External orientation shaft system structure of full-frame inertial navigation equipment

Abstract

The invention discloses a full-frame inertial navigation equipment exterior orientation shaft system structure, and relates to the technical field of navigation, the full-frame inertial navigation equipment exterior orientation shaft system structure comprises an outer frame, an exterior orientation shaft system is arranged in the middle of the outer frame, the outer frame is at least used for positioning and mounting the exterior orientation shaft system, an inner pitch shaft system is arranged in the middle of the exterior orientation shaft system, and the inner pitch shaft system is at least used for positioning and mounting the exterior orientation shaft system. The outer orientation shaft system is at least used for driving the inner pitch shaft system to rotate, and the inner pitch shaft system is at least used for driving inertial navigation equipment to rotate. According to the external orientation shafting structure of the full-frame type inertial navigation equipment, a semi-frame type external orientation is changed into a full-frame type, so that the shafting rigidity can be greatly improved, the dynamic error of the shafting is reduced, a new thought and a new method are provided for the shafting design of a double-shaft system and a multi-shaft system, and a double-shaft inertial navigation whole machine adopting the shafting form is higher in rigidity and better in stability. The method can fully cope with a harsh fitting environment, and is beneficial to further improvement of inertial navigation precision.

Description

Technical Field

[0001] The present invention relates to the field of navigation technology, and in particular to an external azimuth axis system structure of a full-frame inertial navigation device. Background Art

[0002] Inertial navigation equipment is an autonomous navigation system that uses inertial sensors such as gyroscopes and accelerometers to measure the acceleration of the carrier in the inertial reference system, and uses integral transformation and other methods to obtain information such as the carrier's speed and position;

[0003] Inertial navigation equipment will produce error components that accumulate over time due to random errors in the gyroscope. In engineering, the axis system is used for rotational modulation to offset the navigation error caused by the constant drift of all inertial devices, which can achieve higher-precision navigation. At present, the external azimuth modulated inertial navigation azimuth axis system adopts a semi-frame U-shaped frame structure, but the semi-frame U-shaped frame has limited axis system stiffness, and the resulting axis system dynamic error affects the further improvement of the external azimuth axis system inertial navigation accuracy.

[0004] To this end, we propose an external azimuth axis system structure for a full-frame inertial navigation device. Summary of the invention

[0005] The main purpose of the present invention is to provide an external azimuth axis system structure of a full-frame inertial navigation device, which can effectively solve the problems in the background technology.

[0006] To achieve the above object, the technical solution adopted by the present invention is: a full-frame inertial navigation device external azimuth axis system structure, including an external frame, the middle part of which is provided with an external azimuth axis system, and the external frame is at least used for positioning and installing the external azimuth axis system;

[0007] An inner pitch axis system is arranged in the middle of the outer azimuth axis system, the outer azimuth axis system is at least used to drive the inner pitch axis system to rotate, and the inner pitch axis system is at least used to drive the inertial sensitive unit to rotate;

[0008] The outer surface of the lower end of the outer frame is provided with a lower flange surface.

[0009] Preferably, the external azimuth axis system includes an outer ring frame, an outer ring angular measurement axis, an outer ring time grid, an outer ring angular measurement end slip ring, an angular measurement bearing inner pressure ring, an angular measurement bearing outer pressure plate, an angular measurement bearing group, an outer ring motor shaft, an outer ring motor end cover, an outer ring motor end slip ring, a motor bearing inner pressure ring, a motor bearing group, a motor bearing outer pressure plate, an outer ring motor and an outer ring trimming ring.

[0010] Preferably, the outer ring motor end cover is connected to the outer frame via a lower flange surface.

[0011] Preferably, the angular measurement bearing group and the motor bearing group are both a pair of angular contact ball bearings.

[0012] Preferably, the inner ring of the angular measuring bearing group is pressed and fixed to the outer ring angular measuring shaft through the inner pressure ring of the angular measuring bearing, the outer ring of the angular measuring bearing group is pressed and fixed to the outer frame through the outer pressure plate of the angular measuring bearing, the inner ring of the motor bearing group is pressed and fixed to the outer ring motor end cover through the inner pressure ring of the motor bearing, and the outer ring of the motor bearing group is pressed and fixed to the outer ring motor shaft through the outer pressure plate of the motor bearing.

[0013] Preferably, the outer ring angle measuring end slip ring is connected to the outer ring angle measuring shaft, and the outer ring motor end slip ring is connected to the outer ring motor end cover.

[0014] Preferably, the outer ring angle measuring shaft is connected to the outer ring frame via a top flange surface of the outer ring frame, and the outer ring motor shaft is connected to the outer ring frame via a bottom flange surface of the outer ring frame.

[0015] Preferably, the outer ring time grid stator is fixed to the shoulder of the outer frame angle measurement end hole, the outer ring time grid rotor is fixed to the shoulder of the outer ring angle measurement shaft, the outer ring motor stator is fixed to the shoulder of the outer frame motor end hole, and the outer ring motor rotor is fixed to the shoulder of the outer ring motor shaft. Preferably, the outer ring trimming ring is located between the outer ring motor end cover and the outer frame.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] By changing the semi-frame outer ring frame to a full-frame type, the shaft system stiffness can be greatly improved, thereby reducing the shaft system dynamic error, providing new ideas and methods for the shaft system design of dual-axis and multi-axis systems. The dual-axis inertial navigation system using this shaft system has stronger rigidity and can fully cope with more demanding installation environments. It is also beneficial to further improve the inertial navigation accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the assembly relationship of the external azimuth shaft system of the present invention;

[0019] Figure 2 This is a structural diagram of the external azimuth axis system of the present invention;

[0020] Figure 3 It is a partial enlarged schematic diagram of the slip ring at the outer ring angle measuring end of the present invention;

[0021] Figure 4 It is a partially enlarged schematic diagram of the slip ring at the outer ring motor end of the present invention.

[0022] In the figure: 1. outer frame; 2. outer azimuth axis system; 3. inner pitch axis system; 5. lower flange surface; 201. outer ring frame; 202. outer ring angle measuring axis; 203. outer ring time grid; 204. outer ring angle measuring end slip ring; 205. inner pressure ring of angle measuring bearing; 206. outer pressure plate of angle measuring bearing; 207. angle measuring bearing assembly; 208. outer ring motor; 209. outer ring motor end cover; 210. outer ring motor end slip ring; 211. inner pressure ring of motor bearing; 212. motor bearing assembly; 213. outer pressure plate of motor bearing; 214. outer ring motor; 215. outer ring trimming ring. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0024] like Figure 1-4 As shown, an embodiment of the present invention provides an external azimuth axis system structure of a full-frame inertial navigation device, including an outer frame 1, an external azimuth axis system 2 is arranged in the middle of the outer frame 1, the outer frame 1 is at least used for positioning and installing the external azimuth axis system 2, an inner pitch axis system 3 is arranged in the middle of the external azimuth axis system 2, the external azimuth axis system 2 is at least used to drive the inner pitch axis system 3 to rotate, the inner pitch axis system 3 is at least used to drive the inertial navigation device to rotate, and a lower flange surface 5 is arranged on the outer surface of the lower end of the outer frame 1.

[0025] Specifically, in this embodiment, an outer frame 1 is included, an outer azimuth axis system 2 is arranged in the middle of the outer frame 1, the outer frame 1 is at least used to drive the outer azimuth axis system 2 to rotate, an inner pitch axis system 3 is arranged in the middle of the outer azimuth axis system 2, and the outer ring azimuth axis system adopts a pair of hollow shafts plus a full-frame outer ring frame 201. The left and right holes in the middle of the outer ring frame 201 are respectively connected to the shafts at both ends of the inner ring axis system through bearings. The upper and lower sides of the outer ring frame 201 are two flange surfaces, which respectively fix the two hollow shafts and are connected to the outer frame 1 structure through bearings. The ring torque motor and the time grid angle measuring element are respectively arranged at the axial diameter parts of the upper and lower ends of the shaft body, the rotor is fixed at the shaft shoulder part, and the stator is fixed at the shoulder of the outer frame hole; the shaft system bearing group adopts an assembly method of fixing at both ends; and by adjusting the thickness of the outer ring trimming ring 215 to adapt to the outer ring shaft system assembly clearance, the shaft system form with fixed at both ends further improves the shaft system stiffness, the outer azimuth shaft system 2 is at least used to drive the inner pitch shaft system 3 to rotate, and the inner pitch shaft system 3 is at least used to drive the inertial navigation device to rotate, and the outer surface of the lower end of the outer frame 1 is provided with a lower flange surface 5.

[0026] The present invention provides an external azimuth axis system structure of a full-frame inertial navigation device, in which the outer ring azimuth axis system adopts the form of a pair of hollow shafts plus a full-frame outer ring frame 201. The outer ring frame 201 has left and right openings in the middle, which are respectively connected to the shafts at both ends of the inner ring axis system through bearings. The upper and lower sides of the outer ring frame 201 are two flange surfaces, which respectively fix the two hollow shafts and are connected to the outer frame 1 structure through bearings. The outer ring torque motor and the time grid angle measuring element are respectively arranged at the axial diameter parts of the shaft body at the upper and lower ends, and the axis system bearing group adopts an assembly method in which both ends are fixed; and by adjusting the thickness of the outer ring trimming ring 215 to adapt to the assembly gap, the axis system form with both ends fixed further improves the axis system stiffness.

[0027] In one embodiment provided by the present invention, the outer azimuth axis system 2 includes an outer ring frame 201, an outer ring angle measurement axis 202, an outer ring time grid 203, an outer ring angle measurement end slip ring 204, an angle measurement bearing inner pressure ring 205, an angle measurement bearing outer pressure plate 206, an angle measurement bearing group 207, an outer ring motor shaft 208, an outer ring motor end cover 209, an outer ring motor end slip ring 210, a motor bearing inner pressure ring 211, a motor bearing group 212, a motor bearing outer pressure plate 213, an outer ring motor 214 and an outer ring trimming ring 215.

[0028] In another embodiment provided by the present invention, the outer ring motor end cover 209 is connected to the outer frame 1 through the lower flange surface 5, and can jointly support the outer ring azimuth axis system.

[0029] In another embodiment provided by the present invention, the angular measurement bearing group 207 and the motor bearing group 212 are both a pair of angular contact ball bearings.

[0030] In an embodiment provided by the present invention, the inner ring of the angular measuring bearing group 207 is pressed and connected to the outer ring angular measuring shaft 202 through the angular measuring bearing inner pressure ring 205, the outer ring of the angular measuring bearing group 207 is pressed and connected to the angular measuring end hole shoulder of the outer frame 1 through the angular measuring bearing outer pressure plate 206, the inner ring of the motor bearing group 212 is pressed and connected to the central axis of the outer ring motor end cover 209 through the motor bearing inner pressure ring 211, and the outer ring of the motor bearing group 212 is pressed and connected to the central hole shoulder of the outer ring motor shaft 208 through the motor bearing outer pressure plate 213. The inner ring of the angular measuring bearing group 207 is pressed and connected to the outer ring angular measuring shaft 202 through the inner pressure ring 205 of the angular measuring bearing, and the outer ring is pressed and connected to the angular measuring end hole shoulder of the outer frame 1 through the outer pressure plate 206 of the angular measuring bearing. The inner ring of the motor bearing group 212 is pressed and connected to the central axis of the outer ring motor end cover 209 through the inner pressure ring 211 of the motor bearing, and the outer ring is pressed and connected to the central hole shoulder of the outer ring motor shaft 208 through the outer pressure plate 213 of the motor bearing. The inner and outer rings of the angular measuring bearing group 207 and the motor bearing group 212 are pressed by pressure rings or pressure plates to form a shaft system structure with both ends fixed.

[0031] In another embodiment provided by the present invention, the outer ring angle measuring end slip ring 204 is connected to the outer ring angle measuring shaft 202, and the outer ring motor end slip ring 210 is connected to the outer ring motor end cover 209. When in use, the outer ring angle measuring end slip ring 204 and the outer ring motor end rosette 210 are mainly used for electrical connection inside and outside the outer ring shaft system to realize unlimited angle rotation of the outer ring shaft system.

[0032] In another embodiment provided by the present invention, the outer ring angle measuring shaft 202 is fixed on the top flange surface of the outer ring frame, and the outer ring motor shaft 208 is fixed on the bottom flange surface of the outer ring frame.

[0033] In an embodiment provided by the present invention, the stator of the outer ring time grid 203 is fixed to the shoulder of the hole at the angle measuring end of the outer frame 1, the rotor is fixed to the shoulder of the outer ring angle measuring shaft 202, the stator of the outer ring motor 214 is fixed to the shoulder of the hole at the motor end of the outer frame 1, and the rotor is fixed to the shoulder of the outer ring motor shaft 208.

[0034] In another embodiment provided by the present invention, the outer ring trimming ring 215 is located between the outer ring motor end cover 209 and the outer frame 1. The outer ring trimming ring 215 is mainly used to adapt the matching clearance between the outer ring motor end cover 209 and the outer frame 1 when in use, and to control the preload force of the shaft system in the fixed form at both ends. In actual use, the thickness trimming adjustment can be performed according to the size of the assembly clearance between the outer ring motor end cover 209 and the outer frame 1.

[0035] It should be noted that the present invention is an external azimuth axis system structure of a full-frame inertial navigation device. When in use, the inner ring pitch axis system adopts the traditional axis system arrangement form; the outer ring azimuth axis system innovatively adopts a pair of hollow shafts plus a full-frame outer ring frame 201, and the outer ring torque motor and the time grid angle measuring element are respectively arranged at the axial diameter parts of the upper and lower ends of the shaft body. The full-frame outer ring frame greatly improves the structural rigidity of the outer ring axis system; the axis system bearing group adopts an assembly method with both ends fixed, and the assembly gap is adjusted by cutting gaskets at the ends of the shaft. The axis system form with both ends fixed further improves the axis system rigidity; in addition, the external support frame structure also adopts an annular structure; the upper and lower openings are used to support the two hollow shafts of the azimuth axis system, and the axis system is assembled and maintained through the front and rear openings. The inertial navigation axis system of this scheme adopts a full-frame external azimuth axis system 2 structure, which greatly improves the axis system rigidity. At the same time, by optimizing the structure of the components, while taking into account the structural rigidity, the lightweight of the system is fully guaranteed.

[0036] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A full-frame inertial navigation device external azimuth axis system structure, comprising an external frame (1), characterized in that: An external azimuth axis system (2) is arranged in the middle of the external frame (1), and the external frame (1) is at least used for positioning and installing the external azimuth axis system (2); An inner pitch axis system (3) is arranged in the middle of the outer azimuth axis system (2), the outer azimuth axis system (2) is at least used to drive the inner pitch axis system (3) to rotate, and the inner pitch axis system (3) is at least used to drive the inertial sensitive unit to rotate; The outer surface of the lower end of the outer frame (1) is provided with a lower flange surface (5).

2. The external azimuth axis system structure of a full-frame inertial navigation device according to claim 1, characterized in that: The outer azimuth axis system (2) comprises an outer ring frame (201), an outer ring angle measurement axis (202), an outer ring time grid (203), an outer ring angle measurement end slip ring (204), an angle measurement bearing inner pressure ring (205), an angle measurement bearing outer pressure plate (206), an angle measurement bearing group (207), an outer ring motor shaft (208), an outer ring motor end cover (209), an outer ring motor end slip ring (210), a motor bearing inner pressure ring (211), a motor bearing group (212), a motor bearing outer pressure plate (213), an outer ring motor (214) and an outer ring trimming ring (215).

3. The external azimuth axis system structure of a full-frame inertial navigation device according to claim 2 is characterized in that: The outer ring motor end cover (209) is connected to the outer frame (1) via a lower flange surface (5).

4. The external azimuth axis system structure of a full-frame inertial navigation device according to claim 2, characterized in that: The angular measurement bearing group (207) and the motor bearing group (212) are both a pair of angular contact ball bearings.

5. The external azimuth axis system structure of a full-frame inertial navigation device according to claim 2, characterized in that: The inner ring of the angle measuring bearing group (207) is pressed and connected to the outer ring angle measuring shaft (202) through the angle measuring bearing inner pressure ring (205), the outer ring of the angle measuring bearing group (207) is pressed and connected to the angle measuring end hole shoulder of the outer frame (1) through the angle measuring bearing outer pressure plate (206), the inner ring of the motor bearing group (212) is pressed and connected to the central shaft of the outer ring motor end cover (209) through the motor bearing inner pressure ring (211), and the outer ring of the motor bearing group (212) is pressed and connected to the central hole shoulder of the outer ring motor shaft (208) through the motor bearing outer pressure plate (213).

6. The external azimuth axis system structure of a full-frame inertial navigation device according to claim 2, characterized in that: The outer ring angle measurement end slip ring (204) is connected to the outer ring angle measurement shaft (202), and the outer ring motor end slip ring (210) is connected to the outer ring motor end cover (209).

7. The external azimuth axis system structure of a full-frame inertial navigation device according to claim 2, characterized in that: The outer ring angle measuring shaft (202) is fixed to the flange surface of the angle measuring end of the outer ring frame (201), and the outer ring motor shaft (208) is fixed to the flange surface of the motor end of the outer ring frame (201).

8. The external azimuth axis system structure of a full-frame inertial navigation device according to claim 2, characterized in that: The stator of the outer ring time grid (203) is fixedly connected to the outer frame (1), the rotor of the outer ring time grid (203) is fixedly connected to the outer ring angle measurement shaft (202), the stator of the outer ring motor (214) is fixedly connected to the outer frame (1), and the rotor of the outer ring motor (214) is fixedly connected to the outer ring motor shaft (208).

9. The external azimuth axis system structure of a full-frame inertial navigation device according to claim 2, characterized in that: The outer ring trimming ring (215) is located between the outer ring motor end cover (209) and the outer frame (1).

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