CN206695806U - Type vibration wire gyro - Google Patents
Type vibration wire gyro Download PDFInfo
- Publication number
- CN206695806U CN206695806U CN201720009037.XU CN201720009037U CN206695806U CN 206695806 U CN206695806 U CN 206695806U CN 201720009037 U CN201720009037 U CN 201720009037U CN 206695806 U CN206695806 U CN 206695806U
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- gyro
- vibratory string
- driving
- magnetic
- gimbal
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- 239000002184 metal Substances 0.000 claims abstract description 28
- 229910052751 metal Inorganic materials 0.000 claims abstract description 28
- 238000001514 detection method Methods 0.000 claims abstract description 20
- 238000003825 pressing Methods 0.000 claims abstract description 20
- 230000003534 oscillatory effect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 108091092878 Microsatellite Proteins 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005191 phase separation Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Abstract
The utility model discloses a kind of type vibration wire gyro, it includes a non-magnetic gyro gimbal, centre in gyro gimbal is provided with a non-magnetic metal driving framework, metal driving framework drives beam, lower-left to drive horizontal beam, upper right driving beam, bottom right to drive beam to be horizontally fixed on the inwall of gyro gimbal by upper left, and upper left driving beam, lower-left driving beam, upper right driving beam and bottom right drive beam to be made by non-magnetic laminar elastic metallic；Detection mass is provided with metal driving framework, detection mass is bonded by symmetrical upper and lower two pieces, a piece complete non-magnetic fine wire is divided into left and right two parts by detection mass, and forms left vibratory string and right vibratory string by left vibratory string pressing device and right vibratory string pressing device after pretightning force tension.The change of the vibration frequency of the present utility model for being mainly characterized by the amplitude of angular speed change to be converted to vibratory string measures.Type vibration wire gyro had both had outstanding advantages of small size, low work consume, are inexpensive, is advantageous to the detection of gyro output signals again, improves the precision of gyro, has broad application prospects.
Description
Technical field
The utility model is related to a kind of oscillatory type gyro, more particularly, to one kind be applied to aircraft, industrial robot,
The attitude parameter measurement of the rotary motion object such as automobile and the type vibration wire gyro of control.
Background technology
Gyro has wide development and application prospect.Militarily, it can be used for the guidance of tactical missile, smart bombs
With the gesture stability of micro-satellite；At civilian aspect, it can be used for automatic Pilot and security protection system and the industry of automobile
The positioning and orientation system of robot, geodesic survey, oil drilling, mining, Tunnel Engineering, ocean development etc..
Gyro is developed so far, and people have now been developed a variety of various forms of gyros, have rotator type gyro, optical gyroscope and
Oscillatory type gyro etc..Type vibration wire gyro is one kind in oscillatory type gyro, and it is to use two differential superfine vibratory string conducts
Sensing element measures a kind of gyro of angular speed.The amplitude change conversion being mainly characterized by angular speed of type vibration wire gyro
Measured for the change of the vibration frequency of vibratory string.The major advantage of type vibration wire gyro is：As long as manufacture craft allows, vibratory string
The size of formula gyro is smaller, and its precision is higher, and this can solve the top that the high gyro size of current precision is big, size is small well
This low contradiction of spiral shell precision.
Table 1 is requirement of the different application occasion to gyro performance.Theory analysis shows, made by current process conditions
Type vibration wire gyro, it has been fully able to meet angular speed level application, with the improvement of process conditions, the type vibration wire top made in the future
Spiral shell, Tactics-level application even inertial navigation level application can be expanded to.
Requirement of the different application occasion of table 1 to gyro performance
The content of the invention
The purpose of this utility model is to provide a kind of precision height, small volume, the type vibration wire gyro that work consumption is low, cost is low.
What the purpose of this utility model was realized in：
A kind of type vibration wire gyro, including a non-magnetic gyro gimbal, are characterized in：Centre in gyro gimbal is provided with
One non-magnetic metal driving framework, the left side outer wall of metal driving framework drive beam, lower-left to drive beam horizontal by upper left
It is fixed in the inner left wall of gyro gimbal, the outer right wall of metal driving framework drives beam, bottom right to drive Liang Shui by upper right
It is flat to be fixed on the right side inwall of gyro gimbal, upper left driving beam, lower-left driving beam, upper right driving beam and bottom right driving beam by
Non-magnetic laminar elastic metallic is made；Left gyro gimbal line is respectively equipped among the left wall of gyro gimbal and among right wall
Hole and right gyro gimbal string holes, be respectively equipped among the left wall of metal driving framework and among right wall left vibratory string pressing device and
Right vibratory string pressing device, is provided with detection mass in metal driving framework, detection mass be by it is symmetrical up and down two pieces it is viscous
Conjunction is formed, and a complete non-magnetic fine wire is divided into left and right two parts by detection mass, and after pretightning force tension
Left vibratory string and right vibratory string are formed by left vibratory string pressing device and right vibratory string pressing device.
Upper left drives beam to be symmetrical arranged with upper right driving beam, and lower-left drives beam to be symmetrical arranged with bottom right driving beam.
The utility model drives beam, lower-left to drive beam, upper right to drive beam, bottom right to drive beam, metal by gyro gimbal, upper left
Driver framework, detection mass, left vibratory string and right vibratory string composition, left vibratory string and right vibratory string sheet are a complete string, by upper
Down symmetrical two pieces non-magnetic detection masses bondings and be divided into left and right two parts, the both ends of left vibratory string and right vibratory string pass through non-
After the left vibratory string pressing device of both sides and right vibratory string pressing device compress on the metal driving framework of magnetic conduction and bond and fix, this
Individual non-magnetic metal driving framework (above drives beam, lower-left to drive beam, the right side by four very thin non-magnetic elastic sheet metals
Upper driving beam and bottom right driving beam) it is connected with non-magnetic gyro gimbal.The utility model is placed on upper and lower two pieces and is placed in parallel
Strong magnet between), so as to produce perpendicular to the stationary magnetic field of gyro, thus just the change of angular speed can be converted into vibratory string
The frequency of vibration changes to be detected.
The utility model is that the change of angular speed is converted into vibratory string using Coriolis force (abbreviation coriolis force) principle to shake
To be detected, i.e., dynamic frequency changes：Because object rotate and detection mass on caused by coriolis force directly change
For the vibration frequency signal of vibratory string, the detection of gyro output signals is so not only advantageous to, and the detection of gyro can be improved
Precision, have broad application prospects.Therefore, the utility model has the advantages of precision height, small volume, low, cost is low work consumption.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model, wherein：1 is left vibratory string lead-out wire, and 2 be drive circuit upper left lead,
3 be gyro gimbal, and 4 be the left stringing hole of gyro gimbal, and 5 be upper left driving beam, and 6 be left vibratory string pressing device, and 7 be metal driving frame
Frame, 8 be left vibratory string, and 9 be detection mass, and 10 be right vibratory string, and 11 be right vibratory string pressing device, and 12 be upper right driving beam, and 13 are
Gyro gimbal right shelf string holes, 14 be drive circuit upper right lead-out wire, and 15 be right vibratory string lead-out wire, and 16 be that drive circuit lower-left is drawn
Line, 17 be lower-left driving beam, and 18 be bottom right driving beam, and 19 be drive circuit bottom right lead-out wire；
Fig. 2 is the profile of left vibratory string pressing device and right vibratory string pressing device, and A is transverse sectional view, and B is longitudinal section view
Figure, wherein：1 is vibratory string, and 2 be vibratory string pressing device, and 3 be the side wall of metal driving framework；
Fig. 3 is operation principle schematic diagram of the present utility model, wherein：1 is gyro, and 2 be upper magnet, and 3 be lower magnet.
Embodiment
With reference to embodiment and compare accompanying drawing the utility model is described in further detail.
As shown in Figure 1, 2：A kind of type vibration wire gyro, including a non-magnetic gyro gimbal 3, in gyro gimbal 3
Centre is provided with a non-magnetic metal driving framework 7, and the left side outer wall of metal driving framework 7 drives beam 5, lower-left by upper left
Driving beam 17 is horizontally fixed in the inner left wall of gyro gimbal 3, and the outer right wall of metal driving framework 7 drives beam by upper right
12nd, driving beam 18 in bottom right is horizontally fixed on the right side inwall of gyro gimbal 3, upper left driving beam 5, lower-left driving beam 17, upper right
Driving beam 12 and bottom right driving beam 18 are made by non-magnetic laminar elastic metallic；Among the left wall of gyro gimbal 3 and
Left gyro gimbal string holes 4 and right gyro gimbal string holes 13 are respectively equipped among right wall, is provided with metal driving framework 7 by upper and lower
A piece complete string is divided into left and right two parts, tensed by the symmetrical two pieces detection masses 9 being bonded, detection mass 9
Afterwards, left half is compressed by the left vibratory string pressing device 6 on metal driving framework 7 and forms left vibratory string 8, left vibratory string after bonding
8 left vibratory string lead-out wire 1 passes from left gyro gimbal string holes 4；Right half is compressed by the right vibratory string on metal driving framework 7
Device 11 is compressed and right vibratory string 10 is formed after bonding, and the right vibratory string lead-out wire 15 of right vibratory string 10 is worn from right gyro gimbal string holes 13
Go out.Left vibratory string pressing device 6 is identical with the right structure of vibratory string pressing device 11.
Drive circuit upper left lead 2 is respectively equipped with the upper and lower ends of the inner left wall of gyro gimbal 3 and drive circuit is left
Lower lead-out wire 16, drive circuit upper right lead-out wire 14 and driving are respectively equipped with the upper and lower ends of the right side inwall of gyro gimbal 3
Circuit bottom right lead-out wire 19.
Upper left drives beam 5 to be symmetrical arranged with upper right driving beam 12, and lower-left drives beam 17 to be symmetrical arranged with bottom right driving beam 18,
They can be considered as driving wire, non-magnetic metal driving framework 7 and left vibratory string 8 on metal driving framework 7, right
Vibratory string 10 and detection mass 9 can be considered as driving mass.
Operation principle of the present utility model is：As shown in figure 3, the upper and lower in gyro as shown in Figure 1 is respectively placed
One piece of strong magnet is (i.e.：Upper magnet 2 and lower magnet 3), so as to produce one perpendicular to the steady of gyro (Z-direction i.e. as depicted)
Fixed-field, the intrinsic frequency identical driving current with gyro driven-mode is added on driving wire (driving beam), then metal
Driver framework 7 will vibrate in the presence of electromagnetic force in V directions as shown in Figure 1, so that left vibratory string 8, right vibratory string 10
Vibrated under original frequency corresponding with pretightning force.When gyro rotates together with object, the meeting on detection mass 9
Corresponding coriolis force is produced, this coriolis force and is added in left vibratory string 8, the initial pretightning force phase separation on right vibratory string 10, so as to change
Left vibratory string 8, the vibration frequency of right vibratory string 10 are become, have detected the change of left vibratory string 8, the vibration frequency of right vibratory string 10, can just calculate
Angular velocity Ω.Assuming that left vibratory string 8 and the diameter of right vibratory string 10 are 2 μm, it is 200 μm effectively to vibrate length, and material is not
Become rusty steel, when the initial pretightning force F that they are subject to is 2mN, by formula(l is effectively shaking for left and right vibratory string in formula
Dynamic length, F are left vibratory string 8 and the tension force suffered by right vibratory string 10, and ρ is the line density of left vibratory string 8 and right vibratory string 10 of shaking) it can calculate
The eigentone for going out left vibratory string 8 and right vibratory string 10 is about 10MHz.If signal bandwidth is 1MHz, frequency resolution is
1Hz, then the resolution ratio of angular velocity signal can reach 0.0001%.
Claims (2)
1. a kind of type vibration wire gyro, including a non-magnetic gyro gimbal, it is characterised in that：Centre in gyro gimbal is set
There is a non-magnetic metal driving framework, the left side outer wall of metal driving framework drives beam, lower-left to drive Liang Shui by upper left
Flat to be fixed in the inner left wall of gyro gimbal, the outer right wall of metal driving framework drives beam, bottom right to drive beam by upper right
It is horizontally fixed on the right side inwall of gyro gimbal, upper left driving beam, lower-left driving beam, upper right driving beam and bottom right driving beam are equal
It is made up of non-magnetic laminar elastic metallic；Left gyro gimbal is respectively equipped among the left wall of gyro gimbal and among right wall
String holes and right gyro gimbal string holes, left vibratory string pressing device is respectively equipped among the left wall of metal driving framework and among right wall
With right vibratory string pressing device, detection mass is provided with metal driving framework, detection mass is by symmetrical two pieces up and down
It is bonded, a complete non-magnetic fine wire is divided into left and right two parts by detection mass, and is tensed in pretightning force
Left vibratory string and right vibratory string are formed by left vibratory string pressing device and right vibratory string pressing device afterwards.
2. type vibration wire gyro according to claim 1, it is characterised in that：Upper left drives beam symmetrically to be set with upper right driving beam
Put, lower-left drives beam to be symmetrical arranged with bottom right driving beam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720009037.XU CN206695806U (en) | 2017-01-05 | 2017-01-05 | Type vibration wire gyro |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720009037.XU CN206695806U (en) | 2017-01-05 | 2017-01-05 | Type vibration wire gyro |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206695806U true CN206695806U (en) | 2017-12-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720009037.XU Expired - Fee Related CN206695806U (en) | 2017-01-05 | 2017-01-05 | Type vibration wire gyro |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206695806U (en) |
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2017
- 2017-01-05 CN CN201720009037.XU patent/CN206695806U/en not_active Expired - Fee Related
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171201 |