A three-axis space laser gyroscope with a shaking wheel driving vibration

Abstract

The present invention provides a three-axis space laser gyroscope with a shaking wheel driving vibration, comprising an optical cavity, a driving mechanism and a balancing mechanism; the driving mechanism comprises a driving wheel, driving spokes and a piezoelectric ceramic sheet; the balancing mechanism comprises a balancing wheel, balancing spokes and a connecting seat; the driving outer wheel is provided with a sleeve, and the driving outer wheel, the sleeve and the balancing outer wheel are fixed as a whole. The overall structure of the present invention is relatively simple, the parts processing difficulty is small, and it is convenient to complete in an open space, the assembly is simple, and it is easier to achieve the ideal assembly accuracy. The single drive, the spoke staggered setting, the groove opening and the like have the functions of reducing the difficulty of controlling the vibration amplitude, improving the suppression effect of the cone pendulum motion, and improving the vibration efficiency, thereby improving the performance of the three-axis space laser gyroscope.

Description

Technical Field

[0001] The present invention relates to the technical field of laser gyroscopes, and in particular to a space three-axis laser gyroscope with a shaking wheel driving shake. Background Art

[0002] Laser gyro is a device that uses the optical path difference of laser beam to measure the angular displacement of an object. The locking effect of laser gyro has greatly restricted the use and development of laser gyro. Mechanical dithering frequency deviation has become the most widely used and the only frequency deviation scheme that is truly used in practice so far. Dithering frequency deviation is to add a mechanical dither to the laser gyro, so that the laser gyro cavity vibrates at a small angle around the sensitive axis, so that the laser gyro works outside the locking area.

[0003] During the jitter process, the trajectory of the jitter axis in space relative to the installation reference axis is an inverted cone around the jitter axis. This phenomenon is called the cone pendulum of the jitter laser gyroscope. The cone pendulum phenomenon during the operation of the jitter laser gyroscope makes the angle between the sensitive axis of the laser gyroscope and the inertial measurement reference axis a variable modulated by the jitter vibration. The control of the error between the jitter driving force axis and the center of mass of the laser gyroscope will directly affect the stability of the jitter axis, and easily cause the cone pendulum motion of the jitter axis, thereby increasing the performance error. Reasonable jitter structure design and jitter axis precision assembly control have become one of the key technologies that need to be solved for high-precision space three-axis laser gyroscopes.

[0004] The Chinese invention patent with announcement number CN106507912B discloses an embedded shaking mechanism of a laser gyroscope. The embedded shaking mechanism of the laser gyroscope is connected by a fastening connection of a straight column between the upper and lower shaking mechanisms, and the spokes of the upper and lower shaking mechanisms are all bonded with piezoelectric ceramics. With this type of shaking mechanism, the center hole of the laser resonant cavity can be processed very small (<20mm), and the shaking mechanism is almost embedded in the laser resonant cavity, which ensures the compactness of the laser gyroscope, reduces the height of the center of gravity of the laser gyroscope, improves its ability to resist vibration and impact, improves the verticality of the assembly center of the laser resonant cavity and the shaking mechanism after assembly, reduces the possibility of cone motion of the laser gyroscope, and ensures the feasibility of miniaturization of the laser gyroscope. At the same time, because the shaking spokes of the upper and lower shaking mechanisms are arranged in the upper and lower blind holes, their size remains large, so that there is sufficient spoke length and piezoelectric ceramic bonding area, which ensures the performance of the laser gyroscope.

[0005] For example, the U.S. patent application with publication number US005233406A discloses a shaking device installed on an embedded central column. The upper and lower shaking mechanisms are connected to the optical cavity by using an axis with a diameter smaller than the center hole size of the laser gyroscope optical cavity, thereby reducing the stress generated by the shaking mechanism on the laser gyroscope block.

[0006] However, the above scheme is based on the fact that the optical cavity of the laser gyroscope has a central mounting through hole, and adopts an embedded dual-jitter device. However, for a spatial three-axis laser optical cavity without a central mounting hole, this embedded jitter device cannot meet the use requirements. In addition, both of the above devices adopt a method of bonding piezoelectric ceramics on the upper and lower jitter mechanisms, and driving the upper and lower jitter mechanisms at the same time. When the laser gyroscope is working, the jitter mechanism is efficiently jittered at the resonant frequency through closed-loop jitter control, that is, the mechanical jitter of the laser gyroscope is required to have an ideal quality factor Q. This method of driving the dual jitter mechanisms at the same time increases the difficulty of controlling the synchronization of the jitter mechanism, especially the difficulty of controlling the amplitude increases sharply, and it is very easy to have a phenomenon of weak jitter or even no jitter at all, which greatly affects the accuracy of the laser gyroscope and even causes functional failure.

[0007] The prior art also discloses a device for fixing the optical block of a laser gyroscope on a shaking mechanism, which adopts an external shaking mechanism. The driving wheel fixes the optical cavity on the driving wheel of the shaking mechanism through an axis at the center hole of the laser gyroscope optical cavity. The driving wheel and the balance wheel are connected to the optical cavity through a connecting seat. The two connecting seats are bonded to the chamfered inclined surface of the optical cavity. Although it has a certain effect on suppressing the cone pendulum motion, when assembling this shaking device, it is necessary to ensure that the driving shaft, the cathode axis of the optical cavity and the balance axis are coaxial. At the same time, it is necessary to ensure that the end faces of the driving wheel and the balance wheel are perpendicular to the cathode axis of the optical cavity. For the inclined surface matching method, the assembly is difficult and it is difficult to achieve the ideal effect. Summary of the invention

[0008] The purpose of the present invention is to provide an improved solution to address the deficiencies in the above-mentioned background technology, thereby improving the jitter efficiency, reducing the error (and assembly difficulty), and further improving the performance of the space three-axis laser gyroscope.

[0009] In order to achieve the above-mentioned object, the present invention provides a three-axis space laser gyroscope with a shaking wheel driving shaking, comprising an optical cavity, a driving mechanism and a balancing mechanism;

[0010] The driving mechanism includes a driving wheel, driving spokes, and a piezoelectric ceramic sheet; the driving wheel includes a driving inner wheel and a driving outer wheel, and the two ends of the driving spokes are fixedly connected to the driving inner wheel and the driving outer wheel respectively; the piezoelectric ceramic sheet is arranged on both sides of each driving spoke; the driving inner wheel is connected to the optical cavity;

[0011] The balancing mechanism comprises a balancing wheel, balancing spokes and a connecting seat; the balancing wheel comprises a balancing inner wheel and a balancing outer wheel, and two ends of the balancing spokes are fixedly connected to the balancing inner wheel and the balancing outer wheel respectively; the balancing inner wheel is connected to the optical cavity through the connecting seat;

[0012] The driving outer wheel is provided with a sleeve, the balancing outer wheel is fixed on the top of the sleeve, and the driving outer wheel, the sleeve and the balancing outer wheel are fixed as a whole.

[0013] Further, the inner driving wheel has a first mounting end surface, a mounting boss is arranged on the first mounting end surface, the mounting boss is located at the central axis position of the driving wheel, the first mounting end surface is bonded and fixed to the lower surface of the optical cavity, the lower surface of the optical cavity also has a positioning hole, the mounting boss matches the positioning hole;

[0014] The first mounting end surface cooperates with the positioning hole to ensure that the central axis of the optical cavity is coaxial with the central axis of the driving wheel; the verticality of the positioning hole of the optical cavity and the lower surface and the verticality of the central axis of the driving wheel and the first mounting end surface are ensured through processing to ensure that the central axis of the optical cavity is perpendicular to the first mounting end surface.

[0015] Furthermore, a ring platform is provided on the top of the sleeve, and the ring platform matches the balancing outer wheel. The ring platform and the balancing outer wheel are provided with corresponding screw holes, and the balancing outer wheel is fixedly connected to the sleeve by screws; the first mounting end surface is parallel to the ring platform, and the central axis of the driving wheel is coaxial with the central axis of the ring platform.

[0016] Furthermore, the top and bottom of the sleeve are connected via a connecting column so that the side of the sleeve is an open structure.

[0017] Furthermore, the connection seat is provided with a plurality of bevel gaskets, and the bevel gaskets are bonded and fixed to the chamfered inclined surface on the upper part of the optical cavity. The balancing inner wheel and the connection seat are provided with corresponding screw holes, and are fixedly connected by screws.

[0018] Furthermore, an elastic groove is provided between the bevel gasket and the connecting seat, and the elastic groove can deform the bevel gasket relative to the connecting seat through the elastic deformation of the material itself.

[0019] Furthermore, the driving wheel, the balancing wheel and the connecting seat are all made of a material having an expansion coefficient matching that of the optical cavity.

[0020] Furthermore, the driving spokes are arranged in multiple groups and are annularly symmetrically distributed relative to the central axis of the driving wheel, each group of driving spokes is arranged in multiple groups and the driving spokes in the same group are spaced at equal intervals;

[0021] The balance spokes are arranged in multiple groups and are annularly symmetrically distributed relative to the central axis of the balance wheel. Each group of balance spokes is arranged in multiple groups and the balance spokes in the same group are spaced at equal intervals.

[0022] The driving wheel and the balancing wheel have a phase difference when they are assembled, so that the driving spokes and the balancing spokes are staggered in distribution.

[0023] Furthermore, grooves are provided at deformation sensitive positions of the balancing spokes, and the grooves are distributed on both sides of the balancing spokes to reduce the radial stiffness of the balancing spokes and maintain the axial stiffness of the balancing spokes.

[0024] The above scheme of the present invention has the following beneficial effects:

[0025] The three-axis laser gyro with a shaking wheel driving the shaking provided by the present invention has a relatively simple overall structure, is easy to process parts, is convenient to complete in an open space, is easy to assemble, and can easily achieve an ideal assembly accuracy;

[0026] The present invention ensures the assembly accuracy of the optical cavity by arranging the first mounting end surface of the inner driving wheel, the connecting seat, etc., and prevents the optical cavity from being broken due to thermal expansion and contraction of the material when the working temperature of the laser gyroscope changes greatly by arranging the elastic groove and specially selecting the materials of the driving wheel, the connecting seat, etc., thereby further improving the reliability of the laser gyroscope.

[0027] The present invention achieves a certain frequency difference in the first-order resonance frequency of the driving wheel and the balancing wheel rotating around the central axis by staggering the balancing spokes and providing grooves on the balancing spokes, thereby avoiding resonance of the driving wheel and the balancing wheel when they are working, and reducing the radial stiffness of the balancing spokes, thereby reducing the jitter power consumption, improving the jitter efficiency, and further improving the quality factor of the mechanical jitter of the laser gyroscope.

[0028] Other beneficial effects of the present invention will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is an exploded schematic diagram of the overall structure of the present invention;

[0030] Figure 2 Another exploded schematic diagram of the overall structure of the present invention;

[0031] Figure 3 It is an assembly cross-sectional view of the driving inner wheel, the optical cavity and the connecting seat of the present invention.

[0032] [Description of Reference Numerals]

[0033] 1-optical cavity; 101-positioning hole; 102-functional spherical component; 103-chamfered inclined surface; 2-driving wheel; 201-driving inner wheel; 202-driving outer wheel; 203-first mounting end face; 204-mounting boss; 3-driving spoke; 4-piezoelectric ceramic sheet; 5-balancing wheel; 501-balancing inner wheel; 502-balancing outer wheel; 6-balancing spoke; 7-connecting seat; 701-angled gasket; 702-elastic groove; 8-sleeve; 801-ring platform; 802-connecting column; 9-groove. DETAILED DESCRIPTION

[0034] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will be described in detail with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0035] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0036] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a locking connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] like Figure 1-Figure 3 As shown, an embodiment of the present invention provides a space three-axis laser gyroscope with a shaking wheel driving shaking, including a driving mechanism and a balancing mechanism connected to the optical cavity 1 of the space three-axis laser gyroscope.

[0038] In this embodiment, the driving mechanism includes a driving wheel 2, a driving spoke 3, and a piezoelectric ceramic sheet 4. The driving spoke 3 is used to connect the driving inner wheel 201 and the driving outer wheel 202 of the driving wheel 2, that is, the two ends of the driving spoke 3 are fixedly connected to the driving inner wheel 201 and the driving outer wheel 202 respectively. The piezoelectric ceramic sheet 4 is arranged on both sides of each driving spoke 3, and a piezoelectric ceramic sheet 4 is bonded to each of them by epoxy resin glue. For the driving mechanism, any piezoelectric ceramic sheet 4 is taken as the detection of the mechanical jitter signal for jitter control, and the remaining piezoelectric ceramic sheets 4 are driven by applying a periodic voltage signal (when the voltage acts on the piezoelectric ceramic sheet 4, the piezoelectric ceramic sheet 4 will produce mechanical deformation with the change of voltage and frequency), so that the laser gyroscope reciprocates at the resonant frequency. As a preferred embodiment, in this embodiment, three groups of driving spokes 3 are arranged and are annularly symmetrically distributed relative to the central axis (i.e., the driving axis) of the driving wheel 2. Meanwhile, three driving spokes 3 are arranged in each group and the driving spokes 3 in the same group are equally spaced, so as to generate stable and controllable shaking through the piezoelectric ceramic sheet 4 .

[0039] The inner driving wheel 201 is connected to the optical cavity 1 , and the outer driving wheel 202 is fixed. Therefore, when the piezoelectric ceramic piece 4 is energized, the inner driving wheel 201 will vibrate (rotate) relative to the outer driving wheel 202 , thereby driving the optical cavity 1 to vibrate periodically.

[0040] In this embodiment, the balancing mechanism includes a balancing wheel 5, a balancing spoke 6 and a connecting seat 7. The balancing spoke 6 is used to connect the balancing inner wheel 501 and the balancing outer wheel 502 of the balancing wheel 5, that is, the two ends of the balancing spoke 6 are fixedly connected to the balancing inner wheel 501 and the balancing outer wheel 502 respectively. Among them, the balancing inner wheel 501 is connected to the optical cavity 1 through the connecting seat 7, and the balancing outer wheel 502 is connected to the driving outer wheel 202 to form an integral structure. In addition, the piezoelectric ceramic sheet 4 is not provided on the balancing spoke 6, which is only used to connect the balancing inner wheel 501 with the balancing outer wheel 502. Therefore, the whole device still adopts a single shaking drive mode, which can better avoid the problems mentioned in the background technology. As a preferred embodiment, in this embodiment, the balancing spoke 6 is also provided in three groups and is annularly symmetrically distributed relative to the central axis (i.e., the balancing axis) of the balancing wheel 5. At the same time, each group of balancing spokes 6 is provided with three balancing spokes and the spacing between the balancing spokes 6 in the same group is equal, so that the balancing wheel 5 can maintain balance and stable support.

[0041] As described above, the present embodiment adopts a single drive scheme of lower drive and upper balance. The driving inner wheel 201 and the balancing inner wheel 501 are directly connected to the optical cavity 1 or through the connecting seat 7. The driving outer wheel 202 and the balancing outer wheel 502 are integrally connected and fixed. Therefore, the driving inner wheel 201, the balancing inner wheel 501, the connecting seat 7, and the optical cavity 1 as a whole can be regarded as a free end, the inner ends of the driving spokes 3 and the balancing spokes 6 are also regarded as free ends, and the outer ends are fixed ends. This setting of one end fixed and the other end free ensures the transmission of the mechanical jitter energy of the laser gyroscope.

[0042] In this embodiment, the driving outer wheel 202 is also provided with a sleeve 8 (integrated structure), and the balancing outer wheel 502 is fixed on the top of the sleeve 8, so that the driving outer wheel 202, the sleeve 8, and the balancing outer wheel 502 form an integral fixed structure. As a preferred embodiment, a ring platform 801 is also provided on the top of the sleeve 8, which matches the size of the balancing outer wheel 502, and the ring platform 801 and the balancing outer wheel 502 are provided with corresponding screw holes, and the balancing outer wheel 502 is fixedly connected to the sleeve 8 by screws. Therefore, during installation, the balancing outer wheel 502 can be positioned by the ring platform 801, so that the coaxiality between the balancing outer wheel 502 and the driving outer wheel 202 is guaranteed (the central axis coincides), and the height difference between the balancing outer wheel 502 and the driving outer wheel 202 can be controlled.

[0043] It is worth mentioning that the sleeve 8 in this embodiment adopts a relatively open structure, that is, the top and bottom of the sleeve 8 are connected by a small number of connecting columns 802, three of which are shown in the figure, so that the optical cavity 1, the connecting seat 7, the balance wheel 5, etc. can be easily assembled, thereby better ensuring the assembly accuracy of the laser gyroscope.

[0044] In this embodiment, the driving inner wheel 201 has a first mounting end surface 203, and a mounting boss 204 is provided on the first mounting end surface 203. The mounting boss 204 is located at the central axis position of the driving wheel 2 (itself is also symmetrical with respect to the central axis). The first mounting end surface 203 is in contact with the lower surface of the optical cavity 1 and is fixed by epoxy resin adhesive. The mounting boss 204 is aligned with the positioning hole 101 on the lower surface of the optical cavity 1 to ensure that the driving inner wheel 201 and the optical cavity 1 are installed in place.

[0045] Specifically, the first mounting end face 203 of the driving inner wheel 201 cooperates with the positioning hole 101 of the optical cavity 1 to ensure that the central axis of the optical cavity 1 is coaxial with the central axis of the driving wheel 2; by ensuring the verticality of the positioning hole 101 of the optical cavity 1 and the lower surface and the verticality of the central axis of the driving wheel 2 and the first mounting end face 203 during processing, the first mounting end face 203 and the bonding area A of the lower surface of the optical cavity 1 are in good contact and flat, ensuring that the central axis of the optical cavity 1 is perpendicular to the first mounting end face 203. In addition, the first mounting end face 203 is parallel to the ring stage 801 of the sleeve 8, and the central axis of the driving wheel 2 is coaxial with the central axis of the ring stage 801, so as to ensure the coaxiality between the balancing outer wheel 502, the driving outer wheel 202, and the optical cavity 1. Therefore, the spatial three-axis laser gyroscope meets the installation accuracy requirements through the above method, so that the performance can meet the requirements.

[0046] As for the upper surface of the optical cavity 1, it is difficult to locate it by a horizontal plane, a positioning groove, etc., because it has a protruding functional spherical component 102. Based on this, in this embodiment, a plurality of beveled gaskets 701 are evenly arranged at the bottom of the connecting seat 7. Considering the shape of the optical cavity 1 of the spatial three-axis laser gyroscope, a total of three beveled gaskets 701 are provided. At the same time, an elastic groove 702 is provided between the beveled gasket 701 and the connecting seat 7. The elastic groove 702 adopts the elastic deformation of the material itself, so that the beveled gasket 701 can produce a certain deformation relative to the connecting seat 7.

[0047] The inner balance wheel 501 and the connection seat 7 are provided with corresponding screw holes and connected by screws. Meanwhile, the angled gasket 701 is bonded to the chamfered surface 103 on the upper part of the optical cavity 1 by epoxy resin glue. The bonding area B has good contact during assembly.

[0048] It should be noted that the purpose of setting the elastic groove 702 is that the laser gyro has a wide operating temperature range (-40 degrees to +70 degrees), and the glass material of the optical cavity 1 is brittle and hard, and is prone to cracking and squeezing. Therefore, in this embodiment, a variety of measures are taken to prevent the optical cavity 1 from breaking due to thermal expansion and contraction of the material when the temperature changes greatly. One is that the elastic groove 702 is set between the aforementioned connecting seat 7 and the bevel gasket 701. The elastic groove 702 has zero compression during normal temperature assembly. When the optical cavity 1 is deformed, the elastic groove 702 can make it have a deformation margin, and will not be damaged by cracking or squeezing. In addition, when the driving mechanism at the bottom of the optical cavity 1 is deformed, the elastic groove 702 can also achieve the purpose of elastic buffering.

[0049] Secondly, the drive wheel 2, the balance wheel 5 and the connection seat 7 are all made of materials with expansion coefficients close to that of the optical cavity 1, preferably super indium var alloy. When the temperature changes greatly during the operation of the laser gyroscope, the drive wheel 2, the balance wheel 5, the connection seat 7 and the optical cavity 1 will have similar thermal expansion and contraction, so the optical cavity 1 can be prevented from being cracked or squeezed to a certain extent.

[0050] As a further improvement, in this embodiment, the balance spokes 6 and the driving spokes 3 are staggered, that is, during installation, the balance wheel 5 and the driving wheel 2 are installed with a 60-degree phase difference relative to the central axis. For example, the center of each of the three groups of driving spokes 3 (that is, the position of the driving spoke 3 in the middle of each group) is located at a phase position of 0 degrees, 120 degrees, and 240 degrees, and the center of each of the three groups of balance spokes 6 (that is, the position of the balance spoke 6 in the middle of each group) is located at a phase position of 60 degrees, 180 degrees, and 300 degrees. The staggered installation method makes the first-order resonant frequency of the driving wheel 2 and the balance wheel 5 rotating around the central axis have a certain frequency difference, so as to avoid the resonance of the driving wheel 2 and the balance wheel 5 when working, which will cause the performance of the laser gyroscope to decrease.

[0051] As a further improvement, in the present embodiment, a groove 9 of suitable width is processed at the deformation sensitive position of the balance spoke 6, and processing is performed on both sides of the balance spoke 6 to reduce the radial stiffness of the balance spoke 6, thereby reducing the jitter power consumption, improving the jitter efficiency, and improving the quality factor Q of the mechanical jitter of the laser gyroscope, while ensuring that the axial stiffness of the balance wheel 5 meets the requirements and reducing the cone pendulum motion under the drive of the driving mechanism.

[0052] It should be noted that the position and width of the groove 9 can be set and adjusted through simulation and actual testing so that the quality factor Q meets the requirements and the cone pendulum motion is not obvious.

[0053] In summary, the external dual-shake wheel single-drive shaking device provided in this embodiment is suitable for installation on a spatial three-axis laser gyroscope. The overall structure is relatively simple, the parts processing difficulty is small, and the assembly is simple. It is easy to achieve the ideal assembly accuracy and is convenient to complete in an open space. Therefore, it can ensure the performance of the laser gyroscope and improve the suppression effect of the cone pendulum motion.

[0054] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0055] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A three-axis laser gyroscope with a shaking wheel driving vibration, characterized in that: It includes an optical cavity, a driving mechanism and a balancing mechanism; The driving mechanism includes a driving wheel, driving spokes, and a piezoelectric ceramic sheet; the driving wheel includes a driving inner wheel and a driving outer wheel, and the two ends of the driving spokes are fixedly connected to the driving inner wheel and the driving outer wheel respectively; the piezoelectric ceramic sheet is arranged on both sides of each driving spoke; the driving inner wheel is connected to the optical cavity; The balancing mechanism comprises a balancing wheel, balancing spokes and a connecting seat; the balancing wheel comprises a balancing inner wheel and a balancing outer wheel, and two ends of the balancing spokes are fixedly connected to the balancing inner wheel and the balancing outer wheel respectively; the balancing inner wheel is connected to the optical cavity through the connecting seat; The driving outer wheel is provided with a sleeve, the balancing outer wheel is fixed on the top of the sleeve, and the driving outer wheel, the sleeve and the balancing outer wheel are fixed as a whole; The driving spokes are arranged in multiple groups and are annularly symmetrically distributed relative to the central axis of the driving wheel, each group of driving spokes is arranged in multiple groups and the driving spokes in the same group are spaced at equal intervals; The balance spokes are arranged in multiple groups and are annularly symmetrically distributed relative to the central axis of the balance wheel. Each group of balance spokes is arranged in multiple groups and the balance spokes in the same group are spaced at equal intervals. The driving wheel and the balancing wheel have a phase difference when they are assembled, so that the driving spokes and the balancing spokes are staggered in distribution.

2. The three-axis spatial laser gyro with a shaking wheel driving vibration according to claim 1, characterized in that: The inner driving wheel has a first mounting end surface, a mounting boss is arranged on the first mounting end surface, the mounting boss is located at the central axis position of the driving wheel, the first mounting end surface is bonded and fixed to the lower surface of the optical cavity, the lower surface of the optical cavity also has a positioning hole, the mounting boss matches the positioning hole; The first mounting end surface cooperates with the positioning hole to ensure that the central axis of the optical cavity is coaxial with the central axis of the driving wheel; the verticality of the positioning hole of the optical cavity and the lower surface and the verticality of the central axis of the driving wheel and the first mounting end surface are ensured through processing to ensure that the central axis of the optical cavity is perpendicular to the first mounting end surface.

3. The three-axis spatial laser gyro with a shaking wheel driving vibration according to claim 2, characterized in that: A ring platform is provided on the top of the sleeve, and the ring platform matches the balancing outer wheel. The ring platform and the balancing outer wheel are provided with corresponding screw holes, and the balancing outer wheel is fixedly connected to the sleeve by screws; the first mounting end surface is parallel to the ring platform, and the central axis of the driving wheel is coaxial with the central axis of the ring platform.

4. The three-axis spatial laser gyro with a shaking wheel driving shake according to any one of claims 1 to 3, characterized in that: The top and bottom of the sleeve are connected through a connecting column so that the side of the sleeve is an open structure.

5. The three-axis spatial laser gyro with a shaking wheel driving vibration according to claim 1, characterized in that: The connection seat is provided with a plurality of bevel gaskets, and the bevel gaskets are bonded and fixed to the chamfered inclined surface on the upper part of the optical cavity. The balancing inner wheel and the connection seat are provided with corresponding screw holes, and are fixedly connected by screws.

6. The three-axis spatial laser gyro with a shaking wheel driving vibration according to claim 5, characterized in that: An elastic groove is provided between the bevel gasket and the connecting seat, and the elastic groove can deform the bevel gasket relative to the connecting seat through the elastic deformation of the material itself.

7. The three-axis spatial laser gyro with a shaking wheel driving vibration according to claim 6, characterized in that: The driving wheel, the balancing wheel and the connecting seat are all made of materials whose expansion coefficient matches that of the optical cavity.

8. The three-axis spatial laser gyro with a shaking wheel driving vibration according to claim 1, characterized in that: A groove is provided at a deformation sensitive position of the balancing spoke, and the groove is distributed on both sides of the balancing spoke to reduce the radial stiffness of the balancing spoke and maintain the axial stiffness of the balancing spoke.

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