CN212539195U - Miniaturized lightweight double-shaft modulation laser inertial navigation device - Google Patents
Miniaturized lightweight double-shaft modulation laser inertial navigation device Download PDFInfo
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- CN212539195U CN212539195U CN202021044061.5U CN202021044061U CN212539195U CN 212539195 U CN212539195 U CN 212539195U CN 202021044061 U CN202021044061 U CN 202021044061U CN 212539195 U CN212539195 U CN 212539195U
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Abstract
The utility model discloses a miniaturized lightweight biax modulation laser is used to lead device, the device includes inertia measurement unit subassembly, inner ring axle subassembly, outer loop axle subassembly and box, the inertia measurement unit subassembly includes triaxial integral type inertia measurement unit, triaxial integral type inertia measurement unit passes through the shock absorber to be fixed on the inner ring axle subassembly, deep groove ball bearing is passed through to the one end of inner ring axle subassembly, the other end links to each other with the outer loop axle subassembly through angular contact ball bearing in pairs, deep groove ball bearing is passed through to the one end of outer loop axle subassembly, the other end links to each other with the box through angular contact ball bearing in pairs. The utility model adopts the triaxial integrated inertia measurement unit to replace the traditional gyroscope type inertia unit, the measurement precision of the component is high, the volume and the mass of the unit are small, and the design size of the corresponding shafting is also reduced; meanwhile, the modulation shaft system is compactly arranged in a form of three bearings with one end being a deep groove ball and the other end being in paired angular contact, so that the size and the weight of the whole machine are further reduced, and the miniaturization and the light weight of the whole machine are realized.
Description
Technical Field
The utility model relates to an inertial navigation technical field, concretely relates to miniaturized lightweight biax modulation laser is used to lead device.
Background
The inertial navigation is to measure angular motion information and linear motion information of a carrier relative to an inertial system by using inertial devices of a laser gyroscope and a quartz flexible accelerometer, and obtain navigation information such as carrier speed, position, navigation attitude and the like through navigation calculation. Based on this principle, the current laser inertial navigation devices are mainly divided into a strapdown inertial navigation device and a modulation inertial navigation device. The strapdown inertial navigation has the advantages of autonomy, output continuity, comprehensiveness and the like, but device errors, particularly random errors of a gyroscope, can generate error components accumulated along with time, so that the real-time navigation precision is not high. The modulation inertial navigation mainly utilizes a shafting to carry out rotation modulation, so that errors of inertial devices on a rotating shaft can be compensated, wherein the biaxial rotation can counteract navigation errors caused by constant drift of all the inertial devices, and high-precision navigation can be realized. However, due to the complexity of shafting structure and control, and the volume and weight of the independent gyroscope type sensitive unit commonly used in the current modulation inertial navigation are large, the volume and weight of the current dual-axis system are huge, and the usability and maintainability are poor.
SUMMERY OF THE UTILITY MODEL
The utility model provides a technical problem provide a miniaturized lightweight biax modulation laser is used to navigation device, solve the modulation and be used to the independent gyroscope formula sensitive unit volume weight of navigation device universal use itself great for present biax system volume weight is huge, the relatively poor problem of usability and maintainability.
In order to solve the technical problem, the utility model discloses the technical scheme who adopts is: a miniaturized lightweight biaxial modulation laser inertial navigation device is characterized by comprising: the inertia measurement unit assembly comprises a three-shaft integrated inertia measurement unit, the three-shaft integrated inertia measurement unit is fixed on the inner ring shaft assembly through a shock absorber, one end of the inner ring shaft assembly is connected with the outer ring shaft assembly through a deep groove ball bearing and the other end of the inner ring shaft assembly through paired angular contact ball bearings, and one end of the outer ring shaft assembly is connected with the box through the deep groove ball bearing and the other end of the outer ring shaft assembly through the paired angular contact ball bearings.
Preferably, the inertia measurement unit assembly further comprises a power panel, an IF panel and a general navigation computer module, the power panel is fixed at the lower end of the triaxial integral inertia measurement unit, and the IF panel and the general navigation computer module are fixed at the upper end of the triaxial integral inertia measurement unit.
Preferably, the inertia measurement unit assembly is further provided with an external output connector, and the external output connector is used for exchanging information with the shafting angle measurement signal.
Preferably, the inner ring shaft assembly comprises an inner ring frame, an inner ring motor shaft, an inner ring grating shaft, an inner ring motor, an inner ring grating and an inner ring sliding ring, the inner ring motor shaft and the inner ring grating shaft are respectively installed in circular holes in the upper side and the lower side of the inner ring frame, the inner ring motor and the inner ring grating are respectively fixed on the inner ring motor shaft and the inner ring grating shaft, and the inner ring sliding ring is fixed inside the inner ring grating shaft.
Preferably, the inner ring shaft assembly further comprises an inner ring pressing ring, and the inner ring motor is fixed on the inner ring motor shaft through the inner ring pressing ring.
Preferably, the outer ring shaft assembly comprises an outer ring frame, an outer ring motor shaft, an outer ring grating shaft, an outer ring motor, outer ring gratings and outer ring sliding rings, the outer ring motor shaft and the outer ring grating shaft are respectively installed at the positions of holes on the left side and the right side of the outer ring frame, the outer ring motor and the outer ring gratings are respectively fixed on the outer ring motor shaft and the outer ring grating shaft, and the number of the outer ring sliding rings is two and is respectively arranged inside the outer ring motor shaft and the outer ring grating shaft.
Preferably, the outer ring shaft assembly further comprises an outer ring pressing ring, and the outer ring motor is fixed on the outer ring motor shaft through the outer ring pressing ring.
Preferably, the device further comprises a receptacle assembly including an external connector and a connector board, the external connector being secured to the housing by the connector board.
Preferably, the device also comprises an upper cover plate, a lower cover plate and two side cover plates, wherein the upper cover plate, the lower cover plate and the two side cover plates are hermetically fixed on the box body.
Preferably, the radiator fan is fixed on the inner side of the lower cover plate and arranged diagonally.
The utility model has the advantages that: the miniaturized lightweight biaxial modulation laser inertial navigation device adopts the triaxial integrated inertial measurement unit to replace the traditional gyroscope type inertial unit, and the triaxial integrated inertial measurement unit directly embeds the gyroscope and the body structure into a whole, so that the unit volume and mass are small while the high measurement precision is ensured, and the design size of a corresponding shaft system is greatly reduced; meanwhile, the modulation shaft system is compactly arranged in a form of three bearings with one end provided with deep groove balls and the other end provided with paired angular contacts, so that the compact installation of the whole machine is realized, the size and the weight of the whole machine are further reduced, and the miniaturization and the light weight of the whole machine are realized.
Furthermore, the shafting angle measurement of the inner ring shaft assembly adopts a circular grating and reading head mode, so that the shafting precision is ensured, and the structure size of the shafting is greatly reduced; a shaft system of the outer ring shaft assembly adopts a circular grating and reading head mode to measure angles, the large mass of the rotary transformer is replaced, and the whole weight of the structure is reduced.
Furthermore, an external connector is fixed on the box body through a connecting plate, so that an external interface is reserved, the interface is separated from the box body and an internal structure, the external interface can be changed by replacing the connecting plate when external input changes, and the universality and the adaptability of the equipment are enhanced.
Drawings
Fig. 1 is a schematic view of the overall structure of the miniaturized lightweight dual-axis modulation laser inertial navigation device of the present invention;
fig. 2 is a schematic structural diagram of a dual-axis modulation assembly of the dual-axis modulation laser inertial navigation device of the present invention;
fig. 3 is a schematic structural diagram of an outer annular shaft assembly of the dual-shaft modulation laser inertial navigation device of the present invention;
fig. 4 is a schematic structural diagram of an inner annular shaft assembly of the dual-shaft modulation laser inertial navigation device of the present invention;
fig. 5 is a schematic structural diagram of an inertia measurement unit assembly of the dual-axis modulation laser inertial navigation device of the present invention.
In the figure: 1-inertia measuring unit component, 101-three-axis integrated inertia measuring unit, 102-universal navigation computer module, 103-IF board, 104-power board, 105-vibration absorber, 2-inner ring shaft component, 201-inner ring frame, 202-inner ring motor shaft, 203-inner ring grating shaft, 204-inner ring motor, 205-inner ring grating, 206-inner ring bearing, 207-inner ring slip ring, 3-outer ring shaft component, 301-outer ring frame, 302-outer ring motor shaft, 303-outer ring grating shaft, 304-outer ring motor, 305-outer ring grating, 306-outer ring bearing, 307-outer ring slip ring, 4-socket component, 5-voltage stabilizing power board, 6-angle measuring control board, 7-box body, 8-cover board, 9-fan, 10-plane mirror, 11-biaxial modulation assembly.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.
In order to meet the requirements of lightweight and high-precision navigation, a miniaturized lightweight biaxial modulation laser inertial navigation device is improved and designed based on the current biaxial modulation method, as shown in fig. 1, 2 and 3, and comprises the following steps: the device comprises an inertia measurement unit assembly 1, an inner ring shaft assembly 2, an outer ring shaft assembly 3 and a box body 7. The inertia measurement unit assembly 1 comprises a three-axis integrated inertia measurement unit 101, the three-axis integrated inertia measurement unit 101 is fixed on the inner ring shaft assembly 2 through a vibration damper 105, and particularly can be fixed on an inner ring frame 201 of the inner ring shaft assembly 2 through 4 vibration dampers, so that the influence of external environment vibration on an inertia sensitive device is isolated, and the high measurement precision is ensured; one end of the inner ring shaft assembly 2 is connected with the outer ring shaft assembly 3 through the deep groove ball bearing and the other end through the paired angular contact ball bearings, and one end of the outer ring shaft assembly 3 is connected with the box body 7 through the deep groove ball bearing and the other end through the paired angular contact ball bearings. The motor shaft and the grating shaft of the inner ring shaft assembly are connected with the outer ring frame through a deep groove ball bearing and a paired angular contact bearing respectively to realize azimuth rotation of the inner ring, and the outer ring motor shaft and the grating shaft of the outer ring shaft assembly are connected with the box body through another group of bearing structures to realize pitching motion of the outer ring. The three-axis integrated inertia measurement unit can be a 70-type three-axis integrated inertia measurement unit, the component is a structural integrated unit and is different from a traditional gyroscope type sensitive unit, a gyroscope is embedded into a body structure, and the component, an accelerometer, a gyroscope front-placed plate and the like form an integrated component, so that the measurement precision is high, and the unit volume and mass are small.
The inertial measurement unit assembly 1 further includes a power board 104, an IF board 103, and a general navigation computer module 102. As shown in fig. 3, a power panel 104 is fixed at the lower end of the triaxial integrated inertia measurement unit 101, and an IF panel 103 and a general navigation computer module 102 are fixed at the upper end of the triaxial integrated inertia measurement unit 101; the transition plate can be fixed on the upper surface and the lower surface of the inertia measurement unit, so that the whole structure of the inertia measurement unit assembly is compact, the signal transmission path is shortened, and the transmission efficiency is improved. The IF board is used for converting the tabulation information and transmitting the information to the navigation board for navigation calculation. The inertia measurement unit assembly 1 is also provided with an external output connector which is respectively connected with the gyro adder of the inertia measurement unit and the external angle measurement control panel and the power panel and is used for carrying out information exchange with a shafting angle measurement signal, so that the convenience of wiring is increased, and the maintainability of the whole machine is improved.
As shown in fig. 4, the inner ring shaft assembly 2 includes an inner ring frame 201, an inner ring motor shaft 202, an inner ring grating shaft 203, an inner ring motor 204, an inner ring grating 205, an inner ring bearing 206, and an inner ring slip ring 207, the inner ring motor shaft 202 and the inner ring grating shaft 203 are respectively installed in circular holes on the upper and lower sides of the inner ring frame 201, the inner ring motor 204 and the inner ring grating 205 are respectively fixed on the inner ring motor shaft 202 and the inner ring grating shaft 203, and the inner ring slip ring 207 is fixed inside the inner ring grating shaft 203. The bearing is a basic element of a shaft system, and the inner ring bearing 206 is arranged in a circular hole in the inner ring frame 201, wherein the inner ring grating shaft is located. The inner ring shaft assembly 2 further comprises an inner ring pressing ring, and the inner ring motor is fixed on a motor shaft of the inner ring through the inner ring pressing ring. The shafting structure of the inner ring shaft assembly adopts the arrangement and connection mode of one end deep groove balls and the other end paired angular contact ball bearings, so that the structure is more compact while the shafting rotation precision is ensured. The shafting angle measurement adopts a circular grating and reading head form, and a 3.8' grade grating reading head is selected to ensure the shafting precision, and simultaneously, the shafting structure size is greatly reduced. The inner ring slip ring is fixed inside the grating shaft, can select specific models according to the structure size and the signal quantity, and is arranged on one side inside the inner ring grating shaft to ensure internal wiring. The inner shaft assembly and the outer shaft assembly further comprise wiring boards, and the wiring boards are arranged at the ends of the motor shafts, so that wiring of the motor slip ring is facilitated.
As shown in fig. 5, the outer ring shaft assembly 3 includes an outer ring frame 301, an outer ring motor shaft 302, an outer ring grating shaft 303, an outer ring motor 304, an outer ring grating 305, an outer ring bearing 306, and an outer ring slip ring 307, the outer ring motor shaft 302 and the outer ring grating shaft 303 are respectively installed at the left and right sides of the outer ring frame 301, and the outer ring bearing 306 is installed at the hole position where the outer ring grating shaft 303 is located in the outer ring frame 301. The outer ring motor 304 and the outer ring grating 305 are respectively fixed on the outer ring motor shaft 302 and the outer ring grating shaft 303, and the outer ring slip rings 307 are two and are respectively arranged inside the outer ring motor shaft 302 and the outer ring grating shaft 303. The outer ring shaft assembly 3 further comprises an outer ring pressing ring, and the outer ring motor is fixed on the outer ring motor shaft through the outer ring pressing ring. The shafting structure of the outer ring shaft assembly is also arranged in a mode of deep groove balls at one end and paired angular contact ball bearings at the other end so as to reduce the whole size of the structure. The shaft system adopts a circular grating and reading head form to measure the angle, and replaces a rotary transformer with large mass. The outer ring slip ring is arranged inside the shaft bodies on the two sides, and is specifically arranged inside the outer ring motor shaft and the outer ring grating shaft, so that wiring of the inner ring shaft system and an external circuit interface is guaranteed.
And, when the inner ring axle subassembly, outer ring axle subassembly and the inertia measurement unit subassembly of biax modulation subassembly 11 were designed, through changing the ring frame mass distribution and adjusting device position arrangement the natural trimming of moment of inertia in two direction of rotation has been carried out, and the barycenter skew of every direction after the trimming is no longer than 0.5mm, promotes shafting servo control's stability greatly.
Further, the device still includes socket subassembly 4, and socket subassembly includes external connector and connecting plate, and external connector passes through the connecting plate to be fixed on the box to sealed between with the box, not only guarantee to reserve external interface, separate interface and box and inner structure moreover, make and carry out the external interface change through changing the connecting plate when external input changes, strengthened the commonality and the adaptability of equipment. The device also comprises a voltage-stabilizing power supply board 5, an angle measurement control board 6 and other control circuits, wherein the voltage-stabilizing power supply board 5 is used for providing stable voltage for the device, and the angle measurement control board 6 is mainly responsible for shafting rotation control and shafting rotation angle information processing. The socket assembly, the box body and the shafting assembly are designed in a split mode, the connecting plate can be modified according to external input change to adapt to different platform requirements, and the universality and adaptability of the equipment are enhanced; and the circuit module mostly adopts the universalization module, and the complete machine maintainability is strong.
Furthermore, the device also comprises an upper cover plate, a lower cover plate, two side cover plates 8 and other packaging structures, wherein the upper cover plate, the lower cover plate and the two side cover plates are hermetically fixed on the box body. All opening parts of the whole machine are sealed, so that the water tightness of the whole structure is ensured. The thermal analysis device further comprises a heat radiation fan 9, wherein the heat radiation fan is fixed on the inner side of the lower cover plate, pneumatic thermal analysis is combined, and the two groups of fans are arranged diagonally to radiate the internal inertia measurement unit structure. The surface of the box body is also provided with a plane mirror 10 for calibration.
To sum up, the miniaturized lightweight biaxial modulation laser inertial navigation device of the utility model selects a triaxial integrated inertial measurement unit, which is different from the traditional gyroscope type inertial measurement unit, the triaxial integrated inertial measurement unit directly embeds the gyroscope and the body structure into a whole, the volume of the device is small, and the design size of the corresponding shaft system is greatly reduced; meanwhile, the modulation shaft system is compactly arranged in a form of three bearings with one end provided with a deep groove ball and the other end provided with a paired angle contact, and the angular measurement circular grating is adopted to replace rotary deformation, so that the compact installation of the whole machine is realized, the size and the weight of the whole machine are further reduced, and the miniaturization and the light weight of the whole machine are realized. And moreover, the mass distribution of the rotating part is adjusted by adjusting the mounting position of the inertia measurement unit assembly and the lightweight design of the two sides of the rotating direction of the ring frame, so that the mass center and the rotating center of the rotating part in the two directions are respectively superposed, the natural balance of the integral inertia moment of the rotating part is realized, the stability of shafting servo control is greatly improved, and the problem of balance weight in the later shafting installation and adjustment process is solved.
The above embodiments and principles are only used to illustrate the design ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and to implement the present invention, and the protection scope of the present invention is not limited to the above embodiments. Therefore, any simple modification made according to the technical essence of the present invention, equivalent changes and modifications all belong to the scope of the technical solution of the present invention.
Claims (10)
1. A miniaturized lightweight biaxial modulation laser inertial navigation device is characterized by comprising: the inertia measurement unit assembly comprises a three-shaft integrated inertia measurement unit, the three-shaft integrated inertia measurement unit is fixed on the inner ring shaft assembly through a shock absorber, one end of the inner ring shaft assembly is connected with the outer ring shaft assembly through a deep groove ball bearing and the other end of the inner ring shaft assembly through a paired angular contact ball bearing, and one end of the outer ring shaft assembly is connected with the box through the deep groove ball bearing and the other end of the outer ring shaft assembly through the paired angular contact ball bearing.
2. The compact lightweight dual-axis modulation laser inertial measurement unit of claim 1, wherein the inertial measurement unit assembly further comprises a power board, an IF board, and a general purpose navigation computer module, the power board being fixed to a lower end of the triaxial integral inertial measurement unit, the IF board and the general purpose navigation computer module being fixed to an upper end of the triaxial integral inertial measurement unit.
3. The miniaturized, lightweight dual-axis modulated laser inertial navigation unit of claim 1, wherein the inertial measurement unit assembly further comprises an external output connector for exchanging information with the shafting angle measurement signal.
4. The miniaturized lightweight dual-axis modulation laser inertial navigation device according to claim 1, wherein the inner ring axis assembly comprises an inner ring frame, an inner ring motor axis, an inner ring grating axis, an inner ring motor, an inner ring grating and an inner ring slip ring, the inner ring motor axis and the inner ring grating axis are respectively installed in circular holes on the upper side and the lower side of the inner ring frame, the inner ring motor and the inner ring grating are respectively fixed on the inner ring motor axis and the inner ring grating axis, and the inner ring slip ring is fixed inside the inner ring grating axis.
5. The miniaturized, lightweight dual-axis modulated laser inertial navigation unit of claim 4, wherein the inner ring shaft assembly further comprises an inner ring pressing ring, and the inner ring motor is fixed on the inner ring motor shaft through the inner ring pressing ring.
6. The miniaturized lightweight dual-axis modulation laser inertial navigation unit according to claim 1, wherein the outer ring shaft assembly comprises an outer ring frame, an outer ring motor shaft, an outer ring grating shaft, an outer ring motor, an outer ring grating and outer ring slip rings, the outer ring motor shaft and the outer ring grating shaft are respectively installed at the positions of the openings at the left side and the right side of the outer ring frame, the outer ring motor and the outer ring grating are respectively fixed on the outer ring motor shaft and the outer ring grating shaft, and the two outer ring slip rings are respectively arranged inside the outer ring motor shaft and the outer ring grating shaft.
7. The miniaturized lightweight dual-axis modulated laser inertial navigation unit of claim 6, wherein the outer annular shaft assembly further comprises an outer annular pressing ring, and the outer annular motor is fixed on the outer annular motor shaft through the outer annular pressing ring.
8. The compact, lightweight dual-axis modulated laser inertial navigation unit of claim 1, further comprising a receptacle assembly, said receptacle assembly comprising an external connector and a connection plate, said external connector being secured to said housing by said connection plate.
9. The miniaturized lightweight dual-axis modulation laser inertial navigation unit according to claim 1, further comprising upper and lower cover plates and two side cover plates, wherein the upper and lower cover plates and the two side cover plates are hermetically fixed on the case.
10. The miniaturized lightweight dual-axis modulation laser inertial navigation unit according to claim 9, further comprising a heat dissipation fan fixed to an inner side of the lower cover plate and disposed diagonally.
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| CN202021044061.5U CN212539195U (en) | 2020-06-09 | 2020-06-09 | Miniaturized lightweight double-shaft modulation laser inertial navigation device |
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| CN202021044061.5U CN212539195U (en) | 2020-06-09 | 2020-06-09 | Miniaturized lightweight double-shaft modulation laser inertial navigation device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113447017A (en) * | 2021-06-28 | 2021-09-28 | 北京航天控制仪器研究所 | Ultra-small optical fiber inertia platform electromechanical dense all-in-one machine structure |
| CN115164934A (en) * | 2022-06-10 | 2022-10-11 | 北京理工导航控制科技股份有限公司 | Biaxial rotation mechanism and inertial navigation device |
-
2020
- 2020-06-09 CN CN202021044061.5U patent/CN212539195U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113447017A (en) * | 2021-06-28 | 2021-09-28 | 北京航天控制仪器研究所 | Ultra-small optical fiber inertia platform electromechanical dense all-in-one machine structure |
| CN113447017B (en) * | 2021-06-28 | 2022-07-29 | 北京航天控制仪器研究所 | Super-small optical fiber inertia platform electromechanical dense-distribution all-in-one machine structure |
| CN115164934A (en) * | 2022-06-10 | 2022-10-11 | 北京理工导航控制科技股份有限公司 | Biaxial rotation mechanism and inertial navigation device |
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