Structural platform for fiber optic three-self inertial navigation

Abstract

This invention discloses a structural platform for fiber optic triple inertial navigation systems, comprising a base, an outer ring rotation axis system mounted on the base, an inner ring rotation axis system mounted on the outer ring rotation axis system, and a stage mounted on the inner ring rotation axis system. The outer ring rotation axis system includes an outer ring rotating frame rotatably mounted on the base and an outer ring drive assembly for driving the outer ring rotating frame to rotate. The inner ring rotation axis system includes two inner ring rotating assemblies detachably mounted on the outer ring rotating frame. The two inner ring rotating assemblies are detachably connected to opposite ends of the stage, and the rotation axes of the two inner ring rotating assemblies coincide. This structural platform has advantages such as easy assembly and disassembly, high efficiency, and convenient assembly, debugging, and maintenance, while also ensuring accuracy and extending service life.

Description

Technical Field

[0001] This invention relates to the field of inertial navigation technology, and more specifically to a structural platform for fiber optic three-autoinertial navigation systems. Background Technology

[0002] Inertial navigation systems (INS) are safe, reliable, passive, and high-precision attitude and position sensing devices, widely used in various socio-economic fields, particularly in aviation, aerospace, and maritime industries. Triple-auto INS, with their integrated dual-axis turntable, can perform "self-testing," "self-alignment," and "self-calibration" without disassembly, significantly reducing maintenance costs. Due to their outstanding advantages, they have been rapidly adopted on a large scale. Compared to laser gyroscopes, fiber optic gyroscopes are lower in cost and do not suffer from latch-up. With in-depth research and breakthroughs in key technologies, the accuracy and environmental adaptability of fiber optic gyroscopes have steadily improved, and their application scenarios have gradually diversified. The fiber optic triple-auto INS, integrating these advantages, has become a research hotspot in the inertial navigation industry.

[0003] Existing three-auto inertial navigation systems (SAS) suffer from structural design limitations, resulting in inconvenient disassembly, assembly, debugging, and maintenance. For example, in existing SAS, the inner ring rotational shaft system supporting the platform is mounted on the outer ring rotating frame via shafts at both ends of the platform. The bearings in this mechanism are directly interference-fitted into mounting holes on the outer ring rotating frame. This leads to cumbersome disassembly and assembly, low efficiency, and a high risk of component damage when the platform needs to be disassembled for debugging or maintenance. Furthermore, existing SAS systems suffer from significant weight and size limitations, making them unsuitable for certain applications with strict weight and volume constraints. For instance, in existing SAS systems, the motor driving the outer ring rotating frame has its housing fixed to a base, and its output shaft is connected to the outer ring rotating frame via a coupling or other transmission mechanism. This assembly structure results in a large dimension along the rotation axis of the outer ring rotating frame and a heavy overall weight. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the existing technology and provide a structural platform for fiber optic three-autoinertial navigation systems that is easy to assemble and disassemble, has high efficiency, is easy to assemble, debug and maintain, and is conducive to ensuring accuracy and improving service life.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] A structural platform for fiber optic triple inertial navigation systems includes a base, an outer ring rotation axis system mounted on the base, an inner ring rotation axis system mounted on the outer ring rotation axis system, and a platform mounted on the inner ring rotation axis system. The outer ring rotation axis system includes an outer ring rotating frame rotatably mounted on the base and an outer ring drive assembly for driving the outer ring rotating frame to rotate. The inner ring rotation axis system includes two inner ring rotating assemblies detachably mounted on the outer ring rotating frame. The two inner ring rotating assemblies are detachably connected to opposite ends of the platform, and the rotation axes of the two inner ring rotating assemblies coincide.

[0007] As a further improvement to the above technical solution:

[0008] The inner ring rotating assembly includes a mounting base and a connecting base. The connecting base is rotatably mounted on the mounting base via a bearing mechanism. The mounting base is connected to the base via a first detachable connecting mechanism, and the connecting base is connected to the platform via a second detachable connecting mechanism.

[0009] The first detachable connection mechanism consists of multiple screws connecting the fastening mounting base and the base, and the second detachable connection mechanism consists of multiple screws connecting the fastening mounting base and the platform.

[0010] The outer ring rotating frame is a ring frame, and each mounting seat on the ring frame has a corresponding mounting through hole, and each mounting seat is inserted into the corresponding mounting through hole.

[0011] The outer ring drive assembly includes a motor, the housing of which is rotatably mounted on a base via a first bearing, the drive shaft of which is fixedly connected to the base, one end of the outer ring rotating frame is rotatably mounted on the base via a second bearing, and the other end of the outer ring rotating frame is sleeved and fixed outside the housing of the motor.

[0012] The base is provided with a mounting through hole, and the motor housing is installed in the mounting through hole through a first bearing.

[0013] The base is also provided with a plurality of vibration damping mounting components for supporting the mounting base. The vibration damping mounting components include a through mounting hole on the base, two vibration damping members inserted into the through mounting hole from both ends of the through mounting hole, and a clamping mechanism for clamping the two vibration damping members in the through mounting hole direction. The clamping mechanism includes a first washer, a second washer, and a fastening screw. The first washer and the second washer abut against the outer end faces of the two vibration damping members respectively. The first washer has a tubular portion that passes through the through mounting hole and abuts against the second washer. The fastening screw passes through the second washer and is threadedly connected to the tubular portion, forcing the first washer and the second washer to clamp the two vibration damping members. An anti-rotation mechanism is provided between the tubular portion and the second washer to prevent relative rotation of the tubular portion and the second washer.

[0014] The anti-rotation mechanism includes an anti-rotation groove on the second gasket and an anti-rotation protrusion on the tubular portion, wherein the anti-rotation protrusion is inserted into the anti-rotation groove.

[0015] At least one locking assembly is provided between the base and the platform for fixing the platform in a preset position. The locking assembly includes a first toothed disc and a second toothed disc. Both the first toothed disc and the second toothed disc include a disc body and a plurality of radially extending strip teeth disposed on the disc body. The plurality of strip teeth are arranged at intervals around the disc body. The first toothed disc is fixedly installed on the platform. The second toothed disc is connected to a locking drive mechanism and can be driven by the locking drive mechanism to approach the first toothed disc to engage with the first toothed disc and to move away from the first toothed disc to disengage from the first toothed disc when the platform is in the preset position.

[0016] Two sets of locking components are provided between the base and the platform. When the platform is in a preset position, the two sets of locking components are symmetrically arranged relative to the platform, and the second toothed discs of the two sets of locking components move in opposite directions toward the first toothed disc.

[0017] Compared with the prior art, the advantages of the present invention are as follows:

[0018] This invention relates to a structural platform for fiber optic triple-autoinertial navigation systems. Since the inner ring rotation axis system is divided into two inner ring rotation assemblies, and both inner ring rotation assemblies are detachably connected to the outer ring rotating frame and the platform, when the inner ring rotation axis system and the platform need to be disassembled for debugging and maintenance, simply disconnect the overall structure of the inner ring rotation assembly from the outer ring rotating frame and the platform to remove the inner ring rotation assembly and the platform. Similarly, during installation, only the overall structure of the inner ring rotation assembly needs to be connected to the outer ring rotating frame and the platform. This eliminates the need to disassemble and reassemble internal components such as bearings of the inner ring rotation axis system, greatly improving the ease and efficiency of disassembly and assembly, making assembly, debugging, and maintenance simpler. It also avoids damage to the internal components of the inner ring rotation axis system during disassembly and assembly, thus ensuring accuracy and extending service life. Attached Figure Description

[0019] Figure 1 This is a three-dimensional cross-sectional schematic diagram of the structural platform used for fiber optic triple inertial navigation systems.

[0020] Figure 2 This is a top-section structural diagram of the structural platform used for fiber optic triple inertial navigation systems.

[0021] Figure 3 A cross-sectional view of the vibration damping mounting assembly.

[0022] Legend:

[0023] 1. Base; 2. Outer ring rotating shaft system; 21. Outer ring rotating frame; 22. Motor; 23. First bearing; 24. Second bearing; 3. Inner ring rotating shaft system; 31. Inner ring rotating assembly; 311. Mounting seat; 312. Connecting seat; 313. Bearing mechanism; 4. Platform; 5. Vibration damping mounting assembly; 51. Through mounting hole; 52. Vibration damping component; 53. First gasket; 531. Tubular part; 532. Anti-rotation protrusion; 54. Second gasket; 541. Anti-rotation groove; 55. Fastening screw; 6. Locking assembly; 61. First gear plate; 62. Second gear plate. Detailed Implementation

[0024] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] like Figure 1 and Figure 2 As shown, the structural platform for fiber optic triple inertial navigation system in this embodiment includes a base 1, an outer ring rotation axis system 2 mounted on the base 1, an inner ring rotation axis system 3 mounted on the outer ring rotation axis system 2, and a platform 4 mounted on the inner ring rotation axis system 3. The platform 4 is a mounting carrier for inertial devices (gyroscopes, accelerometers). The outer ring rotation axis system 2 includes an outer ring rotating frame 21 rotatably mounted on the base 1 and an outer ring drive assembly for driving the outer ring rotating frame 21 to rotate. The inner ring rotation axis system 3 includes two inner ring rotating assemblies 31 detachably mounted on the outer ring rotating frame 21. The two inner ring rotating assemblies 31 are detachably connected to opposite ends of the platform 4, and the rotation axes of the two inner ring rotating assemblies 31 coincide. This structural platform for fiber optic triple inertial navigation systems features an inner ring rotating shaft system 3 divided into two inner ring rotating components 31. These components are detachably connected to the outer ring rotating frame 21 and the platform 4. When the inner ring rotating shaft system 3 and platform 4 need to be removed for debugging or maintenance, simply disconnect the inner ring rotating component 31 from the outer ring rotating frame 21 and platform 4. Similarly, during installation, only the inner ring rotating component 31 needs to be reconnected to the outer ring rotating frame 21 and platform 4. This eliminates the need to disassemble and reassemble internal components such as bearings of the inner ring rotating shaft system 3, significantly improving ease of assembly and disassembly, efficiency, and making assembly, debugging, and maintenance simpler. It also avoids damage to the internal components of the inner ring rotating shaft system 3 during disassembly, ensuring accuracy and extending service life.

[0026] In this embodiment, the inner ring rotating assembly 31 includes a mounting base 311 and a connecting base 312. The connecting base 312 is rotatably mounted on the mounting base 311 via a bearing mechanism 313. The mounting base 311 is connected to the base 1 via a first detachable connecting mechanism, and the connecting base 312 is connected to the platform 4 via a second detachable connecting mechanism. This bearing mechanism is designed with reference to existing technology. Depending on the specific load conditions, a configuration of two pairs of angular contact ball bearings can be used. When using angular contact ball bearings in pairs does not meet dimensional constraints, crossed roller bearings can be used instead. Preferably, the first detachable connecting mechanism consists of multiple screws connecting and fastening the mounting base 311 and the base 1, and the second detachable connecting mechanism consists of multiple screws connecting and fastening the connecting base 312 and the platform 4. This design is simple in structure, low in cost, provides a stable and reliable connection, and is easy to assemble and disassemble.

[0027] In this embodiment, the outer ring rotating frame 21 is a ring frame, and each mounting seat 311 has a corresponding mounting through hole on the ring frame. Each mounting seat 311 is inserted into the corresponding mounting through hole. The mounting through hole plays a positioning role for the mounting seat 311, which can improve the installation stability of the mounting seat 311. The mounting seat 311 is inserted into the corresponding mounting through hole, which helps to improve compactness. The outer ring rotating frame 21 adopts a ring frame structure, which can ensure structural strength and facilitate the installation of the inner ring rotating assembly 31. It consumes less material and has a low processing cost, while also providing enough space for the independent assembly and disassembly of the platform 4.

[0028] In this embodiment, the outer ring drive assembly includes a motor 22. The housing of the motor 22 is rotatably mounted on the base 1 via a first bearing 23. The drive shaft of the motor 22 is fixedly connected to the base 1. One end of the outer ring rotating frame 21 is rotatably mounted on the base 1 via a second bearing 24, and the other end of the outer ring rotating frame 21 is sleeved and fixed outside the housing of the motor 22. This assembly structure not only eliminates the need for a connecting mechanism (e.g., a coupling or connecting shaft) that occupies space in the axial direction between the motor 22 and the outer ring rotating frame 21, but also achieves partial axial overlap between the outer ring rotating frame 21 and the motor 22 by sleeved and fixed outside the housing of the motor 22, which can greatly reduce the axial dimension space, thereby reducing the overall volume and weight.

[0029] The first bearing 23 and the second bearing 24 mentioned above are set with reference to the prior art. Depending on the specific load conditions, a configuration of two pairs of angular contact ball bearings can be adopted. When the use of angular contact ball bearings in pairs does not meet the size constraints, crossed roller bearings can also be used instead.

[0030] In this embodiment, the base 1 is provided with a mounting through hole, and the housing of the motor 22 is installed in the mounting through hole through the first bearing 23. Compared with the conventional technology, the housing of the motor 22 is equivalent to directly serving as the rotating mounting shaft of the outer ring rotating frame 21. That is, the motor 22 only occupies the space occupied by the rotating mounting shaft of the outer ring rotating frame 21 in the conventional technology, thus minimizing the axial dimension space.

[0031] In this embodiment, the base 1 is also provided with multiple vibration damping mounting components 5 for supporting the mounting base 1 and for isolating external high-frequency loads. For example... Figure 3 As shown, the vibration damping mounting assembly 5 includes a through mounting hole 51 on the base 1, two vibration damping members 52 respectively inserted into the through mounting hole 51 from both ends, and a clamping mechanism for clamping the two vibration damping members 52 in the through mounting hole 51. The clamping mechanism includes a first washer 53, a second washer 54, and a fastening screw 55. The first washer 53 and the second washer 54 respectively abut against the outer end faces of the two vibration damping members 52. The first washer 53 has a tubular portion 531 that passes through the through mounting hole 51 and abuts against the second washer 54. The fastening screw 55 passes through the second washer 54 and is threadedly connected to the tubular portion 531, forcing the first washer 53 and the second washer 54 to clamp the two vibration damping members 52. An anti-rotation mechanism is provided between the tubular portion 531 and the second washer 54 to prevent relative rotation of the tubular portion 531 and the second washer 54. Except for the anti-rotation mechanism, the other structures of the aforementioned vibration damping mounting assembly 5 are all existing technologies. Because existing technologies lack an anti-rotation mechanism, during the process of tightening the fastening screw 55 to clamp the first washer 53 and the second washer 54 between the two damping components 52, the fastening screw 55 can easily cause the second washer 54 to rotate. This rotation of the second washer 54 then generates a torsional force on the damping component 52, causing it to twist and deform, thus failing to meet the dynamic performance requirements of the vibration damping system. However, by providing an anti-rotation mechanism to prevent relative rotation between the tubular portion 531 and the second washer 54, the above problems can be effectively avoided, and the linear-angular coupling motion under dynamic conditions can be effectively reduced.

[0032] In this embodiment, the anti-rotation mechanism includes an anti-rotation groove 541 on the second gasket 54 and an anti-rotation protrusion 532 on the tubular portion 531, with the anti-rotation protrusion 532 inserted into the anti-rotation groove 541. This type of anti-rotation mechanism has a simple structure, low cost, is easy to manufacture, and is convenient to install and remove.

[0033] In this embodiment, at least one locking assembly 6 is provided between the base 1 and the platform 4 to fix the platform 4 in a preset position. The locking assembly 6 includes a first toothed disc 61 and a second toothed disc 62. Both the first toothed disc 61 and the second toothed disc 62 include a disc body and a plurality of radially extending strip teeth disposed on the disc body. The plurality of strip teeth are arranged at intervals around the disc body. The first toothed disc 61 is fixedly installed on the platform 4. The second toothed disc 62 is connected to a locking drive mechanism and can be driven by the locking drive mechanism to approach the first toothed disc 61 to engage with the first toothed disc 61 and to move away from the first toothed disc 61 to disengage from the first toothed disc 61 when the platform 4 is in the preset position. The locking assembly 6 can fix the platform 4 in the preset position, providing rigid support for the platform 4 while ensuring the strapdown state, thus improving the stability of the system in dynamic environments. The locking assembly 6 adopts the above-mentioned combination of the first toothed disc 61 and the second toothed disc 62, which provides high locking stability and reliability. The aforementioned locking drive mechanism employs a combination of a motor and a worm gear mechanism to drive the second gear plate 62 to move linearly towards and away from the first gear plate 61. In other embodiments, the locking assembly 6 can also adopt other existing structural forms, as long as it can lock and release the platform 4 at a preset position, such as using a pin and pin hole engagement. The locking drive mechanism can also adopt other existing structural forms, such as a telescopic cylinder, a telescopic hydraulic cylinder, an electric push rod, etc.

[0034] In this embodiment, two sets of locking components 6 are provided between the base 1 and the platform 4. When the platform 4 is in a preset position, the two sets of locking components 6 are symmetrically arranged relative to the platform 4, and the second gear 62 of the two sets of locking components 6 moves in opposite directions toward the first gear 61. By using two sets of locking components 6 to lock the platform 4 from both sides, the force on the platform 4 can be balanced, and the load on each shaft system can be reduced during locking.

[0035] In this embodiment, magnesium alloy is used instead of conventional aluminum alloy to make the base 1, which can reduce the weight by about 30%; titanium alloy is used instead of conventional stainless steel as the material for shaft parts (bearing mounting seats, bearing mounting shafts, etc.), which can reduce the weight by about 40%, thereby effectively reducing the total weight of the structural platform. Combined with the structural platform design of this embodiment, experimental verification shows that the weight of the structural platform does not exceed 8Kg, the external dimensions do not exceed 250mm×210mm×175mm, the structural assembly process is good, the working condition is normal, the performance is stable, and the locking repeatability accuracy is not greater than 10″. High and low temperature tests, random vibration tests, and impact tests were carried out. During the high and low temperature test from -20℃ to 60℃, the dual-axis rotating mechanism worked normally and rotated smoothly without any jamming or sticking. During the random vibration test, the locking stability of the dual-axis rotating mechanism was good, and the sway of the inner and outer ring rotating mechanisms was not greater than 2′. After the impact test, all parts functioned normally and no damage was found.

[0036] This embodiment utilizes high-strength materials, simplified structure, and compact design to create a structural platform for fiber optic triple inertial navigation systems. While meeting structural strength, stiffness, and reliability requirements, it achieves a lightweight and miniaturized platform. Furthermore, the modular design improves manufacturing performance, simplifies assembly, and enhances stability. Having undergone rigorous environmental testing, its stable and reliable performance makes it suitable for high-precision fiber optic triple inertial navigation systems, with broad application prospects in aviation, aerospace, marine, and other civilian fields.

[0037] The above description is merely a preferred embodiment of the present invention, and the scope of protection of the present invention is not limited to the above embodiments. For those skilled in the art, improvements and modifications obtained without departing from the inventive concept should also be considered within the scope of protection of the present invention.

Claims

1. A structural platform for a fiber optic triple inertial navigation system, comprising a base (1), an outer ring rotation axis system (2) mounted on the base (1), an inner ring rotation axis system (3) mounted on the outer ring rotation axis system (2), and a platform (4) mounted on the inner ring rotation axis system (3), wherein the outer ring rotation axis system (2) comprises an outer ring rotating frame (21) rotatably mounted on the base (1) and an outer ring drive assembly for driving the outer ring rotating frame (21) to rotate, characterized in that: The inner ring rotation system (3) includes two inner ring rotation components (31) that are detachably mounted on the outer ring rotation frame (21). The two inner ring rotation components (31) are detachably connected to the opposite ends of the platform (4), and the rotation axes of the two inner ring rotation components (31) coincide.

2. The structural platform for fiber optic tri-autoinertial navigation systems according to claim 1, characterized in that: The inner ring rotating assembly (31) includes a mounting base (311) and a connecting base (312). The connecting base (312) is rotatably mounted on the mounting base (311) via a bearing mechanism (313). The mounting base (311) is connected to the base (1) via a first detachable connecting mechanism. The connecting base (312) is connected to the platform (4) via a second detachable connecting mechanism.

3. The structural platform for fiber optic tri-autoinertial navigation systems according to claim 2, characterized in that: The first detachable connection mechanism consists of multiple screws connecting the fastening mounting base (311) and the base (1), and the second detachable connection mechanism consists of multiple screws connecting the fastening mounting base (312) and the platform (4).

4. The structural platform for fiber optic tri-autoinertial navigation systems according to claim 2, characterized in that: The outer ring rotating frame (21) is a ring frame, and each mounting seat (311) on the ring frame is provided with a mounting through hole, and each mounting seat (311) is inserted into the corresponding mounting through hole.

5. The structural platform for fiber optic tri-autoinertial navigation systems according to claim 1, characterized in that: The outer ring drive assembly includes a motor (22), the housing of the motor (22) is rotatably mounted on the base (1) via a first bearing (23), the drive shaft of the motor (22) is fixedly connected to the base (1), one end of the outer ring rotating frame (21) is rotatably mounted on the base (1) via a second bearing (24), and the other end of the outer ring rotating frame (21) is sleeved and fixed outside the housing of the motor (22).

6. The structural platform for fiber optic tri-autoinertial navigation systems according to claim 5, characterized in that: The base (1) is provided with a mounting through hole, and the housing of the motor (22) is installed in the mounting through hole through the first bearing (23).

7. The structural platform for fiber optic tri-autoinertial navigation systems according to claim 1, characterized in that: The base (1) is also provided with a plurality of vibration damping mounting components (5) for supporting the mounting base (1). The vibration damping mounting components (5) include a through mounting hole (51) provided on the base (1), two vibration damping members (52) respectively inserted from both ends of the through mounting hole (51) and installed in the through mounting hole (51), and a clamping mechanism for clamping the two vibration damping members (52) in the through mounting hole (51) through direction. The clamping mechanism includes a first washer (53), a second washer (54) and a fastening screw (55). The first washer (53) and the second washer (54) are used to support the mounting base (1). 54) Abutting against the outer end faces of the two damping members (52) respectively, the first gasket (53) has a tubular portion (531) that passes through the through mounting hole (51) and abuts against the second gasket (54), the fastening screw (55) passes through the second gasket (54) and is threadedly connected to the tubular portion (531) and forces the first gasket (53) and the second gasket (54) to clamp the two damping members (52), and an anti-rotation mechanism is provided between the tubular portion (531) and the second gasket (54) to prevent the tubular portion (531) and the second gasket (54) from rotating relative to each other.

8. The structural platform for fiber optic tri-autoinertial navigation systems according to claim 7, characterized in that: The anti-rotation mechanism includes an anti-rotation groove (541) on the second gasket (54) and an anti-rotation protrusion (532) on the tubular portion (531), wherein the anti-rotation protrusion (532) is inserted into the anti-rotation groove (541).

9. The structural platform for fiber optic tri-autoinertial navigation systems according to claim 1, characterized in that: At least one set of locking components (6) for fixing the platform (4) in a preset position is provided between the base (1) and the platform (4). The locking components (6) include a first toothed disc (61) and a second toothed disc (62). The first toothed disc (61) and the second toothed disc (62) each include a disc body and a plurality of radially extending strip teeth disposed on the disc body. The plurality of strip teeth are arranged at intervals around the disc body. The first toothed disc (61) is fixedly installed on the platform (4). The second toothed disc (62) is connected to a locking drive mechanism and can be driven by the locking drive mechanism to approach the first toothed disc (61) to engage with the first toothed disc (61) and to move away from the first toothed disc (61) to disengage from the first toothed disc (61) when the platform (4) is in the preset position.

10. The structural platform for fiber optic tri-autoinertial navigation systems according to claim 9, characterized in that: Two sets of locking components (6) are provided between the base (1) and the platform (4). When the platform (4) is in a preset position, the two sets of locking components (6) are symmetrically arranged relative to the platform (4), and the second toothed discs (62) of the two sets of locking components (6) move in opposite directions to the first toothed discs (61).

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