WO2003046479A1 - Angular velocity sensor - Google Patents
Angular velocity sensor Download PDFInfo
- Publication number
- WO2003046479A1 WO2003046479A1 PCT/JP2002/012311 JP0212311W WO03046479A1 WO 2003046479 A1 WO2003046479 A1 WO 2003046479A1 JP 0212311 W JP0212311 W JP 0212311W WO 03046479 A1 WO03046479 A1 WO 03046479A1
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- WIPO (PCT)
- Prior art keywords
- angular velocity
- velocity sensor
- sensor according
- vibrator
- terminal
- Prior art date
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- G01C19/5607—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using vibrating tuning forks
- G01C19/5628—Manufacturing; Trimming; Mounting; Housings
Definitions
- the present invention relates to an angular velocity sensor used for attitude control, navigation, and the like of a moving body such as an aircraft or a vehicle.
- FIG. 21 is a perspective view of a conventional angular velocity sensor
- FIG. 22 is a circuit diagram of the same angular velocity sensor.
- a rectangular parallelepiped vibrator 1 is configured by bonding a second piezoelectric substrate 4 to a first piezoelectric substrate 2 via an electrode layer 3. Further, the upper surface of the vibrator 1 is provided with two divided electrodes 5 that play both roles of driving and detection, and the lower surface is provided with a common electrode 6.
- the four substantially Z-shaped terminals 7 are soldered to the divided electrodes 5 of the vibrator 1 at the wide portions 8 at one ends thereof at the nodes of the vibration of the vibrator 1 and held. The other end protrudes outward.
- Such an angular velocity sensor has a circuit configuration as shown in FIG. That is, one output terminal of the oscillation circuit 9 as a drive source is connected to the divided electrode 5 via the resistor 10.
- the other output terminal of the oscillation circuit 9 is connected to the common electrode 6.
- the dividing electrode 5 is connected to the non-inverting input terminal (+) and the inverting input terminal (1) of the differential amplifier circuit 12 via the resistor 11. Further, a resistor 13 is connected between the output terminal of the differential amplifier circuit 12 and the inverting input terminal (1) of the differential amplifier circuit 12.
- the oscillation circuit 9 outputs a drive signal such as a sine wave signal and applies the drive signal to the divided electrodes 5 of the vibrator 1 via the resistor 10. Then, the first piezoelectric substrate 2 and the second piezoelectric substrate 4 bend and vibrate in a direction perpendicular to their respective main surfaces. Then, when the vibrator 1 rotates about the central axis, Coriolis waves corresponding to the rotational angular velocity are generated. The Coriolis force generated at this time acts in a direction parallel to the main surfaces of the first piezoelectric substrate 2 and the second piezoelectric substrate 4 and orthogonal to the central axis of the vibrator 1.
- the Coriolis changes the direction of the bending vibration of the vibrator 1, and the split electrode 5 generates a signal corresponding to the angular velocity. Then, the signal generated by the differential amplifier circuit 12 at the divided electrode 5 is detected via the resistor 11, and the angular velocity applied to the angular velocity sensor is detected.
- the terminal 7 is held at the node of the vibration in the vibrator 1 by soldering to the split electrode 5 in the vibrator 1. For this reason, if the area of the vibration node is reduced to reduce the size of the vibrator 1, the width of the corresponding terminal 7 or the wide portion 8 must be reduced. As a result, the strength for holding the vibrator 1 decreases. Therefore, when strong vibration is applied to the angular velocity sensor, the connection between the vibrator 1 and the terminal 7 becomes unstable, and the output characteristics of the angular velocity sensor deteriorate. Disclosure of the invention
- the angular velocity sensor according to the present invention is configured such that the vibrator is housed in the case, and the other end of the terminal having one end embedded in the housing for housing the case is electrically connected to the vibrator to support the terminal. are doing.
- FIG. 1 is an exploded perspective view of the angular velocity sensor according to Embodiment 1 of the present invention.
- FIG. 2 is a side sectional view of the angular velocity sensor according to Embodiment 1 of the present invention.
- FIG. 3 shows the angular velocity sensor according to Embodiment 1 of the present invention viewed from the back side.
- FIG. 4 is a perspective view of the vibrator in the angular velocity sensor according to Embodiment 1 of the present invention.
- FIG. 5 is a cross-sectional view of a first arm of the transducer of the angular velocity sensor according to Embodiment 1 of the present invention.
- FIG. 6 is a perspective view of a case in the angular velocity sensor according to Embodiment 1 of the present invention.
- FIG. 7 is a perspective view of the case of the angular velocity sensor according to Embodiment 1 of the present invention as viewed from the back side.
- FIG. 8 is a perspective view of a storage section in the angular velocity sensor according to Embodiment 1 of the present invention.
- FIG. 9 is a perspective view of the storage section of the angular velocity sensor according to Embodiment 1 of the present invention as viewed from below.
- FIGS. 10A to 1OF are assembly process diagrams of the vibrator in the angular velocity sensor according to Embodiment 1 of the present invention.
- FIG. 11A and FIG. 11B are assembly process diagrams showing a state in which a storage section in the angular velocity sensor according to Embodiment 1 of the present invention is formed by heat molding.
- FIG. 12 is a perspective view showing a state in which the distal end of the terminal is bent at the outer bottom surface of the housing in the angular velocity sensor according to Embodiment 1 of the present invention.
- FIGS. 13 and 14 are side views showing the operating state of the vibrator in the angular velocity sensor according to Embodiment 1 of the present invention.
- FIG. 15 is a characteristic diagram showing vibration transmission characteristics of the case and the vibrator in the angular velocity sensor according to Embodiment 1 of the present invention.
- FIG. 16 is an exploded perspective view of the angular velocity sensor according to Embodiment 2 of the present invention.
- FIG. 1A is a perspective view of a storage section in the angular velocity sensor according to Embodiment 2 of the present invention.
- FIG. 18 is a perspective view of the storage section in the angular velocity sensor according to Embodiment 2 of the present invention as viewed from the rear side.
- FIG. 19 shows a case of the angular velocity sensor according to the second embodiment of the present invention. It is a perspective view.
- FIG. 20 is a side sectional view of a storage section in the angular velocity sensor according to Embodiment 2 of the present invention.
- FIG. 21 is a perspective view of a conventional angular velocity sensor.
- FIG. 22 is a circuit diagram of a conventional angular velocity sensor. BEST MODE FOR CARRYING OUT THE INVENTION
- FIG. 1 is an exploded perspective view of an angular velocity sensor according to Embodiment 1 of the present invention.
- FIG. 2 is a side sectional view of the angular velocity sensor
- FIG. 3 is a perspective view of the angular velocity sensor as viewed from the back.
- FIG. 4 is a perspective view of a vibrator in the angular velocity sensor
- FIG. 5 is a cross-sectional view of a first arm portion of the vibrator.
- FIG. 6 is a perspective view of a case in the angular velocity sensor
- FIG. 7 is a perspective view of the case as viewed from the back.
- FIG. 8 is a perspective view of a storage section in the angular velocity sensor
- FIG. 9 is a perspective view of the storage section as viewed from below.
- a tuning fork-shaped vibrator 21 has a first arm 21 A, a second arm 21 B, and a first arm 21 A. And a connecting portion 21C for connecting one end of the second arm portion 21B, and a fixing portion 21D provided separately from the connecting portion 21C.
- the vibrator 21 has a common GND electrode made of an alloy thin film of platinum (Pt) and titanium (Ti) over the entire upper surface of a substrate 22 made of silicon (Si). There are 23 provided. Furthermore, a piezoelectric layer 24 made of a lead zirconate titanate (PZT) thin film is provided on the upper surface of the common GND electrode 23. As shown in FIG.
- the vibrator 21 includes a pair of first drive electrodes 25 on the upper surface of the piezoelectric layer 24 substantially inside the center of the upper surface. Further, the vibrator 21 includes a pair of second drive electrodes 26 on the upper surface of the piezoelectric layer 24 substantially outside the center. Also, the vibrator 21 has a pair of detection electrodes 27 on the top surface of the piezoelectric layer 24 on the top end side of the top surface, and the top surface of the piezoelectric layer 24 on the base side of the first drive electrode 25. Monitor — equipped with electrode 28. In addition, the piezoelectric element A GND electrode 29 is provided on the surface of the layer 24.
- the case 30 made of ceramic includes a multilayer circuit board 31 having a layer structure of ceramic and wiring conductors from the inner bottom surface to the outer bottom surface ; as shown in FIG.
- the first wiring electrode 32 and the second wiring electrode 33 are provided.
- an IC 35 is electrically connected to a first wiring electrode 32 and a single wire 34 made of gold (Au) or aluminum.
- the capacitor 36 is electrically connected to the second wiring electrode 33.
- the IC 35 constitutes a circuit for processing an output signal output from the detection electrode 27 of the vibrator 21.
- the IC 35 is housed inside the case 30.
- the outer bottom surface of the multilayer circuit board 31 serving as the bottom of the case 30 includes six case electrodes 37 made of silver. As shown in FIG.
- the case 30 is provided with a side wall 38 made of ceramic over the outer periphery of the upper surface of the multilayer circuit board 31.
- a metal frame 39 made of Kovar alloy is provided on the upper surface of the side wall 38.
- a step portion 40 is provided on the inner bottom surface of the case 30, and the step portion 40 is fixed to the fixing portion 21D of the vibrator 21 shown in FIG.
- a third wiring electrode 41 is provided on both sides of the step portion 40 where the connection portion 21 D is fixed.
- the third wiring electrode 41 is connected to the first drive electrode 25, the second drive electrode 26, the detection electrode 27, the monitor electrode 28, and the GND of the vibrator 21 via the wire 34. It is electrically connected to electrode 29.
- vibrator 21 has fixed portion 21 D that does not affect vibration, and fixed portion 21 D is fixed to step portion 40 of case 30. For this reason, even if the vibrator 21 is miniaturized, the fixed portion 21D is not miniaturized unlike the conventional angular velocity sensor. Therefore, the vibrator 21 is firmly fixed to the case 30.
- the metal lid 42 fills the inside of the case 30 with nitrogen to seal the opening of the case 30.
- the storage section 43 made of resin is configured so that a direction perpendicular to a mating substrate (not shown), which is an object to be measured for angular velocity, is used as an angular velocity detection axis.
- the storage section 43 stores the case 30.
- the storage section 43 has a power supply terminal 44, an output terminal 45, a GND terminal 46, a first adjustment terminal 47, a second adjustment terminal 48, and an adjustment GND terminal 49.
- the power supply terminal 44 is electrically connected to the first drive electrode 25 and the second drive electrode 26 of the oscillator 21.
- Output terminal 45 is electrically connected to detection electrode 27.
- the first adjustment terminal 47, the second adjustment terminal 48, and the adjustment GND terminal 49 are used for calibration during assembly.
- a case 30 is placed on the mounting portion 50 which is located substantially at the center of the storage portion 43 and is provided substantially parallel to the angular velocity detection axis in the storage portion 43. Place.
- the other end of the power supply terminal 44, the output terminal 45, the GND terminal 46, the first adjustment terminal 47, the second adjustment terminal 48, and the adjustment GND terminal 49 are embedded in the mounting portion 50. Have been. From the mounting part 5 °, the tips 44A of these terminals are exposed.
- FIG. 8 shows the tip 44A of the terminal 47 or the terminal 48 as a representative.
- the GND terminal 46 and the second adjustment terminal 48 are provided in a direction parallel to the angular velocity detection axis of the receiver 50.
- the power supply terminal 44, the output terminal 45, the first adjustment terminal 47, and the adjustment GND terminal 49 are located on both sides of the mounting portion 50 and are provided in a direction perpendicular to the angular velocity detection axis.
- the power supply terminal 44, output terminal 45, first adjustment terminal 47, and adjustment GND terminal 49 provided in the direction perpendicular to the angular velocity detection axis move the case in the direction of angular velocity due to slight vibration. To prevent that. This prevents the case 30 from being displaced in the direction of the angular velocity when the angular velocity is not applied to the angular velocity sensor, so that the output characteristics of the angular velocity sensor are improved.
- the mounting portion 50 is provided substantially at the center of the storage portion 43 and provided substantially in parallel with the detection axis of the angular velocity in the storage portion 43. Therefore, the case 30 and the vibrator 21 stored in the case 30 It is provided without tilting to the axis. As a result, the vector of the angular velocity applied to the vibrator 21 increases, and no loss occurs in the output characteristics.
- the case 30 is mounted on the mounting portion 50 of the storage portion 43. Then, the case electrode 37 in the case 30 is electrically connected to the distal end 44 A of the terminal 44, 45, 46, 47, 48, 49 in the mounting portion 50. Since the distal end portion 44A is also mechanically connected to the case 30, the case 30 is supported from the surroundings by the terminals 44, 45, 46, 47, 48, and 49. That is, the vibrator 21 is housed in the case 30, and the case 30 is supported from the surroundings by these terminals 44, 45, 46, 47, 48, and 49. Therefore, even if the vibrator 21 is miniaturized and strong vibration is applied to the terminals 44, 45, 46, 47, 48, and 49 from the outside, the case 30 ensures that the vibrator 2 Hold 1.
- one terminal that supports the case has the effect of achieving both miniaturization of the angular velocity sensor and holding of the vibrator.
- six recesses 51 for electrodes are provided on the outer bottom surface of the storage section 43. Then, the tips of the terminals 44, 45, 46, 47, 48, and 49 buried in the housing portion 43 are exposed in the electrode recesses 51.
- a power supply electrode 52, a GND electrode 53, an output electrode 54, a first adjustment electrode 55, a second adjustment electrode 56, and an adjustment GND electrode 57 are provided. Therefore, there is no need to provide the electrodes 52, 53, 54, 55, 56, 57 separately from the terminals 44, 45, 46, 47, 48, 49.
- the terminals 44, 45, 46, 47, 48, 49 and the electrodes 52, 53, 54, 55, 56, 57 are electrically connected to each other by means such as soldering. No need to connect to. As a result, the number of parts can be reduced, and the electrodes 52, 53, 54, 55, 56, and 57 can be easily formed. Also, as shown in Fig.
- Case electrode 37 On the back of case 30 Case electrode 37 is provided. Then, from the mounting section 50 to the power supply terminal 44, the output terminal 45, the GND terminal 46, the first adjustment terminal 47, the second adjustment terminal 48, and the end of one end of the adjustment GND terminal 49 4 4 A is exposed. Further, by mounting the case 30 on the mounting portion 50, the case electrode 37 and these terminals 44, 45, 46, 47, 48, 49 at one end 4 4A are electrically connected to each other. After the mounting part 50 is placed on the case 30, the tips 44 A on one end of these terminals 44, 45, 46, 47, 48, 49 and the case electrode 37 are placed. And solder.
- the power supply terminal 44 can be connected to the first drive electrode 25 and the second drive electrode 26 of the vibrator 21, and the output terminal 45 can be electrically connected to the detection electrode 27. it can.
- an angular velocity sensor with improved assemblability can be provided.
- the terminals 44, 45, 46, 47, 48, and 49 are each provided with a Z-shaped bent portion 44B substantially at the center.
- the case 30 is configured to be displaced with respect to the storage portion 43 by the bent portion 44B. For this reason, when vibration is transmitted from the outside to the vibrator 21 through the terminals 44, 45, 46, 47, 48, 49, the case 30 is moved to the housing portion 43. Displace. As a result, vibration energy is consumed, and the vibration transmitted to the vibrator 21 is attenuated. As a result, it is less likely that an erroneous output signal is generated from the detection electrode 27 of the vibrator 21 due to the vibration, so that the output characteristics of the angular velocity sensor are stabilized.
- three concave portions 58 are provided on the outer bottom surface of the storage portion 43.
- the metal cover 59 has three locking claws 60 on the opening side, and the locking claws 60 are swaged by the concave portions 58 in the storage portion 43 shown in FIG. Fix it.
- the GND potential connection section 61 is provided on the outer bottom surface of the storage section 43.
- the metal cover 59 can be set to the GND potential.
- the cover 59 serves as an electromagnetic wave shield, whereby electromagnetic waves from the outside to the detection electrode 27 and the IC 35 of the vibrator 21 can be cut off, so that the output signal of the angular velocity sensor is stabilized.
- a common GND electrode 23 made of an alloy thin film of Pt and Ti is formed on the upper surface of a base material 22 made of Si prepared in advance by vapor deposition. Thereafter, a piezoelectric layer 24 made of a PZT thin film is formed on the upper surface of the common GND electrode 23 by vapor deposition.
- an in-process electrode 25A made of an alloy thin film of Ti and Au is formed by vapor deposition, and then, as shown in FIG. Then, unnecessary portions of the common GND electrode 23, the piezoelectric layer 24, and the electrode 25A during formation are removed.
- the first drive electrode 25, the second drive electrode 26, the detection electrode 27, the monitor electrode 28, and the GND electrode 29 are formed on the upper surface of the piezoelectric layer 24.
- an individual vibrator 21 is formed by removing unnecessary portions in the base material 22.
- a multilayer circuit board 31 composed of an insulator (not shown) made of ceramic and a wiring conductor (not shown) and a step portion 40 are prepared in advance. Then, a first wiring electrode 32, a second wiring electrode 33, and a third wiring electrode 41 made of Au are formed on these upper surfaces. Thereafter, a case electrode 37 made of Ag is formed on the lower surface of the multilayer circuit board 31. Next, a side wall 38 made of ceramic is formed around the outer periphery of the upper surface of the multilayer circuit board 31. Thereafter, a metal frame 39 made of Kovar is fixed to the upper surface of the side wall 38. Thus, the case 30 is formed.
- the IC 35 is mounted on the upper surface substantially at the center of the multilayer circuit board 31 in the case 30. After that, the electrode (not shown) of the IC 35 and the first wiring electrode 32 of the multilayer circuit board 31 are electrically connected by wire bonding via the wire 34.
- the capacitor 36 is soldered to the second wiring electrode 33 of the case 30.
- the lower surface of the fixing portion 21 D of the vibrator 21 is fixed to the upper surface of the step portion 40 of the case 30.
- the first drive electrode 25, the second drive electrode 26, the detection electrode 27, the monitor electrode 28, and the GND electrode 29 formed on the upper surface of the vibrator 21 are connected to the case 30.
- the third wiring electrode 41 is electrically connected by wire bonding via a wire 34 made of aluminum.
- a metal lid 42 is fixed to the opening of the case 30 by seam welding in a nitrogen atmosphere.
- a housing portion 43 is formed via a connection portion 62 provided on a through gate (not shown) of a molding die (not shown).
- the other ends of the terminals 44, 45, 46, 47, 48, and 49 are buried in the storage portion 43.
- the outer end 44 C of the other end of these terminals is exposed from the outer bottom surface of the storage section 43.
- a concave portion 51 for an electrode and a concave portion 58 are formed on the outer bottom surface of the storage portion 43.
- connection portion 62 connecting the storage portion 43 and the mounting portion 50 is removed, and the resin between the storage portion 43 and the mounting portion 50 is removed. Disconnect the connection.
- the mounting portion 50 and the storage portion 43 are made of the same resin material, and the mounting portion 50 and the storage portion 43 are formed simultaneously by one molding. By doing so, the man-hour for assembling the angular velocity sensor is reduced.
- the other end 44 C of the terminal 44, 45, 46, 47, 48, 49 is provided with an electrode recess 5 provided on the outer bottom surface of the housing 43. Bend at position 1. In this manner, the power supply electrode 52, the GND electrode 53, the output electrode 54, the first adjustment electrode 55, the second adjustment electrode 56, and the adjustment GND electrode 57 are provided on the outer bottom surface of the housing 43. Form.
- the three locking claws 60 provided on the opening side of the cover 59 are provided on the outer bottom surface of the storage portion 43. Position it in the concave part 58 and fix it by caulking. In this way, the GND potential connection portion 61 is formed on the outer bottom surface of the storage portion 43.
- first drive electrode 25 provided on each of the first arm 21 A and the second arm 21 B of the vibrator 21, and the second drive electrode 26 A negative voltage is applied to. Then, the piezoelectric layer 24 located below the first drive electrode 25 expands, and the piezoelectric layer 24 located below the second drive electrode 26 contracts. Therefore, as shown in FIG. 13, the first arm portion 218 and the second arm portion 218 face outward. open.
- the first arm 21A and the second arm 21B close inward. That is, when an AC voltage is applied to the first drive electrode 25 and the second drive electrode 26, the first arm 21A and the second arm 21B are unique in the in-plane direction. Makes a bending motion at speed V at the frequency. The voltage applied to the first drive electrode 25 and the second drive electrode 26 is adjusted so that the output signal generated from the monitor electrode 28 becomes constant in the bending motion of the vibrator 21. Controls the amplitude of the bending vibration.
- IC 35 performs waveform processing, and then the second wiring electrode 33, capacitor 36, case electrode 37, tip portion 4 4A at output terminal 45, output terminal 45, Input to the other computer (not shown) via the output electrode 54.
- the angular velocity is detected.
- the natural frequency f of the vibrating object is expressed as in equation (1).
- Such vibration is transmitted via the power supply terminal 44, the output terminal 45, the GND terminal 46, the first adjustment terminal 47, the second adjustment terminal 48, and the adjustment GND terminal 49.
- (1) If only vibrator 2 1 is supported by power supply terminal 44, output terminal 45, GND terminal 46, first adjustment terminal 47, second adjustment terminal 48, and adjustment GND terminal 49
- the natural frequency in a state where these terminals are coupled to the vibrator 21 is about 4 mm.
- these terminals 44, 45, 46, 47, 48, and 49 support the case 30 containing the vibrator 21 from the surroundings.
- the natural frequency in such a configuration is about 1.5 ⁇ ⁇ .
- the vibration transmissibility of the vibrator 21 near the natural frequency 17 ⁇ ⁇ depends on the case 30 for accommodating the vibrator 21 and the terminals 44 and 45.
- 46, 47, 48, and 49 will be about 0.01 when supported from the surroundings. This is about 16 compared to the vibration transmissibility of 0.06 when only the vibrator 21 is supported by the terminals 44, 45, 46, 47, 48, and 49.
- unnecessary vibration from the outside becomes difficult to be transmitted to the vibrator 21, so that the output characteristics of the angular velocity sensor do not decrease.
- the housing portion 43 in which the other ends of the terminals 44, 45, 46, 47, and 48.49 are embedded is made of resin. For this reason, when vibration is transmitted from the outside to the vibrator 21 through the terminals 4 4> 45, 46, 47, 48, 49, the vibration is generated by the housing portion 4 3 made of resin. Energy is converted to heat energy. As a result, the vibration transmitted through the terminals 44> 45, 46, 47, 48, 49 is attenuated. Therefore, the occurrence of an erroneous output signal from the detection electrode 27 when the vibrator 21 abnormally vibrates due to vibration is further reduced, and as a result, the output characteristics of the angular velocity sensor are further stabilized.
- FIG. 16 is an exploded perspective view of the angular velocity sensor according to Embodiment 2 of the present invention.
- Fig. 17 and Fig. 18 show the storage for the same angular velocity sensor respectively.
- FIG. 3 is a perspective view of a storage unit, and a perspective view of a storage unit as viewed from the back side.
- FIG. 19 is a perspective view of a case in the angular velocity sensor. Components having the same configuration as in the first embodiment are denoted by the same reference numerals, and description thereof is omitted.
- Embodiment 2 is different from Embodiment 1 in that four capacitor electrodes 72 are provided on the outer surface of case 71 as shown in FIG. Then, as shown in FIG. 16, a capacitor 73 is mounted on the capacitor electrode 72, a hole 75 is provided in the mounting portion 74, and the capacitor 73 is inserted in the hole 75. ing. Since the capacitor 73 is provided at the hole 75, a circuit configuration in which an external noise signal is not added to the output signal from the angular velocity sensor can be formed in a small size. Further, in the second embodiment, as shown in FIG.
- the storage section 76 is formed of a liquid crystal polymer which is a material having the multilayer structure section 77 (for this reason, each of the multilayer structure sections 77 At the interface, vibration is absorbed, and the laminated structure portion 77 has high heat resistance, so that the storage portion 76 has improved vibration resistance and strength.
- the laminated structure section 77 is formed by injection molding, and the storage section 76 with improved vibration resistance and strength is easily configured. Is done.
- these electrodes 78, 7 are provided on both sides of the portion where the power supply electrode 78.
- GND electrode 79 and the output electrode 80 are provided in the housing portion 76.
- a protruding portion 81 protruding from 9, 80 is provided. The bottom surface of this projection is perpendicular to the angular velocity detection axis.
- the detection axis of the angular velocity in the storage section 76 is perpendicular to the surface of the mating substrate (not shown). As a result, since the vector of the angular velocity applied to the vibrator 21 becomes large, no loss occurs in the output characteristics of the angular velocity sensor. Yes, industrial applicability
- the vibrator is housed in the case, and the case is supported from the periphery by the terminal having the other end embedded in the housing. For this reason, the vibrator can be downsized and the case can reliably hold the vibrator even if strong vibration is applied to the terminal from the outside. As a result, the strength of holding the vibrator does not decrease, so that it is possible to provide an angular velocity sensor that is compact and does not deteriorate output characteristics.
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Description
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Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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JP2003547876A JP3807404B2 (ja) | 2001-11-29 | 2002-11-26 | 角速度センサ |
EP15173054.6A EP2947422B1 (en) | 2001-11-29 | 2002-11-26 | Angular velocity sensor |
EP02788654.8A EP1353146B1 (en) | 2001-11-29 | 2002-11-26 | Angular velocity sensor |
US10/629,826 US6880399B1 (en) | 2001-11-29 | 2003-07-30 | Angular velocity sensor |
Applications Claiming Priority (2)
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JP2001364071 | 2001-11-29 | ||
JP2001-364071 | 2001-11-29 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
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US10/629,826 Continuation-In-Part US6880399B1 (en) | 2001-11-29 | 2003-07-30 | Angular velocity sensor |
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WO2003046479A1 true WO2003046479A1 (en) | 2003-06-05 |
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PCT/JP2002/012311 WO2003046479A1 (en) | 2001-11-29 | 2002-11-26 | Angular velocity sensor |
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EP (2) | EP1353146B1 (ja) |
JP (1) | JP3807404B2 (ja) |
CN (1) | CN1258671C (ja) |
WO (1) | WO2003046479A1 (ja) |
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JP4658625B2 (ja) * | 2005-01-25 | 2011-03-23 | 日本電波工業株式会社 | 角速度センサ及びその製造方法 |
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CN108139216B (zh) * | 2015-04-07 | 2021-11-05 | 深圳市大疆创新科技有限公司 | 用于提供简单而可靠的惯性测量单元的系统和方法 |
JP2019178994A (ja) * | 2018-03-30 | 2019-10-17 | セイコーエプソン株式会社 | センサー素子、物理量センサー、電子機器および移動体 |
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JP2006023186A (ja) * | 2004-07-08 | 2006-01-26 | Matsushita Electric Ind Co Ltd | 角速度センサおよびその製造方法 |
JP4715153B2 (ja) * | 2004-10-07 | 2011-07-06 | パナソニック株式会社 | 角速度センサ |
JP2006105854A (ja) * | 2004-10-07 | 2006-04-20 | Matsushita Electric Ind Co Ltd | 角速度センサ |
JP2006300577A (ja) * | 2005-04-18 | 2006-11-02 | Matsushita Electric Ind Co Ltd | 振動ジャイロ |
WO2007055133A1 (ja) * | 2005-11-08 | 2007-05-18 | Matsushita Electric Industrial Co., Ltd. | 角速度センサおよびその製造方法 |
US7946173B2 (en) | 2005-11-08 | 2011-05-24 | Panasonic Corporation | Angular velocity sensor and process for producing the same |
JP2007212174A (ja) * | 2006-02-07 | 2007-08-23 | Denso Corp | 角速度センサ装置 |
JP4720528B2 (ja) * | 2006-02-07 | 2011-07-13 | 株式会社デンソー | 角速度センサ装置 |
WO2008084820A1 (ja) * | 2007-01-12 | 2008-07-17 | Panasonic Corporation | 角速度センサ |
WO2009031285A1 (ja) | 2007-09-03 | 2009-03-12 | Panasonic Corporation | 慣性力センサ |
US9778279B2 (en) | 2007-09-03 | 2017-10-03 | Panasonic Intellectual Property Management Co., Ltd. | Inertial force sensor |
US8826734B2 (en) | 2007-09-03 | 2014-09-09 | Panasonic Corporation | Inertial force sensor |
US8646332B2 (en) | 2007-09-03 | 2014-02-11 | Panasonic Corporation | Inertia force sensor |
WO2011102121A1 (ja) | 2010-02-18 | 2011-08-25 | パナソニック株式会社 | 角速度センサおよび角速度および加速度検出用複合センサ |
US9091543B2 (en) | 2010-02-18 | 2015-07-28 | Panasonic Intellectual Property Management Co., Ltd. | Angular speed sensor for detecting angular speed |
US9448068B2 (en) | 2010-02-18 | 2016-09-20 | Panasonic Intellectual Property Management Co., Ltd. | Angular velocity sensor |
JP2012063242A (ja) * | 2010-09-16 | 2012-03-29 | Panasonic Corp | 角速度センサ |
JP2011133486A (ja) * | 2011-02-24 | 2011-07-07 | Panasonic Corp | 振動ジャイロ |
JP2011107161A (ja) * | 2011-02-25 | 2011-06-02 | Panasonic Corp | 振動ジャイロ |
Also Published As
Publication number | Publication date |
---|---|
EP2947422A1 (en) | 2015-11-25 |
JPWO2003046479A1 (ja) | 2005-04-07 |
EP1353146A1 (en) | 2003-10-15 |
CN1484751A (zh) | 2004-03-24 |
EP2947422B1 (en) | 2018-07-11 |
CN1258671C (zh) | 2006-06-07 |
EP1353146B1 (en) | 2017-05-24 |
JP3807404B2 (ja) | 2006-08-09 |
EP1353146A4 (en) | 2010-01-06 |
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