CN206073999U - Inertial measuring unit and motion control apparatus - Google Patents
Inertial measuring unit and motion control apparatus Download PDFInfo
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- CN206073999U CN206073999U CN201621090503.3U CN201621090503U CN206073999U CN 206073999 U CN206073999 U CN 206073999U CN 201621090503 U CN201621090503 U CN 201621090503U CN 206073999 U CN206073999 U CN 206073999U
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Abstract
This application discloses a kind of inertial measuring unit and motion control apparatus.Inertial measuring unit includes：External shell, inner shell, sensor cluster and viscous damping liquid.The inner shell is contained in the external shell, and the sensor cluster is contained in the inner shell, and the viscous damping liquid is contained between the external shell and the inner shell.The external shell and the inner shell are sealing structure., using viscous damping liquid as vibration isolation material, compared with prior art using foam, elasticity is lower, and rigidity is less, so as to reduce the natural frequency of inertial measuring unit for the disclosure.Also, compared to the situation for not adopting vibration isolation material to fill in prior art, its weight is bigger for situation is not filled with.So as to further reduce the natural frequency of system, vibration isolation efficiency is improved.
Description
Technical field
The disclosure relates generally to measurement and control area, and in particular to inertial measuring unit, more particularly to used with vibration absorber
Property measurement apparatus and motion control apparatus.
Background technology
Inertial Measurement Unit is, for Measuring Object angular velocity in three dimensions and acceleration, and to calculate thing with this
The device of the attitude of body.Inertial Measurement Unit is used in mostly to be needed to carry out the equipment of motor control, such as on automobile and robot.
It is used in the occasion for needing that accurate displacement reckoning is carried out with attitude, the such as inertial navigation set of submarine, aircraft, guided missile and spacecraft
Deng.Existing Inertial Measurement Unit is often directly installed on the equipment for needing to carry out motor control.However, what equipment was produced
Dither can be interfered to Inertial Measurement Unit, and its accuracy of detection and efficiency can be affected by equipment dither.
Existing solution to the problems described above is as follows：Do not carrying out in the case that physical arrangement arranges vibration damping with software
Realize.Specifically, which passes through software algorithm and eliminates the interference signal that dither is produced.However, when interference signal with
When the signal of Inertial Measurement Unit detection is similar, is eliminated using software and be likely to while desired detection signal is also disappeared in the lump
Except and cause distorted signals.And, the realization of software is also with the relating to parameters of body itself, the such as natural frequency of body.Therefore,
Need the parameter of software constantly to be adjusted so as to be applied to different bodies.This considerably increases the difficulty of software realization.
Another method for generally adopting is as flexible support system using foam cushion blocking.That is, in whole inertia
Cushion blocking is laid between measuring unit and use environment.Or, cushion blocking is laid outside Inertial Measurement Unit internal core part
To reaching the effect of vibration damping.However, when being used for vibration damping using foam, its load character shows as significant non-linear, product
It is difficult to ensure that homogeneous, long-time pressure-bearing easily produces permanent deformation, and vibration isolation efficiency is reduced.And cushion itself has bullet
Property, increase the natural frequency of vibrating isolation system.
Utility model content
In view of drawbacks described above of the prior art or deficiency, expect that providing a kind of being reached by physical arrangement setting is well subtracted
The inertial measuring unit of effect of shaking, also provides a kind of motion control apparatus.
In order to realize purpose disclosed above, disclosure first aspect provides a kind of inertial measuring unit, including external shell
Body, inner shell, sensor cluster and viscous damping liquid.The inner shell is contained in the external shell, the sensing
Device assembly is contained in the inner shell, the viscous damping liquid be contained in the external shell and the inner shell it
Between.The external shell and the inner shell are sealing structure.
Optionally, external shell is tightly connected after including fastening lower house and upper lid.
Preferably, external shell also includes the sealing gasket being located between lower house and upper lid.
Preferably, external shell also includes the data processing circuit plate positioned between lower house and upper lid.
Preferably, one end that data processing circuit plate face is covered upwards is provided with snap fit tabs, and upper capping is to data processing circuit
One end of plate is provided with engaging groove, and snap fit tabs are connected with engaging groove fit.
Optionally, inner shell is included protecting cover and the capping of the receiving space of sealing is formed after being fastened with protecting cover.
Preferably, inner shell also includes the sealing gasket being located between protecting cover and capping.
Optionally, sensor cluster include skeleton in receiving space, the circuit board being fixedly installed on skeleton and
The inertial sensor being installed on circuit board.
Preferably, inertial sensor includes gyroscope and accelerometer.
Preferably, the material of skeleton and protecting cover using density not less than copper is made.
Preferably, inertial measuring unit also includes buffer fillings thing.Buffer fillings thing is distributed in viscous damping liquid.
Preferably, viscous damping liquid hand-hole is additionally provided with external shell, which passes through stopple and is sealed.
Disclosure second aspect also provides a kind of motion control apparatus, and which includes above-mentioned inertial measuring unit.The motion
Control device can be following any one：Automobile, robot, submarine, aircraft, unmanned plane, guided missile and spacecraft.
Vibration isolation material is used as by the employing viscous damping liquid of the disclosure, with prior art in compared using foam, bullet
Property is lower, and rigidity is less, so as to reduce natural frequency.Also, fill out compared to vibration isolation material is not adopted in prior art
Situation about filling, its weight are bigger for situation is not filled with.So as to further reduce the natural frequency of system.
Viscous damping liquid hand-hole is arranged on housing by the disclosure also so that be filled in viscous damping liquid therein
Liquid level scalable.So as to avoid resonant frequency, it is to avoid the high vibration that resonance brings occurs.
Description of the drawings
By reading the detailed description made to non-limiting example made with reference to the following drawings, the application other
Feature, objects and advantages will become more apparent upon：
Fig. 1 is the overall structure figure of the inertial measuring unit according to the embodiment of the present disclosure；
Fig. 2 is the explosive view of the inertial measuring unit according to the embodiment of the present disclosure；
Fig. 3 is the expanded view of the housing unit according to the embodiment of the present disclosure；
Fig. 4 is the encapsulation top view according to the embodiment of the present disclosure.
Label declaration：
11 ... lower house 12 ... data processing circuit plates 13 ... are above covered
2 ... inner shell 21 ... protecting covers 22 ... are covered
3 ... sensor cluster 31 ... skeleton 32 ... circuit board 33 ... inertial sensors
Specific embodiment
With reference to the accompanying drawings and examples the application is described in further detail.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related open, rather than the restriction to the disclosure.It also should be noted that, in order to
It is easy to description, illustrate only in accompanying drawing and disclose related part.
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combine.Below with reference to the accompanying drawings and in conjunction with the embodiments describing the application in detail.
As shown in Figure 1 and Figure 4, a kind of inertial measuring unit, including：External shell, inner shell 2, sensor cluster 3 and
Viscous damping liquid.Inner shell 2 is contained in external shell, and sensor cluster 3 is contained in inner shell 2, viscous damping liquid
It is contained between external shell and inner shell 2.External shell and inner shell 2 are sealing structure.
Specifically, in the present embodiment, the sealing structure cannot be led to for liquid-tight (liquid tight) structure, i.e. liquid
The sealing structure crossed.In more embodiments, the sealing structure can also be set to different sealing standard according to the actual requirements
Sealing structure, as long as viscous damping liquid cannot be flowed out by sealing structure, you can realize identical technique effect.
With reference to Fig. 3, external shell includes lower house 11, data processing circuit plate 12 and upper lid 13.Lower house 11 and upper lid
13 fasten the receiving space for forming sealing.Upper lid 13 arranges fluted, data processing circuit towards one end of receiving space one side
One end that plate 12 is kept up with the one side of the laminating of lid 13 is provided with projection.Data processing circuit is caused by the cooperation of raised and groove
Plate 12 is firm to be connected to lid 13.Additionally, being provided with screwed hole on data processing circuit plate 12 and upper lid 13, entered by screw
One step is connected to upper lid 13 by data processing circuit plate 12 firm.11 bottom margin of lower house arrange step, 13 edge of upper lid with
It is arranged to be adapted to the concavo-convex edge of 11 bottom margin step of lower house at 11 occlusion of lower house.The concavo-convex edge of upper lid 13
Hole is threaded equally with 11 bottom margin step of lower house, after upper lid 13 is fastened with lower house 11, further by screw
Both are fixed through screwed hole.Lower house 11 is made using the larger material of density with upper lid 13.Density is larger to be referred to
Under normality, material of the density not less than copper.Such as steel, copper, lead or its alloy.In the case of volume identical, using density compared with
Big material causes the weight of inertial measuring unit to increase, and so as to reduce the natural frequency of vibrating isolation system, improves vibration isolation efficiency.
Shown in Figure 2, inner shell 2 includes protecting cover 21 and capping 22.Capping 22 forms sealing after fastening with protecting cover 21
Receiving space.In certain realization, protecting cover 21 is threaded hole with the edge of 22 anastomosis of capping, and capping 22 is similarly arranged
By the connection of screw, screwed hole, realizes that both coincide and seals.Preferably, in another realization, can also be by arranging
Sealing gasket is located between protecting cover 21 and capping 22 further realizes sealing.Certainly, protecting cover 21 and the edge for covering 22 anastomosis
Plane is not limited to, which can also be arranged to the fastening that concavo-convex ledge structure realizes protecting cover 21 and capping 22.The disclosure it is interior
The sealing means of portion's housing 2 are also not necessarily limited to the cooperation of above-mentioned protecting cover 21 and capping 22, its can also using such as rubber stopper with
Protecting cover 21 is coordinated or the situation of sealing is reached using other similar fashions.
Sensor cluster 3 includes skeleton 31, circuit board 32 and inertial sensor 33.Protecting cover 21 closes one side for three side sealing and opens
The groove structure of mouth, its interior grooves is to accommodate skeleton 31, circuit board 32 and inertial sensor 33.Inertial sensor 33 is wrapped
Include gyroscope, accelerometer etc..Skeleton 31 arranges column towards receiving space one side, and circuit board 32 is by way of engaging is embedded
It is fixed on column.Inertial sensor 33 is electrically connected on circuit board 32.Certainly, in another realization, by column
On be threaded hole, can be connected to circuit board 32 firm on column by screw.Circuit board 32 is assembled to form with skeleton 3
Core measurement part is inserted in the receiving space of protecting cover 21, length and width and the inside grooves receiving space of core measurement part
Length x Width it is unanimous on the whole, so can push up after core measurement part is fitted into protecting cover 21 located at receiving space inwall and not
Can be because rocking the inwall generation frictional impact with protecting cover 21.Cover 22 edges and protecting cover 21 to set with 22 edge anastomosis of capping
Screwed hole is put, capping 22 is sealed by screw after being fastened with protecting cover 21.In another realization, between capping 22 and protecting cover 21
Can also further be sealed by sandwiched sealing gasket, so as to prevent outside liquid from entering core measurement part.
Protecting cover 21 and skeleton 31 are made using high density material, and the high density refers to that density is not less than copper under normal conditions
Metal or alloy solid-state material, such as steel, copper, lead or its alloy.So, the weight increase of core measurement part,
So as to reduce the natural frequency of vibrating isolation system, vibration isolation efficiency is improved.Meanwhile, circuit board 32 can be using electricity made by flexible material
Road plate, so as to reduce the rigidity of core measurement part, further reduces the natural frequency of system, improves vibration isolation efficiency.
Viscous damping liquid is filled in the receiving space formed with inner shell 2 by external shell.Lower house 11 is in body
Body can be followed during vibration together to vibrate, and by movement conduction to viscous damping liquid.Viscous damping liquid flowing when and lower house
There is friction in 11 inner surfacies, so as to the energy expenditure conducted in which in a large number is fallen.So that passing to which inner shell wrapped up
The energy of body 2 is substantially reduced.Due to using viscous damping liquid as being compared using foam in vibration isolation material, with prior art,
Elasticity is lower, and rigidity is less, so as to reduce natural frequency.Also, compared to vibration isolation material is not adopted in prior art
The situation of filling, i.e., for hollow situation, the injection of viscous damping liquid causes the weight of Inertial Measurement Unit further
Increase.So as to further reduce the natural frequency of system.Also, do not use flexible member as damper unit so that avoiding out
Existing load character shows as strongly non-linear situation.
In another embodiment, compared to above-described embodiment, Inertial Measurement Unit also (does not show including buffer fillings thing
In figure).Buffer fillings thing alternatively includes Cotton Gossypii, asbestos wool etc..Among buffer fillings thing is distributed in viscous damping liquid, which can
So that the vibration conducted in inner housing further to be buffered, so as to further play vibration isolation and damping effect.
In a preferred embodiment of the disclosure, viscous damping liquid hand-hole can also be set on lower house 11 and (not be shown
In figure), which can be sealed by sealing-plug.Can cause to be filled in inside by the setting of viscous damping liquid hand-hole
The liquid level scalable of the viscous damping liquid injected between housing 1 and external shell 2.That is, viscous damping liquid can be hindered by viscosity
Buddhist nun's liquid hand-hole injects the receiving space formed between inner shell 1 and external shell 2.Likewise, viscous damping can also be led to
Cross this hole and discharge above-mentioned receiving space.So as to the liquid level for reaching the viscous damping liquid of injection is adjustable and thus causes inertia measurement list
The technique effect of the weight-adjustable of unit.In certain realization, by being calculated the natural frequency of inertial measuring unit with body
Frequency of vibration it is consistent or when being located near frequency of vibration, for the generation for preventing from resonating, can be noted by viscous damping liquid
Enter the weight that hole adjusts the viscous damping liquid accommodated in lower house 11, so as to avoid resonant frequency, prevent the generation resonated.When
So, the cooperation of above-mentioned viscous damping liquid hand-hole and sealing-plug is intended merely to explain the disclosure schematic example that others are matched somebody with somebody
Conjunction mode should be also fallen into as adopted screw lid and screwed hole, or other similar modes without departing from disclosure central idea
In the disclosure.
In the case where not conflicting, the viscous damping liquid hand-hole setting in the present embodiment is equally applicable to previously described
In embodiment.
The disclosure also provides a kind of motion control apparatus, is mounted therein with the inertial measuring unit that preceding embodiment is referred to.
Motion control apparatus include automobile, robot, and need the equipment of accurate displacement reckoning is carried out with attitude, such as submarine, aircraft,
Guided missile and spacecraft etc..
Above description is only the preferred embodiment and the explanation to institute's application technology principle of the application.People in the art
Member is it should be appreciated that open scope involved in the application, however it is not limited to the technology of the particular combination of above-mentioned technical characteristic
Scheme, while should also cover in the case of without departing from the open design, is carried out by above-mentioned technical characteristic or its equivalent feature
Combination in any and other technical schemes for being formed.Such as features described above has similar work(with (but not limited to) disclosed herein
The technical scheme that the technical characteristic of energy is replaced mutually and formed.
Claims (12)
1. a kind of inertial measuring unit, it is characterised in that including external shell, inner shell, sensor cluster and viscous damping
Liquid；
The inner shell is contained in the external shell, and the sensor cluster is contained in the inner shell, described
Viscous damping liquid is contained between the external shell and the inner shell；
The external shell and the inner shell are sealing structure.
2. inertial measuring unit according to claim 1, it is characterised in that sealing after the external shell includes fastening connects
The lower house for connecing and upper lid.
3. inertial measuring unit according to claim 2, it is characterised in that the external shell also includes being located in described
Sealing gasket between lower house and the upper lid.
4. inertial measuring unit according to claim 2, it is characterised in that the external shell is also included under described
Data processing circuit plate between housing and the upper lid.
5. inertial measuring unit according to claim 4, it is characterised in that the data processing circuit plate face is on described
One end of lid is provided with snap fit tabs, and the upper capping is provided with engaging groove, the card to one end of the data processing circuit plate
Conjunction is raised to be connected with the engaging groove fit.
6. the inertial measuring unit according to claim 1-5 any one, it is characterised in that the inner shell includes shield
Cover and formed after fastening with the protecting cover capping of the receiving space of sealing.
7. inertial measuring unit according to claim 6, it is characterised in that the inner shell also includes being located in described
Sealing gasket between protecting cover and the capping.
8. inertial measuring unit according to claim 6, it is characterised in that the sensor cluster is included positioned at the appearance
Receive the skeleton in space, the circuit board being fixedly installed on the skeleton and the inertial sensor being installed on the circuit board.
9. inertial measuring unit according to claim 8, it is characterised in that the inertial sensor include gyroscope and plus
Velometer.
10. inertial measuring unit according to claim 6, it is characterised in that also including buffer fillings thing；The buffering is filled out
Fill thing to be distributed in the viscous damping liquid.
11. inertial measuring units according to claim 6, it is characterised in that be additionally provided with viscosity on the external shell
Damping fluid hand-hole, the viscous damping liquid hand-hole are sealed by stopple.
12. a kind of motion control apparatus, it is characterised in that fill comprising the inertia measurement described in claim 1-11 any one
Put.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621090503.3U CN206073999U (en) | 2016-09-28 | 2016-09-28 | Inertial measuring unit and motion control apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621090503.3U CN206073999U (en) | 2016-09-28 | 2016-09-28 | Inertial measuring unit and motion control apparatus |
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| Publication Number | Publication Date |
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| CN206073999U true CN206073999U (en) | 2017-04-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621090503.3U Active CN206073999U (en) | 2016-09-28 | 2016-09-28 | Inertial measuring unit and motion control apparatus |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113514063A (en) * | 2021-06-21 | 2021-10-19 | 北京自动化控制设备研究所 | MEMS micro inertial navigation structure |
-
2016
- 2016-09-28 CN CN201621090503.3U patent/CN206073999U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113514063A (en) * | 2021-06-21 | 2021-10-19 | 北京自动化控制设备研究所 | MEMS micro inertial navigation structure |
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Effective date of registration: 20210726 Address after: 518063 5th floor, block B, building 1, software industry base, Yuehai street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Fengyi Technology (Shenzhen) Co.,Ltd. Address before: 518061 Intersection of Xuefu Road (south) and Baishi Road (east) in Nanshan District, Shenzhen City, Guangdong Province, 6-13 floors, Block B, Shenzhen Software Industry Base Patentee before: SF TECHNOLOGY Co.,Ltd. |