Discrete triaxial quartz gyroscope and electronic equipment

Abstract

The invention provides a discrete three-axis quartz gyroscope and electronic equipment, and relates to the technical field of gyroscopes, the discrete three-axis quartz gyroscope comprises an X-axis gyroscope, a Y-axis gyroscope and a Z-axis gyroscope, the meter core of the X-axis gyroscope and the meter core of the Y-axis gyroscope respectively corresponding to the X-axis gyroscope and the Y-axis gyroscope are orthogonal in the same horizontal plane and share one signal processing circuit, and the Z-axis gyroscope and the X-axis gyroscope share one signal processing circuit. The Z-axis gyroscope is arranged above the X-axis gyroscope movement and the Y-axis gyroscope movement to form the discrete three-axis gyroscope, and the X-axis gyroscope movement and the Y-axis gyroscope movement are fixed to the structure body of the gyroscope based on the vibration reduction assembly. The X-axis gyroscope movement and the Y-axis gyroscope movement share one signal processing circuit, the number of used components is reduced, the size of the gyroscope is reduced, the X-axis gyroscope movement, the Y-axis gyroscope movement, the structure body and the vibration reduction assembly are combined, the internal space is fully utilized, the integrated mechanical structure design is formed, the vibration reduction assembly has the buffering effect, and the vibration reduction effect is good. The influence of external stress on the X-axis and Y-axis gyroscope meter cores is reduced, and the vibration resistance and the impact resistance are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of gyroscopes, and in particular to a discrete three-axis quartz gyroscope and electronic equipment. Background Art

[0002] A gyroscope is an inertial detection device used to measure the angular motion of an object in a relative inertial space. It can detect the angular velocity of a sensitive carrier and realize the perception of direction and position. With the development of science and technology, gyroscopes are widely used in aerospace, industrial automation, consumer electronics and other fields. In particular, micro-electro-mechanical system (MEMS) has the advantages of small size and light weight compared to traditional gyroscopes, and is suitable for occasions with strict requirements on installation space and weight.

[0003] However, MEMS gyroscopes are highly sensitive to environmental factors. Under extreme environmental conditions, such as high temperature, high humidity, and strong vibration, they are easily disturbed by vibration, shock, and other interferences. The performance of MEMS gyroscopes may be more greatly affected, or even fail to work properly.

[0004] Therefore, it is necessary to provide a miniaturized gyroscope with better vibration and shock resistance. Summary of the invention

[0005] The present invention provides a discrete three-axis quartz gyroscope and electronic equipment, which can effectively reduce the interference of vibration and impact in the environment on the internal chip of the gyroscope and improve the anti-vibration and impact performance.

[0006] The present invention provides a discrete three-axis quartz gyroscope, comprising an X-axis gyroscope, a Y-axis gyroscope and a Z-axis gyroscope formed based on a surface-mounted quartz gyroscope, wherein the X-axis gyroscope, the Y-axis gyroscope and the Z-axis gyroscope form a discrete three-axis gyroscope, the X-axis gyroscope comprises an X-axis gyroscope core formed based on a quartz gyroscope core, the Y-axis gyroscope comprises a Y-axis gyroscope core formed based on a quartz gyroscope core, the X-axis gyroscope core and the Y-axis gyroscope core are orthogonally arranged on the same horizontal plane and share a signal processing circuit, the Z-axis gyroscope is arranged above the X-axis gyroscope core and the Y-axis gyroscope core, the X-axis gyroscope core and the Y-axis gyroscope core are fixed to a structural body of the discrete three-axis quartz gyroscope based on a vibration reduction component, and the vibration reduction component is used to reduce the stress on the X-axis gyroscope core and the Y-axis gyroscope core.

[0007] As an embodiment, the vibration reduction assembly includes a vibration reduction bracket and a vibration reduction glue, the vibration reduction bracket includes an X-axis vibration reduction bracket and a Y-axis vibration reduction bracket, and the vibration reduction glue includes an X-axis vibration reduction glue and a Y-axis vibration reduction glue; The X-axis vibration reduction bracket is provided with a slot for accommodating the X-axis gyroscope core, the structural body is provided with a slot for accommodating the X-axis vibration reduction bracket, the X-axis vibration reduction glue is provided at the corners of the X-axis vibration reduction bracket, and the X-axis vibration reduction bracket and the X-axis vibration reduction glue cooperate to fix the X-axis gyroscope core and the structural body; The Y-axis vibration damping bracket is provided with a slot for accommodating the Y-axis gyroscope core, the structural body is provided with a slot for accommodating the Y-axis vibration damping bracket, the Y-axis vibration damping glue is arranged at the corners of the Y-axis vibration damping bracket, and the Y-axis vibration damping bracket and the Y-axis vibration damping glue cooperate to fix the Y-axis gyroscope core and the structural body.

[0008] As an embodiment, the X-axis vibration damping bracket and the Y-axis vibration damping bracket are each provided with a boss on the side, and the boss is used as an assembly reference of the vibration damping assembly and a disassembly support surface of the quartz gyroscope movement.

[0009] As an embodiment, it also includes a main control circuit board and a gyro demodulation circuit board. The signal processing circuit is arranged on the gyro demodulation circuit board and is electrically connected to the X-axis gyro core and the Y-axis gyro core respectively, and is used to demodulate the output data of the X-axis gyroscope and the output data of the Y-axis gyroscope to obtain the X-axis angular velocity and the Y-axis angular velocity, and transmit the X-axis angular velocity and the Y-axis angular velocity to the main control circuit board.

[0010] As an embodiment, the surface-mounted quartz gyroscope is integrated with an angular velocity demodulation circuit, and the angular velocity demodulation circuit is used to demodulate the data of the Z-axis gyroscope to obtain the Z-axis angular velocity, and output the Z-axis angular velocity to the main control circuit board.

[0011] As an embodiment, the main control circuit board and the gyro demodulation circuit board are connected via a flexible wire, and the main control circuit board and the gyro demodulation circuit board share a power chip, a crystal oscillator and a temperature diode.

[0012] As an embodiment, the gyro demodulation circuit board includes a quartz gyro movement detection end circuit, a metal shielding shell is welded at the quartz gyro movement detection end circuit, the metal shielding shell includes an X-axis metal shielding shell corresponding to the X-axis gyro movement and a Y-axis metal shielding shell corresponding to the Y-axis gyro movement, and the X-axis metal shielding shell and the Y-axis metal shielding shell are both electrically grounded; the X-axis gyro movement, the X-axis metal shielding shell, the X-axis vibration reduction assembly and the signal processing circuit are used to cooperate to realize the function of the X-axis gyroscope, and the Y-axis gyroscope movement, the Y-axis metal shielding shell, the Y-axis vibration reduction assembly and the signal processing circuit are used to cooperate to realize the function of the Y-axis gyroscope.

[0013] As an embodiment, the main control circuit board and the gyro demodulation circuit board both use discrete electronic components.

[0014] As an embodiment, the X-axis gyroscope core and the Y-axis gyroscope core are both packaged in a metal tube shell, and the surface-mounted quartz gyroscope is packaged in a ceramic tube shell.

[0015] The present invention also provides an electronic device, comprising any of the discrete three-axis quartz gyroscopes described above.

[0016] The present invention provides a discrete three-axis quartz gyroscope and electronic equipment, comprising an X-axis gyroscope, a Y-axis gyroscope and a Z-axis gyroscope based on a surface-mounted quartz gyroscope, wherein the X-axis gyroscope, the Y-axis gyroscope and the Z-axis gyroscope constitute a discrete three-axis gyroscope, the X-axis gyroscope comprises an X-axis gyroscope core based on a quartz gyroscope core, the Y-axis gyroscope comprises a Y-axis gyroscope core based on a quartz gyroscope core, the X-axis gyroscope core and the Y-axis gyroscope core are orthogonally arranged on the same horizontal plane and share a signal processing circuit, the Z-axis gyroscope is arranged above the X-axis gyroscope core and the Y-axis gyroscope core, the X-axis gyroscope core and the Y-axis gyroscope core are fixed to the structural body of the discrete three-axis quartz gyroscope based on a vibration reduction component, and the vibration reduction component is used to reduce the stress on the X-axis gyroscope core and the Y-axis gyroscope core. The present invention adopts an X-axis gyroscope, a Y-axis gyroscope, and a surface-mounted Z-axis gyroscope to form a discrete three-axis gyroscope. The X-axis gyroscope core and the Y-axis gyroscope core share a signal processing circuit, which reduces the number of components used compared to the traditional multi-axis discrete gyroscope circuit, and is conducive to reducing the size of the gyroscope. In addition, the X-axis gyroscope core, the Y-axis gyroscope core, the structural body, and the vibration reduction component are combined to fully utilize the internal space to form an integrated mechanical structure design. The vibration reduction component has a buffering effect, reduces the influence of external stress on the X-axis gyroscope core and the Y-axis gyroscope core, and improves the vibration and impact resistance of the gyroscope. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a structural schematic diagram of a discrete three-axis quartz gyroscope provided by the present invention.

[0019] Figure 2 It is a structural schematic diagram of the vibration reduction assembly and the structural body provided by the present invention.

[0020] In the figure, 1-upper cover, 2-surface mounted quartz gyroscope, 3-main control circuit board, 4-metal shielding shell, 5-gyroscope demodulation circuit board, 6-quartz gyroscope movement, 7-vibration damping bracket, 8-vibration damping glue, 9-structural body, 10-lower cover, 11-X-axis vibration damping glue, 12-Y-axis vibration damping glue, 13-X-axis vibration damping bracket, 14-Y-axis vibration damping bracket. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limitations on the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0023] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" 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. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0024] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0025] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0026] As the market demand for gyroscope performance continues to increase, the demand for miniaturized, high-performance gyroscopes is growing. Currently, high-precision multi-axis gyroscopes mainly include fiber optic gyroscopes, laser gyroscopes, and some gyroscopes using advanced MEMS technology. The three-axis MEMS gyroscope is one of the most common miniaturized multi-axis gyroscopes on the market. Through advanced micromachining techniques such as photolithography, etching, and thin film deposition, high-precision micromechanical structures are manufactured on substrates such as quartz or silicon wafers. It can simultaneously measure angular velocities around three axes, thereby miniaturizing and lightweighting the gyroscope. The quartz micromechanical gyroscope is a new type of miniature inertial device developed using MEMS technology. It combines the stability of quartz materials and the precision machining capabilities of MEMS technology to achieve higher measurement accuracy.

[0027] High-precision multi-axis gyroscopes such as fiber optic gyroscopes and laser gyroscopes play an important role in their respective application fields, but due to the limitations of their structure and working principle, it is still difficult to achieve a high degree of miniaturization. As a type of micro sensor, MEMS gyroscopes have significant advantages in miniaturization, low power consumption, and high integration, but they also have some defects. In terms of circuits, MEMS gyroscopes generally use digital circuits composed of discrete devices. The number of discrete devices used in traditional MEMS gyroscope discrete circuits is large and the package is large. It is difficult to integrate circuit modules with multiple functions on a circuit board, and the size of the circuit board is difficult to reduce, thereby increasing the overall size of the MEMS gyroscope and failing to effectively utilize the structural space. Compared with traditional optical gyroscopes and mechanical rotor gyroscopes, MEMS gyroscopes are generally less environmentally adaptable. MEMS gyroscopes are highly sensitive to environmental factors, such as temperature, vibration, and electromagnetic interference, which may affect their performance. Under extreme environmental conditions, such as high temperature, high humidity, and strong vibration, the performance of MEMS gyroscopes may be more affected, or even fail to work properly. In addition, MEMS gyroscopes may be affected by internal noise and external interference during operation, which can reduce the signal-to-noise ratio and measurement accuracy of the gyroscope. The presence of noise and interference will increase the complexity and difficulty of data processing and also affect the overall performance of the system.

[0028] In order to solve at least one of the above-mentioned technical defects, the present invention proposes a discrete three-axis miniaturized quartz gyroscope design scheme, which is optimized in at least one aspect of structure, vibration reduction, circuit, shielding, etc. to achieve the miniaturization of the three-axis gyroscope, ensure the measurement accuracy, performance stability and environmental adaptability of the miniaturized three-axis gyroscope, and improve the vibration and impact resistance of the gyroscope. It is described in detail below with reference to the accompanying drawings.

[0029] Figure 1 Schematic diagram of the structure of the discrete three-axis quartz gyroscope provided by the present invention, such as Figure 1 As shown, the present invention provides a discrete three-axis quartz gyroscope, including an X-axis gyroscope, a Y-axis gyroscope and a Z-axis gyroscope based on a surface-mounted quartz gyroscope, the X-axis gyroscope, the Y-axis gyroscope and the Z-axis gyroscope constitute a discrete three-axis gyroscope, the X-axis gyroscope includes an X-axis gyroscope core based on a quartz gyroscope core, and the Y-axis gyroscope includes a Y-axis gyroscope core based on a quartz gyroscope core.

[0030] The X-axis gyroscope core and the Y-axis gyroscope core are orthogonally arranged on the same horizontal plane and share a signal processing circuit, which reduces the number of components and helps to reduce the size of the gyroscope. The Z-axis gyroscope is arranged above the X-axis gyroscope core and the Y-axis gyroscope core. The X-axis gyroscope, the Y-axis gyroscope and the Z-axis gyroscope constitute a discrete three-axis gyroscope. The X-axis gyroscope core and the Y-axis gyroscope core are fixed to the structural body of the discrete three-axis quartz gyroscope based on a vibration reduction component. The vibration reduction component is used to reduce the stress on the X-axis gyroscope core and the Y-axis gyroscope core.

[0031] Optionally, the housing of the discrete three-axis quartz gyroscope includes an upper cover 1, a structural body 9 and a lower cover 10 arranged in sequence from top to bottom, and the upper cover 1 and the structural body 9 constitute a space for accommodating an X-axis gyroscope, a Y-axis gyroscope and a Z-axis gyroscope. The X-axis gyroscope, the Y-axis gyroscope and the Z-axis gyroscope are orthogonal to each other and are used to detect the X-axis angular velocity, the Y-axis angular velocity and the Z-axis angular velocity respectively.

[0032] It is understandable that, in order to achieve miniaturization, most of the existing MEMS single-axis quartz gyroscopes are not provided with a vibration reduction structure, resulting in environmental stresses such as vibration and impact being transmitted to the inside of the gyroscope, affecting the performance of the gyroscope. A small number of MEMS single-axis quartz gyroscopes are provided with an independent vibration reduction structure, which increases the size of the gyroscope. In view of the defect that the existing MEMS single-axis quartz gyroscope cannot balance performance and size, the present invention proposes a vibration reduction structure design under limited size, combines the quartz gyroscope core 6, the structural body 9 and the vibration reduction component, and the X-axis gyroscope and the Y-axis gyroscope can share a structural package, so that the two gyroscope cores share a signal processing circuit, which has a higher space utilization rate and a smaller volume than the multi-axis gyroscope assembled from the existing single-axis gyroscopes. Considering that the direct use of the quartz gyroscope core 6 will be affected by external stress, the present invention uses a vibration reduction component to form an integrated mechanical structure design of the X-axis gyroscope core, the Y-axis gyroscope core and the structural body 9, which not only ensures the vibration reduction performance of the product, but also ensures the mechanical strength of the overall structure. The quartz gyroscope movement 6 and the structural body 9 are connected and fixed by vibration-damping glue 8 and vibration-damping bracket 7. The vibration-damping glue 8 and the vibration-damping bracket 7 play a buffering role, reducing the influence of external stress on the quartz gyroscope movement 6, and improving the vibration and impact resistance of the MEMS three-axis gyroscope.

[0033] Figure 2 Schematic diagram of the structure of the vibration reduction assembly and the structural body provided by the present invention, such as Figure 2 As shown, based on the above embodiment, as an optional embodiment, the vibration damping assembly includes a vibration damping bracket 7 and a vibration damping glue 8, the vibration damping bracket 7 includes an X-axis vibration damping bracket 13 and a Y-axis vibration damping bracket 14, and the vibration damping glue 8 includes an X-axis vibration damping glue 11 and a Y-axis vibration damping glue 12.

[0034] The X-axis vibration damping bracket 13 is provided with a slot for accommodating the X-axis gyroscope core, the structural body 9 is provided with a slot for accommodating the X-axis vibration damping bracket 13, the X-axis vibration damping glue 11 is arranged at the corners of the X-axis vibration damping bracket 13, and the X-axis vibration damping bracket 13 and the X-axis vibration damping glue 11 cooperate to fix the X-axis gyroscope core and the structural body 9.

[0035] The Y-axis vibration damping bracket 14 is provided with a slot for accommodating the Y-axis gyroscope movement, the structural body 9 is provided with a slot for accommodating the Y-axis vibration damping bracket 14, the Y-axis vibration damping glue 12 is arranged at the corners of the Y-axis vibration damping bracket 14, and the Y-axis vibration damping bracket 14 and the Y-axis vibration damping glue 12 cooperate to fix the Y-axis gyroscope movement and the structural body 9.

[0036] It can be understood that the present invention forms a stress isolation vibration reduction component through the vibration reduction bracket 7 and the vibration reduction glue 8, which can effectively reduce the interference of vibration, impact, etc. in the environment on the quartz gyroscope movement 6. The existing MEMS single-axis gyroscope vibration reduction structure is independent, and one structural body corresponds to one vibration reduction structure and one movement. The multi-axis gyroscope requires multiple structural bodies and multiple vibration reduction structures. In the present invention, the vibration reduction component is integrated with the structural body and the gyroscope movement. The two movements and two vibration reduction components can share one structural body through the optimization of the spatial layout design, which reduces the number of structural bodies and the total size of the structural bodies, which is conducive to the miniaturization of the gyroscope.

[0037] Based on the above embodiment, as an optional embodiment, the X-axis vibration damping bracket 13 and the Y-axis vibration damping bracket 14 are each provided with a boss on the side, and the boss is used as an assembly reference of the vibration damping assembly and a disassembly support surface of the quartz gyro movement 6.

[0038] The vibration-damping bracket 7 is designed with a boss at each of its four side edges, which not only reserves space for the injection of the vibration-damping glue 8 but also ensures the mechanical rigidity of the vibration-damping bracket 7 .

[0039] When assembling the vibration reduction assembly, the boss of the vibration reduction bracket 7 is used as a reference, and the vibration reduction bracket 7 is fixed by an assembly tool, and the vibration reduction glue 8 is poured at the four corners of the vibration reduction bracket 7 to achieve the fixed connection between the vibration reduction bracket 7 and the structural body 9. Specifically, the structural body 9, the X-axis vibration reduction bracket 13 and the Y-axis vibration reduction bracket 14 are fixed by the tool respectively, and the vibration reduction glue 8 is poured into the four corners of the X-axis vibration reduction bracket 13 and the Y-axis vibration reduction bracket 14 respectively. The X-axis vibration reduction bracket 13 is bonded and fixed to the structural body 9 by the X-axis vibration reduction glue 11, and the Y-axis vibration reduction bracket 14 is bonded and fixed to the structural body 9 by the Y-axis vibration reduction glue 12, so as to achieve the integration of the vibration reduction assembly and the structural body 9. The X-axis gyro core and the Y-axis gyro core are bonded and fixed to the X-axis vibration reduction bracket 13 and the Y-axis vibration reduction bracket 14 respectively by high-strength structural glue to achieve the orthogonal installation of the planar two-axis gyro.

[0040] It can be understood that the present invention can ensure that there is no direct contact between the quartz gyroscope movement 6 and the structural body 9 by setting the vibration reduction assembly, and the quartz gyroscope movement 6 and the structural body 9 are buffered by the vibration reduction bracket 7 and the vibration reduction glue 8, thereby reducing the influence of external stress on the quartz gyroscope movement 6 and improving the vibration and impact resistance of the three-axis miniaturized quartz gyroscope. In addition, the present invention also uses the bosses around the X-axis vibration reduction bracket 13 and the Y-axis vibration reduction bracket 14 as the support surface, and realizes the flexible disassembly and replacement of the quartz gyroscope movement 6 through the movement disassembly tool.

[0041] On the basis of the above embodiment, as an optional embodiment, the present invention also includes a main control circuit board 3 and a gyro demodulation circuit board 5, the signal processing circuit is arranged on the gyro demodulation circuit board 5, and is electrically connected to the X-axis gyro core and the Y-axis gyro core respectively, and is used to demodulate the output data of the X-axis gyroscope and the output data of the Y-axis gyroscope to obtain the X-axis angular velocity and the Y-axis angular velocity, and transmit the X-axis angular velocity and the Y-axis angular velocity to the main control circuit board 3.

[0042] Optionally, the main control circuit board 3 and the gyro demodulation circuit board 5 both use discrete electronic components. The gyro demodulation circuit board 5 is provided with a signal processing circuit, and the X-axis gyro core and the Y-axis gyro core share a signal processing circuit for demodulating the output of the quartz gyro core 6 corresponding to the X-axis gyro and the Y-axis gyro, including discrete components such as resistors, capacitors, and operational amplifiers. The signal processing circuit of the quartz gyro core 6 can simultaneously realize the gyro signal demodulation of the X-axis and Y-axis. Compared with the traditional discrete multi-axis gyroscope, the number of electronic components used is reduced and the size of the demodulation circuit board is reduced. The main control circuit board 3 is provided with a CPU main control circuit for calculating and processing the three-axis angular velocity, including electronic components such as a crystal oscillator, a single-chip microcomputer, an ADC chip, a communication chip, and a power chip. The circuit structure of the CPU main control circuit is not an improvement point of the present invention and will not be repeated.

[0043] Optionally, the Z-axis gyroscope is fixed on the main control circuit board 3, and the surface-mounted quartz gyroscope 2 is integrated with an angular velocity demodulation circuit, which is used to demodulate the data of the Z-axis gyroscope to obtain the Z-axis angular velocity, and output the Z-axis angular velocity to the main control circuit board 3.

[0044] Optionally, the surface-mounted quartz gyroscope 2 is also integrated with a vibration reduction structure to reduce the influence of external stress and can directly output a stable and reliable Z-axis angular velocity value.

[0045] It can be understood that the present invention proposes a soft-hard combination circuit board design scheme based on a digital discrete scheme, using discrete electronic components such as resistors, capacitors, operational amplifiers, ADC chips, ARM chips, power chips and communication interface chips to design the digital circuit of the quartz gyroscope, arranging the electronic components on two circuit boards, and the quartz gyroscope movement 6 corresponding to the X-axis gyroscope and the Y-axis gyroscope share a signal processing circuit, reducing the number of circuit boards and facilitating packaging. Both the main control circuit board 3 and the gyroscope demodulation circuit board 5 use digital circuits, which are easy to control and simple to zero, and have good stability and linearity performance.

[0046] Based on the above embodiment, as an optional embodiment, the main control circuit board 3 and the gyro demodulation circuit board 5 are connected by a flexible wire, and the main control circuit board 3 and the gyro demodulation circuit board 5 share a power chip, a crystal oscillator and a temperature diode.

[0047] It is understandable that, considering the limited internal space of the structural parts, the circuit board adopts a hard-soft board design to reduce the space occupancy rate. The hard board part of the gyroscope only includes two circuit boards, the main control circuit board 3 and the gyro demodulation circuit board 5. The use of a soft board for connection can ensure that the load capacity is sufficient when the same power supply (such as digital 3.3V) is used. The main control circuit board 3 and the gyro demodulation circuit board 5 can share power chips, crystal oscillators and temperature diodes, reduce the number of chips used, and reduce the area of ​​the circuit board. The form of the hard-soft board can realize the bending of the entire circuit board, realize integration, and facilitate the installation of the circuit board. The X-axis gyroscope and the Y-axis gyroscope are installed on the same circuit board. The Z-axis gyroscope is not subject to the size restrictions of the existing single-axis gyroscope. The bending of the main control circuit board 3 and the gyro demodulation circuit board 5 can realize the orthogonality of the three-axis gyroscope, further ensuring the miniaturization of the three-axis quartz gyroscope.

[0048] On the basis of the above embodiment, as an optional embodiment, the gyro demodulation circuit board 5 includes a quartz gyro movement detection end circuit, and a metal shielding shell 4 is welded at the quartz gyro movement detection end circuit, the metal shielding shell 4 includes an X-axis metal shielding shell corresponding to the X-axis gyro movement and a Y-axis metal shielding shell corresponding to the Y-axis gyro movement, and the X-axis metal shielding shell and the Y-axis metal shielding shell are both electrically grounded; the X-axis gyro movement, the X-axis metal shielding shell, the X-axis vibration reduction assembly and the signal processing circuit are used to cooperate to realize the function of the X-axis gyroscope, and the Y-axis gyroscope movement, the Y-axis metal shielding shell, the Y-axis vibration reduction assembly and the signal processing circuit are used to cooperate to realize the function of the Y-axis gyroscope.

[0049] The X-axis metal shielding shell and the Y-axis metal shielding shell are both made of bent metal copper sheets and are installed at the detection end of the quartz gyroscope movement of the gyroscope demodulation circuit board 5. They are welded together with the pads on the gyroscope demodulation circuit board 5 to achieve electrical grounding together with the gyroscope demodulation circuit board 5.

[0050] It is understandable that, according to the characteristics of the quartz movement demodulation circuit, the measurement function of the three-axis miniaturized quartz gyroscope is realized based on the signal detection of the quartz gyroscope movement detection end circuit. However, the original signal of the quartz gyroscope movement detection end is easily affected by the electromagnetic interference of the external environment. The noise of the surrounding strong signal and the environmental electromagnetic interference will be coupled to the components of the quartz gyroscope movement detection end circuit, resulting in interference in the signal obtained by the quartz gyroscope movement detection end circuit, and the output noise of the detection end is large, resulting in the accuracy and reliability of the gyroscope output angular velocity being reduced. To this end, the metal shielding shell 4 provided in the present invention forms an internal electromagnetic shielding through electrical grounding, isolates the quartz gyroscope movement detection end circuit containing sensitive signals from the rest of the circuit, protects the internal quartz gyroscope movement detection end sensitive signal from external strong signals and electromagnetic interference, and reduces the angular velocity output noise.

[0051] On the basis of the above embodiment, as an optional embodiment, the quartz gyroscope movement 6 corresponding to each of the X-axis gyroscope and the Y-axis gyroscope is packaged in a metal tube shell, that is, the X-axis gyroscope movement and the Y-axis gyroscope movement are both packaged in a metal tube shell, and the surface-mounted quartz gyroscope 2 corresponding to the Z-axis gyroscope is packaged in a ceramic tube shell. Optionally, the packaged quartz gyroscope movement 6 and the surface-mounted quartz gyroscope 2 are bonded to the vibration reduction component by high-strength structural adhesive to achieve an integrated structural design, reduce space occupancy, and achieve miniaturization of the three-axis gyroscope.

[0052] In summary, the discrete three-axis miniaturized quartz gyroscope provided by the present invention can realize angular velocity measurement of three orthogonal axes under limited size, while ensuring measurement accuracy and vibration resistance. The gyroscope zero bias stability is within 10° / h, and the zero bias change before and after vibration is within 20° / h. The volume and weight of the internally integrated three-axis gyroscope provided by the present invention are greatly reduced, the size of the whole machine can be controlled within 25mm*25mm*12mm, and the weight of the whole machine can be controlled within 30g. Compared with the existing MEMS three-axis gyroscope, the size of the whole machine is reduced by 75%, and the internal space utilization of the structure is greatly improved.

[0053] The electronic device provided by the present invention is described below. The electronic device described below and the discrete three-axis quartz gyroscope described above can be referred to each other.

[0054] The present invention also provides an electronic device, comprising any of the discrete three-axis quartz gyroscopes described above.

[0055] The electronic device provided by the present invention includes the discrete three-axis quartz gyroscope provided by any of the above embodiments, and has the technical effects corresponding to the discrete three-axis quartz gyroscope, which will not be described in detail.

[0056] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0057] Through the description of the above implementation modes, those skilled in the art can clearly understand that each implementation mode can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A discrete three-axis quartz gyroscope, characterized in that: The invention comprises an X-axis gyroscope, a Y-axis gyroscope and a Z-axis gyroscope formed based on a surface-mounted quartz gyroscope, wherein the X-axis gyroscope, the Y-axis gyroscope and the Z-axis gyroscope form a discrete three-axis gyroscope, the X-axis gyroscope comprises an X-axis gyroscope core formed based on a quartz gyroscope core, the Y-axis gyroscope comprises a Y-axis gyroscope core formed based on a quartz gyroscope core, the X-axis gyroscope core and the Y-axis gyroscope core are orthogonally arranged on the same horizontal plane and share a signal processing circuit, the Z-axis gyroscope is arranged above the X-axis gyroscope core and the Y-axis gyroscope core, the X-axis gyroscope core and the Y-axis gyroscope core are fixed to the structural body of the discrete three-axis quartz gyroscope based on a vibration reduction component, and the vibration reduction component is used to reduce the stress on the X-axis gyroscope core and the Y-axis gyroscope core.

2. The discrete three-axis quartz gyroscope according to claim 1, characterized in that: The vibration reduction assembly includes a vibration reduction bracket and a vibration reduction glue, the vibration reduction bracket includes an X-axis vibration reduction bracket and a Y-axis vibration reduction bracket, and the vibration reduction glue includes an X-axis vibration reduction glue and a Y-axis vibration reduction glue; The X-axis vibration reduction bracket is provided with a slot for accommodating the X-axis gyroscope core, the structural body is provided with a slot for accommodating the X-axis vibration reduction bracket, the X-axis vibration reduction glue is provided at the corners of the X-axis vibration reduction bracket, and the X-axis vibration reduction bracket and the X-axis vibration reduction glue cooperate to fix the X-axis gyroscope core and the structural body; The Y-axis vibration damping bracket is provided with a slot for accommodating the Y-axis gyroscope core, the structural body is provided with a slot for accommodating the Y-axis vibration damping bracket, the Y-axis vibration damping glue is arranged at the corners of the Y-axis vibration damping bracket, and the Y-axis vibration damping bracket and the Y-axis vibration damping glue cooperate to fix the Y-axis gyroscope core and the structural body.

3. The discrete three-axis quartz gyroscope according to claim 2, characterized in that: The X-axis vibration-damping bracket and the Y-axis vibration-damping bracket are each provided with a boss on their side, and the boss is used as an assembly reference for the vibration-damping assembly and a disassembly support surface for the quartz gyro movement.

4. The discrete three-axis quartz gyroscope according to any one of claims 1 to 3, characterized in that: The invention also includes a main control circuit board and a gyro demodulation circuit board. The signal processing circuit is arranged on the gyro demodulation circuit board and is electrically connected to the X-axis gyro core and the Y-axis gyro core respectively, and is used to demodulate the output data of the X-axis gyroscope and the output data of the Y-axis gyroscope to obtain the X-axis angular velocity and the Y-axis angular velocity, and transmit the X-axis angular velocity and the Y-axis angular velocity to the main control circuit board.

5. The discrete three-axis quartz gyroscope according to claim 4, characterized in that: The surface-mounted quartz gyroscope is integrated with an angular velocity demodulation circuit, and the angular velocity demodulation circuit is used to demodulate the data of the Z-axis gyroscope to obtain the Z-axis angular velocity, and output the Z-axis angular velocity to the main control circuit board.

6. The discrete three-axis quartz gyroscope according to claim 4, characterized in that: The main control circuit board and the gyro demodulation circuit board are connected via a flexible wire, and the main control circuit board and the gyro demodulation circuit board share a power chip, a crystal oscillator and a temperature diode.

7. The discrete three-axis quartz gyroscope according to claim 4, characterized in that: The gyro demodulation circuit board includes a quartz gyro movement detection end circuit, a metal shielding shell is welded at the quartz gyro movement detection end circuit, the metal shielding shell includes an X-axis metal shielding shell corresponding to the X-axis gyro movement and a Y-axis metal shielding shell corresponding to the Y-axis gyro movement, and the X-axis metal shielding shell and the Y-axis metal shielding shell are both electrically grounded; the X-axis gyro movement, the X-axis metal shielding shell, the X-axis vibration reduction assembly and the signal processing circuit are used to cooperate to realize the function of the X-axis gyroscope, and the Y-axis gyroscope movement, the Y-axis metal shielding shell, the Y-axis vibration reduction assembly and the signal processing circuit are used to cooperate to realize the function of the Y-axis gyroscope.

8. The discrete three-axis quartz gyroscope according to claim 4, characterized in that: The main control circuit board and the gyro demodulation circuit board both use discrete electronic components.

9. The discrete three-axis quartz gyroscope according to any one of claims 1-3 and 5-8, characterized in that: The X-axis gyroscope core and the Y-axis gyroscope core are both packaged in metal tube shells, and the surface-mounted quartz gyroscope is packaged in ceramic tube shells.

10. An electronic device, characterized in that: The invention comprises a discrete three-axis quartz gyroscope as described in any one of claims 1 to 9.

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