Large-stroke inertial sensor horizontal tilt decoupling device based on magnetic suspension
Through the combination of magnetic levitation mount and flexible hinge assembly, the horizontal inclination coupling problem of inertial sensors in low-frequency environments is solved, high vertical stiffness and low horizontal stiffness are achieved, and the controllability and measurement accuracy of low-frequency vibration are improved, thus reducing the controllability and measurement accuracy of low-frequency vibrations. The cost.
Patent Information
- Application Number
- CN202411415444.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-11
- Publication Date
- 2025-01-07
AI Technical Summary
The inertial sensor has a horizontal tilt coupling problem in low-frequency environments, which affects the control effect of the vibration absorber. The sensor cannot distinguish between gravity acceleration and the generated angular acceleration. The sensor has an accuracy challenge in low-frequency vibration measurement.
Using a large-stroke inertial sensor horizontal tilt decoupling device based on magnetic levitation, the combination of the magnetic levitation mount and flexible hinge assembly can achieve stable levitation and accurate transmission of horizontal motion of the sensor, reduce interference in other directions, reduce horizontal tilt coupling, and improve low frequency. Controllability.
Effectively isolate external vibrations, ensure the sensor's high vertical stiffness and low horizontal stiffness in low-frequency environments, reduce horizontal incline coupling, improve the controllability and measurement accuracy of low-frequency vibrations, and reduce costs.
Smart Images
Figure CN119268727A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of sensors, in particular to a horizontal tilt decoupling device of a large-stroke inertial sensor based on magnetic suspension. Background Art
[0002] Since the inertial sensor generally uses a spring-supported mass component and a spring damping system, the tilt caused by the system dynamics is an inherent problem of the system. When the sensor mount is tilted, the internal system of the sensor will tilt relative to the mounting platform. At this time, there is a tilt angle between the sensor and the reference coordinate system, which also shows that the inertial sensor cannot distinguish the displacement and direction of the mass block relative to the gravity field. At this time, the vertical displacement of the mass block is related to the tilt angle, which cannot be predicted. When the tilt angle is 90°, the coupling effect is the largest, which is a coupling from tilt to horizontal. This problem is called the horizontal tilt coupling problem.
[0003] During the vibration control process, for the spring mass damping system, the vibration reduction platform will tilt when it is subjected to the motor thrust and external vibration to produce horizontal motion, that is, the platform translation and the time-varying tilt angle are coupled, and the inertial sensor cannot distinguish between the acceleration of gravity and the acceleration after the angle is generated. As the frequency decreases, this coupling effect becomes more obvious, which makes the vibration isolation task at low frequencies extremely challenging. Due to the continuous amplification of the horizontal tilt coupling problem, the control effect of the vibration absorber in the low frequency band is seriously affected.
[0004] Most of the horizontal tilt decoupling devices described so far use flexible hinges to form the sensor installation platform. Although the flexible hinges can achieve the characteristics of high vertical stiffness and low horizontal stiffness, due to the change of the center of gravity during the translation process and the structural differences of the hinges, after a certain horizontal displacement, the deformation of the flexible hinges on both sides of the installation platform is different, and there will still be a certain tilt problem. It is only suitable for small vibration conditions. However, due to the complex external vibration conditions, the above decoupling structure has certain requirements for the use occasions. Summary of the invention
[0005] The object of the present invention is to provide a horizontal tilt decoupling device for a long-stroke inertial sensor based on magnetic levitation to address the above-mentioned problems, which is used to reduce the structure of the horizontal tilt coupling problem of the inertial sensor at low frequency, and aims to effectively alleviate the coupling problem caused by the horizontal tilt of the inertial sensor in a low-frequency environment.
[0006] The technical solution adopted by the present invention is as follows:
[0007] A horizontal tilt decoupling device for a long-stroke inertial sensor based on magnetic levitation comprises a magnetic levitation mounting seat, a magnetic levitation lower platform is arranged on the magnetic levitation mounting seat, a magnetic levitation upper platform is arranged above the magnetic levitation lower platform, a guiding device for linear movement between the magnetic levitation lower platform and the magnetic levitation upper platform is provided; a sensor is arranged above the magnetic levitation upper platform; and a flexible hinge component directly or indirectly connected to the magnetic levitation upper platform is further provided, wherein the length direction of the flexible hinge component and the moving direction of the magnetic levitation lower platform and the magnetic levitation upper platform are both along the left-right direction.
[0008] Optionally, a counterweight block is provided above the magnetic levitation upper platform.
[0009] Optionally, two magnetic levitation lower platforms are provided on the magnetic levitation mounting seat, and the two magnetic levitation lower platforms are spaced apart in the front-to-back direction; a magnetic levitation upper platform is provided above each magnetic levitation lower platform, and a sensor mounting seat is provided above the two magnetic levitation upper platforms, and the sensor is arranged in the middle of the upper part of the sensor mounting seat.
[0010] Optionally, a plurality of pairs of magnets are provided between the magnetic levitation upper platform and the magnetic levitation lower platform, and the plurality of pairs of magnets are respectively arranged in a plurality of directions.
[0011] Optionally, the magnetic levitation upper platform and the magnetic levitation lower platform are provided with grooves, and the magnets are arranged in the grooves.
[0012] Optionally, the two magnetic levitation lower platforms are fixed on the same magnetic levitation mounting seat.
[0013] Optionally, a dovetail guide rail is provided on the top of the magnetic levitation lower platform along the left-right direction, and a dovetail groove is provided on the lower part of the magnetic levitation upper platform along the left-right direction, and the dovetail guide rail is arranged in the dovetail groove.
[0014] Optionally, magnets are provided on the upper end surface and the lower left and right inclined surfaces of the dovetail guide rail and the dovetail groove.
[0015] Optionally, the flexible hinge assembly includes a flexible hinge member, and thrust rod mounting seats are respectively provided at both ends of the flexible hinge member.
[0016] Optionally, one end of the flexible hinge assembly is connected to a shock absorber.
[0017] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:
[0018] 1. The present invention provides a horizontal tilt decoupling device for a long-stroke inertial sensor based on magnetic levitation. The magnetic levitation structure realizes stable suspension of the sensor loading platform through permanent magnets, effectively isolating the influence of external vibration on the sensor, and the flexible hinge serves as a bridge connecting the shock absorber and the loading platform, ensuring the precise transmission of horizontal motion. At the same time, due to its flexible characteristics, it also reduces the stiffness in other directions, further reduces unnecessary interference, realizes the attenuation of horizontal tilt coupling, and improves the controllability of low frequency.
[0019] 2. The present invention provides a horizontal tilt decoupling device for a long-stroke inertial sensor based on magnetic levitation. Reasonable design of the magnetic levitation structure can well solve the problem of horizontal tilt coupling and achieve the characteristics of high vertical stiffness and low stiffness in other directions. Therefore, the platform under the magnetic levitation is set into an inverted triangle mode. On the one hand, while ensuring the vertical direction, a certain limit function is achieved in the horizontal direction through magnetic forces in opposite directions. On the other hand, the spacing between the upper and lower planes is changed by adding loads vertically to achieve high stiffness characteristics, while preventing horizontal drift or flipping around the transmission shaft when disturbed by external factors. This will strictly limit the movement of the sensor to one direction, greatly improving the problem of low-frequency coupling of the sensor. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] The present invention will now be described by way of example with reference to the accompanying drawings, in which:
[0021] Figure 1 It is the assembly drawing of this device and shock absorber.
[0022] Figure 2 It is a simplified diagram of the rear shock absorber.
[0023] Figure 3 It is a schematic diagram of the structure above the magnetic levitation mounting base.
[0024] Figure 4 It is a schematic diagram of the structure of the maglev upper platform.
[0025] Figure 5 It is a schematic diagram of the structure of the maglev lower platform.
[0026] Figure 6 It is a structural schematic diagram of the sensor mounting base.
[0027] Figure 7 It is a structural schematic diagram of a magnetic levitation mount.
[0028] Figure 8 It is a structural schematic diagram of the flexible hinge assembly.
[0029] Fig. 9 It is a structural schematic diagram of the thrust rod mounting seat.
[0030] Markings in the figure: 1- shock absorber lower platform, 2- damper, 3- spring, 4- shock absorber upper platform, 5- flexible hinge, 6- thrust rod mounting seat, 7- counterweight, 8- sensor, 9- sensor mounting seat, 10- magnetic levitation upper platform, 11- screw, 12- magnet, 13- magnetic levitation lower platform, 14- magnetic levitation mounting seat. DETAILED DESCRIPTION
[0031] The present invention will be described in detail below in conjunction with the accompanying drawings.
[0032] All features disclosed in this specification, or steps in all methods or processes disclosed, except mutually exclusive features and / or steps, can be combined in any manner.
[0033] Any feature disclosed in this specification, unless otherwise stated, can be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.
[0034] A horizontal tilt decoupling device for a large-travel inertial sensor based on magnetic suspension, such as Figure 1-9 As shown, it includes a magnetic levitation mounting seat 14, on which a magnetic levitation lower platform 13 is provided, and above which a magnetic levitation upper platform 10 is provided, and between which a guiding device for linear movement between the magnetic levitation lower platform 13 and the magnetic levitation upper platform 10 is provided; above the magnetic levitation upper platform 10, a sensor 8 is provided; and it also includes a flexible hinge assembly directly or indirectly connected to the magnetic levitation upper platform 10, and the length direction of the flexible hinge assembly and the moving direction of the magnetic levitation lower platform 13 and the magnetic levitation upper platform 10 are both along the left-right direction.
[0035] Specifically, to ensure that the sensor 8 can move strictly in the horizontal direction without deflection and without affecting the platform characteristics, the structure needs to have sufficiently high vertical stiffness and sufficiently low horizontal stiffness. The magnetic levitation device composed of the magnetic levitation lower platform 13 and the magnetic levitation upper platform 10 is equivalent to a mass block, which is installed on it through the repulsive force of the magnet 12. By changing the load on the platform and the distance between the upper and lower planes, the requirements for the vertical stiffness of the sensor 8 are achieved. Due to the characteristics of magnetic levitation, while compressing the distance between the upper and lower planes, it will not affect the horizontal stiffness. It has high adaptability to the horizontal decoupling of the tilt of the sensor 8, and the device can be used for large stroke measurement, and its stroke depends on the length of the bottom spring 3.
[0036] Similarly, for the transmission structure, it is necessary to ensure that the rigidity in the transmission direction is high enough and the platform motion transmission is linearized. At the same time, it is also necessary to consider that the movement of the platform in other directions does not affect the horizontal measurement of the sensor 8. Therefore, it is also necessary to ensure that the rigidity of the transmission device in other directions is low enough. The flexible hinge is used to achieve the characteristics of high rigidity in the transmission direction and low rigidity in other directions, thereby achieving the stability of the transmission, which has high adaptability to the transmission requirements.
[0037] In addition, in the field of vibration control, when special attention needs to be paid to the control of low-frequency vibration, especially when it comes to rotation problems, traditional commercial shock absorbers usually rely on a multi-sensor 8 system to measure data, and perform calculations based on these data to obtain and control the rotation amount of the platform. However, this method faces a significant challenge in a low-frequency environment: the measurement of the rotation amount of the sensor 8 in the low-frequency region is significantly affected by its internal low-frequency rotation noise, which causes the tiny rotation to be significantly amplified in the sensor 8, thereby reducing the measurement accuracy. Due to the measurement inaccuracy at this low frequency, the rotation amount calculated based on these data often has a large error, which has a significant impact on the control effect of low-frequency vibration. Therefore, it becomes particularly difficult to achieve accurate control effects in the ultra-low frequency range. In order to overcome this problem, the traditional solution is to use a sensor 8 with better performance to measure the rotation amount, but this will significantly increase the cost. In order to balance performance and cost, the present invention proposes a method for solving the horizontal tilt coupling problem through external structure design. This method can not only reduce costs to a large extent, but also significantly improve the coupling problem of the platform in the low-frequency range, thereby improving the controllability and control effect of low-frequency vibration.
[0038] As another specific implementation, a counterweight block 7 is provided above the magnetic levitation upper platform 10. At a relatively low suspension height, even a small displacement will result in a significant change in the electromagnetic force, thereby providing a larger restoring force, which helps the system to quickly return to a balanced position and improve vertical stiffness. The counterweight block 7 can provide a downward force, compress the gap between the upper and lower platforms, and improve vertical stiffness.
[0039] As another specific embodiment, two magnetic levitation lower platforms 13 are arranged on the magnetic levitation mounting seat 14, and the two magnetic levitation lower platforms 13 are spaced apart in the front-to-back direction; a magnetic levitation upper platform 10 is arranged above each magnetic levitation lower platform 13, and a sensor mounting seat 9 is arranged above the two magnetic levitation upper platforms 10, and the sensor 8 is arranged in the middle of the upper part of the sensor mounting seat 9. The sensor mounting seat 9 can be arranged by two magnetic levitation devices to provide installation space between the spaced positions, and the wider placement surface facilitates the position adjustment of the counterweight 7 and the sensor 8. Furthermore, the sensor mounting seat 9 and the magnetic levitation upper platform 10, the magnetic levitation mounting seat 14 and the magnetic levitation lower platform 13 are all connected by screws 11.
[0040] As another specific implementation, multiple pairs of magnets 12 are provided between the magnetic levitation upper platform 10 and the magnetic levitation lower platform 13, and the multiple pairs of magnets 12 are respectively arranged in multiple directions. The magnets 12 arranged in multiple directions can better balance and stabilize the platform, and reduce the tilt or vibration of the platform caused by insufficient magnetic force in a single direction. By controlling the magnetic force of the magnets 12 in different directions, the height of the suspension platform can be accurately adjusted to meet the needs of different usage scenarios.
[0041] As another specific implementation, the upper magnetic levitation platform 10 and the lower magnetic levitation platform 13 are provided with grooves, and the magnets 12 are arranged in the grooves. The grooves can ensure the precise position of the magnets 12 on the platform, which helps to evenly distribute the magnets 12 and stabilize the magnetic field.
[0042] As another specific implementation, the two magnetic levitation lower platforms 13 are fixed on the same magnetic levitation mounting seat 14. The height of the shock absorber upper platform 4 and the sensor mounting seat 9 can be matched to ensure the accuracy of transmission. In addition, the two magnetic levitation lower platforms 13 can share a supporting structure to improve the rigidity and stability of the overall structure and reduce the error caused by the displacement of the magnetic levitation lower platform 13.
[0043] As another specific implementation, the top of the magnetic levitation lower platform 13 is provided with a dovetail guide rail arranged in the left-right direction, and the lower part of the magnetic levitation upper platform 10 is provided with a dovetail groove arranged in the left-right direction, and the dovetail guide rail is arranged in the dovetail groove. After the dovetail guide rail is inserted into the dovetail groove, its dovetail-shaped protrusion is closely matched with the internal shape of the dovetail groove, which limits the relative movement direction of the dovetail guide rail in the dovetail groove and can only move along the length direction of the dovetail groove, thereby realizing linear guidance.
[0044] As another specific embodiment, the upper end surface and the lower left and right inclined surfaces of the dovetail guide rail and dovetail groove are both provided with magnets 12. The magnets 12 on the upper end surface are used to provide vertical support force, and the magnets 12 on the lower left and right inclined surfaces not only provide support force on both sides to prevent the platform from shifting left and right, but also provide downward force to compress the gap between the upper and lower platforms, which is equivalent to improving the vertical stiffness.
[0045] As another specific embodiment, the flexible hinge assembly includes a flexible hinge 5, and the two ends of the flexible hinge 5 are respectively provided with thrust rod mounting seats 6. One end of the flexible hinge 5 is mounted on the sensor mounting seat 9, and the other end is mounted on the shock absorber. The movement of the upper surface of the shock absorber is transmitted to the sensor 8 through the flexible hinge 5. At the same time, the flexible hinge 5 can also suppress the horizontal rotation and up and down flipping of the sensor 8. The flexible hinge 5 has the characteristics of high axial stiffness and low stiffness in other directions to ensure that the rotation of the upper surface of the shock absorber does not affect the measurement accuracy of the sensor 8. Further, the thrust rod mounting seat 6 is connected to the sensor mounting seat 9 and the side plane of the shock absorber through fasteners.
[0046] As another specific implementation, one end of the flexible hinge assembly is connected to a shock absorber. Specifically, the shock absorber includes a shock absorber lower platform 1 and a shock absorber upper platform 4, and a damper 2 and / or a spring 3 are arranged between the shock absorber lower platform 1 and the shock absorber upper platform 4. Figure 2 To simplify the schematic diagram of the rear shock absorber, it does not mean that the structural decoupling device can only be used for this type of shock absorber. This device is installed on the side of the shock absorber, and the flexible hinge assembly connects the shock absorption platform and the sensor 8 platform. It needs to have a high enough stiffness in the transmission direction, and a low enough vertical stiffness and torsional stiffness to reduce the impact of the movement of the shock absorber in other directions on the sensor 8. The sensor 8 installation device needs to have a high enough vertical stiffness and a low enough horizontal stiffness to attenuate the horizontal tilt problem of the sensor 8 while reducing the impact on the horizontal dynamic characteristics of the shock absorber.
[0047] The present invention is not limited to the above-mentioned specific embodiments, but extends to any new features or any new combination disclosed in this specification, as well as any new method or process steps or any new combination disclosed.
Claims
1. A horizontal tilt decoupling device for a long-travel inertial sensor based on magnetic suspension, characterized in that: The invention comprises a magnetic levitation mounting seat (14), a magnetic levitation lower platform (13) is arranged on the magnetic levitation mounting seat (14), a magnetic levitation upper platform (10) is arranged above the magnetic levitation lower platform (13), a guiding device for linear movement between the magnetic levitation lower platform (13) and the magnetic levitation upper platform (10) is arranged; a sensor (8) is arranged above the magnetic levitation upper platform (10); and a flexible hinge assembly directly or indirectly connected to the magnetic levitation upper platform (10), wherein the length direction of the flexible hinge assembly and the moving direction of the magnetic levitation lower platform (13) and the magnetic levitation upper platform (10) are both in the left-right direction.
2. The horizontal tilt decoupling device of a long-travel inertial sensor based on magnetic suspension as claimed in claim 1, characterized in that: A counterweight block (7) is provided above the magnetic levitation upper platform (10).
3. The horizontal tilt decoupling device of a long-travel inertial sensor based on magnetic suspension as claimed in claim 1, characterized in that: Two magnetic levitation lower platforms (13) are arranged on the magnetic levitation mounting seat (14), and the two magnetic levitation lower platforms (13) are spaced apart in the front-to-back direction; a magnetic levitation upper platform (10) is arranged above each magnetic levitation lower platform (13), and a sensor mounting seat (9) is arranged above the two magnetic levitation upper platforms (10), and the sensor (8) is arranged in the middle of the upper part of the sensor mounting seat (9).
4. The horizontal tilt decoupling device of a long-travel inertial sensor based on magnetic suspension as claimed in claim 1, characterized in that: A plurality of pairs of magnets (12) are arranged between the magnetic levitation upper platform (10) and the magnetic levitation lower platform (13), and the plurality of pairs of magnets (12) are arranged in a plurality of directions respectively.
5. The horizontal tilt decoupling device of a long-travel inertial sensor based on magnetic suspension as claimed in claim 4, characterized in that: The magnetic levitation upper platform (10) and the magnetic levitation lower platform (13) are provided with grooves, and the magnets (12) are arranged in the grooves.
6. The horizontal tilt decoupling device of a long-travel inertial sensor based on magnetic suspension as claimed in claim 1, characterized in that: The two magnetic levitation lower platforms (13) are fixedly arranged on the same magnetic levitation mounting seat (14).
7. The horizontal tilt decoupling device of a long-travel inertial sensor based on magnetic suspension as claimed in claim 1, characterized in that: The top of the magnetic levitation lower platform (13) is provided with a dovetail guide rail arranged in the left-right direction, and the lower part of the magnetic levitation upper platform (10) is provided with a dovetail groove arranged in the left-right direction, and the dovetail guide rail is arranged in the dovetail groove.
8. The horizontal tilt decoupling device of a long-travel inertial sensor based on magnetic suspension as claimed in claim 7, characterized in that: The upper end surface and the lower left and right inclined surfaces of the dovetail guide rail and the dovetail groove are all provided with magnets (12).
9. The horizontal tilt decoupling device of a long-travel inertial sensor based on magnetic suspension as claimed in claim 1, characterized in that: The flexible hinge assembly comprises a flexible hinge part (5), and thrust rod mounting seats (6) are respectively provided at two ends of the flexible hinge part (5).
10. The horizontal tilt decoupling device of a long-travel inertial sensor based on magnetic suspension as claimed in claim 9, characterized in that: One end of the flexible hinge assembly is connected with a shock absorber.