CN115371657A - Measuring and controlling device for angular velocity of gyroscope - Google Patents
Measuring and controlling device for angular velocity of gyroscope Download PDFInfo
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- CN115371657A CN115371657A CN202211322324.8A CN202211322324A CN115371657A CN 115371657 A CN115371657 A CN 115371657A CN 202211322324 A CN202211322324 A CN 202211322324A CN 115371657 A CN115371657 A CN 115371657A
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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
- G01C19/58—Turn-sensitive devices without moving masses
- G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
- G01C19/66—Ring laser gyrometers
- G01C19/661—Ring laser gyrometers details
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Abstract
The invention relates to the technical field of laser gyroscopes, in particular to a measuring and controlling device for angular velocity of a gyroscope, which comprises the gyroscope and a base of the gyroscope, wherein three reflectors are arranged on the upper surface of the base, a rotating disc is fixedly connected to each reflector, a rotating column is arranged on each rotating disc, each rotating column movably penetrates through the base and then extends downwards, a gear is rotatably arranged on the lower surface of the base, the extending end of each rotating column is fixedly connected to the gear, a driving structure for driving the gear to rotate at a low speed is arranged on the lower surface of the base, and the driving structure comprises a first driving part or a second driving part, so that the problem that the track of a laser beam in an annular optical cavity is changed due to the change of an external temperature environment or the inclination of a spherical reflector and a planar reflector in the laser gyroscope is solved.
Description
Technical Field
The invention relates to the technical field of laser gyroscopes, in particular to a measuring and controlling device for angular velocity of a gyroscope.
Background
The laser gyro is a precise angular velocity sensor, the normal direction of the plane of the built-in annular light path is the direction of the sensitive axis of the laser gyro, and the rotation around the direction of the sensitive axis is the input angular velocity of the laser gyro. When a certain input angular speed exists along the direction of the sensitive axis of the laser gyroscope, a frequency difference is generated between two forward and reverse laser beams running in the laser gyroscope, a beat frequency signal between the two laser beams can be obtained after processing, the beat frequency signal is processed and counted by a circuit, a pulse number corresponding to the input angular speed is generated, and the pulse number is the pulse output of the laser gyroscope.
The laser gyro is an important component of an inertial navigation system, and the output precision of the angular velocity of the laser gyro plays a decisive role in the positioning and orientation precision of the navigation system. When an external temperature environment changes or a spherical reflector and a plane reflector in the laser gyroscope incline, the light path change track of a laser beam in the annular optical cavity can be caused, so that the input shaft of the laser gyroscope deviates, the angular velocity of the sensitive carrier of the laser gyroscope is inaccurate, and accurate angular velocity data cannot be obtained.
Disclosure of Invention
The invention aims to provide a measuring and controlling device for the angular velocity of a gyroscope, which is used for solving the problem that accurate angular velocity data cannot be obtained due to the fact that the input shaft of a laser gyroscope deviates and the angular velocity of a sensitive carrier of the laser gyroscope is inaccurate.
The invention is realized by the following technical scheme:
the utility model provides a measurement and control device of gyroscope angular velocity, the base including gyroscope and gyroscope, be equipped with three speculum at the base upper surface, fixedly connected with rolling disc on every speculum, be equipped with the rotation post on the rolling disc, the activity of rotation post runs through downwardly extending behind the base, the lower surface rotation of base is provided with the gear, the extension end fixed connection who rotates the post is on the gear, be equipped with at the base lower surface and be used for drive gear low-speed pivoted drive structure, the drive structure includes first drive component or second drive component.
When an external temperature environment changes or a spherical reflector and a plane reflector in the laser gyroscope incline, the light path change track of a laser beam in the annular optical cavity can be caused, so that the input shaft of the laser gyroscope deviates, the angular velocity of the sensitive carrier of the laser gyroscope is inaccurate, and accurate angular velocity data cannot be obtained.
This through the change that utilizes detection phase difference or interference fringe measures closed light path rotation angular velocity, when detecting angular velocity and changing, and the base does not rotate, controller control drive structure drives the gear and carries out low-speed rotation and calibrate the speculum, the gear drives the speculum through rotating the post and rotates, make the speculum adjust the light path orbit of deflection to initial position, the controller stops the work to drive structure this moment, avoided the slope of the spherical mirror and the plane mirror in outside temperature environment to change or the laser gyro, lead to the problem of the light path change orbit of laser beam in annular optical cavity.
It should be noted that the first driving part includes two symmetrical bearing blocks arranged on the base, the square rod sequentially and movably penetrates through the two bearing blocks, a worm is fixedly sleeved on the outer wall of the square rod, the end part of the square rod is connected with the output end of the motor, a worm wheel is also rotatably arranged on the base, the worm is meshed with one side of the worm wheel, and a moving part is arranged on the base;
the moving part comprises a sliding groove formed in the base, a sliding block is arranged in the sliding groove in a sliding mode, a first rack is arranged on the sliding block and meshed with the other side of the worm gear, a connecting plate is arranged at the end portion of the first rack, a second rack meshed with the gear is arranged on the connecting plate, the tooth space of the gear is M, the gear space of the worm gear is L, and the condition that M is larger than L is met.
The controller starts the rotation of the motor, the controller is arranged on the base, the motor rotates forwards, the worm is driven to rotate through the square rod, the worm drives the meshed worm wheel to rotate, the worm wheel drives the first rack to move towards the direction far away from the gear, at the moment, the first rack drives the gear to rotate through the gear, the gear can drive the rotating disc on the rotating column to rotate, the forward rotation or the reverse rotation of the motor is started according to the detected deviation condition of the light path, the forward rotation and the reverse rotation of the motor drive the forward rotation and the reverse rotation of the gear, and therefore the reflecting mirror rotates to calibrate the deviated light path track until the two light path tracks cannot generate interference fringes; the displacement of the gear rotation is smaller than the rotation of the worm gear, and the gear can be operated at a low speed by a normal motor.
It should be noted that the second driving part includes two symmetrical bearing blocks arranged on the base, the square rod sequentially and movably penetrates through the two bearing blocks, a worm movably penetrates through the square rod, the end of the square rod is connected with the output end of the motor, two worm gears are further rotatably arranged on the base, the two worm gears are respectively arranged on two sides of the square rod and are arranged in a staggered manner, any one worm gear is meshed with the worm gear, and two moving parts are arranged on the base and correspond to the worm gears one by one;
the moving part comprises a sliding groove formed in the base, a sliding block is arranged in the sliding groove in a sliding mode, a first rack is arranged on the sliding block and meshed with a worm wheel, a connecting plate is arranged at the end portion of the first rack, and a second rack meshed with the gear is arranged on the connecting plate, wherein the tooth space of the gear is M, the tooth space of the worm wheel is L, and M is larger than L.
The two second racks are respectively meshed with the two sides of the gear, and the two sides of the gear are limited by the two second racks, so that the problem that the gear is slightly deviated due to the influence of external vibration is solved.
It should be noted that, the two ends of the square rod are also movably provided with a limiting column respectively, the two limiting columns are respectively positioned on the side walls of the two opposite bearing blocks, the worm is contacted with any one of the limiting columns in the initial state, and the elastic component is arranged in the limiting column. Through the spacing post that sets up, can avoid the worm to move continuously, the worm contacts the back with spacing post, and the worm just cooperates with the worm wheel of one side.
It should be noted that the elastic component further comprises an annular groove formed in the limiting column, at least two outer sleeves are arranged in the annular groove, the outer sleeves are sleeved on the outer wall of the inner sleeve, the outer wall of the inner sleeve is connected with the inner wall of the outer sleeve through a telescopic spring, and the inner sleeve is in contact with the worm in an initial state. Through inner skleeve and the compression spring that sets up, when the worm compressed the interior sleeve towards outer sleeve direction removal, compression spring took place deformation, and after the worm reversal, the inner skleeve gradually loses the extrusion force, and compression spring resumes elasticity, consequently to the ascending elasticity of worm, strengthens the ascending speed of worm for worm and another worm wheel high-speed fit.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. according to the invention, the gear drives the gear to rotate through the gear, so that the gear can drive the rotating disc on the rotating column to rotate, the forward rotation or the reverse rotation of the motor is started according to the detected deviation condition of the light path, the forward rotation and the reverse rotation of the motor drive the forward rotation and the reverse rotation of the gear, so that the reflector rotates to calibrate the deviated light path tracks until the two light path tracks cannot generate interference fringes, and the problem that the input shaft of the laser gyroscope deviates, so that the angular velocity of the sensitive carrier of the laser gyroscope is inaccurate, and accurate angular velocity data cannot be obtained is solved;
2. the tooth pitch of the gear is M, the tooth pitch of the worm gear is L, and M is larger than L, because the tooth pitch of the worm gear is smaller than that of the gear, when the first rack is driven to move, the moving amount of the first rack cannot completely rotate any tooth of the gear through the movement of the second rack, and only a smaller rotating amount is applied to any tooth of the gear, so that the rotating displacement of the gear is smaller than that of the worm gear, and the state that a normal motor can realize low-speed operation on the gear is realized;
3. according to the invention, through the arrangement of the limiting column, the worm can be prevented from continuously moving on the square rod, and after the worm is contacted with the limiting column, the worm is just matched with the worm wheel on one side.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a top view of a base of the present invention;
FIG. 2 is a bottom view of the base of the present invention;
FIG. 3 is a schematic view of the worm and worm wheel of the present invention;
FIG. 4 is a cross-sectional view of a spacing post of the present invention.
Reference numbers and corresponding part names in the drawings:
1-a base; 2-a mirror; 3-a gear; 4-a carrier block; 5-square pole; 6-worm; 7-a worm gear; 8-a first rack; 9-a connecting plate; 10-a second rack; 11-a limiting column; 12-an annular groove; 13-an outer sleeve; 14-an inner sleeve; 15-compression spring; 16-motor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Example (b):
as shown in fig. 1 to 4, the gyroscope of the invention comprises a gyroscope and a base 1 of the gyroscope, three reflectors 2 are arranged on the upper surface of the base 1, a rotating disc is fixedly connected to each reflector 2, a rotating column is arranged on the rotating disc, the rotating column movably penetrates through the base 1 and then extends downwards, a gear 3 is rotatably arranged on the lower surface of the base 1, the extending end of the rotating column is fixedly connected to the gear 3, a driving structure for driving the gear 3 to rotate at a low speed is arranged on the lower surface of the base 1, and the driving structure comprises a first driving part or a second driving part.
The laser gyro is an important component of an inertial navigation system, and the output precision of the angular velocity of the laser gyro plays a decisive role in the positioning and orientation precision of the navigation system. When an external temperature environment changes or the spherical reflector 2 and the planar reflector 2 in the laser gyro are inclined, the light path change track of a laser beam in the annular optical cavity can be caused, so that the input shaft of the laser gyro is deviated, the angular velocity of the sensitive carrier of the laser gyro is inaccurate, and accurate angular velocity data cannot be obtained.
The rotation angular velocity of a closed light path is measured by using the change of a detection phase difference or interference fringes, when the angular velocity is detected to be changed, and the base 1 does not rotate, the controller controls the driving structure to drive the gear 3 to rotate at a low speed to calibrate the reflector 2, the gear 3 drives the reflector 2 to rotate through the rotating column, so that the deflected light path track of the reflector 2 is adjusted to an initial position, the controller stops working on the driving structure, and the problems that the external temperature environment is changed or the light path of a laser gyro changes the track of the spherical reflector 2 and the plane reflector 2 are caused by the inclination of the spherical reflector 2 and the plane reflector 2 are avoided.
It should be noted that the first driving part includes two symmetrical bearing blocks 4 arranged on the base 1, the square bar 5 sequentially and movably penetrates through the two bearing blocks 4, a worm 6 is fixedly and movably penetrated through the outer wall of the square bar 5, the end part of the square bar 5 is connected with the output end of the motor 16, a worm wheel 7 is also rotatably arranged on the base 1, the worm 6 is meshed with one side of the worm wheel 7, and the base 1 is provided with a moving part;
the moving part comprises a sliding groove formed in the base 1, a sliding block is arranged in the sliding groove in a sliding mode, a first rack 8 is arranged on the sliding block, the first rack 8 is meshed with the other side of the worm gear 7, a connecting plate 9 is arranged at the end portion of the first rack 8, a second rack 10 meshed with the gear 3 is arranged on the connecting plate 9, the tooth space of the gear 3 is M, the tooth space of the worm gear 7 is L, and M is larger than L. The application is not limited to only adopting the square rod 5, but also adopting a polygonal rod or arranging at least one axial groove on the cylinder.
The controller starts the rotation of the motor 16, the controller is arranged on the base 1, the motor 16 rotates forwards, so that the worm 6 can be driven by the square rod 5 to rotate, the worm 6 drives the meshed worm wheel 7 to rotate, the worm wheel 7 drives the first rack 8 to move towards the direction far away from the gear 3, at the moment, the first rack 8 drives the gear 3 to rotate through the second rack 10, the gear 3 can drive the rotating disc on the rotating column to rotate, the forward rotation or the reverse rotation of the motor 16 is started according to the detected deviation condition of the light path, the forward rotation or the reverse rotation of the motor 16 drives the forward rotation or the reverse rotation of the gear 3, and the reflector 2 rotates to calibrate the deviated light path track until the two light path tracks can not generate interference fringes;
since the mirror 2 needs to be finely adjusted, if the low-speed motor 16 is used, the low-speed motor 16 not only consumes a large amount of current, but also may cause a risk of burning out the motor 16 in a long-term use, the present invention does not use the low-speed motor 16, but sets the pitch between teeth of the gear 3 to be larger than the pitch between teeth of the worm wheel 7, and the teeth on the first rack 8 to be smaller than the teeth on the second rack 10, when the motor 16 drives the worm wheel 7 to rotate through the worm 6, because the teeth of the worm wheel 7 are smaller than the teeth of the gear 3, the pitch between teeth of the worm wheel 7 is smaller, so when the first rack 8 is driven to move, the moving amount of the first rack 8 is smaller than the moving amount of the second rack 10, so as to completely rotate any tooth of the gear 3, but only a smaller rotating amount is provided for any tooth of the gear 3, and therefore, the normal motor 16 can also realize a low-speed running state for the gear 3, and thus the mirror 2 can be finely adjusted.
It should be noted that the second driving part includes two symmetrical bearing blocks 4 fixedly arranged on the base 1, the square bar 5 sequentially and movably penetrates through the two bearing blocks 4, a worm 6 is further movably penetrated through the square bar 5, the end of the square bar 5 is connected with the output end of the motor 16, two worm gears 7 are further rotatably arranged on the base 1, the two worm gears 7 are respectively arranged on two sides of the square bar 5, the two worm gears 7 are arranged in a staggered manner, any one worm 6 is meshed with the worm gear 7, two moving parts are arranged on the base 1, and each moving part corresponds to each worm gear 7 one by one;
the moving part comprises a sliding groove formed in the base 1, a sliding block is arranged in the sliding groove in a sliding mode, a first rack 8 is arranged on the sliding block, the first rack 8 is meshed with a worm wheel 7, a connecting plate 9 is arranged at the end portion of the first rack 8, a second rack 10 meshed with the gear 3 is arranged on the connecting plate 9, the tooth space of the gear 3 is M, the tooth space of the worm wheel 7 is L, and M is larger than L.
The laser gyroscope can be arranged on different objects, so that the situation that the objects shake strongly due to external reasons can occur, and the gear 3 deviates slightly due to shaking, the worm wheels 7 are respectively arranged on two sides of the square rod 5 in a staggered manner, four edges of the square rod 5 are in contact with the inner wall of the center of the worm 6, the worm 6 is a right-handed worm 6, when the motor 16 rotates forwards to drive the right-handed worm 6 to rotate rightwards, relative rotation cannot be generated, the worm 6 and the square rod 5 rotate coaxially at the moment, so that the motor 16 can drive one worm wheel 7 to rotate through the worm 6 on the square rod 5, the worm 6 is subjected to axial force towards the direction of the motor 16, the rotation of the worm wheel 7 drives the gear 3 to rotate through the movement of the first rack 8 and the second rack 10, the other second rack 10 meshed with the gear 3 moves towards the direction of the motor 16, so as to drive the other worm wheel 7 to rotate, and the other worm wheel 7 is not in contact with the worm 6 at the moment, so that the situation that the two second racks 10 meshed with the gear 3 cannot rotate can not occur;
when the motor 16 rotates reversely, the square rod 5 drives the right-handed worm 6 to rotate towards the opposite direction, the right-handed worm 6 bears the axial force towards the gear 3, the worm 6 moves towards the gear 3 until the worm 6 is contacted with the bearing block 4 close to the gear 3, the worm 6 drives the other worm wheel 7 to rotate, the worm 6 still bears the axial force towards the gear 3, the bearing block 4 is arranged at a distance which enables the worm 6 and the worm wheel 7 to continuously rotate, and the worm 6 is prevented from being separated from the worm wheel 7 due to continuous movement;
if the two worm wheels 7 are respectively positioned on the two sides of the worm 6 in the moving process of the worm 6, when the start end of the worm 6 moves to be meshed with the other worm wheel 7 and the tail end of the worm wheel 7 is not separated from the worm wheel 7 close to the motor 16, the two worm wheels 7 are axial force towards the direction of the gear 3 for the worm 6, and therefore, even if the worm 6 is meshed with the two worm wheels 7, the two worm wheels 7 cannot generate interference,
similarly, in this position, the motor 16 is rotated in the normal direction, and the worm 6 is moved in the direction approaching the motor 16. The forward and reverse rotation of the motor 16 drives the forward and reverse rotation of the gear 3, so that the reflector 2 rotates to calibrate the deviated light path tracks until the two light path tracks cannot generate interference fringes; and two second racks 10 mesh with the both sides of gear 3 respectively, have carried on spacingly to the both sides of its gear 3 through two second racks 10, have not only avoided gear 3 to receive the problem that external vibration influences and produce little skew, and gear 3 pivoted displacement is littleer in comparison with the rotation of worm wheel 7 moreover, has realized that normal motor 16 also can realize a low-speed running state to gear 3.
It should be noted that, two ends of the square rod 5 are also respectively movably penetrated with a limiting column 11, the two limiting columns 11 are respectively located on the side walls of the two opposite bearing blocks 4, in an initial state, the worm 6 is in contact with any one of the limiting columns 11, and an elastic component is arranged in the limiting column 11. Through the spacing post 11 that sets up, not only can avoid the continuous removal of worm 6 to produce with worm wheel 7 and break away from, worm 6 and spacing post 11 contact back, worm 6 just cooperates with the worm wheel 7 of one side.
It should be noted that the elastic assembly further includes an annular groove 12 formed in the limiting column 11, at least two outer sleeves 13 are arranged in the annular groove 12, the outer sleeves 13 are sleeved on the outer wall of the inner sleeve 14, the outer wall of the inner sleeve 14 is connected with the inner wall of the outer sleeve 13 through a telescopic spring, in an initial state, the inner sleeve 14 is in contact with the worm 6, when the motor 16 rotates forwards, the worm 6 moves towards the motor 16, and when the worm 6 moves towards the motor 16, the worm 6 generates pressure on the inner sleeve 14, so that the inner sleeve 14 drives the compression spring 15 to deform; when the motor 16 rotates reversely, the worm 6 moves towards the gear 3 along the square rod 5, the worm 6 is gradually far away from the inner sleeve 14, so that the pressure of the worm 6 on the inner sleeve 14 is gradually reduced, at the moment, the compression spring 15 restores the elastic force to generate the elastic force towards the gear 3 on the worm 6, the moving speed of the worm 6 is enhanced, the worm 6 is enabled to be rapidly matched with the other worm wheel 7, if the worm 6 moves towards the worm wheel 7 close to one side of the gear 3, the situation that both sides of the worm 6 are not meshed with the two worm wheels 7 occurs, at the moment, the worm wheel 7 close to the motor 16 generates no driving force on the worm 6, the worm 6 can be difficult to move to be meshed with the other worm wheel 7, therefore, the elastic force towards the gear 3 is generated on the worm 6 through the elastic force restored by the compression spring 15, the moving speed of the worm 6 is enhanced, and the worm 6 can rapidly pass through the displacement distance without the driving force, so that the worm 6 is enabled to be rapidly matched with the other worm wheel 7.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only examples of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (5)
1. The utility model provides a measurement and control device of gyroscope angular velocity, base (1) including gyroscope and gyroscope, be equipped with three speculum (2) at base (1) upper surface, a serial communication port, fixedly connected with rolling disc on every speculum (2), be equipped with the rotation post on the rolling disc, it runs through downwardly extending behind base (1) to rotate the post activity, the lower surface rotation of base (1) is provided with gear (3), the extension end fixed connection who rotates the post is on gear (3), be equipped with the drive structure that is used for drive gear (3) low-speed rotation at base (1) lower surface, the drive structure includes first drive disk assembly or second drive disk assembly.
2. The device for measuring and controlling the angular velocity of the gyroscope according to claim 1, wherein the first driving part comprises two symmetrical bearing blocks (4) arranged on the base (1), the square bar (5) sequentially and movably penetrates through the two bearing blocks (4), a worm (6) is fixedly sleeved on the outer wall of the square bar (5), the end part of the square bar (5) is connected with the output end of a motor (16), a worm wheel (7) is further rotatably arranged on the base (1), the worm (6) is meshed with one side of the worm wheel (7), and a moving part is arranged on the base (1);
the moving part comprises a sliding groove formed in the base (1), a sliding block is arranged in the sliding groove in a sliding mode, a first rack (8) is arranged on the sliding block, the first rack (8) is meshed with the other side of the worm gear (7), a connecting plate (9) is arranged at the end portion of the first rack (8), a second rack (10) meshed with the gear (3) is arranged on the connecting plate (9), the tooth space of the gear (3) is M, the tooth space of the worm gear (7) is L, and M is larger than L.
3. The device for measuring and controlling the angular velocity of the gyroscope according to claim 1, wherein the second driving part comprises two symmetrical bearing blocks (4) arranged on the base (1), the square rod (5) sequentially and movably penetrates through the two bearing blocks (4), a worm (6) movably penetrates through the square rod (5), the end part of the square rod (5) is connected with the output end of the motor (16), the base (1) is further rotatably provided with two worm gears (7), the two worm gears (7) are respectively arranged on two sides of the square rod (5), the two worm gears (7) are arranged in a staggered manner, any one worm (6) is meshed with the worm gear (7), the base (1) is provided with two moving parts, and each moving part corresponds to each worm gear (7);
the moving part comprises a sliding groove formed in the base (1), a sliding block is arranged in the sliding groove in a sliding mode, a first rack (8) is arranged on the sliding block, the first rack (8) is meshed with a worm wheel (7), a connecting plate (9) is arranged at the end portion of the first rack (8), a second rack (10) meshed with the gear (3) is arranged on the connecting plate (9), the tooth space of the gear (3) is M, the tooth space of the worm wheel (7) is L, and M is larger than L.
4. The device for measuring and controlling the angular velocity of a gyroscope according to claim 3, wherein two ends of the square rod (5) are respectively movably penetrated with a limiting column (11), the two limiting columns (11) are respectively positioned on the side walls of the two opposite bearing blocks (4), in an initial state, the worm (6) is in contact with any one of the limiting columns (11), and an elastic component is arranged in each limiting column (11).
5. The device for measuring and controlling the angular velocity of the gyroscope according to claim 4, wherein the elastic component further comprises an annular groove (12) formed in the limiting column (11), at least two outer sleeves (13) are arranged in the annular groove (12), the outer sleeves (13) are sleeved on the outer wall of the inner sleeves (14), the outer wall of the inner sleeves (14) is connected with the inner wall of the outer sleeves (13) through expansion springs, and in an initial state, the inner sleeves (14) are in contact with the worm (6).
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| CN202211322324.8A CN115371657B (en) | 2022-10-27 | 2022-10-27 | Measuring and controlling device for angular velocity of gyroscope |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117168428A (en) * | 2023-10-25 | 2023-12-05 | 四川图林科技有限责任公司 | Weak capacitance signal detection method for hemispherical resonator gyro plane detection electrode |
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