampers 1011 may be provided on the entire outer peripheral part 1021 along the circumferential direction of the outer peripheral part 1021.

Further, guide members are provided at four corners of the outer peripheral portion 1021. Any guiding assembly comprises a guiding optical axis 1012 penetrating through the outer periphery 1021 and a guiding linear bearing 1013 fixedly connected in a through hole of the outer periphery 1021, the guiding linear bearing 1013 is used for enabling the plate-shaped carrying platform 102 to move linearly along the guiding optical axis 1012 so as to realize guiding function, and both ends of the guiding optical axis 1012 are provided with optical axis fixing bearings 1014 for assembling with bearing seats of a housing assembly for mounting the anti-vibration module. Of course, the guide assembly may also be configured as a guide rod and a common guide sleeve/cylinder, and the guide sleeve/cylinder is fixedly connected to the plate-shaped carrying platform 102 in advance, and the guide sleeve/cylinder moves along the guide rod in a low-resistance linear manner to achieve a guiding effect.

Of course, according to actual needs, the number of the dampers 1011 can be set to eight, each two dampers 1011 form a group, one group of dampers 1011 is arranged on any one short side and long side of the outer peripheral portion 1021, that is, the two dampers 1011 are arranged in different directions, and the two dampers 1011 on any one short side or long side of the outer peripheral portion 1021 are arranged in different directions, that is, the two dampers 1011 are arranged in one forward direction and the other in a reverse direction, so that the stress is uniform, and the stability of the vibration damping is improved.

The primary vibration-proof manner in the single-axis vibration-proof unit 101 is to use four sets of dampers 1011 as a buffer medium, and to cooperate with the four guide optical axes 1012 and the guide linear bearings 1013 to perform low-resistance vertical movement, and the bearing part 1022 at the center of the single-axis vibration-proof unit 101 for mounting the sensor assembly 100 is rigidly connected to the sensor assembly 100, for example, by bolts, and it should be noted that all mounting manners except the single-axis vibration-proof unit 101 are rigidly fixed to reduce the self-shaking problem caused between the components. The plate-shaped carrier 102 in the single-axis anti-vibration unit 101 is used as a core component, four guide optical axes 1012 for movement are respectively installed in four guide linear bearings 1013 pre-installed in the plate-shaped carrier 102, then an anti-vibration damper 1011 is fixedly connected to a threaded hole 1023 on the plate-shaped carrier 102 in a threaded connection mode, then the sensor assembly 100 is installed on a sensor installation hole of a central bearing part 1022 of the plate-shaped carrier 102 through a bolt, and finally the whole set of installed anti-vibration modules is installed in a packaging shell component.

As another specific embodiment, as shown in fig. 4, the anti-vibration unit is specifically a three-axis anti-vibration unit 201, the stage is specifically a T-shaped stage 202, and the three-axis anti-vibration unit 201 includes an X-axis movement damping component, a Y-axis movement damping component, and a Z-axis movement damping component, where the X-axis movement damping component is connected to the T-shaped stage 202 in a matching manner, and the X-axis movement damping component is used for allowing the T-shaped stage 202 to move along the X-axis direction, so as to realize damping; the Y-axis moving vibration damping assembly is connected with the T-shaped carrying platform 202 in a matched mode, and the Y-axis moving vibration damping assembly is used for enabling the T-shaped carrying platform 202 to move along the Y-axis direction so as to realize vibration damping; the Z-axis moving and vibration damping assembly is connected with the X-axis moving and vibration damping assembly and the Y-axis moving and vibration damping assembly in a matched mode, and the Z-axis moving and vibration damping assembly is used for supplying the X-axis moving and vibration damping assembly, the Y-axis moving and vibration damping assembly and the T-shaped carrying platform 202 to move along the Z-axis direction so as to achieve vibration damping.

Specifically, the Z-axis movement vibration damping assembly comprises four Z-axis moving blocks 2013 respectively arranged at four corners of the three-axis vibration resisting unit 201, the X-axis movement vibration damping assembly comprises two X-axis moving blocks 2011 arranged oppositely, an X-axis moving block 2011 positioned between the two Z-axis moving blocks 2013 is arranged on any short side of the three-axis vibration resisting unit 201, the Y-axis movement vibration damping assembly comprises two Y-axis moving blocks 2012 arranged oppositely, and a Y-axis moving block 2012 positioned between the two Z-axis moving blocks 2013 is arranged on any long side of the three-axis vibration resisting unit 201; and a line between the two X-axis moving blocks 2011 is perpendicular to a line between the two Y-axis moving blocks 2012.

Further, a first optical axis 2014 is fixedly connected between the two X-axis moving blocks 2011, the first optical axis 2014 penetrates through the T-shaped carrying platform 202, a first elastic member 2019 is arranged between any one of the X-axis moving blocks 2011 and the T-shaped carrying platform 202, and the first optical axis 2014 is sleeved with the first elastic member 2019. In order to ensure the stability of movement, the number of the first optical axes 2014 is two, the two first optical axes 2014 are arranged in parallel in the same horizontal plane, and meanwhile, two first elastic members 2019 are sleeved on any one first optical axis 2014. In this way, T-shaped stage 202 can be connected to two X-axis moving blocks 2011 on both sides via two first optical axes 2014.

A second optical axis 2015 is fixedly connected between the two Y-axis moving blocks 2012, the second optical axis 2015 penetrates through the T-shaped carrying table 202, a second elastic element 2020 is arranged between any one of the Y-axis moving blocks 2012 and the T-shaped carrying table 202, and the second optical axis 2015 is sleeved with the second elastic element 2020. For the stability of guaranteeing the removal, the quantity of second optical axis 2015 is two, two second optical axes 2015 parallel arrangement in same horizontal plane, simultaneously, the cover is equipped with two second elastic components 2020 on arbitrary second optical axis 2015. In this way, T-type stage 202 can be connected to two Y-axis moving blocks 2012 on both sides via two second optical axes 2015.

It should be noted that the plane in which the two second optical axes 2015 are located is different from the plane in which the two first optical axes 2014 are located, and from a top view, the two first optical axes 2014 and the two second optical axes 2015 are arranged in a # -shaped structure.

On the basis, a third optical axis 2016 is fixedly connected between the two Z-axis moving blocks 2013 on any long side of the three-axis vibration resisting unit 201, the third optical axis 2016 penetrates through the Y-axis moving block 2012, a third elastic member 2021 is arranged between any one of the Z-axis moving blocks 2013 and the Y-axis moving block 2012, and the third elastic member 2021 is sleeved on the third optical axis 2016. In order to ensure the stability of movement, the number of the third optical axes 2016 on any long side of the triaxial anti-vibration unit 201 is two, the two third optical axes 2016 are arranged in parallel (up and down in parallel) in the same vertical plane, and meanwhile, two third elastic members 2021 are sleeved on any one third optical axis 2016. In this way, the Y-axis moving block 2012 can be connected to the two Z-axis moving blocks 2013 on both sides via the two third optical axes 2016.

Correspondingly, a fourth optical axis 2017 is fixedly connected between the two Z-axis moving blocks 2013 on any short side of the three-axis vibration resisting unit 201, the fourth optical axis 2017 penetrates through the X-axis moving block 2011, a fourth elastic element 2022 is arranged between any Z-axis moving block 2013 and the X-axis moving block 2011, and the fourth elastic element 2022 is sleeved on the fourth optical axis 2017. In order to ensure the stability of movement, the number of the fourth optical axes 2017 on any short side of the triaxial anti-vibration unit 201 is two, the two fourth optical axes 2017 are arranged in parallel (up-down parallel) in the same vertical plane, and meanwhile, two fourth elastic members 2022 are sleeved on any fourth optical axis 2017. In this way, the X-axis moving block 2011 can be connected to the two Z-axis moving blocks 2013 on both sides via the two fourth optical axes 2017.

In addition, the Z-axis movement vibration damping assembly further includes four fifth optical axes 2018 respectively penetrating through the four Z-axis moving blocks 2013, two ends of any of the fifth optical axes 2018 are fixedly connected with optical axis fixing bearings 1014, a fifth elastic member 2023 is arranged between any of the optical axis fixing bearings 1014 and the Z-axis moving blocks 2013, and the fifth elastic member 2023 is sleeved on the fifth optical axis 2018.

In this way, when the aircraft is flying and turning, the T-shaped stage 202 can move along the X-axis direction following the two X-axis moving blocks 2011, and meanwhile, under the elastic force action of the second elastic member 2020 and the fourth elastic member 2022, a buffering action along the X-axis direction can be realized; the T-shaped stage 202 can move along the Y-axis direction following the two Y-axis moving blocks 2012, and at the same time, under the elastic force action of the first elastic member 2019 and the third elastic member 2021, a buffering action along the Y-axis direction can be realized; when the aircraft ascends and descends, the T-shaped stage 202 can move along the Z-axis direction along with the four Z-axis moving blocks 2013, and meanwhile, under the elastic force action of the fifth elastic element 2023, a buffering action along the Z-axis direction can be realized.

Of course, according to actual needs, the first elastic element 2019, the second elastic element 2020, the third elastic element 2021, the fourth elastic element 2022, and the fifth elastic element 2023 may be set as compression springs, and a preset pre-tightening force is set when any one of the springs is installed, that is, when the triaxial anti-vibration unit 201 is in an original state, any one of the springs is in a compressed state.

Meanwhile, in order to facilitate the stability of movement, when the optical axis is connected with the T-shaped carrying table 202 or the moving block in a penetrating manner, linear bearings are arranged in the through holes of the T-shaped carrying table 202 and the through holes of the moving block, so that the movement is facilitated in flexibility and stability. And a stop screw is arranged on any moving block and used for limiting the corresponding optical axis so as to prevent the optical axis from moving along the axial direction.

In summary, the three-axis anti-vibration unit 201 adopts 32 springs as the buffer medium, and the double-layer X, Y axis movement is matched with the single-layer Z axis movement to achieve the universal anti-vibration effect. That is, the three-axis anti-vibration unit 201 realizes parallel, vertical, and oblique movement of the T-shaped stage 202 and the sensor assembly 100 through the double parallel optical axes in the X, Y axis direction structure, as shown in fig. 5; the vertical movement of the T-shaped stage 202 and the sensor assembly 100 is realized through a single layer of parallel optical axes in the Z-axis direction, as shown in fig. 6, and at the same time, the multi-axis vibration resistance is achieved through two springs on each optical axis.

The triaxial anti-vibration unit 201 is assembled in a manner including: the sensor assembly 100 is fixed on a T-shaped carrying platform 202 through bolts, an X-axis moving block 2011, a first optical axis 2014, a Y-axis moving block 2012 and a second optical axis 2015 are respectively installed on the T-shaped carrying platform 202, linear bearings need to be installed at positions where the optical axes pass through for structures needing to move inside, springs with lengths matched with each other need to be installed at two ends and stop screws need to be installed at the ends of the optical axes for fastening when each group of optical axes are installed, a third optical axis 2016, a fourth optical axis 2017, a Z-axis moving block 2013, springs and linear bearings with lengths corresponding to the optical axes are installed after the installation is finished, a fifth optical axis 2018 is installed in the Z-axis moving blocks 2013 at four corners after the installation is finished, an optical axis fixing bearing 1014 and a spring are installed on the fifth optical axis 2018, and finally the anti-vibration module is integrally packaged in a housing assembly.

It should be noted that the anti-vibration module with the single-axis anti-vibration unit 101 and the anti-vibration module with the three-axis anti-vibration unit 201 can be quickly replaced according to the actual working environment. Specifically, under different operational environment, can temporarily resist the internal component of vibration module and change in order to realize the single/multiaxis of fast switch over anti vibration structure, the change step is: the sensor assembly 100 is detached from the plate-shaped stage 102, then the Z-axis moving block 2013 in the single-axis anti-vibration unit 101 is detached in such a manner as to leave the guide optical axis 1012, the guide linear bearing 1013, and the optical axis fixing bearing 1014, and then the sensor assembly 100 is mounted to the T-shaped stage 202 (the T-shaped stage 202 is mounted in advance to the three-axis anti-vibration unit 201 lacking the fifth optical axis 2018), and the remaining parts are re-filled into the partially assembled three-axis anti-vibration unit 201 to constitute the complete three-axis anti-vibration unit 201, at this time, the guide optical axis 1012 is applied to the three-axis anti-vibration unit 201 as the fifth optical axis 2018, the guide linear bearing 1013 is mounted between the fifth optical axis 2018 and the Z-axis moving block 2013, and as shown in fig. 7, finally, the housing assembly is packaged again, and is self-corrected in a planar position.

Of course, the structure of the housing assembly for housing the anti-vibration module having the single-axis anti-vibration unit 101 and the anti-vibration module having the triaxial anti-vibration unit 201 is the same, that is, the anti-vibration module having the single-axis anti-vibration unit 101 and the anti-vibration module having the triaxial anti-vibration unit 201 may share the same housing assembly, so that the efficiency of mounting and dismounting may be greatly improved.

It should be noted that, the switching of the internal movement modes of the anti-vibration module depends on the actual environment of the application, and the anti-vibration module with the single-axis anti-vibration unit 101 is mainly suitable for the situation that reciprocating, nonlinear and high-frequency vibration is easily generated on a single industrial axis or single surface, and the damper 1011 with long service life and stable performance is selected under the situation of relatively simplified structure and on the premise of having a large assembly space; in a complex vibration environment or under the condition of multi-axial acceleration, the single-axis anti-vibration unit 101 can only move in the Z-axis direction, which results in poor anti-vibration effect, and in this environment, the anti-vibration module with the single-axis anti-vibration unit 101 can be quickly replaced by the anti-vibration module with the three-axis anti-vibration unit 201, so that the reciprocating universal anti-vibration effect can be realized through the double-layer XY axis and the single Z axis.

The invention provides an aircraft, which comprises the anti-vibration module described in the specific embodiment; other parts of the aircraft are referred to in the prior art and are not described further herein.

It is noted that, in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities.

The aircraft and the anti-vibration module thereof provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are provided only to help understand the concepts of the present invention and the core concepts thereof. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.