A chip-based north seeker based on traveling wave motor

Abstract

The application discloses a kind of based on wave motor's chip-based north seeker, including comprehensive control circuit board, wave motor type rotating platform based on MEMS chip, MEMS gyroscope assembly bin, upper limit cover plate, display module interface and three-section shell;Wherein comprehensive control circuit board completes whole rotation modulation north-seeking control and true north direction solution;Rotating platform completes multi-angle step rotation or continuous rotation under the operation of comprehensive control circuit, drives the rotation of MEMS gyroscope assembly bin and upper limit cover plate installed on rotating platform, realizes the rotation of gyroscope sensitive axis;Display module interface is realized north-seeking state and result display by external display.This application is based on the chip wave motor type rotating platform of flattening, the volume and mass of whole north seeker are greatly reduced, and the energy consumption of wave motor is low, the energy consumption of whole system is reduced, and based on comprehensive control circuit, the constant error compensation effect of rotating modulation technology to gyroscope is ensured, and the north-seeking precision is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of inertial navigation, and particularly relates to a chipped north seeker based on a traveling wave motor. BACKGROUND

[0002] Nowadays, various devices all rely on satellites to realize high-precision navigation and positioning, but when satellite information is denied, how to autonomously acquire azimuth information is a bottleneck problem for missile precision guidance, intelligent navigation of unmanned devices and integration of sea, land, air and space. A gyro north-seeking system is a key technology for realizing autonomous and accurate orientation under satellite denial, and is widely applied to fields such as missile guidance, vehicle navigation and exploration positioning. Since the gyro north-seeking system is a dead reckoning navigation mode, the north-seeking error is accumulated over time, and the constant error of inertial devices is the main error source. Therefore, the currently widely used gyro north seeker is based on high-precision laser / optical fiber gyro to improve the north-seeking performance. However, the gyro north seeker is large in size and high in cost, and cannot be embedded and installed into a missile magazine and a small unmanned vehicle, which cannot meet the lightweight application.

[0003] Therefore, a MEMS gyroscope with low cost and small size becomes a key point for miniaturization of the north seeker. However, the performance of the MEMS inertial device is not high enough. Therefore, it is a key research to improve the north-seeking precision through rotation modulation technology without relying on the precision of the inertial device. For a high-integration, miniaturization and low-cost gyro north-seeking system, how to realize high-density integration of the rotation modulation technology is a key content. Therefore, miniaturization and low noise of the rotation platform driving motor are bottleneck problems that limit the development and use of the north seeker.

[0004] Most of the current miniaturized north seekers adopt gearless motors to realize rotation of the turntable. The rotor completely relies on the shaft and the overall structure to realize limiting, and the torque is large, and the structural stiffness is high, which leads to a heavy mass of the overall north seeker shell. The winding structure is not flat enough, which leads to a large size of the north seeker. In addition, the motor power is high, and it is difficult to realize portable application. SUMMARY

[0005] The application aims at the problems in the prior art, and provides a chipped north seeker based on a traveling wave motor.

[0006] The technical solution for achieving the object of the application is: a chip-based north seeker based on a traveling wave motor, which comprises a three-section shell structure, a comprehensive control circuit board arranged in the three-section shell structure, a MEMS chip-based traveling wave motor type rotating platform, a MEMS gyroscope assembly bin, an upper limit cover plate and a display module interface; wherein the comprehensive control circuit board integrates a rotating platform angle closed-loop control system, a MEMS gyroscope sampling control system, a data processing system, a display system and a communication system, and completes overall rotating modulation north-seeking control and true north direction solving; the MEMS chip-based traveling wave motor type rotating platform completes multi-angle step rotation or continuous rotation under the operation of the comprehensive control circuit, drives the MEMS gyroscope assembly bin and the upper limit cover plate installed on the rotating platform to rotate, and realizes rotation of the gyroscope sensitive axis; the display module interface is externally connected with a display to realize north-seeking state and result display; the three-section shell structure comprises an upper section shell, a middle section shell and a lower section shell arranged in sequence from top to bottom, and the three-section shell is connected through a plurality of symmetrical vertical columns.

[0007] Further, the comprehensive control circuit board is located at the bottom layer of the north seeker and is installed on an isolation plate in the lower section shell, and a lower cover plate is installed at the lower part of the isolation plate to realize circuit protection; the isolation plate is integrally processed with the lower section shell.

[0008] Further, the comprehensive control circuit board is connected with a communication interface to realize data interaction, program burning and debugging, and the communication interface is installed in a groove in the lower section shell.

[0009] Further, the comprehensive control circuit board realizes display module interface control and power supply line connection through a side lead groove 1 on the three-section shell, realizes MEMS gyroscope control and power supply line connection through a side lead groove 2 on the three-section shell, realizes closed-loop driving control lead and various control power supply leads of the MEMS chip-based traveling wave motor type rotating platform through an isolation plate groove 1 on the isolation plate, and realizes MEMS gyroscope control, power supply lead and display module interface lead out through an isolation plate groove 2.

[0010] Further, the side lead groove 1 and the side lead groove 2 are processed in the middle section shell, and grooves are opened to the inside at the upper section shell to realize lead out.

[0011] Further, the MEMS chip-based traveling wave motor type rotating platform comprises a substrate, a plurality of traveling wave motor stator chips, a plurality of rotor gears, a rotating platform and corresponding substrate bearings, and the substrate bearings comprise a substrate rotating platform shaft and a plurality of substrate rotor gear shafts.

[0012] The rotating platform is installed on the substrate through a substrate rotating platform shaft, and a plurality of rotor gears are engaged with the rotating platform; the plurality of traveling wave micro motor stator chip arrays are installed on the substrate through a plurality of substrate rotor gear shafts, the rotor gears comprise an annular friction layer and a gear layer which are sequentially pasted from bottom to top, and the plurality of rotor gears are respectively installed on the traveling wave micro motor stator chip through the plurality of substrate rotor gear shafts; the traveling wave micro motor stator chip generates a traveling wave which is trapped in the annular friction layer when working, and generates a dynamic friction force through a friction effect to drive the annular friction layer to rotate, thereby realizing the rotation of the rotor gear to drive the rotating platform; the traveling wave micro motor stator chip is connected with driving and detection lead wires led out of the isolation plate slot to realize electrical installation, and the plurality of traveling wave micro motor stator chips are synchronously and individually controlled by the comprehensive control circuit board.

[0013] Further, a rotation detection mechanism is embedded in the traveling wave micro motor stator chip to detect the rotation state of the rotor gear.

[0014] Further, the rotation detection mechanism is installed on the substrate and realizes the connection of the substrate and the isolation plate, and completes the limiting and fixing of the MEMS chip-based traveling wave motor type rotating platform driving mechanism.

[0015] Further, the upper limiting cover plate is covered with a slip ring on the upper and lower layers, respectively, and the upper and lower slip rings are electrically connected; the MEMS gyroscope assembly bin is connected with the rotating platform through a single key through a lower boss, and the MEMS gyroscope assembly bin shaft hole is limited and installed to the substrate rotating platform shaft for overall assembly, so that the plurality of rotor gears are engaged to drive the rotating platform to rotate the MEMS gyroscope assembly bin, the MEMS gyroscope is fixedly installed on the upper boss on the upper side of the MEMS gyroscope assembly bin, the sensitive shaft is parallel to the horizontal plane, and the MEMS gyroscope is connected with the lower slip ring of the upper limiting cover plate based on a short lead wire, and the upper limiting cover plate and the upper end of the MEMS gyroscope assembly bin are connected and fixed through screws; the upper slip ring is connected with the lead wire led out of the side lead slot 2, and the power supply and data transmission of the MEMS gyroscope are realized.

[0016] Further, a limiting hole is arranged on the upper surface of the upper limiting cover plate and is installed in cooperation with the upper limiting column of the upper shell.

[0017] Compared with the prior art, the present application has the following advantages:

[0018] 1) The chip-based north finder based on the traveling wave motor of the present application realizes the rotation modulation north finding based on the MEMS gyroscope by integrating the MEMS chip-based traveling wave motor type rotation platform, wherein the rotation actuator formed based on the traveling wave micro-actuator chip and the rotor gear has a thickness of millimeter level, the volume and weight are small, the assembly volume of the north finder is greatly reduced, and the miniaturization and flattening of the north finder are further realized.

[0019] 2) The MEMS chip-based traveling wave motor type rotation platform of the present application has a small power supply voltage, a working current of only microampere level, and a whole power of milliwatt level, and is low in energy consumption and convenient for outdoor portable use.

[0020] 3) The MEMS chip-based traveling wave motor type rotation platform of the present application has a small torque but can meet the driving requirement of the MEMS inertial device, so that a high-rigidity material is not needed to realize the rotation limiting of the rotation platform, and therefore the shell material of the whole chip-based north finder can be a relatively light material, the mass of the whole north finder is further reduced under the premise of reducing the volume, and the light-weight application is fully realized.

[0021] 4) The present application designs the electrical connection slip ring on the upper and lower surfaces of the upper limiting cover plate to realize the power supply and data transmission of the MEMS gyroscope, and further ensures the stable rotation of the rotation platform.

[0022] 5) The north finder of the present application adopts a three-section shell design, a symmetrical through-type integrated assembly scheme, and realizes the convenient assembly of various components and leads and the uniform stress of the structure.

[0023] In summary, the present application can be widely applied in various micro-miniature inertial navigation fields.

[0024] The present application will be described in further detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is an overall structure explosion diagram of the chip-based north finder based on the traveling wave motor in an embodiment.

[0026] Figure 2 It is a lower shell structure diagram in an embodiment.

[0027] Figure 3 It is a structure diagram of the MEMS chip-based traveling wave motor type rotation platform in an embodiment.

[0028] Figure 4 It is a structure diagram of the MEMS gyroscope assembly bin and the upper limiting cover plate in an embodiment.

[0029] Figure 5 It is a structure diagram of the middle shell and the upper shell in an embodiment.

[0030] Wherein the reference numeral 101 refers to a control circuit board mounting compartment, hereinafter directly referred to as a control circuit board. DETAILED DESCRIPTION

[0031] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application is further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

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

[0033] The present application provides a kind of chip-based north seeker based on traveling wave motor, including three-section shell structure, and be set in three-section shell structure comprehensive control circuit board, MEMS chip-based traveling wave motor type rotating platform based on, MEMS gyroscope assembly compartment, upper limit cover plate and display module interface;Wherein comprehensive control circuit board integrates rotating platform angle closed-loop control system, MEMS gyroscope sampling control system, data processing system, display system and communication system etc. to one, complete overall rotation modulation north-seeking control and true north direction solution;The rotating platform based on MEMS chip traveling wave motor type under the operation of comprehensive control circuit completes multi-angle step rotation or continuous rotation, drives the MEMS gyroscope assembly compartment and upper limit cover plate installed on rotating platform to rotate, realizes gyroscope sensitive axis rotation;The display module interface is connected with display to realize the display of north-seeking state and result;Three-section shell structure includes upper shell, middle shell and lower shell sequentially from top to bottom, and three-section shell is installed and connected by being limited by several symmetric vertical columns.

[0034] In one embodiment, as Figure 1 , 2As shown, the entire motor structure includes a comprehensive control circuit board 101, a MEMS chip-based traveling wave motor type rotating platform 110, a MEMS gyroscope assembly bin 120, an upper limit cover plate 124, a display module interface 222, a lower housing 20, a middle housing 210, and an upper housing 220. The comprehensive control circuit board 101 is mounted on the isolation plate 203 by screws, and the isolation plate 203 is integrally processed with the lower housing 20. The communication interface is installed in the slot 202 and connected to the comprehensive control circuit board 101 by a lead wire to realize communication and software debugging, burning, driving and detection of the MEMS chip-based traveling wave motor type rotating platform 110, and the driving and detection lead wires are led out through two isolation plate slots 204. The MEMS gyroscope control, power supply lead wire and display module lead wire are led out through two isolation plate slots 205. When the comprehensive control circuit board is assembled and all the lead wires are led out, the lower cover plate 201 is limit assembled by tightly installing the four symmetrical columns 206 into the lower housing through hole 107 to realize the closure of the lower housing to form a receiving space.

[0035] As shown in the above embodiment, Figure 3 The MEMS chip-based traveling wave motor type rotating platform 110 is composed of a substrate 111, four traveling wave micro motor stator chips 114, four rotor gears 115, a rotating platform 117, four substrate rotor gear shafts 113, and a substrate rotating platform shaft 116. The arrayed combination of the traveling wave micro motor stator chips 114 is limit installed on the substrate 111 through the substrate rotor gear shaft 113. The rotor gear 115 is composed of an annular friction layer 1151 and a gear layer 1152, and is limit installed on the traveling wave micro motor stator chip 114 through the substrate rotor gear shaft 113. The traveling wave micro motor stator chip 114 generates a traveling wave that falls into the annular friction layer 1151 when working. Due to the speed difference between the tangential velocity of the elliptical motion of the surface particles and the tangential velocity of the rotation of the annular friction layer 1151, a dynamic friction force is generated through the friction effect to drive the annular friction layer 1151 to rotate the gear layer 1152, thereby realizing the driving of the rotor gear 115. The rotation detection mechanism is embedded and installed on the traveling wave micro motor stator chip 114 to realize the rotation state detection of the rotor gear 115. Then, the substrate 111 is connected with the isolation plate 203 by screwing on the substrate screw hole 112 to complete the limit fixing of the driving mechanism of the MEMS chip-based traveling wave motor type rotating platform 110. Finally, the driving and detection lead wires led out through the two isolation plate slots 204 are connected with the corresponding traveling wave micro motor stator chips 114 to realize electrical installation.

[0036] As shown in the above embodiment, Figure 4As shown, the MEMS gyroscope assembly bin 120 is connected to the rotating platform 117 through the lower boss 121 by a single key, the rest of the connection with the rotating platform 117 is further fixed by adhesive, and the MEMS gyroscope assembly bin shaft hole 122 is limited to the base plate rotating platform shaft 116 to realize overall assembly, meet the four rotor gear 115 meshing drive rotating platform 117 driven MEMS gyroscope assembly bin 120 rotation requirements, the MEMS gyroscope is installed on the upper boss 123 by glue, so that the gyro sensitive axis is parallel to the horizontal plane to sensitive required earth rotation angular velocity component, based on the short wire to realize the MEMS gyroscope and the upper limit cover plate 124 lower slip ring connected, the upper limit cover plate 124 and the MEMS gyroscope assembly bin 120 are connected and fixed by screws.

[0037] After the above embodiment structure is installed, as shown, Figure 5 The MEMS gyroscope control, power supply lead and display module lead introduced by the isolation plate slot 205 are placed in the side lead slot 2112 and the side lead slot 2111 in the middle shell 210, and are introduced at the upper part of the side lead slot 211, and the lower side slot 212 is designed to prevent the drive and detection lead of the MEMS chip based on the slot 204 introduced by the isolation plate slot 204 from being squeezed during assembly. Finally, the middle shell 210 is limited to install along the four symmetrical columns 206.

[0038] In the above embodiment, the upper limit cover plate 124 upper slip ring and the above MEMS gyroscope control, power supply lead are introduced at the side lead slot 2112 to realize the sampling control and data transmission of the comprehensive control circuit board 101 to the gyroscope. Then, the upper shell 220 is limited to install along the symmetrical column 206, and the upper shell limiting column 221 is installed in the upper limit cover plate limiting hole 125 with a small gap, preventing the rotating platform 117 from shaking while not introducing additional friction resistance. To prevent the upper shell 220 from squeezing the lead during assembly, a hole is formed in the side wall of the upper shell to form a display module slot 222 and a gyroscope lead slot 223. The display module interface is installed on the upper part of the display module slot 222 and connected with the display module lead introduced at the side lead slot 2111 to realize the display control of the comprehensive control circuit board 101 to the external display. The north-seeking state and result real-time display are completed. The gyroscope lead slot 223 corresponds to the side lead slot 2112 to form a wiring channel. Finally, the symmetrical column 206 and the upper shell 220 are tightly connected by screws, and the overall assembly of the chip-based north seeker based on the traveling wave motor is completed.

[0039] The chip-based north seeker based on the traveling wave motor provided by the application is based on the flat, low-power and low-torque chip traveling wave motor type rotating platform, so that the volume and mass of the overall north seeker are greatly reduced, the energy loss of the overall system is low, the convenient and lightweight use is realized, the small application scene embedded installation demand is met, and the constant error compensation effect of the rotating modulation technology on the gyroscope is ensured based on the comprehensive control circuit, and the north seeking precision is improved.

[0040] It should be understood that, although the above embodiment is based on four traveling wave micro motor stator chips 114 to realize the rotating platform 110 execution mechanism construction, any number of stator chips can be used to realize the rotating platform driving in the chip-based north seeker based on the traveling wave motor.

[0041] It should be understood that, although the above embodiment is based on a single key and adhesive to realize the rotating platform and the MEMS gyroscope assembly bin connection, the chip-based north seeker based on the traveling wave motor in the application is not limited to this connection method, and can also be fixed by screws and the like.

[0042] For those skilled in the art, it is obvious that the present application is not limited to the details of the above exemplary embodiments, and the present application can be implemented in other specific forms without departing from the spirit and essential characteristics of the present application. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting, the scope of the present application is defined by the appended claims rather than the above description, and therefore all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application, and any reference signs in the claims should not be regarded as limiting the claims involved.

[0043] Finally, it should be understood that, although the present application is described in the form of embodiments, not every embodiment contains only one independent technical solution, and the description manner of the specification is only for the sake of clarity, and those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be properly combined to form other embodiments understood by those skilled in the art.

Claims

1. A chip-based north finder based on a traveling wave motor, characterized in that, The north-finding instrument comprises a three-section shell structure, and within this structure are an integrated control circuit board, a MEMS chip-based traveling wave motor-driven rotating platform, a MEMS gyroscope assembly compartment, an upper limit cover, and a display module interface. The integrated control circuit board integrates a rotating platform angle closed-loop control system, a MEMS gyroscope sampling control system, a data processing system, a display system, and a communication system, completing overall rotation modulation north-finding control and true north direction calculation. Under the operation of the integrated control circuit, the MEMS chip-based traveling wave motor-driven rotating platform performs multi-angle step rotation or continuous rotation, driving the MEMS gyroscope assembly compartment and upper limit cover mounted on the platform to rotate, thus rotating the gyroscope's sensitive axis. The display module interface connects to an external display to show the north-finding status and results. The three-section shell structure comprises an upper shell, a middle shell, and a lower shell arranged sequentially from top to bottom, connected by several symmetrical columns for limiting installation. The MEMS chip-based traveling wave motor rotary platform includes a substrate, multiple traveling wave micromotor stator chips, multiple rotor gears, a rotary platform, and corresponding substrate bearings. The substrate bearings include a substrate rotary platform shaft and multiple substrate rotor gear shafts. The rotating platform is mounted on the substrate via a rotating platform shaft, and multiple rotor gears mesh with the rotating platform. Multiple traveling wave micromotor stator chips are arrayed and mounted on the substrate via multiple substrate rotor gear shafts. Each rotor gear comprises an annular friction layer and a gear layer sequentially bonded from bottom to top. Multiple rotor gears are respectively mounted on the traveling wave micromotor stator chips via multiple substrate rotor gear shafts. During operation, the traveling wave micromotor stator chips generate traveling waves that embed within the annular friction layer. This friction effect generates dynamic friction, driving the annular friction layer to rotate the gear layer, thereby enabling the rotor gears to drive the rotating platform. The traveling wave micromotor stator chips are electrically connected to drive and detection leads extending from the isolation plate slots. The multiple traveling wave micromotor stator chips are synchronously and individually controlled by a comprehensive control circuit board.

2. The chip-based north finder based on a traveling wave motor according to claim 1, characterized in that, The integrated control circuit board is located at the bottom of the north-finding instrument and is mounted on an isolation plate in the lower housing. A lower cover plate is installed on the lower part of the isolation plate to achieve circuit protection. The isolation plate and the lower housing are integrally manufactured.

3. The chip-based north finder based on a traveling wave motor according to claim 2, characterized in that, The integrated control circuit board is connected to the communication interface to realize data interaction, program burning and debugging. The communication interface is installed in a slot located in the lower shell.

4. The chip-based north finder based on a traveling wave motor according to claim 2, characterized in that, The integrated control circuit board uses a first-side lead slot on the three-section housing to connect the display module interface and power supply lines, a second-side lead slot on the three-section housing to connect the MEMS gyroscope control and power supply lines, a first isolation plate slot on the isolation plate to lead out the closed-loop drive control lines and various control power supply lines of the MEMS chip traveling wave motor type rotating platform, and a second isolation plate slot to lead out the MEMS gyroscope control and power supply lines and the display module interface lines.

5. The chip-based north finder based on a traveling wave motor according to claim 4, characterized in that, The first and second side lead slots are machined in the middle section of the outer shell, and the lead wires are led out by slotting inward at the upper section of the outer shell.

6. The chip-based north finder based on a traveling wave motor according to claim 1, characterized in that, The traveling wave micromotor stator chip has an embedded rotation detection mechanism for detecting the rotational state of the rotor gear.

7. The chip-based north finder based on a traveling wave motor according to claim 6, characterized in that, The rotation detection mechanism is mounted on the substrate and connects the substrate to the isolation plate, thus completing the limit fixation of the MEMS chip-based traveling wave motor-type rotary platform drive mechanism.

8. The chip-based north finder based on a traveling wave motor according to claim 4, characterized in that, The upper limit cover plate has two layers covered with slip rings, referred to as the upper slip ring and the lower slip ring, respectively, and there is an electrical connection between the two slip ring layers. The MEMS gyroscope assembly compartment is connected to the rotating platform via a lower boss and a single key. Simultaneously, the MEMS gyroscope assembly compartment's shaft hole is fixedly mounted to the rotating platform shaft of the substrate for overall assembly. This enables multiple rotor gears to mesh and drive the rotating platform to rotate the MEMS gyroscope assembly compartment. The MEMS gyroscope is fixedly mounted on the upper boss on the upper side of the MEMS gyroscope assembly compartment, ensuring that the sensitive axis is parallel to the horizontal plane. A short wire connects the MEMS gyroscope to the lower slip ring of the upper limit cover plate. The upper limit cover plate is fixed to the upper end of the MEMS gyroscope assembly compartment with screws. The upper slip ring is connected to the lead wire from the second side lead slot, enabling power supply and data transmission for the MEMS gyroscope.

9. The chip-based north finder based on a traveling wave motor according to claim 2, characterized in that, The upper surface of the upper limit cover plate is provided with a limiting hole, which is installed in conjunction with the upper shell limiting post provided on the upper shell.

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