Gyro north-seeking device based on micro stepping motor

Abstract

The invention discloses a gyro north-seeking device based on a micro stepping motor, which is characterized by comprising the micro stepping motor, a rotating platform, an inertial measurement module, a wireless power supply module, a magnetic limiting mechanism, a comprehensive driving circuit board and a combined shell structure, wherein the micro stepping motor drives the rotating platform to rotate through transmission of a secondary gear consisting of a pinion and a bull gear, and further drives the inertial measurement module mounted on the rotating platform to rotate; the magnetic limiting mechanism is used for realizing transposition control of four azimuth angles of the rotating platform so as to realize a high-precision four-position north-seeking technology, and data sampled by the inertial measurement module is transmitted to the comprehensive driving circuit board in real time through wireless transmission for processing; and the wireless power supply module is used for non-contact power supply of the inertial measurement module. The method is high in overall design feasibility, low in cost, good in north-seeking efficiency and capable of being widely used.

Description

Technical Field

[0001] The invention belongs to the technical field of inertial navigation, in particular to a gyro north-seeking device based on a micro-stepping motor. Background Art

[0002] Nowadays, all kinds of equipment rely on satellites to achieve high-precision navigation and positioning. However, when satellite information is denied, how to autonomously obtain azimuth information is a bottleneck problem for missile precision guidance, unmanned equipment intelligent navigation, and integration of land, sea, air, and space. The gyro north-seeking system is a key technology for achieving autonomous and precise orientation under satellite denial. It is widely used in missile guidance, vehicle navigation, exploration and positioning, and other fields. The miniaturization application of gyro north-seeking systems in various types of equipment is becoming increasingly prominent, mainly in two aspects: First, in terms of core components: although traditional optical gyroscopes and mechanical gyroscopes can meet the needs of north-seeking, their large size makes it difficult to embed them in various small equipment, and their high cost also makes them unable to be widely used. The performance of low-cost and small-volume MEMS inertial devices is relatively low, and it is difficult to independently achieve high-precision orientation; second, in terms of rotational mechanisms: based on rotational modulation technology, the autonomous navigation performance can be improved by compensating for the errors of inertial devices, but the high-precision servo motor platform commonly used in the current rotational modulation north-seeking system has a large size and power consumption, and it is difficult to further reduce the size. Therefore, in order to achieve high-precision north-seeking based on MEMS inertial devices, the rotating platform, as the hardware carrier of the rotation modulation technology, has become a bottleneck problem restricting the development of gyroscopic north-seeking equipment. Most of the current miniaturized north-seekers use traditional electromagnetic motors to drive the rotating platform, which is large in size. At the same time, the miniaturized motors are difficult to meet the needs of high-precision measurement due to their accuracy limitations. Summary of the invention

[0003] The purpose of the present invention is to provide a gyro north-seeking device based on a micro stepping motor in order to solve the problems existing in the above-mentioned prior art.

[0004] The technical solution for achieving the purpose of the present invention is: a gyro north-seeking device based on a micro-stepping motor, comprising a micro-stepping motor, a rotating platform, an inertial measurement module, a wireless power supply module, a magnetic limit mechanism, an integrated drive circuit board and a combined shell structure; wherein the micro-stepping motor drives the rotating platform to rotate through a two-stage gear transmission consisting of a small gear and a large gear, thereby driving the inertial measurement module installed on the rotating platform to rotate; the magnetic limit mechanism is used to realize the indexing control of the four azimuth angles of the rotating platform to realize high-precision four-position north-seeking technology, and the data sampled by the inertial measurement module is transmitted to the integrated drive circuit board in real time through wireless transmission for processing; the wireless power supply module is used for contactless power supply of the inertial measurement module.

[0005] Furthermore, the combined shell structure includes an upper cover plate, a motor base, a mounting base, and a shell; the motor base and the mounting base are limitedly assembled by means of an upper limit mounting column and a lower limit mounting column, the mounting base is positioned by cooperating with the tapered hole at the bottom of the shell through the bottom hole, the shell, the mounting base and the motor base are assembled from bottom to top, and then fastened with screws; the upper cover plate is combined with the mounting column of the shell through the limit column, and then fastened with screws, and the assembly of the combined shell structure is achieved through the limit mounting structure.

[0006] Furthermore, the micro stepper motor is fixedly mounted on the motor base and serves as a driving unit to drive the rotating platform to rotate. The limiting boss of the micro stepper motor is positioned through the corresponding positioning hole of the motor base, and then assembled and fixed with screws through the screw holes and the mounting holes on the motor base. The shaft hole at the bottom of the small gear has an interference fit with the rotating shaft of the micro stepper motor; the large gear is mounted on the base, and the bearing can be assembled in the bearing mounting hole of the base, and the large gear is installed in the bearing hole through the stepped shaft; the micro stepper motor drives the small gear to rotate and then drives the large gear to rotate.

[0007] Furthermore, the magnetic limiting mechanism includes small magnetic beads and mounting grooves on the large gear and the outer casing. There is a mounting groove at each of the four azimuth positions of the large gear, and there is a square groove at the corresponding position on the outer casing. The small magnetic beads are embedded in the mounting grooves and the square grooves. Through magnetic limiting, high-precision rotation control of the four azimuth angles of the rotating platform is achieved to meet the requirements of the four-position north-seeking method.

[0008] Furthermore, the inertial measurement module is installed inverted on the large gear, and is composed of a sampling circuit base plate and a gyroscope base plate; the sampling circuit base plate is integrated with a gyroscope sampling circuit, a main control chip, an accelerometer, and a wireless transmission chip, and the mounting hole of the sampling circuit base plate passes through the stepped shaft on the large gear, and the large gear is tightly fitted to the inertial measurement module through an adhesive material to achieve limited fastening of the inertial measurement module and the large gear; the gyroscope base plate is integrated with a gyroscope chip, and the gyroscope base plate is vertically installed on the sampling transmission base plate through positioning holes and welding, and the accelerometer and gyroscope data are collected through the main control chip, and the wireless transmission chip communicates with the integrated drive circuit board to send and receive data, and the integrated drive circuit board transmits the data to the host computer.

[0009] Furthermore, the wireless power supply module consists of a transmitting coil and a receiving coil. The transmitting coil is limitedly installed on the upper cover plate, and the receiving coil is limitedly installed on the large gear. The two coils are installed concentrically. Through the electromagnetic induction of the two coils, non-contact power supply is achieved for the inertial measurement module installed on the rotating platform, thereby ensuring the stable operation of the inertial measurement module.

[0010] Compared with the prior art, the present invention has the following significant advantages:

[0011] 1) By using a small-sized micro-stepping motor to construct the turntable structure, the volume of the turntable mechanical structure is greatly reduced, and embedded assembly such as the inertial measurement module and the integrated drive circuit board is realized, so that the overall gyro north-seeking device is tightly integrated and the volume size is significantly reduced.

[0012] 2) Based on the stepper motor and magnetic limit mechanism, high-precision limit control of the four azimuths of the rotating platform is achieved, which makes up for the insufficient rotation accuracy of the turntable caused by the poor stepping accuracy of the micro stepper motor. It does not need to rely on high-precision sensors, and realizes precise stepping of multiple positions of the rotating platform, ensuring the constant error compensation effect of the rotation modulation technology on the inertial device, and effectively improving the north-seeking performance.

[0013] 3) The wireless power supply unit and wireless signal transmission unit are used to realize contactless power supply of the inertial measurement module and wireless communication and data transmission of the integrated drive circuit board. Compared with common wired transmission methods such as PCB slip rings, it effectively improves the stability of data reception and transmission and the durability of the equipment.

[0014] In summary, the present invention can be widely used in various micro-inertial navigation fields.

[0015] The present invention is further described in detail below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is an exploded diagram of the overall structure of a gyro north-seeking device based on a micro stepper motor.

[0017] Figure 2 It is a structural diagram of the rotating platform.

[0018] Figure 3 It is a schematic diagram of the rotating platform assembly.

[0019] Figure 4 It is a schematic diagram of the assembly of the inertial measurement module and the rotating platform.

[0020] Figure 5 This is the structure diagram of the wireless power supply module.

[0021] Figure 6 It is a structural diagram of the combined shell.

[0022] Figure 7 It is a functional schematic diagram of the magnetic limit mechanism.

[0023] Figure 8 This is the overall structure diagram of the gyro north-seeking device based on a micro stepping motor. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application 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 application and are not used to limit the present application.

[0025] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0026] The present invention discloses a gyro north-seeking device based on a micro-stepping motor, comprising a micro-stepping motor 203, a rotating platform 205, an inertial measurement module 403, a wireless power supply module 503, a magnetic limiting mechanism 601, an integrated driving circuit board 101 and a combined housing structure; wherein the micro-stepping motor 203 drives the rotating platform 205 to rotate via a two-stage gear transmission consisting of a small gear 201 and a large gear 202, thereby driving the inertial measurement module 403 installed on the rotating platform to rotate; the magnetic limiting mechanism 601 is used to realize the indexing control of the four azimuth angles of the rotating platform to realize a high-precision four-position north-seeking technology, and the data sampled by the inertial measurement module 403 is transmitted to the integrated driving circuit board 101 for processing in real time via wireless transmission; the wireless power supply module 503 is used for contactless power supply of the inertial measurement module 403. Figure 1 , 2 As shown in FIG. 3 , the main structure of the entire gyro north-seeking device based on a micro-stepping motor includes a micro-stepping motor 203 , a rotating platform 205 , an inertial measurement module 403 , a wireless power supply unit 503 , and a magnetic limiting mechanism 601 .

[0027] like Figure 1 , 6As shown, the combined housing structure includes an upper cover plate 301, a motor base 302, a mounting base 303, and a housing 304; the motor base 302 and the mounting base 303 can be assembled by means of an upper limit mounting column 3023 and a lower limit mounting column 3031, and the mounting base 303 is positioned by means of a bottom hole 3032 and a bottom conical hole 3043 of the housing 304, and the housing 304, the mounting base 303, and the motor base 302 can be assembled from bottom to top; the upper cover plate 301 is assembled with the mounting column 3042 of the housing 304 by means of a limit column 3011. The mounting column on the base 303 is matched with the mounting column on the stepper motor base 302, and is fixed by means of screws through the through holes on the base 303 and the screw holes on the mounting column on the stepper motor base 302, or can be fixed by means of screws through the through holes on the housing 304 and the through holes on the mounting column on the base 303 and the screw holes on the mounting column on the stepper motor base 302. The entire combined shell structure realizes the limited installation of the shell structure and ensures the stability of the overall structure through the limited installation mechanism.

[0028] like Figure 1 , 2 As shown in Figures 3 and 4, the micro-stepping motor 203 is fixedly mounted on the motor base 302, and serves as a driving unit to drive the rotating platform 205 to rotate. The limiting boss 2031 of the micro-stepping motor 203 is positioned through the positioning hole 3022 corresponding to the motor base, and then assembled and fixed with screws through the screw hole and the mounting hole 3021 on the motor base 302. The shaft hole at the bottom of the small gear 201 is interference fit with the rotating shaft of the micro-stepping motor 203; the large gear 202 is mounted on the base 303, and the bearing can be assembled in the bearing mounting hole 3033 of the base 303. The large gear 202 is installed in the bearing hole through the stepped shaft 2022; the micro-stepping motor 203 drives the small gear 201 to rotate and then drives the large gear 202 to rotate.

[0029] Since a micro-stepping motor is used, its stepping accuracy is limited and the indexing error of the rotating platform is large under open-loop control, making it difficult to achieve high-precision indexing control. This north-seeking device adopts a four-position static north-seeking technology, and the indexing error will greatly affect the north-seeking accuracy of the north-seeking device. Therefore, a magnetic limit mechanism 601 is designed, which mainly includes a small magnetic bead 6011 and mounting grooves located on the large gear 202 and the outer shell 304. There is a mounting groove 2021 at each of the four azimuth positions of the large gear 202, and there is a square groove 3041 at the corresponding position on the outer shell 304. The small magnetic bead 6011 is embedded in the mounting groove and the square groove. Its operating principle is: when in a stationary state, such as Figure 7As shown, the large gear 202 is stationary at the position where the two magnetic beads 6011 are facing each other, which is the current azimuth angle. At this time, the micro-stepping motor 302 is started to drive the large gear 202 to rotate a certain angle (no more than 90°), and the stepping motor drive is stopped at this time. The magnetic beads 6011 installed in the mounting groove 2021 at the next azimuth angle of the large gear 202 will be attracted by the magnetic force of the adjacent magnetic beads installed on the housing 304. The two magnetic beads are attracted by the magnetic force to make the large gear 202 stationary at the position where the two magnetic beads are facing each other, that is, the next azimuth angle, thereby achieving the effect of indexing control. Then, the micro-stepping motor 203 is controlled to start and stop, and the turntable can be controlled to rotate and step into the next azimuth angle, realizing the precise indexing control of the four azimuth angles of the turntable. The magnetic limiting mechanism 601 embeds the magnetic beads 6011 in the four mounting grooves 2021 on the large gear 202 and the square grooves 3041 at the corresponding positions on the outer shell 304, and realizes high-precision rotation control of the four azimuth angles of the rotating platform through magnetic limitation, meeting the requirements of the four-position north-finding method.

[0030] like Figure 1 , 3 As shown in Figure 5, the wireless power supply module 503 consists of a transmitting coil 501 and a receiving coil 502. The inner ring of the transmitting coil 501 is limitedly installed on the boss 3012 of the upper cover plate 301, and the inner ring of the receiving coil 502 is installed on the boss 2023 of the large gear 202, thereby realizing non-contact power supply for the inertial measurement module 403 installed on the rotating platform 205 and ensuring the stable operation of the inertial measurement module.

[0031] like Figure 1 , 3 As shown in Figure 4, the inertial measurement module 403 is composed of a sampling circuit base plate 401 and a gyroscope base plate 402; the sampling circuit base plate 401 is integrated with a gyroscope sampling circuit, a main control chip, an accelerometer, a wireless transmission chip, etc.; the gyroscope base plate 402 is integrated with a gyroscope chip, and the gyroscope base plate 402 is vertically installed on the sampling transmission base plate 401 by positioning holes and welding. In the working state, the gyroscope measures the angular velocity of its sensitive axis, that is, the angular velocity of the earth's rotation at the current position, and the accelerometer measures the inclination acceleration of the rotating platform. The main control chip on the inertial measurement module 403 collects accelerometer and gyroscope data, and communicates with the integrated drive circuit board through the wireless transmission chip to send and receive data, and the integrated drive circuit board 101 transmits the data to the host computer.

[0032] In the above embodiment, if Figure 1 As shown, the integrated driving circuit board 101 is responsible for driving and controlling the micro-stepping motor 203 and receiving and outputting the sampled data of the inertial measurement module 403. In the above embodiment, the overall structure of the integrated micro-stepping motor-based gyro north-seeking device is as shown in FIG. Figure 8As shown, the structural size of the gyro north-seeking device based on the micro stepping motor in the embodiment is 50mm×45mm×25mm, and the north-seeking accuracy of 0.3° can be achieved when the north-seeking time is 6 minutes.

[0033] In summary, the gyro north-seeking device based on a micro stepper motor proposed in the present invention adopts a micro stepper motor as the main driving unit, which reduces the volume of the rotating platform and realizes the embedded assembly of main modules such as the inertial measurement module and the integrated drive circuit board. The structure of the entire device is compact and the volume of the north-seeking device is significantly reduced; a wireless power supply unit and a wireless signal transmission unit are adopted to realize non-contact power supply of the inertial measurement unit and wireless communication and data transmission with the integrated drive sampling control circuit board, thereby improving the stability of data reception and transmission and the durability of the north-seeking device; through the magnetic limit mechanism, there is no need to add a high-precision sensor, and precise rotation control of the four azimuth angles of the rotating platform is realized, which meets the high-precision rotation control requirements of the four-position north-seeking technology, improves the stability of the sampling data, and effectively improves the north-seeking accuracy; the overall design has high feasibility, low cost, good north-seeking efficiency, and can be widely used.

[0034] It should be understood that the gyroscopic north-seeking device based on the micro-stepping motor of the present invention can use any number of limit mechanisms, micro-stepping motors and gyroscopes to meet the overall assembly and performance requirements.

[0035] It should be understood that although the above embodiment realizes the connection between the rotating platform and the inertial measurement module based on a viscous material, the gyro north-seeking device based on a stepper motor in the present invention is not limited to this connection method, and fixation can also be achieved by screws and the like.

[0036] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit and essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-limiting from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention, and any reference numerals in the claims should not be regarded as limiting the claims involved.

[0037] Finally, it should be understood that although this specification is described according to implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A gyro north-seeking device based on a micro-stepping motor, characterized in that: It includes a micro stepper motor, a rotating platform, an inertial measurement module, a wireless power supply module, a magnetic limit mechanism, an integrated drive circuit board and a combined shell structure; wherein the micro stepper motor drives the rotating platform to rotate through a two-stage gear transmission consisting of a small gear and a large gear, thereby driving the inertial measurement module installed on the rotating platform to rotate; the magnetic limit mechanism is used to realize the indexing control of the four azimuth angles of the rotating platform to realize high-precision four-position north-seeking technology, and the data sampled by the inertial measurement module is transmitted to the integrated drive circuit board in real time through wireless transmission for processing; the wireless power supply module is used for contactless power supply of the inertial measurement module.

2. The gyro north-seeking device based on a micro-stepping motor according to claim 1, characterized in that: The combined shell structure includes an upper cover plate, a motor base, a mounting base, and a shell; the motor base and the mounting base are limitedly assembled by means of an upper limit mounting column and a lower limit mounting column, the mounting base is positioned by cooperating with the tapered hole at the bottom of the shell through the bottom hole, the shell, the mounting base, and the motor base are assembled from bottom to top, and then fastened with screws; the upper cover plate is combined with the mounting column of the shell through the limit column, and then fastened with screws, and the assembly of the combined shell structure is realized through the limit mounting structure.

3. The gyro north-seeking device based on a micro-stepping motor according to claim 2, characterized in that: The micro stepper motor is fixedly assembled on the motor base and serves as a driving unit to drive the rotating platform to rotate. The limiting boss of the micro stepper motor is positioned through the corresponding positioning hole of the motor base, and then assembled and fixed with screws through the screw holes and the mounting holes on the motor base. The shaft hole at the bottom of the small gear has an interference fit with the rotating shaft of the micro stepper motor; the large gear is installed on the base, and the bearing can be assembled in the bearing mounting hole of the base, and the large gear is installed in the bearing hole through the stepped shaft; the micro stepper motor drives the small gear to rotate and then drives the large gear to rotate.

4. The gyro north-seeking device based on a micro-stepping motor according to claim 2, characterized in that: The magnetic limit mechanism includes small magnetic beads and mounting grooves on the large gear and the outer shell. There is a mounting groove at each of the four azimuth positions of the large gear, and there is a square groove at the corresponding position on the outer shell. The small magnetic beads are embedded in the mounting grooves and the square grooves. The high-precision rotation control of the four azimuth angles of the rotating platform is achieved through magnetic limitation to meet the requirements of the four-position north-seeking method.

5. The gyro north-seeking device based on a micro-stepping motor according to claim 1, characterized in that: The inertial measurement module is installed upside down on the large gear and consists of a sampling circuit base plate and a gyroscope base plate. The sampling circuit base plate is integrated with a gyroscope sampling circuit, a main control chip, an accelerometer, and a wireless transmission chip. The mounting hole of the sampling circuit base plate passes through the stepped shaft on the large gear. The large gear and the inertial measurement module are tightly fitted together by an adhesive material to achieve limited fastening of the inertial measurement module and the large gear. The gyroscope base plate is integrated with a gyroscope chip. The gyroscope base plate is vertically installed on the sampling transmission base plate by positioning holes and welding. The accelerometer and gyroscope data are collected by the main control chip, and the wireless transmission chip communicates with the integrated drive circuit board to send and receive data. The integrated drive circuit board transmits the data to the host computer.

6. The gyro north-seeking device based on a micro-stepping motor according to claim 1, characterized in that: The wireless power supply module consists of a transmitting coil and a receiving coil. The transmitting coil is limitedly installed on the upper cover plate, and the receiving coil is limitedly installed on the large gear. The two coils are installed concentrically. Through the electromagnetic induction of the two coils, non-contact power supply is realized for the inertial measurement module installed on the rotating platform, ensuring the stable operation of the inertial measurement module.

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