Three-degree-of-freedom static balancing device and method for strapdown inertial measurement device

Abstract

The present invention belongs to the field of inertial navigation technology, and discloses a three-degree-of-freedom static balancing device and method for a strapdown inertial measurement device. The three-degree-of-freedom static balancing device of the strapdown inertial measurement device includes a static balancing frame, a dual-axis static balancing device and a plurality of balancing blocks, the dual-axis static balancing device includes a static balancing frame and a static balancing shaft, the static balancing frame is used to install the strapdown inertial measurement device, the static balancing shaft is arranged on the static balancing frame, the static balancing frame can be supported on the static balancing frame through the static balancing shaft, and a plurality of balancing blocks are arranged on the static balancing frame. The present invention can realize the three-degree-of-freedom static balancing of the strapdown inertial measurement device in the dual-axis static balancing device by adjusting the positions of the plurality of balancing blocks on the static balancing frame and combining the conversion of the dual-axis system, and then correct the mass center deviation of the strapdown inertial measurement device generated by processing and assembly to the center of the rubber shock absorber mounting surface, thereby solving the actual demand of the strapdown inertial measurement device for precise mass leveling, and is conducive to improving assembly efficiency.

Description

Technical Field

[0001] The invention relates to the field of inertial navigation technology, and in particular to a three-degree-of-freedom static balancing device and method for a strapdown inertial measurement device. Background Art

[0002] In the actual application of strapdown inertial measurement devices, rubber vibration reduction design is usually required to improve the working environment of inertial components. Figure 1 and Figure 2 As shown in the figure, the four-point support of the waist in external space is the structural scheme of conventional rubber shock absorbers. Since the strapdown inertial measurement device has high-precision attitude maintenance requirements, the rubber shock absorber (i.e., rubber shock absorption system) inevitably introduces three angular degrees of freedom while realizing the shock isolation and vibration reduction of all-directional freedom movements. The amplitude of the vibration coupling angle directly affects the drift change of the inertial element, which has also become a problem that needs to be solved in the vibration reduction design of some inertial navigation equipment. Therefore, it is necessary to perform precise mass leveling of the strapdown inertial measurement device when there is no rubber shock absorber, so as to make each rubber shock absorber have high consistency in all directions. Summary of the invention

[0003] The object of the present invention is to provide a three-degree-of-freedom static balancing device and method for a strapdown inertial measurement device, which are used to achieve the three-degree-of-freedom static balancing of the strapdown inertial measurement device and correct the center of mass deviation of the strapdown inertial measurement device caused by processing and assembly to the center of the rubber shock absorber mounting surface.

[0004] To achieve this object, the present invention adopts the following technical solutions:

[0005] A three-degree-of-freedom static balance device of a strapdown inertial measurement device, comprising:

[0006] Static balance frame;

[0007] A dual-axis static balancing device comprises a static balancing frame and a static balancing shaft, wherein the static balancing frame is used to install a strapdown inertial measurement device; the static balancing shaft is arranged on the static balancing frame, and the static balancing shaft is provided with two groups, each group comprises two coaxially arranged static balancing shafts, the axis of the first group of static balancing shafts and the axes of the two static balancing shafts of the second group are perpendicular to each other and both pass through the center of mass of the static balancing frame; the static balancing frame can be supported on the static balancing frame through the static balancing shaft;

[0008] A balancing block, wherein a plurality of balancing blocks are provided, and the plurality of balancing blocks are arranged on the static balancing frame. Adjusting the position of the balancing block on the static balancing frame can adjust the three-degree-of-freedom static balance of the strapdown inertial measurement device in the dual-axis static balancing device.

[0009] In some embodiments, a plurality of mounting surfaces are provided in the static balance frame, each of the mounting surfaces is provided with a limit column, the top end of the limit column has a threaded hole, the strapdown inertial measurement device has a limit hole, and when the strapdown inertial measurement device is installed on the plurality of mounting surfaces, the limit column is passed through the limit hole, and the connecting piece is threadedly connected to the threaded hole to lock the strapdown inertial measurement device.

[0010] In some embodiments, the dual-axis static balancing device further includes an equal-height pad, the equal-height pad having a through hole, and the connecting piece can pass through the through hole and be connected to the threaded hole.

[0011] In some embodiments, an axial height of the equal-height pad is equal to an axial height of a mounting surface of a rubber shock absorber of the strapdown inertial measurement device.

[0012] In some embodiments, the dual-axis static balancing device further includes a gasket, which is sleeved on the connecting member and clamped between the head of the connecting member and the equal-height gasket.

[0013] In some embodiments, the dual-axis static balancing device also includes a counterweight block, which is arranged on the static balancing frame. When the static balancing axis is supported on the static balancing frame, the counterweight block is used to adjust the center of mass of the static balancing frame to the intersection plane of the axis of the first group of static balancing axes and the axis of the second group of static balancing axes.

[0014] The present invention also provides a three-degree-of-freedom static balancing method for a strapdown inertial measurement device. The three-degree-of-freedom static balancing device for the strapdown inertial measurement device provided by the present invention is applied. The three-degree-of-freedom static balancing method for the strapdown inertial measurement device comprises the following steps:

[0015] S1, adjust the level of the static balance frame;

[0016] S2, placing the dual-axis static balancing device on the static balancing frame via the static balancing shaft, and adjusting the three-degree-of-freedom static balance of the dual-axis static balancing device;

[0017] S3, fixing the strapdown inertial measurement device in the static balance frame to obtain an assembly;

[0018] S4, arranging a plurality of balancing blocks on the static balancing frame, and achieving a three-degree-of-freedom static balance of the assembly by adjusting the plurality of balancing blocks;

[0019] S5, calculating the static balancing moments of the plurality of balancing masses in the directions of three coordinate axes of the static balancing coordinate system according to the masses and positions of the plurality of balancing masses, and obtaining the maximum static balancing moment;

[0020] S6, according to the maximum static balance moment, weight is applied to the housing of the strapdown inertial measurement device to achieve three-degree-of-freedom static balance of the strapdown inertial measurement device.

[0021] In some embodiments, step S2, alternately placing the first group of static balance shafts and the second group of static balance shafts on the static balance frame, and adjusting the three-degree-of-freedom static balance of the dual-axis static balance device by setting a counterweight block on the static balance frame.

[0022] In some embodiments, step S4 includes the following sub-steps:

[0023] S41, establishing a static balancing coordinate system OXYZ, wherein the center O is the mass center of the dual-axis static balancing device, the axis direction of the first group of static balancing axes is the Z axis direction, and the axis direction of the second group of static balancing axes is the Y axis direction;

[0024] S42, supporting the dual-axis static balancing device on the static balancing frame, determining the direction of maximum displacement of the center of mass of the assembly, and setting it as the Y-axis direction;

[0025] S43, symmetrically arranging two first balancing blocks on two opposite sides of the static balancing frame about the direction of maximum center of mass offset, the centers of mass of the two first balancing blocks being located on the YZ plane, and adjusting the positions of the two first balancing blocks along the direction of maximum center of mass offset so that the center of mass of the assembly is located on the XZ plane;

[0026] S44, rotating the dual-axis static balancing device 90° around the first group of static balancing axes, keeping the distance between the center of mass of the two first balancing blocks and the XZ plane unchanged, and adjusting the positions of the two first balancing blocks so that the center of mass of the assembly is located in the YZ plane;

[0027] S45, supporting the second group of static balance axes on the static balance frame, symmetrically arranging two second balance blocks on an end face of the static balance frame about the first group of static balance axes, and adjusting the masses of the two second balance blocks so that the center of mass of the combination is located in the XY plane.

[0028] In some embodiments, the two first balancing masses have the same shape and mass, and the positions of the two first balancing masses are adjusted synchronously, and the two second balancing masses have the same shape and mass, and the positions of the two second balancing masses are adjusted synchronously.

[0029] In some embodiments, in step S42, in the three coordinate axis directions of the static balance coordinate system OXYZ, by setting process blocks on the static balance frame, the direction in which the center of mass of the assembly has the largest deviation is determined.

[0030] In some embodiments, in step S45, if the position of the second balancing block cannot reach static balance at the extreme position on the static balance frame, the mass of the second balancing block is changed and readjusted; or the process returns to step S43, and the mass of the first balancing block is changed and readjusted.

[0031] In some embodiments, in step S5, the masses of the two first balancing blocks are respectively m1 and m2, the masses of the two second balancing blocks are respectively m3 and m4, and the force arms of the two first balancing blocks on the X-axis, Y-axis and Z-axis are respectively L1 and L2. X 、L2 X 、L1 Y 、L2 Y 、L1 Z and L2 Z The force arms of the two second balancing blocks on the Z axis are L3 Z and L4 Z , then:

[0032]

[0033] Where:

[0034] M X 、M Y 、M Z They are the static balancing moments in the three coordinate axis directions of the X-axis, Y-axis and Z-axis of the static balancing coordinate system. By comparing the sizes, the maximum static balancing moment is obtained.

[0035] In some embodiments, step S6 includes the following sub-steps:

[0036] S61, let M Y is the maximum static equilibrium moment, then on the box of the strapdown inertial measurement device, the maximum arm l in the Y direction Y The counterweight mass P is designed on the side of the first box Y ,get:

[0037]

[0038] P Y The following conditions are met:

[0039]

[0040] S62, maximum arm in the X direction l X The counterweight mass P is designed on the side of the second box at ' X ,get:

[0041]

[0042] The weight P X The two third balancing blocks are evenly divided into two third balancing blocks, the two third balancing blocks are placed on the side of the second box body and the two third balancing blocks are symmetrically arranged on the Z axis, and the distance between the two third balancing blocks and the Y axis is l X ';

[0043] S63, the farthest lever arm in the Z direction l Z At , two fourth balancing blocks are arranged around the Z axis, and the torques of the two fourth balancing blocks relative to the Z axis are equal, satisfying the following formula:

[0044]

[0045] In the formula, l Z1 , l Z2 The mass is P Z1 , P Z2 The distance from the center of mass of the fourth balancing mass to the Z axis.

[0046] Beneficial effects of the present invention:

[0047] The invention provides a three-degree-of-freedom static balancing device for a strapdown inertial measurement device. The dual-axis static balancing device comprises a static balancing frame and a static balancing shaft. The static balancing frame is used to install the strapdown inertial measurement device. The static balancing shaft is arranged on the static balancing frame. By supporting the dual-axis static balancing device on a static balancing frame, the three-degree-of-freedom static balancing of the dual-axis static balancing device can be achieved. By adjusting a plurality of balancing blocks combined with the conversion of the dual-axis system, the three-degree-of-freedom static balancing of the strapdown inertial measurement device in the dual-axis static balancing device can be achieved. The center of mass deviation of the strapdown inertial measurement device generated by processing and assembly is corrected to the center of the rubber shock absorber mounting surface, thereby solving the actual demand of the strapdown inertial measurement device for precise mass leveling and improving assembly efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a schematic diagram of the structure of the strapdown inertial measurement unit (without the rubber shock absorber);

[0049] Figure 2 It is a schematic diagram of the structure of a rubber shock absorber provided on a strapdown inertial measurement device;

[0050] Figure 3 It is a top view of a strapdown inertial measurement device installed in a dual-axis static balancing device in a three-degree-of-freedom static balancing device of a strapdown inertial measurement device provided by an embodiment of the present invention;

[0051] Figure 4 It is a top view of a dual-axis static balancing device in a three-degree-of-freedom static balancing device of a strapdown inertial measurement device provided by an embodiment of the present invention;

[0052] Figure 5 It is a schematic diagram of the three-dimensional structure of a dual-axis static balancing device in a three-degree-of-freedom static balancing device of a strapdown inertial measurement device provided by an embodiment of the present invention;

[0053] Figure 6 It is a schematic diagram of the three-dimensional structure of a static balance frame in a three-degree-of-freedom static balance device of a strapdown inertial measurement device provided by an embodiment of the present invention;

[0054] Figure 7 It is a structural schematic diagram of a static balance axis in a three-degree-of-freedom static balance device of a strapdown inertial measurement device provided by an embodiment of the present invention;

[0055] Figure 8 It is a structural schematic diagram of a medium-height pad in a three-degree-of-freedom static balance device of a strapdown inertial measurement device provided by an embodiment of the present invention;

[0056] Fig. 9 It is a structural schematic diagram of a static balance frame in a three-degree-of-freedom static balance device of a strapdown inertial measurement device provided by an embodiment of the present invention;

[0057] Fig.10 It is a schematic diagram of a three-degree-of-freedom static balance state of a dual-axis static balance device in a three-degree-of-freedom static balance device of a strapdown inertial measurement device provided by an embodiment of the present invention;

[0058] Fig.11 It is a top view of a static balance state of a combination of a strapdown inertial measurement device and a dual-axis static balance device in a three-degree-of-freedom static balance method of a strapdown inertial measurement device provided by an embodiment of the present invention;

[0059] Fig.12 yes Fig.11 The main view;

[0060] Fig.13 It is a left view of the balancing structure of the first balancing block after the dual-axis static balancing device is rotated 90° in the three-degree-of-freedom static balancing method of the strapdown inertial measurement device provided by an embodiment of the present invention;

[0061] Fig.14 yes Fig.13 The right side view of the balancing structure of the first balancing block after the static balancing device of the middle double shaft system rotates 90°;

[0062] Fig.15 The present invention is a schematic diagram of the balancing structure of the second balancing block on the dual-axis static balancing device in the three-degree-of-freedom static balancing method of the strapdown inertial measurement device provided in an embodiment of the present invention.

[0063] In the figure:

[0064] 100. Strapdown inertial measurement unit; 200. Rubber shock absorber;

[0065] 1. Static balance frame; 11. Bottom plate; 12. Support plate; 13. Support feet; 14. Electronic level;

[0066] 2. Double-axis static balancing device; 21. Static balancing frame; 211. Mounting hole; 22. Static balancing shaft; 23. Boss; 24. Limiting column; 241. Threaded hole; 25. Connector; 26. Equal height pad; 261. Through hole; 27. Gasket; 28. Counterweight;

[0067] 3. The first balancing block; 4. The second balancing block. DETAILED DESCRIPTION

[0068] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0069] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed 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, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0070] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0071] In the description of this embodiment, the terms "upper", "lower", "left", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0072] The embodiment of the present invention provides a three-degree-of-freedom static balance device of a strapdown inertial measurement device, such as Figure 1-Figure 15 , including a static balance frame 1, a dual-axis static balance device 2 and a balance block, wherein the dual-axis static balance device 2 includes a static balance frame 21 and a static balance shaft 22, the static balance frame 21 is used to install a strapdown inertial measurement device 100; the static balance shaft 22 is arranged on the static balance frame 21, and the static balance shaft 22 is provided with two groups, each group includes two coaxially arranged static balance shafts 22, the axis of the first group of static balance shafts 22 and the axis of the two static balance shafts 22 of the second group are perpendicular to each other and both pass through the center of mass of the static balance frame 21; the static balance frame 21 can be supported on the static balance frame 1 through the static balance shaft 22; there are multiple balance blocks, and multiple balance blocks are arranged on the static balance frame 21, and adjusting the position of the balance block on the static balance frame 21 can adjust the three-degree-of-freedom static balance of the strapdown inertial measurement device 100 in the dual-axis static balance device 2.

[0073] The three-degree-of-freedom static balance device of the strapdown inertial mass device provided by the present invention is as follows: Fig.10 As shown, by supporting the dual-axis static balancing device 2 on the static balancing frame 1, the three-degree-of-freedom static balancing of the dual-axis static balancing device can be achieved; when the strapdown inertial measurement device 100 is installed in the static balancing frame 21, as shown in FIG. Figure 11-Figure 15 By adjusting multiple balancing blocks in combination with the conversion of the dual-axis system, the three-degree-of-freedom static balance of the strapdown inertial measurement device 100 in the dual-axis static balance device 2 can be achieved, and the center of mass deviation of the strapdown inertial measurement device 100 caused by processing and assembly is corrected to the center of the installation surface of the rubber shock absorber 200, which solves the actual demand of the strapdown inertial measurement device 100 for precise mass leveling and is conducive to improving assembly efficiency.

[0074] The preferred solution of the static balance frame 21 and the strapdown inertial measurement device 100 used in this embodiment is as follows:

[0075] A static balance frame 21 with a rectangular cross section is used, and a group of coaxial static balance shafts 22 are respectively arranged on the outer sides of two opposite side surfaces and opposite end surfaces of the static balance frame 21. Figure 4 The axes of the two sets of static balancing shafts 22 intersect, and the intersecting plane is the plane where the middle section of the static balancing frame 21 is located. Therefore, the center of mass of the static balancing frame 21 and the center of mass of the dual-axis static balancing device 2 are both located in the intersecting plane, and the static balancing frame 21 is a symmetrical structure with respect to the axes of the two sets of static balancing shafts 22. The structure of the static balancing frame 21 and the static balancing shaft 22 is as follows: Figure 5-Figure 7 As shown, the side and end faces of the static balance frame 21 are respectively provided with coaxial mounting holes 211, and the static balance shaft 22 is a stepped shaft, one end of which is installed in the mounting hole 211 of the static balance frame 21, and the other end is used to support the static balance frame 21. The static balance shaft 22 extends a certain length in the direction away from the static balance frame 21 to ensure that it can cooperate with the static balance frame 1 to achieve support.

[0076] In some embodiments, a plurality of bosses 23 are provided in the static balance frame 21, the top surface of the boss 23 is a mounting surface, a limiting column 24 is provided on each mounting surface, the top of the limiting column 24 has a threaded hole 241, the strapdown inertial measurement device 100 has a limiting hole, when the strapdown inertial measurement device 100 is installed on a plurality of mounting surfaces, the limiting column 24 is passed through the limiting hole, and the connecting member 25 is threadedly connected to the threaded hole 241 to lock the strapdown inertial measurement device 100.

[0077] like Figure 5 and Figure 6 As shown, bosses 23 are provided at the four corners of the static balance frame 21, and the top surface of the bosses 23 is the mounting surface for mounting the strapdown inertial measurement device 100. The four mounting surfaces are coplanar, and the size of the intersecting plane formed by the axes of the two sets of static balance shafts 22 is 1 / 2 of the size of the mounting surface of the rubber shock absorber 200 on the strapdown inertial measurement device 100, so as to ensure that the mass center of the strapdown inertial measurement device 100 is located in the middle section (intersecting plane) of the dual-axis static balance device 2. The strapdown inertial measurement device 100 has a limiting hole matched with the limiting column 24. When installed, the bottom surface of the strapdown inertial measurement device 100 is matched with the mounting surface, and the limiting column 24 is matched with the limiting hole for plugging, so as to ensure that the mass center of the strapdown inertial measurement device 100 is located at the center of the static balance frame 21. The connecting member 25 is a bolt, the outer diameter of the bolt head is larger than the outer diameter of the limiting hole, and when the bolt is threadedly connected with the threaded hole 241 at the top of the limiting column 24, the strapdown inertial measurement device 100 is locked between the bolt head and the mounting surface.

[0078] In some embodiments, the dual-axis static balancing device 2 further includes a contour pad 26 , and the contour pad 26 has a through hole 261 . The connector 25 can pass through the through hole 261 and be connected to the threaded hole 241 .

[0079] like Figure 8 As shown, the equi-height pad 26 can be a cylindrical structural member. In some embodiments, the axial height of the equi-height pad 26 is equal to the axial height of the mounting surface of the rubber shock absorber 200 of the strapdown inertial measurement device 100. In the static balancing process of the dual-axis static balancing device 2 and the static balancing process of the strapdown inertial measurement device 100, the distance from the connecting member 25 to the intersection plane of the axes of the two groups of static balancing shafts 22 is consistent, which will not affect the static balancing accuracy. The function of the equi-height pad 26 is to determine the position of the gasket 27 and the connecting member 25 when performing the three-degree-of-freedom balancing of the dual-axis static balancing device 2, so as to be the same as the position when the strapdown inertial measurement device 100 is installed. It can be understood that the axial height of the equi-height pad 26 is equal to the axial height of the limit hole of the strapdown inertial measurement device 100.

[0080] In some embodiments, the dual-axis static balancing device 2 further includes a gasket 27, which is sleeved on the connecting member 25 and clamped between the head of the connecting member 25 and the equal-height pad 26, and the gasket 27 is used to increase the compression area of ​​the connecting member 25. When the dual-axis static balancing device 2 is assembled, the connecting member 25 is penetrated from top to bottom in sequence through the gasket 27 and the through hole 261 of the equal-height pad 26, and then connected to the threaded hole 241 on the limiting column 24 and tightened; when the strapdown inertial measurement device 100 is installed, the connecting member 25 is penetrated from top to bottom in sequence through the gasket 27 and the limiting hole, and then connected to the threaded hole 241 on the limiting column 24 and tightened to compress the gasket 27 and the strapdown inertial measurement device 100.

[0081] In some embodiments, the dual-axis static balancing device 2 also includes a counterweight block 28, which is arranged on the static balancing frame 21. When the static balancing shaft 22 is supported on the static balancing frame 1, the counterweight block 28 is used to adjust the center of mass of the static balancing frame 21 to the intersection plane of the axis of the first group of static balancing shafts 22 and the axis of the second group of static balancing shafts 22.

[0082] like Figure 5 As shown, the mounting surface in the static balance frame 21 is realized in height by a boss 23. The setting of the boss 23 will cause the center of mass of the structurally symmetrical static balance frame 21 to not be in the intersection plane of the axes of the two sets of static balance shafts 22. Therefore, it is necessary to add a counterweight 28 to adjust the center of mass of the dual-axis static balance device 2 to the intersection plane. It should be noted that the position of the counterweight 28 is finally determined in the process of adjusting the three-degree-of-freedom static balance of the dual-axis static balance device 2. The counterweight 28 is finally fixed to the top of the two side surfaces or the two end surfaces of the static balance frame 21, which can level the rotation axes of the two sets of static balance shafts 22 and realize the three-degree-of-freedom static balance of the dual-axis static balance device 2.

[0083] The present invention also provides a three-degree-of-freedom static balancing method for a strapdown inertial measurement device. The three-degree-of-freedom static balancing device for a strapdown inertial measurement device provided by an embodiment of the present invention is applied. The three-degree-of-freedom static balancing method for a strapdown inertial measurement device comprises the following steps:

[0084] S1, adjust the level of the static balance frame 1;

[0085] like Fig. 9 As shown, the static balance frame 1 includes a base plate 11 and two support plates 12 spaced apart on the base plate 11. The bottom surface of the base plate 11 is provided with a support foot 13, and the height of the support foot 13 is adjustable, so that the level of the base plate 11 can be adjusted. The two support plates 12 are parallel to each other and have equal heights. The top of the support plate 12 is used to support the static balance shaft 22. When adjusting the static balance frame 1, it is necessary to visually check whether the static balance frame 1 has damage or foreign matter, and wipe it clean. Place an electronic level 14 on the base plate 11 to assist in leveling. The horizontal accuracy of the static balance frame 1 is better than 2 arc seconds.

[0086] S2, placing the dual-axis static balancing device 2 on the static balancing frame 1 through the static balancing shaft 22, and adjusting the three-degree-of-freedom static balance of the dual-axis static balancing device 2;

[0087] It should be noted that when performing three-degree-of-freedom static balancing of the dual-axis static balancing device 2, the dual-axis static balancing device 2 must be assembled in advance to ensure that there are no additional parts or components when installing the strapdown inertial measurement device 100. Fig.10 As shown, the static balance shaft 22, the connecting piece 25, the equal height pad 26 and the gasket 27 are all installed on the static balance frame 21, and the two groups of static balance shafts 22 are alternately supported on the static balance frame 1, and the three-degree-of-freedom static balance of the dual-axis static balance device 2 is performed by adjusting the two counterweights 28. A static balance coordinate system is established on the basis of the statically balanced dual-axis static balance device 2 as shown in FIG. Fig.10 As shown, with the center of mass of the dual-axis static balancing device 2 as the circle center O, the axis direction of the first group of static balancing shafts 22 is the Z axis, the axis direction of the second group of static balancing shafts 22 is the Y axis, and the X axis is along the vertical direction.

[0088] S3 , fixing the strapdown inertial measurement device 100 in the static balance frame 21 .

[0089] During installation, the connecting piece 25, the equal height pad 26 and the gasket 27 of the dual-axis static balancing device 2 are disassembled in sequence. When the strapdown inertial measurement device 100 is installed, the limiting hole of the strapdown inertial measurement device 100 is installed in cooperation with the limiting column 24, and then the gasket 27 and the connecting piece 25 are installed in sequence. After assembly, a combination of the dual-axis static balancing device 2 and the strapdown inertial measurement device 100 is obtained. Fig.11 and Fig.12 As shown, the center of mass of the assembly is offset relative to the static equilibrium coordinate system, so it is also necessary to balance the center of mass of the assembly to the static equilibrium coordinate system.

[0090] S4, multiple balancing blocks are arranged on the static balancing frame 21, and three-degree-of-freedom static balancing of the strapdown inertial measurement device 100 in the dual-axis static balancing device 2 is achieved by adjusting the multiple balancing blocks.

[0091] By arranging a plurality of balancing blocks (including a first balancing block 3 and a second balancing block 4), two groups of static balancing shafts 22 are alternately balanced. After balancing, the balancing blocks are fixed, and the fixing method includes but is not limited to bonding and fixing, so as to realize the three-degree-of-freedom static balance of the strapdown inertial measurement device 100 in the dual-axis static balancing device 2, and correct the center of mass deviation of the strapdown inertial measurement device 100 caused by processing and assembly to the center of the installation surface of the rubber shock absorber 200, thereby solving the actual demand of the strapdown inertial measurement device 100 for precise mass leveling, and facilitating to improve the assembly efficiency.

[0092] In some embodiments, step S4 may be implemented by the following sub-steps:

[0093] S41, establish a static balancing coordinate system OXYZ, where the center O is the mass center of the dual-axis static balancing device 2, the axis direction of the first group of static balancing axes 22 is the Z axis direction, the axis direction of the second group of static balancing axes 22 is the Y axis direction, and the X axis, Y axis and Z axis are parallel to each other;

[0094] like Fig.10 As shown, a static balance coordinate system OXYZ is established. In the static balance trimming process, the strapdown inertial measurement device 100 is installed in the dual-axis static balance device 2, as shown in FIG. Fig.11 and Fig.12 , which will cause the center of mass of the combination of the dual-axis static balancing device 2 and the strapdown inertial measurement device 100 to change relative to the static balancing coordinate system. Therefore, it is necessary to adjust the center of mass of the combination to the static balancing coordinate system by balancing the balance block, that is, to achieve the three-degree-of-freedom static balance of the combination.

[0095] S42, supporting the dual-axis static balancing device 2 on the static balancing frame 1, determining the direction of maximum displacement of the center of mass of the assembly, and setting it as the Y-axis direction;

[0096] In this step, by determining the maximum center of mass offset direction, it is advantageous to adjust the maximum center of mass offset direction in the balancing process first, thereby improving the balancing efficiency. For the convenience of the following description, the maximum center of mass offset direction is set to the Y-axis direction. It can be understood that when the maximum center of mass offset direction is other X-axis directions or Z-axis directions, the following balancing process is also applicable, and only needs to be changed according to the coordinate axis direction and plane position.

[0097] S43, symmetrically arrange the two first balancing masses 3 on two opposite sides of the static balancing frame 21 about the direction of maximum mass center offset, the mass centers of the two first balancing masses 3 are located on the YZ plane, and the positions of the two first balancing masses 3 are adjusted along the direction of maximum mass center offset (Y direction) so that the mass center of the assembly is located on the XZ plane;

[0098] like Fig.11 As shown, two first balancing blocks 3 of the same shape and mass are evenly and symmetrically distributed on two opposite sides of the static balancing frame 21 with their centers of mass located in the YZ plane. The external dimensions of the two first balancing blocks 3 and the structural dimensions of the static balancing frame 1 are measured. The plane distances L1 from the centers of mass of the two first balancing blocks 3 to the static balancing coordinate system perpendicular to the Y axis and the Z axis are measured. Y 、L1 Z 、L2 Y and L2 Z By synchronously moving the two first balancing blocks 3 along the Y-axis direction in the YZ plane, the center of mass of the assembly can be balanced along the Y-axis direction to the XZ plane in the static balance coordinate system.

[0099] S44, rotating the dual-axis static balancing device 2 around the first group of static balancing axes 22 by 90°, keeping the distance between the center of mass of the two first balancing blocks 3 and the XZ plane unchanged, and adjusting the positions of the two first balancing blocks 3 so that the center of mass of the assembly is located in the YZ plane;

[0100] The dual-axis static balancing device 2 is rotated 90°, without destroying the balancing result of step S43. Fig.13 and Fig.14 In the direction of the double arrows (along the X-axis direction), the two first balancing blocks 3 are simultaneously moved in a plane parallel to the XZ plane, and then balanced in the X-axis direction, the center of mass of the assembly is balanced along the X-axis direction to the YZ plane, and the distance L2 from the center of mass of the two first balancing blocks 3 to the plane perpendicular to the X-axis is measured. X and L1 X .

[0101] S45, support the second group of static balance shafts 22 on the static balance frame 1, set the two second balance blocks 4 symmetrically on one end face of the static balance frame 21 with respect to the first group of static balance shafts 22, and adjust the masses of the two second balance blocks 4 so that the center of mass of the assembly is located in the XY plane.

[0102] like Fig.15 When setting the mass of the two second balancing blocks 4, ensure that the static balance results along the Y-axis and X-axis directions are not destroyed, measure the mass and shape of the two second balancing blocks 4 and the structural dimensions of the static balance frame 21, and obtain the distance L3 from the center of mass of the two second balancing blocks 4 to the plane perpendicular to the Z-axis direction after static balance X 、L4 X 、L3 Z and L4 Z .

[0103] At this point, the mass center of the assembly is aligned with the center of the static balance coordinate system, and the three-degree-of-freedom static balance of the strapdown inertial measurement device 100 in the dual-axis static balance device 2 is completed, and the first balance block 3 and the second balance block 4 are fixed at corresponding positions by bonding. The above-mentioned mass and lever arm data are recorded.

[0104] S5, calculating the static balancing moments of the multiple balancing blocks in the directions of the three coordinate axes of the static balancing coordinate system according to the masses and positions of the multiple balancing blocks, and obtaining the maximum static balancing moment;

[0105] Assume that the masses of the two first balancing blocks 3 are m1 and m2 respectively, the masses of the two second balancing blocks 4 are m3 and m4 respectively, unit: g, the force arms of the two first balancing blocks 3 on the X-axis, Y-axis and Z-axis are L1 and L2 respectively. X 、L2 X 、L1 Y、L2 Y 、L1 Z and L2 Z The force arms of the two second balancing blocks 4 on the Z axis are L3 Z and L4 Z , unit: mm, then:

[0106]

[0107] Where M X 、M Y 、M Z They are the static equilibrium moments in the X-axis, Y-axis and Z-axis directions of the static equilibrium coordinate system, in units: By comparing the sizes, the maximum static balance moment and the direction of the maximum static balance moment can be obtained.

[0108] S6 , adding weight to the casing of the strapdown inertial measurement device 100 according to the maximum static balance moment, so as to achieve three-degree-of-freedom static balance of the strapdown inertial measurement device 100 .

[0109] Step S6 includes the following sub-steps:

[0110] S61, let M Y is the maximum static equilibrium moment, then on the box of the strapdown inertial measurement device 100, the maximum arm l in the Y-axis direction is Y The counterweight mass P in the Y-axis direction is designed on the side of the first box body. Y ,get:

[0111]

[0112] In order to ensure that there is an adjustable margin in the other X direction of the coaxial system in the Y direction, the counterweight mass P is set Y The following conditions are met:

[0113]

[0114] S62, maximum arm in the X-axis direction l X The counterweight mass P in the X-axis direction is designed on the side of the second box at ' X ,get:

[0115]

[0116] In order not to destroy the static balance result in the Y direction, the counterweight mass P in the X-axis direction is X The two third balancing blocks are evenly divided into two third balancing blocks, the two third balancing blocks are placed on the side of the second box body and the two third balancing blocks are symmetrically arranged on the Z axis, and the distance between the two third balancing blocks and the Y axis is lX ';

[0117] S63, the farthest lever arm in the Z direction l Z At , two fourth balancing blocks are arranged around the Z axis, and the torques of the two fourth balancing blocks relative to the Z axis are equal, satisfying the following formula:

[0118]

[0119] In the formula, l Z1 , l Z2 The mass is P Z1 , P Z2 The distance from the center of mass of the fourth balancing mass to the Z axis.

[0120] When setting the counterweight mass in the Z-axis direction, the static balance results in the Y-axis and X-axis directions must be taken into account, that is, the farthest lever arm l in the parallel XY plane Z Two fourth balancing blocks are set at.

[0121] At this point, the three-degree-of-freedom static balance of the strapdown inertial measurement device 100 is completed.

[0122] In some embodiments, in step S2 , the first group of static balancing shafts 22 and the second group of static balancing shafts 22 are alternately placed on the static balancing frame 1 , and the three-degree-of-freedom static balance of the dual-axis static balancing device 2 is adjusted by setting a counterweight block 28 on the static balancing frame 21 .

[0123] Specifically, Fig.10 As shown, two counterweights 28 of the same mass are selected, and the first group of static balance shafts 22 are supported on the static balance frame 1, and the static balance is adjusted by selecting the mass of the counterweights 28; then the second group of static balance shafts 22 are supported on the static balance frame 1, and the static balance is adjusted by synchronously adjusting the positions of the two counterweights 28, and finally the three-degree-of-freedom static balance of the dual-axis static balance device 2 is achieved.

[0124] In some embodiments, in step S42 , in the three coordinate axis directions of the static balance coordinate system OXYZ, by setting process blocks on the static balance frame 21 , the direction of the maximum deviation of the center of mass of the assembly is determined.

[0125] Specifically, firstly, the first group of static balancing shafts 22 and the second group of static balancing shafts 22 of the dual-axis static balancing device 2 are alternately supported on the static balancing frame 1, and various process blocks are replaced and set on the four end faces of the static balancing frame 21, and the mass of each process block and the distance from its center of mass to each coordinate axis of the static balancing coordinate system OXYZ are measured (as a force arm), and the static balancing moment of the process block in the directions of the three coordinate axes of the X-axis, Y-axis and Z-axis of the static balancing coordinate system OXYZ is calculated, and the maximum static balancing moment and the direction of the static balancing moment are obtained as the maximum direction of the center of mass deviation of the assembly.

[0126] In some embodiments, the two first balancing masses 3 have the same shape and mass, and the positions of the two first balancing masses 3 are adjusted synchronously, and the two second balancing masses 4 have the same shape and mass, and the positions of the two second balancing masses 4 are adjusted synchronously.

[0127] In the embodiment of the present invention, two first balancing blocks 3 of the same shape and mass, and two second balancing blocks 4 of the same shape and mass are used, which is conducive to installing and fixing the first balancing block 3 and the second balancing block 4 on the static balancing frame 21, and the first balancing block 3 is synchronously moved in position during the balancing process. After the balancing is performed in the previous step, the subsequent balancing process does not affect the torque that has been balanced in the previous step, thereby helping to improve the balancing efficiency of the static balance. In the present invention, the shape and mass of the first balancing block 3 and the second balancing block 4 need to be designed and selected according to the fixed plane and the outer dimensions of the static balancing frame 21, ensuring that the first balancing block 3 and the second balancing block 4 can be adjusted in position within the structural size range of the static balancing frame 21, and the mass is matched to achieve rapid balancing.

[0128] In some embodiments, in step S45, if the position of the second balancing weight 4 cannot reach static balance at the extreme position on the static balance frame 21, the mass of the second balancing weight 4 is changed and readjusted; or the process returns to step S43, and the mass of the first balancing weight 3 is changed and readjusted.

[0129] It can be understood that, under the premise that the masses and positions of multiple balancing blocks (including the first balancing block 3, the second balancing block 4, the third balancing block and the fourth balancing block) meet the conditions of the static balancing moment, the material of the balancing blocks is reasonably selected to obtain balancing blocks with better shapes, which are more conducive to adjustment and installation and fixation.

[0130] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. 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 claims of the present invention.

Claims

1. A three-degree-of-freedom static balance device of a strapdown inertial measurement device, characterized in that: include: Static balance frame (1); A dual-axis static balancing device (2), comprising a static balancing frame (21) and a static balancing shaft (22), wherein the static balancing frame (21) is used to install a strapdown inertial measurement device (100); the static balancing shaft (22) is arranged on the static balancing frame (21), and the static balancing shaft (22) is provided with two groups, each group comprising two coaxially arranged static balancing shafts (22), the axis of the first group of static balancing shafts (22) and the axis of the two static balancing shafts (22) of the second group are perpendicular to each other and both pass through the center of mass of the static balancing frame (21); the static balancing frame (21) can be supported on the static balancing frame (1) through the static balancing shaft (22); A balancing block, wherein a plurality of balancing blocks are provided, and the plurality of balancing blocks are arranged on the static balancing frame (21); adjusting the positions of the balancing blocks on the static balancing frame (21) can adjust the three-degree-of-freedom static balance of the strapdown inertial measurement device (100) in the dual-axis static balancing device (2).

2. The three-degree-of-freedom static balance device of the strapdown inertial measurement device according to claim 1, characterized in that: A plurality of mounting surfaces are provided in the static balance frame (21), each of the mounting surfaces is provided with a limiting column (24), the top end of the limiting column (24) has a threaded hole (241), the strapdown inertial measurement device (100) has a limiting hole, and when the strapdown inertial measurement device (100) is mounted on the plurality of mounting surfaces, the limiting column (24) is inserted into the limiting hole, and a connecting piece (25) is threadedly connected to the threaded hole (241) to lock the strapdown inertial measurement device (100).

3. The three-degree-of-freedom static balance device of the strapdown inertial measurement device according to claim 2, characterized in that: The dual-axis static balancing device (2) further comprises a contour pad (26), wherein the contour pad (26) has a through hole (261), and the connecting member (25) can pass through the through hole (261) and be connected to the threaded hole (241).

4. The three-degree-of-freedom static balance device of the strapdown inertial measurement device according to claim 3, characterized in that: The axial height of the equal-height pad (26) is equal to the axial height of the mounting surface of the rubber vibration damper (200) of the strapdown inertial measurement device (100).

5. The three-degree-of-freedom static balance device of the strapdown inertial measurement device according to claim 3, characterized in that: The dual-axis static balancing device (2) further comprises a gasket (27), wherein the gasket (27) is sleeved on the connecting member (25) and clamped between the head of the connecting member (25) and the equal-height gasket (26).

6. The three-degree-of-freedom static balance device of the strapdown inertial measurement device according to claim 1, characterized in that: The dual-axis static balancing device (2) further comprises a counterweight (28), wherein the counterweight (28) is arranged on the static balancing frame (21); when the static balancing shaft (22) is supported on the static balancing frame (1), the counterweight (28) is used to adjust the center of mass of the static balancing frame (21) to the intersection plane of the axis of the first group of static balancing shafts (22) and the axis of the second group of static balancing shafts (22).

7. A three-degree-of-freedom static balancing method for a strapdown inertial measurement device, characterized in that: The three-degree-of-freedom static balancing device of the strapdown inertial measurement device according to any one of claims 1 to 6 is applied, and the three-degree-of-freedom static balancing method of the strapdown inertial measurement device comprises the following steps: S1, adjusting the level of the static balance frame (1); S2, placing the dual-axis static balancing device (2) on the static balancing frame (1) via the static balancing shaft (22), and adjusting the three-degree-of-freedom static balance of the dual-axis static balancing device (2); S3, fixing the strapdown inertial measurement device (100) in a static balance frame (21) to obtain an assembly; S4, arranging a plurality of balancing blocks on the static balancing frame (21), and achieving a three-degree-of-freedom static balance of the assembly by adjusting the plurality of balancing blocks; S5, calculating the static balancing moments of the plurality of balancing masses in the directions of three coordinate axes of the static balancing coordinate system according to the masses and positions of the plurality of balancing masses, and obtaining the maximum static balancing moment; S6, according to the maximum static balance moment, weight is applied to the casing of the strapdown inertial measurement device (100) to achieve three-degree-of-freedom static balance of the strapdown inertial measurement device (100).

8. The three-degree-of-freedom static balancing method of a strapdown inertial measurement device according to claim 7, characterized in that: Step S2, alternately placing the first group of static balancing shafts (22) and the second group of static balancing shafts (22) on the static balancing frame (1), and adjusting the three-degree-of-freedom static balance of the dual-axis static balancing device (2) by arranging a counterweight block (28) on the static balancing frame (21).

9. The three-degree-of-freedom static balancing method of a strapdown inertial measurement device according to claim 7, characterized in that: Step S4 includes the following sub-steps: S41, establishing a static balancing coordinate system OXYZ, wherein the center O is the mass center of the dual-axis static balancing device (2), the axis direction of the first group of static balancing axes (22) is the Z axis direction, and the axis direction of the second group of static balancing axes (22) is the Y axis direction; S42, supporting the first group of static balancing shafts (22) of the dual-shaft static balancing device (2) on the static balancing frame (1), and determining the direction of the maximum displacement of the center of mass of the assembly, which is set as the Y-axis direction; S43, symmetrically arranging two first balancing blocks (3) on two opposite sides of the static balancing frame (21) about the direction of maximum center of mass offset, the centers of mass of the two first balancing blocks (3) being located on the YZ plane, and adjusting the two first balancing blocks (3) along the direction of maximum center of mass offset so that the center of mass of the assembly is located on the XZ plane; S44, rotating the dual-axis static balancing device (2) by 90° around the first group of static balancing axes (22), keeping the distance between the center of mass of the two first balancing blocks (3) and the XZ plane unchanged, and adjusting the positions of the two first balancing blocks (3) along the X-axis direction so that the center of mass of the assembly is located in the YZ plane; S45, supporting the second group of static balancing axes (22) on the static balancing frame (1), symmetrically arranging two second balancing blocks (4) on an end face of the static balancing frame (21) about the first group of static balancing axes (22), and adjusting the masses of the two second balancing blocks (4) so ​​that the center of mass of the assembly is located in the XY plane.

10. The three-degree-of-freedom static balancing method of a strapdown inertial measurement device according to claim 9, characterized in that: The two first balancing masses (3) have the same shape and mass, and the positions of the two first balancing masses (3) are adjusted synchronously; the two second balancing masses (4) have the same shape and mass, and the positions of the two second balancing masses (4) are adjusted synchronously.

11. The three-degree-of-freedom static balancing method of a strapdown inertial measurement device according to claim 9, characterized in that: In step S42, in the three coordinate axis directions of the static balance coordinate system OXYZ, by setting process blocks on the static balance frame (21), the direction of the maximum deviation of the center of mass of the assembly is determined.

12. The three-degree-of-freedom static balancing method of a strapdown inertial measurement device according to claim 9, characterized in that: In step S45, if the position of the second balancing block (4) cannot reach static balance at the limit position on the static balancing frame (21), the mass of the second balancing block (4) is changed and readjusted; or the method returns to step S43, and the mass of the first balancing block (3) is changed and readjusted.

13. The three-degree-of-freedom static balancing method of a strapdown inertial measurement device according to claim 9, characterized in that: In step S5, it is assumed that the masses of the two first balancing blocks (3) are m1 and m2 respectively, the masses of the two second balancing blocks (4) are m3 and m4 respectively, and the force arms of the two first balancing blocks (3) on the X-axis, Y-axis and Z-axis are L1 and L2 respectively. X 、L2 X 、L1 Y 、L2 Y 、L1 Z and L2 Z The force arms of the two second balancing blocks (4) on the Z axis are L3 and Z and L4 Z , then: ； Where: M X 、M Y 、M Z They are the static balancing moments in the three coordinate axis directions of the X-axis, Y-axis and Z-axis of the static balancing coordinate system. By comparing the sizes, the maximum static balancing moment is obtained.

14. The three-degree-of-freedom static balancing method of a strapdown inertial measurement device according to claim 13, characterized in that: Step S6 includes the following sub-steps: S61, let M Y is the maximum static equilibrium moment, then on the box of the strapdown inertial measurement device (100), the maximum arm of force l in the Y direction is Y The counterweight mass P is designed on the side of the first box Y ,get: ； P Y The following conditions are met: ； S62, maximum arm in the X direction l X The counterweight mass P is designed on the side of the second box at ' X ,get: ； The weight P X The two third balancing blocks are evenly divided into two third balancing blocks, the two third balancing blocks are placed on the side of the second box body and the two third balancing blocks are symmetrically arranged on the Z axis, and the distance between the two third balancing blocks and the Y axis is l X '; S63, the farthest lever arm in the Z direction l Z At , two fourth balancing blocks are arranged around the Z axis, and the torques of the two fourth balancing blocks relative to the Z axis are equal, satisfying the following formula: ； In the formula, l Z1 , l Z2 The mass is P Z1 , P Z2 The distance from the center of mass of the fourth balancing mass to the Z axis.

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