A chip traveling wave motor type gyro north finder

Abstract

The present invention discloses a chip traveling wave motor type gyro north finder. The present invention is a segmented installation structure, based on a MEMS chip traveling wave motor, and through the mechanical structure embedded assembly of an inertial measurement unit, a MEMS capacitive angular position sensor, and a comprehensive drive sampling control circuit board, the overall rotation modulation gyro north finder is tightly integrated internally, and the volume size is significantly reduced. Based on the high-precision angle control technology of the MEMS capacitive angular position sensor and the electromagnetic indexing limiting mechanism, relying on the continuous output of the driving force of the MEMS chip traveling wave motor, the multi-position precise stepping of the inertial measurement unit is realized, the constant error compensation effect of the rotation modulation technology on the inertial device is ensured, and the north-seeking performance is effectively improved.

Description

Technical Field

[0001] The invention belongs to the technical field of inertial navigation, in particular to a chip traveling wave motor type gyro north finder. Background Art

[0002] With the continuous improvement of the integration of unmanned control systems, the miniaturization application of gyro north-seeking systems in various types of equipment has become increasingly prominent, mainly in two aspects: First, in terms of core components, although traditional optical gyroscopes, mechanical gyroscopes, etc. can meet the needs of north-seeking, their large size makes it difficult to embed and apply them to various small equipment, and their high cost also makes it impossible to install them in a single system. The performance of low-cost and small-volume MEMS inertial devices is not high enough, and it is difficult to achieve high-precision orientation only by relying on them; Second, in terms of rotating mechanisms: based on the rotation modulation technology, the autonomous navigation performance can be improved at low cost without relying on the accuracy of inertial devices, but the electromagnetic motor platform commonly used in the current rotation modulation north-seeking system has a large size and power consumption, and obvious residual magnetism, which has a great impact on the measurement accuracy of the inertial components. Therefore, in order to achieve high-precision north-seeking based on MEMS inertial devices, the rotating platform as the hardware carrier of the rotation modulation technology has become a bottleneck problem restricting the development of MEMS gyro north-seekers. Most of the current miniaturized north-seekers use traditional electromagnetic motors to drive the rotating platform to rotate. They are large in size and difficult to control in a miniaturized environment, and cannot meet the high-precision requirements of controlling the north-seeker. Summary of the invention

[0003] The purpose of the present invention is to provide a chip traveling wave motor type gyro north finder in view of the problems existing in the above-mentioned prior art.

[0004] The technical solution to achieve the purpose of the present invention is: a chip traveling wave motor type gyro north finder, the north finder includes a segmented mounting structure, and a MEMS chip traveling wave motor, a chip traveling wave motor rotating platform, an inertial measurement unit, a MEMS capacitive angular position sensor, a segmented chip traveling wave motor packaging base, a wireless power supply unit, an electromagnetic indexing limiting mechanism and an integrated drive sampling control circuit board arranged in the segmented mounting structure; the MEMS chip traveling wave motor serves as the core actuator of the north finder, and is used to drive the chip traveling wave motor rotating platform to rotate, thereby driving the inertial measurement unit installed on the chip traveling wave motor rotating platform to rotate, The MEMS chip traveling wave motor can be easily replaced; the MEMS capacitive angular position sensor is used to detect the rotation characteristics of the inertial measurement unit, and is processed by the integrated drive sampling control circuit board to meet the indexing detection and control requirements of the north finder; the segmented chip traveling wave motor packaging base is used to limit the installation of the MEMS chip traveling wave motor, and by cooperating with the segmented installation structure, the small gear rotor and the large gear platform in the rotating platform of the chip traveling wave motor are effectively engaged; the wireless power supply unit is used to realize non-contact power supply of the inertial measurement unit; the electromagnetic indexing limiting mechanism is used to fix the indexing step of the inertial measurement unit.

[0005] Furthermore, the segmented chip traveling wave motor packaging base includes a chip packaging base, a motor power supply circuit board and a motor limit mounting seat; the MEMS chip traveling wave motor is limitedly packaged on the chip packaging base, and the first limit device on the chip packaging base is correspondingly assembled with the second limit device on the motor power supply circuit board, and the two are tightly fitted by an adhesive material; the height of the first limit device is greater than the thickness of the motor power supply circuit board, and the first limit device passes through the motor power supply circuit board and is assembled with the third limit device on the motor limit mounting seat, and the motor power supply circuit board is fixedly installed with the limit mounting seat, thereby realizing the limit fixation of the MEMS chip traveling wave motor on the segmented chip traveling wave motor packaging base.

[0006] Furthermore, the through hole on the pinion rotor is limitedly matched with the rotating shaft on the chip packaging base; the MEMS chip traveling wave motor drives the pinion rotor to rotate, and then drives the large gear platform to rotate through gear meshing, thereby realizing driving torque amplification.

[0007] Furthermore, the inertial measurement unit includes a sampling and transmission base plate and a gyro base plate; the sampling and transmission base plate is integrated with a main control chip, an accelerometer chip and a wireless transmission chip, and the gyro base plate is integrated with a gyroscope chip; the gyroscope base plate is vertically mounted on the sampling and transmission base plate, and is fixed and signal interconnected by welding; the main control chip is used to collect data from the accelerometer chip and the gyroscope chip, and send data to the integrated drive sampling control circuit board through the wireless transmission chip.

[0008] Furthermore, the inertial measurement unit is invertedly installed on the chip traveling wave motor rotating platform, that is, the sampling transmission base plate is installed on the chip traveling wave motor rotating platform; the mounting hole on the sampling transmission base plate cooperates with the fourth limit device on the large gear platform, and cooperates with the mounting component of the sensor mounting seat, and the three are fixedly installed to realize the limited installation of the inertial measurement unit, the sensor mounting seat and the chip traveling wave motor rotating platform to form an overall rotating mechanism.

[0009] Furthermore, the segmented mounting structure includes a cover plate, a base and a shell, the shell is an upper opening structure, the cover plate covers the upper opening of the shell to form a sealed cavity, and the base is installed in the shell; the base is fixedly installed with the motor limit mounting seat.

[0010] Furthermore, the MEMS capacitive angular position sensor includes a sensor rotor and a sensor stator; the sensor rotor is position-limited and installed on the sensor mounting seat, and the sensor stator is position-limited and installed on the base.

[0011] Furthermore, bearings are assembled on the base, and the rotating shaft on the large gear platform cooperates with the bearings to achieve limited installation and low-resistance rotation of the chip traveling wave motor rotating platform.

[0012] Furthermore, the wireless power supply unit includes a transmitting coil and a receiving coil, the transmitting coil is limitedly installed on the cover plate, and the receiving coil is limitedly installed on the large gear platform. The transmitting coil and the receiving coil rotate concentrically and counter-rotate to achieve contactless power supply and data transmission of the inertial measurement unit.

[0013] Furthermore, the electromagnetic indexing limiting mechanism blocks the rotation of a plurality of limiting columns on the large gear platform to meet the positioning requirements.

[0014] Compared with the prior art, the present invention has the following significant advantages:

[0015] 1) The chip traveling wave motor type gyro north finder of the present invention is based on a MEMS chip traveling wave motor. Through the mechanical structure embedded assembly of an inertial measurement unit, a MEMS capacitive angular position sensor, an integrated drive sampling control circuit board, etc., the overall rotation modulation gyro north finder is tightly integrated internally and the volume size is significantly reduced.

[0016] 2) The present invention is based on the high-precision angle control technology of MEMS capacitive angular position sensor and electromagnetic indexing limiting mechanism, relying on the continuous output characteristic of the driving force of the MEMS chip traveling wave motor, to achieve multi-position precise stepping of the inertial measurement unit, ensure the constant error compensation effect of the rotation modulation technology on the inertial device, and effectively improve the north-seeking performance.

[0017] 3) The wireless power supply unit and the wireless signal transmission unit of the present invention realize non-contact power supply of the inertial measurement unit, and realize wireless communication and data transmission with the integrated drive sampling control circuit board, avoiding internal wiring and entanglement of the north finder, and eliminating the need to use external slip rings that will cause rotational resistance, thereby ensuring efficient stepping of the inertial measurement unit and reducing the north-seeking time.

[0018] 4) Taking into account the performance degradation and damage problems that may occur in the MEMS chip traveling wave motor, the MEMS chip traveling wave motor, the chip packaging base and the motor power supply circuit board of the present invention can form a whole separately. If the above problems occur, the core actuator MEMS chip traveling wave motor in the present invention can be easily replaced.

[0019] 5) The inertial measurement unit of the present invention is installed in an inverted manner, thereby avoiding the influence of the height of the vertically installed gyro base plate.

[0020] 6) There are limit mechanisms between the mechanical components of the present invention, which ensure the effective engagement of the small gear rotor and the large gear platform, the concentric rotation of the wireless power transmission coil and the receiving coil, and the reliable operation of the MEMS capacitive angular position sensor.

[0021] 7) The present invention can be widely used in various micro-embedded inertial navigation fields.

[0022] The present invention is further described in detail below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is an exploded view of the overall structure of a chip traveling wave motor type gyro north finder in an embodiment.

[0024] Figure 2 The figure is a structural diagram of a segmented chip traveling wave motor packaging base in an embodiment.

[0025] Figure 3The figure is a schematic diagram of the assembly of a chip traveling wave motor rotating platform, an inertial measurement unit and a sensor mounting seat in an embodiment.

[0026] Figure 4 The figure is a diagram of a segmented installation structure in an embodiment.

[0027] Figure 5 It is a structural diagram of a wireless power supply unit in an embodiment.

[0028] Figure 6 It is a functional schematic diagram of the electromagnetic transfer limiting mechanism in one embodiment.

[0029] Figure 7 The figure is a diagram showing the overall structure of a chip traveling wave motor type gyro north finder in one embodiment.

[0030] Reference numerals: MEMS chip traveling wave motor-101; chip traveling wave motor rotating platform-203; inertial measurement unit-207; MEMS capacitive angular position sensor-211; segmented chip traveling wave motor packaging base-105; wireless power supply unit-303; electromagnetic indexing limiting mechanism-305; integrated drive sampling control circuit board-40; chip packaging base-102; motor power supply circuit board-103; motor limit mounting base-104; The first limiting column-1023; the first limiting hole-1031; the second limiting hole-1041; the first through hole-1032; the first screw hole-1042; the limiting groove-1022; the small gear rotor-201; the second through hole-2011; the first rotating shaft-1021; the large gear platform-202; the cover-301; the base-304; the housing-306; the bearing-3047; the second rotating shaft-2022; the first mounting column-3043; the second mounting Column-1044; third through hole-3046; second screw hole-1045; fourth through hole-3062; third mounting column-3061; fourth mounting column-3012; fifth through hole-3011; rotating column-3042; bearing mounting groove-3041; third mounting hole-3044; second limiting column-3051; sixth through hole-1043; sensor stator-210; adapter plate-3045; transmitting coil-302; receiving coil-20 4; first limiting structure-3013; second limiting structure-2025; sampling transmission base plate-205; gyro base plate-206; sensor mounting seat-208; first mounting hole-2051; second mounting hole-2052; third limiting column-2024; fourth limiting column-2021; fifth mounting column-2081; seventh through hole-2023; fifth limiting column-2026; sensor rotor-209; drive signal input terminal-1033. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0032] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0033] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0034] In addition, if there are descriptions involving "springs", "screws", etc. in the embodiments of the present invention, the descriptions of "springs", "screws", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "springs" and "screws" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0035] In one embodiment, in combination Figures 1 to 7, provides a chip traveling wave motor type gyro north finder, the north finder includes a segmented installation structure, and a MEMS chip traveling wave motor 101, a chip traveling wave motor rotating platform 203, an inertial measurement unit 207, a MEMS capacitive angular position sensor 211, a segmented chip traveling wave motor packaging base 105, a wireless power supply unit 303, an electromagnetic indexing limiting mechanism 305 and an integrated drive sampling control circuit board 40 arranged in the segmented installation structure; the MEMS chip traveling wave motor 101 serves as the core actuator of the north finder, and is used to drive the chip traveling wave motor rotating platform 203 to rotate, thereby driving the inertial measurement unit 207 installed on the chip traveling wave motor rotating platform 203 to rotate, and the MEMS chip traveling wave motor 101 is used to drive the chip traveling wave motor rotating platform 203 to rotate. The wave motor 101 can be easily replaced; the MEMS capacitive angular position sensor 211 is used to detect the rotation characteristics of the inertial measurement unit 207, and is processed by the integrated drive sampling control circuit board 40 to meet the rotation detection and control requirements of the north finder; the segmented chip traveling wave motor packaging base 105 is used to limit the installation of the MEMS chip traveling wave motor 101, and by cooperating with the segmented installation structure, the small gear rotor 201 and the large gear platform 202 in the chip traveling wave motor rotating platform 203 are effectively engaged; the wireless power supply unit 303 is used to realize contactless power supply of the inertial measurement unit 207; the electromagnetic rotation limiting mechanism 305 is used to fix the rotation step of the inertial measurement unit 207.

[0036] Furthermore, in one of the embodiments, the segmented chip traveling wave motor packaging base 105 includes a chip packaging base 102, a motor power supply circuit board 103 and a motor limit mounting seat 104; the MEMS chip traveling wave motor 101 is limitedly packaged on the chip packaging base 102, and the first limit device on the chip packaging base 102 is correspondingly assembled with the second limit device on the motor power supply circuit board 103, and the two are tightly fitted by an adhesive material; the height of the first limit device is greater than the thickness of the motor power supply circuit board 103, and the first limit device penetrates the motor power supply circuit board 103 and is assembled with the third limit device on the motor limit mounting seat 104, and the motor power supply circuit board 103 is fixedly installed with the motor limit mounting seat 104, thereby realizing the limit fixation of the MEMS chip traveling wave motor 101 on the segmented chip traveling wave motor packaging base 105.

[0037] Here, preferably, the first limiting device adopts but is not limited to a limiting column, and the second limiting device and the third limiting device adopt but are not limited to a limiting hole.

[0038] Here, the MEMS chip traveling wave motor may have performance degradation and breakage problems. The MEMS chip traveling wave motor 101, the chip packaging base 102 and the motor power supply circuit board 103 of the present invention can form a whole separately. If the motor performance degradation and breakage problems occur, the MEMS chip traveling wave motor 101 can be easily replaced.

[0039] Here, in some embodiments, the two first limiting posts 1023 on the chip package base 102 are assembled correspondingly with the two first limiting holes 1031 on the motor power supply circuit board 103. The height of the first limiting posts 1023 on the chip package base 102 is greater than the thickness of the motor power supply circuit board 103, so that the first limiting posts 1023 on the chip package base 102 can be assembled with the second limiting holes 1041 on the motor limiting mounting seat 104, and are fixed by using but not limited to screws through the multiple first through holes 1032 on the motor power supply circuit board 103 and the first screw holes 1042 on the motor limiting mounting seat 104, thereby realizing the limiting fixation of the MEMS chip traveling wave motor 101 on the segmented chip traveling wave motor package base 105.

[0040] Here, in some embodiments, the MEMS chip traveling wave motor 101 is packaged on the chip packaging base 102 by limiting the positioning groove 1022 .

[0041] Furthermore, in one embodiment, the second through hole 2011 on the pinion rotor 201 is limitedly matched with the first rotating shaft 1021 on the chip package base 102. The MEMS chip traveling wave motor 101 drives the pinion rotor 201 to rotate, and then drives the large gear platform 202 to rotate through gear meshing, thereby realizing the amplification of the driving torque.

[0042] Here, in some embodiments, there are gold-plated pads on the motor power supply circuit board 103, and the gold-plated pads can be connected to the pads on the MEMS chip traveling wave motor by gold wire bonding. Through the drive signal input terminal 1033, a drive signal can be applied to the MEMS chip traveling wave motor 101 to achieve motor traveling wave generation and friction drive the small gear rotor 201 to rotate, and the large gear platform 202 is driven to rotate through gear meshing, thereby achieving drive torque amplification.

[0043] Furthermore, in one embodiment, the segmented installation structure includes a cover plate 301, a base 304 and a housing 306. The housing 306 is an upper opening structure. The cover plate 301 covers the upper opening of the housing 306 to form a sealed cavity. The base 304 is installed in the housing 306. The base 304 is fixedly installed with the motor limit mounting seat 104. A bearing 3047 is assembled on the base 304. The second rotating shaft 2022 on the large gear platform 202 cooperates with the bearing 3047 to achieve the limit installation and low resistance rotation of the chip traveling wave motor rotating platform 203.

[0044] Here, in some embodiments, several (preferably 4) first mounting columns 3043 on the base 304 cooperate with several second mounting columns 1044 on the motor limit mounting seat 104, and are fixed by means of but not limited to screws through the third through holes 3046 on the first mounting columns 3043 and the second screw holes 1045 on the second mounting columns 1044.

[0045] Here, in some embodiments, the plurality of fourth through holes 3062 on the outer shell 306 correspond to the positions of the third through holes 3046 on the first mounting column 3043, and are fixed with the second screw holes 1045 on the second mounting column 1044 by means of but not limited to screws through the fourth through holes 3062 on the outer shell 306 and the third through holes 3046 on the first mounting column 3043, thereby achieving limited fixing of the overall structure.

[0046] Here, in some embodiments, the housing 306 is provided with a plurality of third mounting posts 3061, and mounting holes (not limited to screw holes) are provided in the third mounting posts 3061, and are limitedly matched with a plurality of fourth mounting posts 3012 on the cover plate 301. Preferably, screws are used, but not limited to, to fix the mounting holes on the third mounting posts 3061 through the fifth through holes 3011 on the fourth mounting posts 3012.

[0047] Here, in some embodiments, a bearing mounting groove 3041 is provided on the rotating column 3042 located at the center of the base 304 for accommodating a bearing 3047 matched with the large gear platform 202 .

[0048] Here, in some embodiments, the electromagnetic indexing limiting mechanism 305 is provided with a mounting hole (not limited to a screw hole), and the electromagnetic indexing limiting mechanism 305 can be fixed on the base 304 through a plurality of third mounting holes 3044 on the base 304 .

[0049] Here, in some embodiments, a second limiting column 3051 is provided on the electromagnetic rotation limiting mechanism 305. When the base 304 and the motor limiting mounting seat 104 are assembled, the second limiting column 3051 passes through the sixth through hole 1043 on the motor limiting mounting seat 104. The radial movement range of the second limiting column 3051 is limited by the mechanical size of the sixth through hole 1043, thereby improving the accuracy of the rotation limitation.

[0050] Here, in some embodiments, the second limiting column 3051 on the electromagnetic indexing limiting mechanism 305 is sucked into the electromagnetic indexing limiting mechanism 305 when powered on, thereby achieving limiting release.

[0051] Here, in some embodiments, the sensor stator 210 of the MEMS capacitive angular position sensor 211 is limitedly mounted on the base 304. Preferably, the pads of the sensor stator 210 are connected to the gold-plated pads on the adapter board 3045 mounted on the base 304 by gold wire bonding, and the sampling signal is transmitted to the integrated drive sampling control circuit board 40 through the adapter board 3045 to realize the detection of the indexing feature.

[0052] Furthermore, in one embodiment, the wireless power supply unit 303 includes a transmitting coil 302 and a receiving coil 204, the transmitting coil 302 is mounted on the cover plate 301 by a first limiting structure 3013, and the receiving coil 204 is mounted on the large gear platform 202 by a second limiting structure 2025, and the transmitting coil 302 and the receiving coil 204 rotate concentrically to achieve contactless power supply and data transmission of the inertial measurement unit 207.

[0053] Furthermore, in one embodiment, the inertial measurement unit 207 includes a sampling transmission base plate 205 and a gyro base plate 206; the sampling transmission base plate 205 is integrated with a main control chip, an accelerometer chip, and a wireless transmission chip, etc., and the gyro base plate 206 is integrated with a gyroscope chip; the gyroscope base plate 206 is vertically mounted on the sampling transmission base plate 205, and is fixed and signal interconnected by welding; the main control chip is used to collect data from the accelerometer chip and the gyroscope chip, and send the data to the integrated drive sampling control circuit board 40 through the wireless transmission chip (the integrated drive sampling control circuit board 40 also integrates a wireless transmission chip).

[0054] In some embodiments, the inertial measurement unit 207 is invertedly installed on the chip traveling wave motor rotating platform 203, that is, the sampling transmission base plate 205 is installed on the chip traveling wave motor rotating platform 203; the mounting hole on the sampling transmission base plate 205 cooperates with the fourth limiting device on the large gear platform 202, and cooperates with the mounting component of the sensor mounting seat 208, and the three are fixedly installed to realize the limited installation of the inertial measurement unit 207, the sensor mounting seat 208 and the chip traveling wave motor rotating platform 203, forming an overall rotating mechanism.

[0055] Here, preferably, the fourth limiting device adopts but is not limited to a limiting column, and the mounting component adopts but is not limited to a mounting column.

[0056] Here, in some embodiments, the first mounting hole 2051 and the plurality of second mounting holes 2052 on the sampling transmission bottom plate 205 are respectively matched with the third limiting column 2024 and the plurality of fourth limiting columns 2021 on the large gear platform 202 (below the large gear platform 202), the first mounting hole 2051 is located at the center position on the sampling transmission bottom plate 205, the plurality of second mounting holes 2052 are evenly distributed with the first mounting hole 2051 as the center, and the positions of the third limiting column 2024 and the plurality of fourth limiting columns 2021 correspond one to one with the positions of the first mounting hole 2051 and the plurality of second mounting holes 2052. At the same time, the plurality of second mounting holes 2052 are limitedly matched with the plurality of fifth mounting columns 2081 on the sensor mounting seat 208.

[0057] Here, in some embodiments, screws are used but not limited to pass through the seventh through hole 2023 on the large gear platform 202 through the second mounting hole 2052 and the screw hole on the fifth mounting column 2081 to fix. The outer diameter of the fifth mounting column 2081 is larger than the second mounting hole 2052, thereby realizing the limited installation of the inertial measurement unit 207, the sensor mounting seat 208 and the chip traveling wave motor rotating platform 203 to form an integral rotating mechanism.

[0058] Here, in some embodiments, the electromagnetic indexing limiting mechanism 305 blocks the rotation of the plurality of fifth limiting posts 2026 on the large gear platform 202 to meet the positioning requirements. The plurality of fifth limiting posts 2026 are located below the large gear platform 202 and are circumferentially distributed along the rotation direction of the large gear platform 202.

[0059] Here, in some embodiments, the sensor rotor 209 of the MEMS capacitive angular position sensor 211 is limitedly mounted on the sensor mounting seat 208, thereby forming an overall sensing unit of the gyro north finder.

[0060] It should be noted that the various position limiting installation technologies in the above embodiments can ensure the effective engagement of the small gear rotor 201 with the large gear platform 202 , the concentric counter-rotation of the transmitting coil 302 and the receiving coil 204 , and the reliable operation of the MEMS capacitive angular position sensor 211 .

[0061] The principle of the present invention is explained below.

[0062] Since the driving force of the MEMS chip traveling wave motor 101 can be continuously output, and its driving principle is the friction effect, unlike traditional motors, when the small gear rotor 201 is blocked and stops rotating, it is not easy to generate heat, and there will be no missing steps. The large gear platform 202 can be continuously stopped at the blocked position without rebounding, and after stopping driving, the friction effect will make the chip traveling wave motor rotating platform 203 stop at the blocked position. Therefore, in the above embodiment, if Figure 6 As shown, the second limiting post 3051 of the electromagnetic transfer limiting mechanism 305 can block the rotation of multiple fifth limiting posts 2026 on the large gear platform 202 when the power is off. When the electromagnetic transfer limiting mechanism 305 is energized, the second limiting post 3051 is sucked into the electromagnetic transfer limiting mechanism 305, and the chip traveling wave motor rotating platform 203 is released. Before rotating to the next fifth limiting post 2026, the integrated drive sampling control circuit board 40 controls the electromagnetic transfer limiting mechanism 305 to cut off the power, so as to limit the position of the chip traveling wave motor rotating platform 203 again, thereby simply realizing the stepping of the inertial measurement unit 207.

[0063] In the above embodiment, if Figure 1 As shown, the integrated driving sampling control circuit board 40 is responsible for driving and controlling the MEMS chip traveling wave motor 101, controlling and transmitting the data sampling of the inertial measurement unit 207, analyzing and processing the output signal of the MEMS capacitive angular position sensor 211, and controlling the electromagnetic displacement limiting mechanism 305. The circuit device density is large, so a three-dimensional stacking form is adopted to further achieve high-density integration. In the above embodiment, the overall structure of the integrated chip traveling wave motor type gyro north finder is as shown in FIG. Figure 7 As shown, the structural size of the chip traveling wave motor gyro north finder of the present invention can be very small, 50 mm × 41.5 mm × 24.5 mm, and the indexing step control accuracy of the chip traveling wave motor rotating platform 203 can reach 0.06°. When the north-seeking time is 2 minutes, the north-seeking accuracy can reach 0.31°.

[0064] The chip traveling wave motor type gyro north finder proposed in the present invention is based on a MEMS chip traveling wave motor. An inertial measurement unit, a MEMS capacitive angular position sensor, an integrated drive sampling control circuit board, etc. are assembled in an embedded mechanical structure, so that the overall rotation modulation gyro north finder is tightly integrated internally and the volume size is significantly reduced. Based on the high-precision angle control technology of the MEMS capacitive angular position sensor and the electromagnetic indexing limiting mechanism, relying on the continuous output characteristic of the driving force of the MEMS chip traveling wave motor, the multi-position precise stepping of the inertial measurement unit is realized, the constant error compensation effect of the rotation modulation technology on the inertial device is ensured, and the north-seeking performance is effectively improved. A wireless power supply unit and a wireless signal transmission unit are adopted to realize non-contact power supply of the inertial measurement unit and wireless communication and data transmission with the integrated drive sampling control circuit board, thereby avoiding internal wiring and entanglement of the north finder, and eliminating the need to use an external slip ring that will bring rotation resistance, thereby ensuring efficient stepping of the inertial measurement unit and reducing the north-seeking time.

[0065] It should be understood that the chip traveling wave motor gyro north finder of the present invention can use any number of limit mechanisms, MEMS chip traveling wave motors and gyroscopes to meet the overall assembly and performance requirements. North finders that use MEMS chip traveling wave motors as drive / actuator mechanisms fall within the scope of protection of this application.

[0066] It should be understood that the positions and forms of the various mounting components and limiting components in the above-mentioned embodiments are not limited to the above-mentioned special descriptions, and can be changed or optimized to a certain extent, all of which belong to the protection scope of the present invention. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-mentioned exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit and basic characteristics of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the attached claims rather than the above description, and it is intended to include all changes that fall within the meaning and scope of the equivalent elements of the claims within the present invention, and any figure mark in the claims should not be regarded as limiting the claims involved.

[0067] Finally, it should be understood that although this specification is described according to implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A chip traveling wave motor type gyro north finder, characterized in that: The north-finder includes a segmented mounting structure, and a MEMS chip traveling wave motor, a chip traveling wave motor rotating platform, an inertial measurement unit, a MEMS capacitive angular position sensor, a segmented chip traveling wave motor packaging base, a wireless power supply unit, an electromagnetic indexing limiting mechanism and an integrated drive sampling control circuit board arranged in the segmented mounting structure; the MEMS chip traveling wave motor serves as the core actuator of the north-finder, and is used to drive the chip traveling wave motor rotating platform to rotate, thereby driving the inertial measurement unit installed on the chip traveling wave motor rotating platform to rotate, and the MEMS chip traveling wave motor can be easily replaced ; The MEMS capacitive angular position sensor is used to detect the rotation characteristics of the inertial measurement unit, and is processed by the integrated drive sampling control circuit board to meet the indexing detection and control requirements of the north finder; the segmented chip traveling wave motor packaging base is used to limit the installation of the MEMS chip traveling wave motor, and through cooperation with the segmented installation structure, the small gear rotor and the large gear platform in the rotating platform of the chip traveling wave motor are effectively engaged; the wireless power supply unit is used to realize non-contact power supply of the inertial measurement unit; the electromagnetic indexing limiting mechanism is used to make the inertial measurement unit fixed indexing step; The inertial measurement unit includes a sampling transmission base plate and a gyro base plate; the sampling transmission base plate is integrated with a main control chip, an accelerometer chip and a wireless transmission chip, and the gyro base plate is integrated with a gyroscope chip; the gyroscope base plate is vertically installed on the sampling transmission base plate, and is fixed and signal interconnected by welding; the main control chip is used to collect data from the accelerometer chip and the gyroscope chip, and send the data to the integrated drive sampling control circuit board through the wireless transmission chip.

2. The chip traveling wave motor type gyro north finder according to claim 1, characterized in that: The segmented chip traveling wave motor packaging base includes a chip packaging base, a motor power supply circuit board and a motor limit mounting seat; the MEMS chip traveling wave motor is limitedly packaged on the chip packaging base, and the first limit device on the chip packaging base is correspondingly assembled with the second limit device on the motor power supply circuit board, and the two are tightly fitted by an adhesive material; the height of the first limit device is greater than the thickness of the motor power supply circuit board, and the first limit device passes through the motor power supply circuit board and is assembled with the third limit device on the motor limit mounting seat, and the motor power supply circuit board is fixedly installed with the limit mounting seat, thereby realizing the limit fixation of the MEMS chip traveling wave motor on the segmented chip traveling wave motor packaging base.

3. The chip traveling wave motor type gyro north finder according to claim 1 or 2, characterized in that: The through hole on the pinion rotor is limitedly matched with the rotating shaft on the chip packaging base; the MEMS chip traveling wave motor drives the pinion rotor to rotate, and then drives the large gear platform to rotate through gear meshing, thereby realizing the amplification of driving torque.

4. The chip traveling wave motor type gyro north finder according to claim 3, characterized in that: The inertial measurement unit is installed inverted on the chip traveling wave motor rotating platform, that is, the sampling transmission base plate is installed on the chip traveling wave motor rotating platform; the mounting hole on the sampling transmission base plate cooperates with the fourth limit device on the large gear platform, and cooperates with the mounting component of the sensor mounting seat, and the three are fixedly installed to realize the limited installation of the inertial measurement unit, the sensor mounting seat and the chip traveling wave motor rotating platform to form an overall rotating mechanism.

5. The chip traveling wave motor type gyro north finder according to claim 2, characterized in that: The segmented installation structure includes a cover plate, a base and a shell, the shell is an upper opening structure, the cover plate covers the upper opening of the shell to form a sealed cavity, and the base is installed in the shell; The base is fixedly mounted to the motor limit mounting seat.

6. The chip traveling wave motor type gyro north finder according to claim 4 or 5, characterized in that: The MEMS capacitive angular position sensor comprises a sensor rotor and a sensor stator; the sensor rotor is limitedly mounted on the sensor mounting seat, and the sensor stator is limitedly mounted on the base.

7. The chip traveling wave motor type gyro north finder according to claim 5, characterized in that: The base is equipped with bearings, and the rotating shaft on the large gear platform cooperates with the bearings to achieve the limited installation and low-resistance rotation of the chip traveling wave motor rotating platform.

8. The chip traveling wave motor type gyro north finder according to claim 5, characterized in that: The wireless power supply unit includes a transmitting coil and a receiving coil. The transmitting coil is limitedly installed on the cover plate, and the receiving coil is limitedly installed on the large gear platform. The transmitting coil and the receiving coil rotate concentrically and counter-rotate to realize contactless power supply and data transmission of the inertial measurement unit.

9. The chip traveling wave motor type gyro north finder according to claim 1, characterized in that: The electromagnetic indexing limiting mechanism blocks the rotation of the plurality of limiting columns on the large gear platform to meet the positioning requirements.

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