CN109443335B - Novel sensitive part for pendulum gyroscope north seeker - Google Patents
Novel sensitive part for pendulum gyroscope north seeker Download PDFInfo
- Publication number
- CN109443335B CN109443335B CN201811282446.2A CN201811282446A CN109443335B CN 109443335 B CN109443335 B CN 109443335B CN 201811282446 A CN201811282446 A CN 201811282446A CN 109443335 B CN109443335 B CN 109443335B
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- gyroscope
- room
- central rod
- energy storage
- storage device
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/02—Rotary gyroscopes
- G01C19/44—Rotary gyroscopes for indicating the vertical
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/02—Rotary gyroscopes
- G01C19/04—Details
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/02—Rotary gyroscopes
- G01C19/04—Details
- G01C19/26—Caging, i.e. immobilising moving parts, e.g. for transport
Abstract
The invention relates to a novel sensitive part for a pendulum gyroscope north seeker, which is mainly characterized in that a gyroscope room is a spherical sealing structure, and inert gas is filled in the gyroscope room; the gyroscope motor is arranged in the gyroscope room, the counterweight plate is coaxially arranged below the gyroscope room, the periphery of the gyroscope room is provided with a shielding cover, a central rod is arranged above the shielding cover, and the central rod and the shielding cover are fixedly connected with the gyroscope room through screws; the sensitive part is provided with an energy storage device for power supply and is integrally designed with the control circuit board, wherein the energy storage device is annularly arranged at the periphery of the shielding cover, the control circuit board is positioned below the counterweight plate, and protective covers are arranged at the peripheries of the energy storage device and the control circuit board; the sensitive part adopts a wireless communication module to realize communication with the gyro north seeker. According to the invention, the energy storage device is adopted to replace the traditional diversion wire power supply mode, the sensitive part works more stably, and the north-seeking precision of the gyro north-seeking instrument can be effectively improved.
Description
Technical Field
The invention relates to the technical field of navigation, in particular to a novel sensitive part for a pendulum gyroscope north seeker.
Background
The pendulum gyro north finder is a kind of precise orientation equipment. The working principle is as follows: a part (a sensitive part) internally provided with a high-speed rotating gyro motor is suspended on a fixed frame by using an elastic metal wire, the precession moment generated by the gyro motor is balanced with the torsion moment of a hanging strip, the sensitive part performs reciprocating precession around the meridian plane of the earth, and the true north direction is calculated by measuring the precession angle through a photoelectric sensing device.
The sensing part of the traditional pendulum type gyro north seeker is generally powered by a plurality of groups of guide wires, and the change of external moment borne by the sensing part is easily caused by the difference of the mounting state, symmetry and internal stress of each group of guide wires, so that the working stability of the sensing part can be influenced, and the north seeking precision of the gyro north seeker is finally reduced.
The control circuit of the gyro motor of the prior sensitive part is generally designed separately from the sensitive part, and the start, synchronization and stop control of the gyro motor are completed through a diversion wire or a bypass contact, so that the control circuit has many intermediate links and a complex structure, and easily causes the problems of over-current of the diversion wire or unreliable start caused by poor contact of the bypass contact and the like.
Disclosure of Invention
The invention aims to make up for the defects of the prior art and provides a novel sensitive part based on the feed and wireless communication technology with an energy storage device, wherein the sensitive part does not need to be powered by a conductive wire during working, so that unstable external torque is eliminated, and more high-precision north-seeking measurement can be realized.
The purpose of the invention is realized by the following technical means:
a novel sensitive portion for pendulum gyro north seeker is characterized in that: the gyroscope room is a spherical sealing structure and is internally filled with inert gas; the gyroscope motor is installed in the gyroscope room, the counterweight plate is coaxially installed below the gyroscope room, shielding covers are arranged on the peripheries of the gyroscope room and the counterweight plate, the energy storage device is annularly arranged on the periphery of the shielding cover, the control circuit board is located below the counterweight plate and outside the shielding cover, and protective covers are arranged on the peripheries of the energy storage device and the control circuit board; the wireless communication module is arranged outside the shielding case;
a central rod is arranged above the shielding cover, and the central rod and the shielding cover are fixedly connected with the gyro room through screws; the central rod is of a cylindrical hollow structure, a plane mirror is bonded near the top of the central rod, a notch is formed in the middle of the side wall of the central rod, a suspension belt pressing plate is arranged in the notch, and a suspension belt is clamped between the suspension belt pressing plate and the central rod; the lower part of the central rod is provided with four taper holes which are uniformly distributed at 90 degrees;
two symmetrically distributed charging seats are arranged on the central rod, and an insulating sleeve is arranged between the charging seats and the central rod for isolation; the two charging seats are welded with wires, the wires are symmetrically distributed along the inner hole of the central rod and the periphery of the shielding cover and are connected with the energy storage device through an opening at the upper end of the protective cover; the energy storage device is used as a power supply device and is connected with the input end of the control circuit board through a wire; the wire at the output end of the control circuit board penetrates from the bottom of the gyro room and is connected with a winding lead of a gyro motor; the wireless communication module is connected with the control circuit board through a wire.
Moreover, the energy storage device can be, but is not limited to, a lithium battery pack, a super capacitor pack and other devices capable of being charged and discharged rapidly.
And the charging seat is arranged between the notch and the taper hole.
And the wireless communication module is arranged on the upper part of the outer side wall of the shielding cover and is positioned above the outer side of the protective cover.
The invention has the advantages and positive effects that:
1. this novel sensitive portion is from taking the energy storage device power supply to with control circuit board integrated design, removed the interference moment of introducing through many conduction silks power supply in the sensitive portion working process from, make sensitive portion work more stable, the north precision is sought to the system is higher.
2. The novel sensing part gyro room adopts a spherical symmetrical sealing structure and is filled with inert gas, so that the temperature rise deformation of a gyro motor during working can be effectively reduced; the periphery of the gyro room is provided with the shielding case, so that the disturbance of an external magnetic field to a gyro motor can be effectively shielded, and the working stability of the system is improved.
3. The four taper holes for locking the sensitive part are positioned in the middle of the sensitive part, the sensitive part can be locked and released by adopting a hollow radial locking mechanism, and the system structure is more compact while the stress of a suspension band during locking is reduced.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
In the drawings are labeled:
(1) the device comprises a control circuit board, (2) a balance weight disc, (3) a gyro room, (4) a gyro motor, (5) an energy storage device, (6) a protective cover, (7) a wireless communication module, (8) a shielding cover, (9) a charging seat, (10) a suspension belt pressing plate, (11) a center rod, (12) a plane mirror and (13) a suspension belt.
Detailed Description
The following detailed description of the embodiments of the present invention is provided in conjunction with the accompanying drawings, which are intended to be illustrative, not limiting, and not limiting.
A novel sensitive part for a pendulum gyroscope north seeker comprises a control circuit board (1), a balance weight disc (2), a gyroscope room (3), a gyroscope motor (4), an energy storage device (5), a protective cover (6), a wireless communication module (7), a shielding cover (8), a charging seat (9), a suspension belt pressing plate (10), a center rod (11) and a plane mirror (12).
The top chamber (3) is a spherical sealing structure, and inert gas is filled inside the top chamber. Gyro motor (4) are installed in top room (3), and counter weight dish (2) coaxial arrangement is in top room (3) below, and top room (3) and counter weight dish periphery are equipped with shield cover (8), and energy storage device (5) annular sets up in shield cover (8) periphery, but energy storage device (5) can be but not limited to quick charge-discharge devices such as lithium cell group, super capacitor group. The control circuit board (1) and the sensitive part are designed integrally, the control circuit board (1) is located below the counterweight plate (2) and located outside the shielding case, and the protective cover (6) is arranged on the peripheries of the energy storage device (5) and the control circuit board (1). The wireless communication module (7) is arranged on the upper part of the outer side wall of the shielding cover (8), is positioned above the outer side of the protective cover and is used for communicating with the gyro north seeker.
A center rod (11) is arranged above the shielding cover (8), and the center rod (11) and the shielding cover (8) are fixedly connected with the gyro room (3) through screws. The central rod (11) is of a cylindrical hollow structure, and a plane mirror (12) is bonded near the top of the central rod and used for outputting the swing angle of the sensitive part during working. The middle part of the side wall of the central rod (11) is provided with a notch, a suspension belt pressing plate (10) is arranged in the notch, and a suspension belt (13) is clamped between the suspension belt pressing plate (10) and the central rod (11). The lower part of the central rod (11) is provided with four taper holes which are uniformly distributed at 90 degrees and used for locking the sensitive part in a non-working state.
Two symmetrically distributed charging seats (9) are arranged on the central rod (11), the charging seats are arranged between the notch and the taper hole, and an insulating sleeve is arranged between the charging seats (9) and the central rod (11) for isolation; wires are welded on the two charging seats (9), and the wires are symmetrically distributed along the inner hole of the central rod (11) and the periphery of the shielding cover (8) and are connected with the energy storage device (5) through an opening at the upper end of the protective cover (6); the energy storage device (5) is used as a power supply device and is connected with the input end of the control circuit board (1) through a lead; the wire at the output end of the control circuit board (1) penetrates from the bottom of the gyro room and is connected with the winding lead of the gyro motor (4); the wireless communication module (7) is connected with the control circuit board (1) through a lead. Because the sensitive part has a complex structure, absolute symmetry cannot be achieved in the structure, and after the assembly is completed, the direction of the sensitive axis of the gyroscope is strictly balanced.
The working principle and the process of the sensitive part are as follows:
when the gyro north seeker is in a non-working state, the sensitive part is in a locked state through four conical holes which are uniformly distributed at 90 degrees, and at the moment, an external power supply can charge the energy storage device (5) through the charging seat (9); when the gyro north finder works, the wireless communication module (7) receives a north finding command, the external locking and releasing mechanism loosens the sensitive part, the sensitive part is in a free suspension state under the suspension of the suspension belt (13), and the energy storage device (5) stops charging and supplies power to the control circuit board (1) and the gyro motor (4); the control circuit board (1) drives the gyro motor (4) to start and monitors the running state of the gyro motor; the gyro motor (4) rotates at a high speed in the gyro room (3), the sensitive part swings back and forth around the north direction under the gyro effect, and the plane mirror (12) at the top of the central rod (11) transmits the swinging condition of the sensitive part to the photoelectric sensing device of the gyro north seeker for calculating the north direction; the shielding cover (8) can shield the disturbance of an external magnetic field to the sensitive part in the swinging process of the sensitive part, and the counterweight plate (2) enables the gravity center position of the sensitive part to be lower than the mass center of the gyro motor (4), so that the nutation during swinging can be eliminated; after the north is searched, the wireless communication module (7) receives a command of stopping the north searching, the external locking and releasing mechanism locks the sensitive part, the control circuit board (1) controls the gyro motor (4) to stop rotating, and the work is finished.
Claims (2)
1. A novel sensitive portion for a pendulum gyro north seeker is characterized in that: the gyroscope room is a spherical sealing structure and is internally filled with inert gas; the gyroscope motor is installed in the gyroscope room, the counterweight plate is coaxially installed below the gyroscope room, shielding covers are arranged on the peripheries of the gyroscope room and the counterweight plate, the energy storage device is annularly arranged on the periphery of the shielding cover, the control circuit board is located below the counterweight plate and outside the shielding cover, and protective covers are arranged on the peripheries of the energy storage device and the control circuit board; the wireless communication module is arranged outside the shielding case;
a central rod is arranged above the shielding cover, and the central rod and the shielding cover are fixedly connected with the gyro room through screws; the central rod is of a cylindrical hollow structure, a plane mirror is bonded near the top of the central rod, a notch is formed in the middle of the side wall of the central rod, a suspension belt pressing plate is arranged in the notch, and a suspension belt is clamped between the suspension belt pressing plate and the central rod; the lower part of the central rod is provided with four taper holes which are uniformly distributed at 90 degrees and used for locking the sensitive part in a non-working state;
two symmetrically distributed charging seats are arranged on the central rod, and an insulating sleeve is arranged between the charging seats and the central rod for isolation; the two charging seats are welded with wires, the wires are symmetrically distributed along the inner hole of the central rod and the periphery of the shielding cover and are connected with the energy storage device through an opening at the upper end of the protective cover; the energy storage device is used as a power supply device and is connected with the input end of the control circuit board through a wire; the wire at the output end of the control circuit board penetrates from the bottom of the gyro room and is connected with a winding lead of a gyro motor; the wireless communication module is connected with the control circuit board through a wire;
the charging seat is arranged between the notch and the taper hole;
the wireless communication module is arranged on the upper part of the outer side wall of the shielding cover and is positioned above the outer side of the protective cover.
2. The new sensitive part of claim 1, for pendulum gyro north seeker, characterized by: the energy storage device comprises but is not limited to a lithium battery pack and a super capacitor pack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811282446.2A CN109443335B (en) | 2018-10-31 | 2018-10-31 | Novel sensitive part for pendulum gyroscope north seeker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811282446.2A CN109443335B (en) | 2018-10-31 | 2018-10-31 | Novel sensitive part for pendulum gyroscope north seeker |
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| Publication Number | Publication Date |
|---|---|
| CN109443335A CN109443335A (en) | 2019-03-08 |
| CN109443335B true CN109443335B (en) | 2022-06-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811282446.2A Active CN109443335B (en) | 2018-10-31 | 2018-10-31 | Novel sensitive part for pendulum gyroscope north seeker |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111121735A (en) * | 2020-01-03 | 2020-05-08 | 中国船舶重工集团公司第七0七研究所 | Tunnel, subway and mine excavation tunneling autonomous positioning and orienting system and method |
| CN113686355A (en) * | 2021-07-29 | 2021-11-23 | 中国船舶重工集团公司第七0七研究所 | Method for improving precision of pendulum gyroscope north finder based on reference mirror process improvement |
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| CN109443335A (en) | 2019-03-08 |
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