CN201917341U - Laser gyro north finder - Google Patents
Laser gyro north finder Download PDFInfo
- Publication number
- CN201917341U CN201917341U CN2010206570472U CN201020657047U CN201917341U CN 201917341 U CN201917341 U CN 201917341U CN 2010206570472 U CN2010206570472 U CN 2010206570472U CN 201020657047 U CN201020657047 U CN 201020657047U CN 201917341 U CN201917341 U CN 201917341U
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- turntable
- rotating shaft
- microswitch
- motor
- supporting seat
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Abstract
The utility model discloses a laser gyro north finder, which comprises a support seat, a rotating shaft vertically arranged in the support seat, and a rotating turret fixed on the rotating shaft, wherein upper and lower ends of the rotating shaft are rotationally connected with the support seat through a bearing; a detecting system, a rotation system and a positioning system are arranged on the rotating shaft and the rotating turret; the detecting system comprises a bracket arranged on the rotating shaft through a shock absorber; a transversally arranged accelerometer, a vertically arranged accelerometer and a laser gyroscope are arranged on the bracket; and the positioning system is used for positioning the rotating turret after the rotating turret is rotated to four measuring positions. The laser gyro north finder provided by the utility model has the advantages of reliable measurement, compact dimension, convenience in installation and maintenance, low cost, and the like.
Description
Technical field
The utility model relates to the inertial navigation technology field, relates in particular to a kind of laser gyro and seeks northern instrument.
Background technology
Seeking northern instrument is the inertia north finding device that is applicable under the field environment, and directional informations such as carrier north orientation angle and attitude angle are provided, and has in light weight, characteristics such as volume is little, precision height.
Seek in the northern instrument, generally have and adopt two position methods, four position methods and multiposition method etc. to seek northern formula to carry out work, wherein adopt four position method principles to seek northern instrument comparatively commonly used.In this four position north-seeker devices, generally adopt single gyro and dual acceleration meter are set in the transposition system, the transposition system adopts gyro and accelerometer to measure respectively after rotating to four orientation, calculates the mode of seeking northern instrument north orientation angle and attitude angle again and seeks north.This existing seek northern instrument use more convenient, uses comparatively extensive, but the while also have following defective.
1, existingly seek northern instrument apparatus and generally adopt mechanical gyro as seeking northern core component, but there is poor reliability in mechanical gyro, the life-span is short, is subjected to acceleration action easily, causes measuring accuracy not enough, and stability is bad.2, simultaneously, seeking the precision of northern instrument and the accuracy of Xun Bei position has much relations, existing four positions that northern instrument system employing photoelectric encoder is determined the transposition system, the accuracy of assurance Xun Bei position of seeking, but photoelectric encoder exists volume big, the defective that price is high; Simultaneously photoelectric encoder needs to be installed in the rotating shaft core place in use, so improved the difficulty of seeking northern instrument apparatus overall construction design, finally causing seeking northern instrument, to have a volume big, defect of high cost.
The utility model content
At above-mentioned the deficiencies in the prior art, the primary technical matters that solves of the utility model is to provide the high laser gyro of a kind of reliability to seek northern instrument; And further make it have volume characteristics little, with low cost.
In order to solve the problems of the technologies described above, adopted following technical scheme in the utility model:
Northern instrument is sought in a kind of laser gyro, and its characteristics are, comprise supporting seat, vertically is arranged at the rotating shaft of supporting seat inside and is fixed on turntable in the rotating shaft, and described rotating shaft upper and lower side is rotatably connected by bearing and supporting seat; Described rotating shaft and turntable are provided with detection system, rotation system and positioning system; Described detection system comprises that one is arranged on support in the rotating shaft by vibroshock, and support is provided with the accelerometer of a horizontally set, a vertical accelerometer and a lasergyro that is provided with; Described rotation system comprises the motor that is fixed on the turntable, be connected with motor and can be by the moving gear of driven by motor rotation, described moving gear is horizontally disposed with and meshes with a fixed gear that is fixed on the supporting seat, and described fixed gear and described rotating shaft concentric are provided with; Described positioning system is used for after turntable turns to the four measuring position turntable being positioned.
In the technical program, described detection system, rotation system and positioning system are connected with host computer with power lead by various data lines, give circuit part when design, can cable be drawn out on the supporting seat by turntable by the center of bearing, and then be connected to host computer (host computer comprises the computer equipment of pre-set programs and is used for showing the display device of result of calculation) or power supply goes.The technology of these circuit structure design is after the technical program is open, all can obtain according to general knowledge known in this field, do not belong to the utility model prior art is made the place of creative contribution, thus in technique scheme, do not describe in detail, but should be considered as fully open.The position of four measuring described in the scheme is meant, four angle positions when four position methods are sought north, and great disparity is 90 ° between adjacent two positions.When it uses, control by host computer, the machine operation of rotation system drives moving gear and rotates around fixed gear, makes turntable rotate around the shaft.Turntable begins to carry out to measure the first time from initial position, and initial position i.e. first measuring position, and the lasergyro during measurement in the described detection system and two accelerometer work are also write down measurement data.The turntable revolution adopts the positioning system location to begin to measure after entering next measuring position for moving 90 ° then, and turntable rotates 270 ° when the 4th measuring position, after the 4th measuring position measurement finishes, controls turntable and is turned back to first measuring position.By on four positions, the horizontal component of the earth rotation that the acceleration of gravity of accelerometer measures and lasergyro are measured can be calculated and determine the north orientation angle and the attitude angle of seeking northern instrument, finishes and seeks north like this.Described vibroshock can be to adopt following structure, comprises an inner ring and an outer ring that is used to be connected and fixed support that is used for fixing in rotating shaft, is the rubber elastomeric material between inner ring and the outer ring.Certainly, when specifically implementing, described vibroshock also can adopt the vibroshock of other suitable structures.Seek northern instrument and compare with existing, the utility model has adopted lasergyro so have higher reliability, is connected by vibroshock between surveying instrument and the rotating shaft, can further guarantee measuring reliability.Improved north finding precision.
As optimization, described positioning system comprises the helical solenoid tube that vertically is arranged on the turntable, helical solenoid tube upper end is connected with pipe box, vertically be provided with register pin and spring in the pipe box, the register pin lower end is connected with the moving iron core that is positioned at helical solenoid tube inside, described supporting seat inwall top is positioned at that corresponding described register pin is provided with four pilot holes on the direction of four measuring position, described moving iron core upper end is connected with one first microswitch by a connecting link, and described first microswitch is arranged in the control circuit of described motor; Described helical solenoid tube outage back register pin can make the cone point on its top pass pipe box under spring action and be positioned in the pilot hole, simultaneously described moving iron core drives control circuit that the action of first microswitch makes described motor by connecting link and disconnects that (this moment, motor stopped operating, detection system is carried out image data), can pick up and drive the most advanced and sophisticated pilot hole that breaks away from of register pin upper taper downwards with moving iron core after the energising of described helical solenoid tube, described moving iron core drives the control circuit that the action of first microswitch makes described motor by connecting link and connects (time driven by motor turntable turn to next position) simultaneously.Wherein said helical solenoid tube is meant that the appearance solderless wrapped connection has solenoid and can produces the upwards tubular body of suction to the moving iron core in it after energising, is in the nature an electromagnet.Adopt this positioning system, compare with the photoelectric encoder that positioning system in the prior art generally adopts, its price is cheaper, and the volume that takes up room is littler, and is lower to installation requirement, need not to be installed in the place, axle center.After adopting this positioning system, when turntable rotates, the helical solenoid tube is a "on" position in the positioning system, register pin helps turntable rotation for picking up downwards, when the turntable rotation soon reaches next measuring position, the outage of control helical solenoid tube, register pin stretches out under spring action upward, when turntable turned to the measuring position, the pilot hole that register pin promptly enters on the supporting seat positioned turntable; Described moving iron core drives the control circuit disconnection that the action of first microswitch makes described motor by connecting link simultaneously, and turntable stops operating.On this measuring position, after the detection system measurement finishes, the energising of control helical solenoid tube will be moved iron core and pick up and drive the most advanced and sophisticated pilot hole that breaks away from of register pin upper taper downwards, described moving iron core drives the control circuit connection that the action of first microswitch makes described motor by connecting link simultaneously, makes turntable be rotated further.During use, guarantee the accurate of four positions, because the register pin bottom is a cone point, so register pin can guarantee that the location is very accurate after inserting pilot hole by the angle that is arranged on four pilot holes on the chassis.The measuring accuracy of seeking northern instrument accurately can be improved in the location.
As further optimization, also be provided with a stop means; Described stop means comprises the limited block that is positioned on the described supporting seat; Corresponding described limited block is provided with block on the described turntable; Described block is provided with second microswitch, described second microswitch is connected in the control circuit of described motor, and can be so that after the turntable return rotates and surpasses place, first measuring position angle, described limited block can touch described second microswitch and make the control circuit of described motor disconnect.The setting of this stop means, can prevent in PC control turntable rotary course, if control is made a fault, unsceptered angle of revolution the time takes place and surpasses 270 when spending (having surpassed first measuring position) in the turntable revolution, can lean on the rotation of this stop means prevention turntable and make circuit for controlling motor disconnect, avoid motor to be burnt out.
In sum, than prior art, laser gyro of the present utility model is sought northern instrument and is adopted laser gyro as seeking northern core component, because laser gyro inside does not have mechanical component, so reliability height, the vibroshock of She Zhiing can be resisted the influence that acceleration movement is brought to a certain extent simultaneously; The mode of positioning system using latch simultaneously of the present utility model location is determined the four measuring position, has promptly guaranteed the accuracy of location, has taken into account the little requirement of volume again, greatly reduces cost simultaneously.So northern instrument is sought in laser gyro of the present utility model, have measure reliable, advantage such as compact size is convenient to installation and maintenance, and is with low cost.
Description of drawings
Fig. 1 is a structural representation of the present utility model.
Fig. 2 is for removing the right view behind the part supporting seat among Fig. 1.
Fig. 3 is the structural representation of the positioning system that adopts in the utility model.
Embodiment
Below in conjunction with the drawings and specific embodiments structure of the present utility model is described in further detail.
During enforcement, as shown in Figure 1 to Figure 3, northern instrument is sought in a kind of laser gyro, comprises supporting seat 1, vertically is arranged at the rotating shaft 2 and the turntable 4 that is fixed in the rotating shaft 2 of supporting seat 1 inside, and described rotating shaft upper and lower side is rotatably connected by bearing 3 and supporting seat 1; Described rotating shaft 2 and turntable 4 are provided with detection system, rotation system and positioning system; Described detection system comprises one when specifically being provided with by vibroshock 5(, the quantity of described vibroshock and the position is set, according to can realize that the stable support to support is a principle, can adjust according to the concrete condition of support) be arranged on the support 6 in the rotating shaft 2, support 6 is provided with the accelerometer 7 of a horizontally set, a vertical accelerometer 8 and a lasergyro 9 that is provided with; Described rotation system comprises the motor 10 that is fixed on the turntable 4, be connected with motor 10 and can be by the moving gear 11 of motor 10 driven rotary, described moving gear 11 is horizontally disposed with and meshes described fixed gear 12 and described rotating shaft 2 concentric settings with a fixed gear 12 that is fixed on the supporting seat 1; Described positioning system is used for after turntable 4 turns to the four measuring position turntable 4 being positioned.
During concrete enforcement, described positioning system can adopt as shown in Figures 2 and 3 and optimize structure, positioning system comprises the helical solenoid tube 13 that vertically is arranged on the turntable, helical solenoid tube 13 upper ends are connected with pipe box 14, vertically be provided with register pin 15 and spring 16 in the pipe box 14, register pin 15 lower ends are connected with the moving iron core 17 that is positioned at helical solenoid tube 13 inside, described supporting seat 1 inwall top is positioned at that corresponding described register pin is provided with pilot hole 18 on the direction of four measuring position, described moving iron core 17 upper ends are connected with one first microswitch 20 by a connecting link 19, and described first microswitch 20 is arranged in the control circuit of described motor 10; Described helical solenoid tube 13 outage back register pins 15 can make the cone point on its top pass pipe box 14 under spring 16 effects and be positioned in the pilot hole 18, described moving iron core 17 drives the control circuit disconnection that 20 actions of first microswitch make described motor 10 by connecting link 19 simultaneously, can pick up and drive the most advanced and sophisticated pilot hole 18 that breaks away from of register pin 15 upper taper downwards with moving iron core 17 after described helical solenoid tube 13 energisings, described moving iron core 17 connects the control circuit of described motor 10 by 20 actions of connecting link 19 drives first microswitch simultaneously.
As shown in the figure, when specifically implementing, also be provided with a stop means; Described stop means comprises the limited block 21 that is positioned on the described supporting seat 1; Corresponding described limited block 21 is provided with block 22 on the described turntable 4; Described block 22 is provided with second microswitch 23, described second microswitch 23 is connected in the control circuit of described motor 10, and can be so that after turntable 4 returns rotate and surpass place, first measuring position angle, described limited block 21 can touch described second microswitch 23 and make the control circuit of described motor 10 disconnect.
Claims (3)
1. northern instrument is sought in a laser gyro, it is characterized in that, comprises supporting seat, vertically is arranged at the rotating shaft of supporting seat inside and is fixed on turntable in the rotating shaft, and described rotating shaft upper and lower side is rotatably connected by bearing and supporting seat; Described rotating shaft and turntable are provided with detection system, rotation system and positioning system; Described detection system comprises by vibroshock and is arranged on support in the rotating shaft that support is provided with the accelerometer of a horizontally set, a vertical accelerometer and a lasergyro that is provided with; Described rotation system comprises the motor that is fixed on the turntable, be connected with motor and can be by the moving gear of driven by motor rotation, described moving gear is horizontally disposed with and meshes with a fixed gear that is fixed on the supporting seat, and described fixed gear and described rotating shaft concentric are provided with; Described positioning system is used for after turntable turns to the four measuring position turntable being positioned.
2. northern instrument is sought in laser gyro as claimed in claim 1, it is characterized in that, described positioning system comprises the helical solenoid tube that vertically is arranged on the turntable, helical solenoid tube upper end is connected with pipe box, vertically be provided with register pin and spring in the pipe box, the register pin lower end is connected with the moving iron core that is positioned at helical solenoid tube inside, described supporting seat inwall top is positioned at that corresponding described register pin is provided with four pilot holes on the direction of four measuring position, described moving iron core upper end is connected with one first microswitch by a connecting link, and described first microswitch is arranged in the control circuit of described motor; Described helical solenoid tube outage back register pin can make the cone point on its top pass pipe box under spring action and be positioned in the pilot hole, described moving iron core drives the control circuit disconnection that the action of first microswitch makes described motor by connecting link simultaneously, can pick up and drive the most advanced and sophisticated pilot hole that breaks away from of register pin upper taper downwards with moving iron core after the described helical solenoid tube energising, described moving iron core of while drives the action of first microswitch by connecting link connects the control circuit of described motor.
3. northern instrument is sought in laser gyro as claimed in claim 2, it is characterized in that, also is provided with a stop means; Described stop means comprises the limited block that is positioned on the described supporting seat; Corresponding described limited block is provided with block on the described turntable; Described block is provided with second microswitch, described second microswitch is connected in the control circuit of described motor, and can be so that after the turntable return rotates and surpasses place, first measuring position angle, described limited block can touch described second microswitch and make the control circuit of described motor disconnect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206570472U CN201917341U (en) | 2010-12-14 | 2010-12-14 | Laser gyro north finder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206570472U CN201917341U (en) | 2010-12-14 | 2010-12-14 | Laser gyro north finder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201917341U true CN201917341U (en) | 2011-08-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010206570472U Expired - Lifetime CN201917341U (en) | 2010-12-14 | 2010-12-14 | Laser gyro north finder |
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| Country | Link |
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| CN (1) | CN201917341U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103063205A (en) * | 2012-12-24 | 2013-04-24 | 陕西宝成航空仪表有限责任公司 | Indexing method and mechanism used for four-position north-seeking measuring in north-seeking system |
| CN103353302A (en) * | 2013-06-04 | 2013-10-16 | 湖北三江航天红峰控制有限公司 | Translocation mechanism of fiber-optic gyroscope north seeker |
| CN103631274A (en) * | 2013-11-20 | 2014-03-12 | 北京航空航天大学 | Three-wheel planar position finder |
| CN103822624A (en) * | 2014-03-12 | 2014-05-28 | 西安北方捷瑞光电科技有限公司 | Uniaxial laser gyro north seeker and north-seeking method thereof |
| CN104266647A (en) * | 2014-09-02 | 2015-01-07 | 北京航天发射技术研究所 | Rapid anti-disturbance north finding instrument based on transposition north finding technology and north finding method |
| CN106895833A (en) * | 2017-04-07 | 2017-06-27 | 北京机械设备研究所 | A kind of position detent mechanism of north finder four |
-
2010
- 2010-12-14 CN CN2010206570472U patent/CN201917341U/en not_active Expired - Lifetime
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103063205A (en) * | 2012-12-24 | 2013-04-24 | 陕西宝成航空仪表有限责任公司 | Indexing method and mechanism used for four-position north-seeking measuring in north-seeking system |
| CN103353302A (en) * | 2013-06-04 | 2013-10-16 | 湖北三江航天红峰控制有限公司 | Translocation mechanism of fiber-optic gyroscope north seeker |
| CN103353302B (en) * | 2013-06-04 | 2016-01-20 | 湖北三江航天红峰控制有限公司 | A kind of indexing mechanism of fiber gyro north seeker |
| CN103631274A (en) * | 2013-11-20 | 2014-03-12 | 北京航空航天大学 | Three-wheel planar position finder |
| CN103631274B (en) * | 2013-11-20 | 2016-03-30 | 北京航空航天大学 | A kind of Three-wheel planar position finder |
| CN103822624A (en) * | 2014-03-12 | 2014-05-28 | 西安北方捷瑞光电科技有限公司 | Uniaxial laser gyro north seeker and north-seeking method thereof |
| CN104266647A (en) * | 2014-09-02 | 2015-01-07 | 北京航天发射技术研究所 | Rapid anti-disturbance north finding instrument based on transposition north finding technology and north finding method |
| CN106895833A (en) * | 2017-04-07 | 2017-06-27 | 北京机械设备研究所 | A kind of position detent mechanism of north finder four |
| CN106895833B (en) * | 2017-04-07 | 2019-06-07 | 北京机械设备研究所 | A kind of four position detent mechanism of north finder |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20110803 |
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| CX01 | Expiry of patent term |