Miniaturized three-axis gyroscope

Abstract

The invention provides a miniaturized three-axis gyroscope, which belongs to the technical field of inertial navigation and comprises a shell, a circuit unit and a shell cover, the circuit unit is located in an inner cavity of the shell, and the shell cover is connected with the open end of the shell and used for sealing the inner cavity of the shell. The circuit unit comprises a horizontal circuit substrate and two side substrates, and a Z-axis gyroscope is arranged on the upper end face of the horizontal circuit substrate; the two side base plates are longitudinally arranged and are perpendicular to each other, and the transverse gyroscopes are mounted on the side surfaces of the two side base plates and are oppositely arranged; an included angle is formed between the longitudinal projection of the side substrate and the longitudinal projection of the horizontal circuit substrate, and the side substrate is connected with the horizontal circuit substrate through a flexible plate. According to the miniaturized three-axis gyroscope provided by the invention, the three gyroscopes form a non-orthogonal single-axis gyroscope layout by virtue of the horizontal circuit substrate and the two side substrates, so that the use efficiency of the space in the shell is improved, the overall size of the product is reduced, and the miniaturization of the product is further realized.

Description

Technical Field

[0001] The invention belongs to the technical field of inertial navigation, and more specifically, relates to a miniaturized three-axis gyroscope. Background Art

[0002] A three-axis gyroscope is a device that measures the three-axis angular velocity of an object. It senses the angular velocity in three-dimensional space and calculates the three-dimensional angle of the object, thereby enabling precise navigation and control in various electronic systems. It is an indispensable sensor device in the field of inertial navigation.

[0003] The application scenarios of three-axis gyroscopes are very wide. They can be used in devices that need to control motion and calculate motion information, such as cars, airplanes, missiles, etc. With the continuous advancement of technology and the continuous expansion of application fields, market demand has put forward higher and higher requirements on the size of three-axis gyroscopes, which makes the three-axis gyroscope sensors more and more miniaturized to provide more flexibility in practical applications.

[0004] At present, the existing typical three-axis quartz micro-mechanical gyroscope needs to be connected to the data acquisition and processing circuit board with wires. The welding of multiple wires is time-consuming, which is not conducive to mass production of products and has low production efficiency. The assembly of a typical three-axis quartz micro-mechanical gyroscope requires two assemblies, one for the assembly of a single-axis quartz micro-mechanical gyroscope and the other for the assembly of three single-axis quartz micro-mechanical gyroscopes onto the substrate of the three-axis quartz micro-mechanical gyroscope; in this way, the cumulative installation error becomes larger, and even if the installation error compensation is performed, it is difficult to significantly improve the accuracy. Summary of the invention

[0005] The purpose of the present invention is to provide a miniaturized three-axis gyroscope, aiming to solve the problems of large volume and complex assembly of the three-axis gyroscope.

[0006] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: to provide a miniaturized three-axis gyroscope, including a shell, a circuit unit and a shell cover; the circuit unit is located in the inner cavity of the shell, and the shell cover is connected to the open end of the shell to close the inner cavity of the shell; the circuit unit includes a horizontal circuit substrate and two side substrates, the upper end surface of the horizontal circuit substrate has a Z-axis gyroscope, the two side substrates are arranged longitudinally, the two side substrates are perpendicular to each other, and the sides of the two side substrates are installed with transverse gyroscopes, and the two transverse gyroscopes are arranged opposite to each other; the longitudinal projection of the side substrate has an angle with the longitudinal projection of the horizontal circuit substrate, and the side substrate is connected to the horizontal circuit substrate through a flexible board.

[0007] As another embodiment of the present application, the shell has three positioning parts, the three positioning parts include a first positioning part located in the middle of the front end of the shell and two second positioning parts located at the rear end of the shell, and the two positioning parts are spaced apart along the width direction of the shell; the inner cavity of the shell is located between the three positioning parts, and the two side substrates are located on both sides of the first positioning part.

[0008] As another embodiment of the present application, the first positioning portion includes a first positioning area and a supporting structure, the upper end surface of the first positioning area is flush with the upper end surface of the shell, the supporting structure is arranged around the outside of the first positioning area, the height of the supporting structure is lower than the height of the first positioning area, the upper end surface of the supporting structure forms a limiting step for supporting the shell cover on the outside of the first positioning area, the side of the supporting structure forms two mounting surfaces in the inner cavity of the shell, and the two side substrates are fitted with the two mounting surfaces one by one.

[0009] As another embodiment of the present application, a recessed groove is provided in the middle of the mounting surface, and the recessed groove is used to adapt to the lateral gyroscope installed on the side substrate.

[0010] As another embodiment of the present application, the two mounting surfaces are spaced apart from each other, and a supporting surface is provided between the two mounting surfaces, and the supporting surface is in contact with a main board of the flexible board.

[0011] As another embodiment of the present application, the supporting surface has a groove, the main board of the flexible board is attached to the bottom of the groove, and both sides of the main board have flexible connecting parts, which extend out of the groove and are connected to the side substrate on the same side.

[0012] As another embodiment of the present application, the lower end of the main board has a flexible extension portion, and the flexible extension portion is used to connect to the horizontal circuit substrate.

[0013] As another embodiment of the present application, the middle part of the front end of the horizontal circuit substrate has a clearance gap, and the clearance gap includes a first clearance groove and a second clearance groove, and the two ends of the first clearance groove in the length direction extend to the middle part of the two side substrates respectively, and the first clearance groove is used to accommodate the side substrates; the second clearance groove is connected to the middle part of the bottom of the first clearance groove, and the second clearance groove is used to accommodate the flexible extension part.

[0014] The beneficial effect of the miniaturized three-axis gyroscope provided by the present invention is that compared with the prior art, in the miniaturized three-axis gyroscope of the present invention, three gyroscopes form a non-orthogonal single-axis gyroscope layout with the help of a horizontal circuit substrate and two side substrates, thereby improving the utilization efficiency of the space inside the shell, reducing the overall size of the product, and further realizing the miniaturization of the product. In addition, the side substrate and the horizontal circuit substrate are connected by a flexible board, and through a rigid-flexible circuit board, it is easier to match the space design inside the product shell, while also reducing the difficulty of the assembly process, improving the efficiency of assembly, and making the connection between the rigid boards more stable and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 A schematic structural diagram of a miniaturized three-axis gyroscope provided by an embodiment of the present invention; Figure 2 A schematic diagram of the structure of a circuit unit provided by an embodiment of the present invention; Figure 3 A schematic diagram of installing a circuit unit in a housing according to an embodiment of the present invention.

[0017] In the figure: 1. shell; 2. shell cover; 3. through hole; 4. first positioning part; 5. wiring hole; 6. horizontal circuit substrate; 7. Z-axis gyroscope; 8. side substrate; 9. lateral gyroscope; 10. main board; 11. flexible extension part; 12. flexible connection part; 13. support structure; 14. sink. DETAILED DESCRIPTION

[0018] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0019] See also Figures 1 to 3Now, the miniaturized three-axis gyroscope provided by the present invention is described. The miniaturized three-axis gyroscope comprises a housing 1, a circuit unit and a housing cover 2; the circuit unit is located in the inner cavity of the housing 1, and the housing cover 2 is connected to the open end of the housing 1 to close the inner cavity of the housing 1; the circuit unit comprises a horizontal circuit substrate 6 and two side substrates 8, and the upper end surface of the horizontal circuit substrate 6 has a Z-axis gyroscope 7; the two side substrates 8 are arranged longitudinally, the two side substrates 8 are perpendicular to each other, and the sides of the two side substrates 8 are installed with transverse gyroscopes 9, and the two transverse gyroscopes 9 are arranged oppositely; the longitudinal projection of the side substrate 8 and the longitudinal projection of the horizontal circuit substrate 6 have an angle, and the side substrate 8 and the horizontal circuit substrate 6 are connected by a flexible board.

[0020] Compared with the prior art, the miniaturized three-axis gyroscope provided by the present invention has a shell 1 and a shell cover 2 connected to form a hollow device shell, and a circuit unit is installed in the inner cavity of the device shell. The circuit unit is divided into three parts. A horizontal circuit substrate 6 is used to install a Z-axis gyroscope 7, and two side substrates 8 are used to install a lateral gyroscope 9. The side substrates 8 are installed perpendicular to the horizontal direction and set at an angle. The three gyroscopes form a non-orthogonal single-axis gyroscope layout with the help of the horizontal circuit substrate 6 and the two side substrates 8, which improves the utilization efficiency of the space in the shell 1, reduces the overall size of the product, and further realizes the miniaturization of the product. In addition, the side substrate 8 and the horizontal circuit substrate 6 are connected by a flexible board. Through the rigid-flexible circuit board, it is easier to match the space design inside the product shell 1, while reducing the difficulty of the assembly process, improving the efficiency of assembly, and making the connection between the rigid boards more stable and reliable.

[0021] Optionally, the side substrate 8 is arranged longitudinally, and the bottom surface of the side substrate 8 is attached to the bottom of the inner cavity of the housing 1. The two side substrates 8 are perpendicular to each other, and the two transverse gyroscopes 9 are arranged opposite to each other. The two side substrates 8 are arranged symmetrically, and the angle between the two side substrates 8 is 90°. The transverse gyroscopes 9 are installed on the opposite sides of the side substrates 8 to sense the angular velocity on the plane where the two side substrates 8 are located, and then the angular velocity in the X and Y axis directions is calculated according to the inclination angle of the side substrates 8.

[0022] The angle between the side substrate 8 and the front end surface of the horizontal circuit substrate 6 is 45°. The transverse gyroscopes 9 on the two side substrates 8 are used to sense the angular velocity in the X and Y directions, and the Z-axis gyroscope 7 installed on the upper end of the horizontal circuit substrate 6 is used to sense the angular velocity in the Z-axis direction.

[0023] The space utilization can be increased by arranging the side substrate 8 at 45 degrees. Compared with the traditional orthogonal arrangement, the 45-degree non-orthogonal arrangement can reduce the length and width of the housing 1 by 0.3 times, which is conducive to the miniaturization of the gyroscope. The overall structural design size of the three-axis gyroscope is reduced to 23×25×10mm, which has a great advantage in miniaturization compared to similar products.

[0024] At this time, the angular velocity outputs of the three axes of X, Y, and Z are:

[0025]

[0026]

[0027] Since the horizontal circuit substrate 6 and the two side substrates 8 are rigid plates, and the three rigid plates are fixed to the housing 1 by gluing, the installation accuracy of the circuit unit is affected by the manufacturing accuracy of the housing 1. After the assembly is completed, the output of the gyroscope is corrected by full-temperature calibration of the three-axis gyroscope, which can basically eliminate the influence caused by the assembly error. At the same time, full-temperature calibration can also reduce the influence of ambient temperature changes on the gyroscope output.

[0028] In some possible embodiments, see Figure 1 and Figure 3 The shell 1 has three positioning parts, including a first positioning part 4 located in the middle of the front end of the shell 1 and two second positioning parts located at the rear end of the shell 1, and the two positioning parts are arranged at intervals along the width direction of the shell 1; the inner cavity of the shell 1 is located between the three positioning parts, and the two side substrates 8 are located on both sides of the first positioning part 4.

[0029] The positioning parts are arranged longitudinally, and each positioning part is provided with a longitudinal through hole 3, and the through hole 3 is used to install and fix the three-axis gyroscope. The positioning parts run through the entire shell 1 structure, and the inner cavity of the shell 1 structure avoids the three positioning parts, and the shell cover 2 only cooperates with the inner cavity of the shell 1 structure to avoid the three positioning parts.

[0030] The three positioning portions are distributed in a triangular shape, one of which is located at the center of the front end of the housing 1 , and the other two are located at two corners of the rear end of the housing 1 . The connecting line of the three positioning portions forms an isosceles triangle.

[0031] The inner cavity of the shell 1 is located at the portion of the shell 1 between the three positioning parts. To save installation space during installation, the front end of the inner cavity of the shell 1 extends to both sides of the first positioning part 4. Correspondingly, the two side substrates 8 are installed in the inner cavity on both sides of the first positioning part 4.

[0032] Specifically, Figure 3As shown, the first positioning portion 4 includes a first positioning area and a supporting structure 13. The upper end surface of the first positioning area is flush with the upper end surface of the shell 1. The supporting structure 13 is arranged on the outside of the first positioning area. The height of the supporting structure 13 is lower than the height of the first positioning area. The upper end surface of the supporting structure 13 forms a limiting step for supporting the shell cover 2 on the outside of the first positioning area. The side of the supporting structure 13 forms two mounting surfaces in the inner cavity of the shell 1, and the two side substrates 8 are fitted with the two mounting surfaces one by one.

[0033] The first positioning portion 4 includes a first positioning area, and the through hole 3 is opened in the first positioning area. The support structure 13 formed by the circumferential axial direction of the first positioning area ensures the connection wall thickness of the through hole 3 and the connection strength of the shell 1. The upper end of the support structure 13 extends to the lower end of the first positioning area, and the upper end surface of the support structure 13 forms a limiting step, which is connected to the limiting step formed on the upper part of the inner cavity of the shell 1 in other areas to form a limiting ring around the inner cavity. The shell cover 2 is overlapped on the limiting ring and is laser welded and sealed with the shell 1.

[0034] The support structure 13 forms longitudinal mounting surfaces on both sides of the first positioning area, and the mounting surfaces are arranged at an angle with the X-axis direction. The mounting surfaces are used to position the side substrate 8 to ensure the mounting stability of the side substrate 8.

[0035] Specifically, a recessed groove 14 is provided in the middle of the mounting surface, and the recessed groove 14 is used to adapt to the transverse gyroscope 9 installed on the side substrate 8. The thickness of the support structure 13 is greater than the thickness of the limiting steps at other positions. A recessed groove 14 is provided in the middle of the support structure 13, the notch of the recessed groove 14 faces the side substrate 8, and the upper end of the recessed groove 14 extends to the upper end surface of the support structure 13.

[0036] During installation, the side substrate 8 is glued to the circumferential mounting surface of the sink 14, and the transverse gyroscope 9 on the side substrate 8 is embedded in the sink 14. The installation stability of the transverse gyroscope 9 and the side substrate 8 is ensured, and the installation space is saved.

[0037] In some possible embodiments, see Figure 3 The two mounting surfaces are spaced apart, and there is a supporting surface between the two mounting surfaces, and the supporting surface is in contact with the main board 10 of the flexible board.

[0038] The two mounting surfaces are spaced apart, and the length of the mounting surface matches the length of the side substrate 8, and a support surface along the X-axis direction is formed between the two mounting surfaces, and the support surface is parallel to the rear end surface of the housing 1. The support surface is used to fix and install the main board 10 of the flexible board.

[0039] The main board 10 of the flexible board is used to support and connect the two side substrates 8 and connect the two side substrates 8 to the horizontal circuit substrate 6 .

[0040] In order to improve the connection strength and save installation space, the support surface has a groove, and the main board 10 of the flexible board fits the bottom of the groove. Both sides of the main board 10 have flexible connecting parts 12, which extend out of the groove and are connected to the side substrate 8 on the same side.

[0041] The support surface has an inwardly recessed groove, in which the main board 10 of the flexible board fits, and the flexible connecting parts 12 on both sides extend around the edge of the groove to one side of the mounting surface and are connected to the side substrate 8 fitted on the mounting surface.

[0042] The lower end of the main board 10 of the flexible board has a flexible extension part 11, which is used to connect the horizontal circuit substrate 6. The flexible extension part 11 can be extended by bending downward to save installation space. The width of the flexible extension part 11 is equal to the width of the main board 10.

[0043] The circuit unit of the three-axis gyroscope adopts a rigid-flexible combination board, which not only expands the installation layout of the entire circuit board from a flat installation to a three-dimensional installation, but also optimizes the use of space through the bending and folding of the lines; at the same time, the wiring part between the rigid boards adopts a flexible board, which eliminates the need to use multiple wires to connect the three circuit boards during assembly, reduces the difficulty of the assembly process, and improves the assembly efficiency. In addition, compared with wire connection, the use of flexible boards to connect the circuit boards also improves reliability and stability.

[0044] The flexible board is bonded to the side of the shell 1 by adhesive, so that the entire surface can be bonded to the shell 1; if the electrical connection between the rigid boards is achieved by using wires, the wires are fixed to the shell 1 by line contact, which is not as stable and reliable as the flexible board with surface contact. This is another advantage of using a rigid-flexible board, which can reliably fix the entire circuit unit on the shell 1 and enhance the reliability of the product.

[0045] In some possible embodiments, see Figure 2 and Figure 3 The middle part of the front end of the horizontal circuit substrate 6 has a clearance gap, which includes a first clearance groove and a second clearance groove. The two ends of the first clearance groove in the length direction extend to the middle parts of the two side substrates 8 respectively, and the first clearance groove is used to accommodate the side substrates 8; the second clearance groove is connected to the middle part of the bottom of the first clearance groove, and the second clearance groove is used to accommodate the flexible extension part 11.

[0046] In order to reduce the installation space of the side substrate 8 and the flexible board, a clearance structure is made at the front end of the horizontal circuit substrate 6, the length of the first clearance groove is greater than the length of the second clearance groove, the second clearance groove is adapted to the flexible extension part 11, and the first clearance groove matches the two side substrates 8. The first and second clearance grooves are set at the front end of the horizontal circuit substrate 6, so as to make full use of the space outside the side substrate 8, reduce the size of the housing 1, and realize a miniaturized design.

[0047] The lower middle part of the inner cavity of the shell 1 has a limiting protrusion protruding inward, which is used to support the horizontal circuit substrate 6. When the horizontal circuit substrate 6 fits the limiting protrusion, its edge fits the side wall of the inner cavity of the shell 1 and is fixed to the inner wall of the shell 1 by gluing.

[0048] The rear end of the housing 1 is provided with a wiring hole 5, and a wire is connected to the side of the horizontal circuit substrate 6 away from the side substrate 8, and the wire extends from the wiring hole 5. The wiring hole 5 and the horizontal circuit substrate 6 are located at the same height, and the wire in the wiring hole 5 is sealed by a sealed wire sleeve.

[0049] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A miniaturized three-axis gyroscope, characterized in that: The invention comprises a shell (1), a circuit unit and a shell cover (2); the circuit unit is located in the inner cavity of the shell (1), and the shell cover (2) is connected to the open end of the shell (1) for closing the inner cavity of the shell (1); the circuit unit comprises a horizontal circuit substrate (6) and two side substrates (8), and the upper end surface of the horizontal circuit substrate (6) is provided with a Z-axis gyroscope (7); the two side substrates (8) are arranged longitudinally, and the two side substrates (8) are perpendicular to each other, and the sides of the two side substrates (8) are installed with transverse gyroscopes (9), and the two transverse gyroscopes (9) are arranged opposite to each other; the longitudinal projection of the side substrate (8) and the longitudinal projection of the horizontal circuit substrate (6) have an angle, and the side substrate (8) and the horizontal circuit substrate (6) are connected via a flexible board.

2. The miniaturized three-axis gyroscope according to claim 1, characterized in that: The shell (1) has three positioning parts, the three positioning parts include a first positioning part (4) located in the middle of the front end of the shell (1) and two second positioning parts located at the rear end of the shell (1), the two positioning parts are arranged at intervals along the width direction of the shell (1); the inner cavity of the shell (1) is located between the three positioning parts, and the two side substrates (8) are located on both sides of the first positioning part (4).

3. The miniaturized three-axis gyroscope according to claim 2, characterized in that: The first positioning portion (4) comprises a first positioning area and a supporting structure (13); the upper end surface of the first positioning area is flush with the upper end surface of the shell (1); the supporting structure (13) is arranged on the outer side of the first positioning area; the height of the supporting structure (13) is lower than the height of the first positioning area; the upper end surface of the supporting structure (13) forms a limiting step for supporting the shell cover (2) on the outer side of the first positioning area; the side surface of the supporting structure (13) forms two mounting surfaces in the inner cavity of the shell (1); and the two side substrates (8) are fitted with the two mounting surfaces in a one-to-one correspondence.

4. The miniaturized three-axis gyroscope according to claim 3, characterized in that: A recessed groove (14) is provided in the middle of the mounting surface, and the recessed groove (14) is used to fit the transverse gyroscope (9) mounted on the side substrate (8).

5. The miniaturized three-axis gyroscope according to claim 3, characterized in that: The two mounting surfaces are arranged at an interval, and a supporting surface is provided between the two mounting surfaces, and the supporting surface is in contact with the main board (10) of the flexible board.

6. The miniaturized three-axis gyroscope according to claim 5, characterized in that: The support surface has a groove, the main board (10) of the flexible board is attached to the bottom of the groove, and both sides of the main board (10) have flexible connecting parts (12), which extend out of the groove and are connected to the side substrate (8) on the same side.

7. The miniaturized three-axis gyroscope according to claim 6, characterized in that: The lower end of the main board (10) is provided with a flexible extension portion (11), and the flexible extension portion (11) is used to connect to the horizontal circuit substrate (6).

8. The miniaturized three-axis gyroscope according to claim 7, characterized in that: The middle part of the front end of the horizontal circuit substrate (6) is provided with a clearance opening, and the clearance opening includes a first clearance groove and a second clearance groove, and the two ends of the first clearance groove in the length direction respectively extend to the middle parts of the two side substrates (8), and the first clearance groove is used to accommodate the side substrates (8); the second clearance groove is connected to the middle part of the groove bottom of the first clearance groove, and the second clearance groove is used to accommodate the flexible extension part (11).

Images