A new type of wireless transmission inertial measurement device

Abstract

The application relates to a novel wireless transmission inertial measurement device and belongs to the technical field of inertial measurement. The application provides a novel wireless transmission inertial measurement device overall design method, provides a stacked shaft end motor control and driving circuit installation structure, provides a novel shaft end wireless transmission circuit installation structure, and provides a wireless transmission inertial measurement device packaging structure based on a "base - upper and lower caps - side sealing cover - shaft end sealing cover - table body cover". The application effectively solves the problems of stabilizing the internal temperature field and isolating the external electromagnetic environment interference by adopting the mode of integrally sealing the inertial measurement device base and reasonably adding the table body cover in the interior, and solves the problem that the axial gap of two wireless transmission circuit boards cannot be measured and accurately controlled due to the shielding of external structural parts during installation.

Description

Technical Field

[0001] This invention relates to a novel wireless transmission inertial measurement device, belonging to the field of inertial measurement technology. Background Technology

[0002] The primary function of an inertial measurement unit (IMU) is to establish a navigation coordinate system within the projectile (or rocket) according to given technical specifications, independent of the projectile's (or rocket's) angular motion. This provides the necessary coordinate reference for measuring acceleration and attitude angles. The IMU's platform assembly is the stable component relative to the inertial coordinate system, providing a stable inertial space for the inertial instruments. Traditionally, internal and external communication in IMUs is achieved through mechanical slip-ring conductive devices. This involves cumbersome wiring, a complex structure, and is prone to generating interference (friction) torque and unwanted materials, affecting the product's accuracy and reliability. Summary of the Invention

[0003] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a novel wireless transmission inertial measurement device. By adopting an overall sealing method for the base of the inertial measurement device and reasonably installing a stage cover inside, the problem of stabilizing the internal temperature field and isolating external electromagnetic interference is effectively solved.

[0004] The technical solution of this invention is: a novel wireless transmission inertial measurement device, comprising:

[0005] The rectangular base provides support for the internal fiber optic gyroscope stage assembly;

[0006] The fiber optic gyroscope cylindrical stage assembly is fixed in a cuboid base and rotates 360° via a torque motor shaft end assembly and a grating angle sensor shaft end assembly to provide high-precision attitude and position information.

[0007] Three shielding covers for the stage assembly are fixed to the cylindrical stage assembly of the fiber optic gyroscope. Two convex trapezoidal caps, two square side sealing covers, and two shaft end sealing covers are fixed to the cuboid base, forming a closed space for electromagnetic shielding and maintaining a uniform and stable internal temperature field, providing a working environment for the inertial instrument. The shaft end wireless communication module includes two wireless power transmission circuit boards, which are fixed to both ends of the grating angle sensor shaft end assembly by two polyimide brackets. The wireless power transmission circuit boards are used to realize wireless transmission of internal and external signals.

[0008] The brushless motor drive circuit board is fixed to the torque motor shaft end assembly via a brushless motor board bracket.

[0009] The brushless motor control circuit board is fixed to the torque motor shaft end assembly via a brushless motor board bracket.

[0010] The shaft end wifi data circuit board is fixed on the cuboid base and is connected with the brushless motor driving and control circuit through a cable.

[0011] Further, the shaft end torque motor assembly is connected with the brushless motor driving board, the brushless motor driving circuit board is connected with the brushless motor control circuit board, and the two are fixed on the brushless motor board support through an insulating column.

[0012] Further, the shaft end wifi data circuit board is connected with the brushless motor driving circuit board and the brushless motor control circuit board through a cable respectively; the shaft end grating angle sensor assembly is connected with the shaft end wifi data circuit board through a cable.

[0013] Further, the cuboid base, the two convex trapezoidal caps, the two square side sealing covers, the two shaft end sealing covers, the three table body assembly shielding covers and the brushless motor board support are made of 2A12 aluminum alloy material.

[0014] Further, the overall structure size envelope is 224mm*270mm*300mm, and the weight is 12kg.

[0015] Further, the shaft end grating angle sensor assembly adopts a double-reading head grating ruler for real-time measurement of the rotation angle of the fiber-optic gyroscope column-shaped table body assembly, and the measured angle information is transmitted internally and externally through the shaft end wireless communication module.

[0016] Further, the magnetic core of the two wireless energy transmission circuit boards is made of ferrite magnetic material, and after being filled and reinforced by a polyimide support, the two are relatively installed through the hole of the shaft end grating angle sensor assembly, and the distance between the two is 1mm±0.1mm.

[0017] Further, the polyimide support body is a circle with a diameter of 71mm, has a notch on one side, and has a thickness of 2.5mm; the center part is a cylindrical protrusion for filling and reinforcing the magnetic core, has a height of 19.5mm, is hollow inside, has an inner diameter of 30mm and an outer diameter of 32mm.

[0018] Further, the shaft end torque motor assembly adopts a 90WLYR type brushless torque motor with a thickness of 25mm.

[0019] Compared with the prior art, the present application has the following advantages:

[0020] (1) The present application adopts a wireless communication-based mode to realize wireless transmission of all power signals and communication signals, replaces the traditional mechanical conductive device, and has the advantages of low power consumption, stable transmission performance and small interference torque.

[0021] (2) The magnetic core of the wireless energy transmission circuit board is made of ferrite magnetic material, which can maximize the magnetic chain density in a smaller working area and reduce the energy transmission loss (compared with the same type of magnetic material, the transmission efficiency can be increased from 90% to 94%).

[0022] (3) The application is an integrated design, light in quality and small in size.

[0023] (4) The 90-type brushless torque motor used in the application has a torque coefficient increased by 60% and a torque fluctuation amount reduced from 10% to 5% compared with the existing brush torque motor of the same size. Meanwhile, the interference torque is reduced, and the motor reliability problem caused by brush wear is avoided.

[0024] (5) The angle measuring device based on the grating sensor is used in the application, and the metal grating is used instead of the glass grating, which greatly improves the structural strength and can meet the use requirements under vibration, overload and impact. Compared with the traditional attitude angle sensor, the measuring accuracy is higher, which is increased from 15" to 5".

[0025] (6) The base is designed to be fully sealed, and a shielding cover is installed on the table body, which can provide good electromagnetic shielding and temperature environment for high-precision inertial instruments.

[0026] (7) The polyimide support for installing the wireless energy transmission circuit board ensures the accurate positioning of the two wireless energy transmission circuit boards. When installing, the magnetic cores of the two wireless energy transmission circuit boards are filled and reinforced through the polyimide support, which ensures the mechanical strength and increases the upper limit of the normal working temperature of the wireless energy transmission circuit board to 200 DEG C. BRIEF DESCRIPTION OF DRAWINGS

[0027] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of the preferred embodiments and are not meant to limit the present application. Moreover, the same reference numerals in the various drawings indicate the same or similar elements. In the drawings:

[0028] Figures 1-3 is a central sectional view of a new wireless transmission inertial measurement device of the application;

[0029] Figure 4 is a structural exploded view of a new wireless transmission inertial measurement device of the application;

[0030] Figure 5 、 6 is a top view and a perspective view of a new wireless transmission inertial measurement device of the application after removing the cap;

[0031] Figure 7 、 8A new type of grating (angle) sensor shaft end assembly view of a wireless transmission inertial measurement device of the application;

[0032] Figure 9 A new type of polyimide support schematic diagram for installing wireless transmission circuit board of a wireless transmission inertial measurement device of the application. DETAILED DESCRIPTION

[0033] In order to better understand the above technical solutions, the technical solutions of the application will be described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the application and the specific features in the embodiments are detailed descriptions of the technical solutions of the application, and are not limitations of the technical solutions of the application. In the case of no conflict, the technical features in the embodiments of the application and the embodiments can be combined with each other.

[0034] The embodiments of the application will be further described in detail below in combination with the accompanying drawings of the specification, such as Figures 1-3 The specific implementation can include: a cuboid-shaped base, 2 convex trapezoidal caps, 2 square side seals, 2 shaft end seals, 3 table body assembly shields, 1 torque motor circuit board support, 1 brushless torque motor shaft end assembly, 1 grating (angle) sensor shaft end assembly, a fiber-optic gyroscope cylindrical table body assembly, 1 conductive device, 2 wireless transmission circuit boards, 1 shaft end wifi data board, 1 brushless motor driving circuit board and 1 brushless motor control circuit board, 1 brushless motor board support, and 1 annular conductive device adapter plate. The fiber-optic gyroscope cylindrical table body assembly is fixed in the cuboid-shaped base for 360° rotation through the 1 torque motor shaft end assembly and the 1 grating (angle) sensor shaft end assembly; the 3 table body assembly shields are fixed on the fiber-optic gyroscope cylindrical table body assembly; the 2 wireless transmission circuit boards are fixed at both ends of the grating (angle) sensor shaft end assembly through the 2 polyimide supports; the 1 conductive device and the 1 annular conductive device adapter plate are fixed on the torque motor shaft end assembly, and the 1 brushless motor driving circuit board and the 1 brushless motor control circuit board are fixed on the torque motor shaft end assembly through the 1 brushless motor board support; as Figure 5 , 6 The 2 convex caps, 2 square side caps, 2 shaft end seals, and 1 shaft end wifi data circuit board are fixed on the cuboid-shaped base.

[0035] In the aforementioned novel wireless transmission inertial measurement device, the torque motor shaft-end assembly is connected to the brushless motor drive board via a cable. The brushless motor drive circuit board and the brushless motor control circuit board are connected via a cable and fixed to the brushless motor board bracket. The shaft-end Wi-Fi data circuit board is connected to both the brushless motor drive circuit board and the brushless motor control circuit board via cables. The dual-reading-head grating sensor shaft-end assembly is connected to the shaft-end Wi-Fi data circuit board via a cable.

[0036] In the aforementioned novel wireless transmission inertial measurement device, the rectangular base, two convex trapezoidal caps, two square side sealing covers, three platform component shielding covers, and the torque motor circuit board bracket are all made of 2A12 aluminum alloy. After assembly, the overall dimensions are 224mm*270mm*300mm, and the weight is 12kg.

[0037] like Figure 7 , 8 In the aforementioned novel wireless transmission inertial measurement device, the angle sensor employs a high-precision dual-reading-head grating ruler, enabling accurate measurement of the platform's rotation angle. The angle measurement information is transmitted internally and externally via an on-axis wireless communication module. This module consists of two wireless power transmission circuit boards, mounted opposite each other with a precise spacing controlled within 1mm ± 0.1mm. The bracket for mounting the wireless power transmission circuit boards is made of polyimide. Figure 9 It features high thermal stability, low coefficient of thermal expansion, excellent dielectric properties, and radiation resistance.

[0038] In the aforementioned novel wireless transmission inertial measurement device, the entire unit is an electromechanical integrated fiber optic gyroscope inertial measurement system based on "wired energy transmission and wireless signal transmission".

[0039] The novel wireless transmission inertial measurement device provided by this invention differs from traditional inertial measurement systems in that: the novel wireless transmission inertial measurement device of this invention adopts an internal and external communication method based on a wireless transmission device and an angle measurement device based on a grating sensor, which changes the signal transmission mode of the traditional mechanical conductive device, reduces shaft-end interference torque and power consumption, and improves angle measurement accuracy.

[0040] In the solutions provided in the embodiments of the present invention, such as Figures 1-3 The image shown is a central cross-sectional view of the novel wireless transmission inertial measurement device. Figure 4A new wireless transmission inertial measurement device structure decomposition schematic diagram, as shown in the figure, a new wireless transmission inertial measurement device, including cuboid base 1, 2 only convex trapezoidal cap, 2 only square side seal cover, 2 only shaft end sealing cover, 3 only table body assembly shield, 1 only torque motor circuit board support, 1 only brushless torque motor shaft end assembly, 1 only double readout head grating sensor shaft end assembly, fiber optic gyroscope cylindrical table body assembly, 1 only conductive device, 2 block wireless transmission circuit board, 1 block shaft end wifi data board, 1 block brushless motor drive circuit board and 1 block brushless motor control circuit board, 1 only brushless motor board support, 1 block ring conductive device adapter board. Among them, the fiber optic gyroscope cylindrical table body assembly 2 is fixed in the cuboid base 1 through 1 only brushless torque motor shaft end assembly 6 and 1 only double readout head grating sensor shaft end assembly 7 360° rotation; 3 only table body assembly shield 18, 19, 20 are fixed on the fiber optic gyroscope cylindrical table body assembly 2; 2 block wireless transmission circuit board 8 is fixed at both ends of the double readout head grating sensor shaft end assembly 7 through 2 only polyimide support 11; 1 only conductive device 9, 1 block ring conductive device adapter board 10 are fixed on the torque motor shaft end assembly 6, 1 block brushless motor drive circuit board 16 and 1 block brushless motor control circuit board 17 are fixed on the torque motor shaft end assembly 6 through 1 only brushless motor board support 12; 2 only convex cap, 2 only square side cover, 2 only shaft end sealing cover, 1 block shaft end wifi data circuit board 13 are fixed on the cuboid base 1.

[0041] The torque motor shaft end assembly 6 and the brushless motor drive board 16 are connected through a cable, the brushless motor drive circuit board 16 and the brushless motor control circuit board 17 are connected through a cable and are fixed on the brushless motor board support 12. The shaft end wifi data circuit board 13 is connected with the brushless motor drive circuit board 16 and the brushless motor control circuit board 17 through a cable. The grating angle sensor shaft end assembly 7 is connected with the shaft end wifi data circuit board 13 through a cable.

[0042] The cuboid base 1, 2 only convex trapezoidal cap 5, 2 only square side seal cover 14, 3 only table body assembly shield 18, 19, 20, brushless motor board support 12 are all made of 2A12 aluminum alloy material. After the whole machine structure is assembled, the size envelope is: 224mm*270mm*300mm, and the weight is 12kg.

[0043] In the present application, the whole machine is a high-precision fiber optic gyroscope inertial measurement system based on energy wired transmission, signal wireless transmission and mechatronics layout.

[0044] It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit and scope of the application. Thus, it is intended that the present application cover modifications and variations of this application provided they come within the scope of the appended claims and their equivalents.

[0045] Other aspects of the application will become apparent to the skilled person from the description and examples which follow.

Claims

1. A wireless transmission inertial measurement device, comprising: It comprises: a cuboid base (1) for providing support for an internal fiber-optic gyroscope platform assembly; a fiber-optic gyroscope columnar platform assembly (2) fixed in the cuboid base (1) for 360° rotation through a torque motor shaft end assembly (6) and a grating angle sensor shaft end assembly (7) to provide high-precision attitude and position information; three platform assembly shielding covers (18, 19, 20) fixed on the fiber-optic gyroscope columnar platform assembly (2), two convex trapezoidal caps (3, 4), two square side sealing covers (14), and two shaft end sealing covers (5) fixed on the cuboid base (1) to jointly form a closed space for electromagnetic shielding and maintaining a uniform and stable internal temperature field to provide a working environment for the inertial instrument; a shaft end wireless communication module including two wireless energy transmission circuit boards fixed on both ends of the grating angle sensor shaft end assembly (7) through two polyimide supports (11) to realize wireless transmission of internal and external signals; a brushless motor driving circuit board (16) fixed on the torque motor shaft end assembly (6) through a brushless motor board support (8); a brushless motor control circuit board (17) fixed on the torque motor shaft end assembly (6) through the brushless motor board support (8); 2. A wireless transmission inertial measurement device according to claim 1, wherein, a shaft end wifi data circuit board (13) fixed on the cuboid base (1) and connected to the brushless motor driving and control circuits through cables.

3. The wireless transmission inertial measurement device of claim 1, wherein, The torque motor shaft end assembly (6) is connected to the brushless motor driving circuit board (16) through a cable, and the brushless motor driving circuit board (16) is connected to the brushless motor control circuit board (17) through a cable, both of which are fixed on the brushless motor board support (8) through an insulating column.

4. The wireless transmission inertial measurement device of claim 1, wherein, The shaft end wifi data circuit board (13) is connected to the brushless motor driving circuit board (16) and the brushless motor control circuit board (17) through cables respectively, and the grating angle sensor shaft end assembly (7) is connected to the shaft end wifi data circuit board (13) through a cable.

5. The wireless transmission inertial measurement device of claim 1, wherein, The cuboid base (1), the two convex trapezoidal caps (3, 4), the two square side sealing covers (14), the two shaft end sealing covers (5), the three platform assembly shielding covers (18, 19, 20), and the brushless motor board support (8) are all made of 2A12 aluminum alloy.

6. A wireless transmission inertial measurement device according to claim 1, wherein, The overall structure size envelope is 224mm*270mm*300mm, and the weight is 12kg.

7. The wireless transmission inertial measurement device of claim 1, wherein, The grating angle sensor shaft end assembly (7) uses a double-reading head grating ruler to measure the rotation angle of the fiber-optic gyroscope columnar platform assembly (2) in real time, and the measured angle information is transmitted internally and externally through the shaft end wireless communication module. The magnetic cores of the two wireless energy transmission circuit boards are made of ferrite magnetic material, and are mounted relative to each other through the holes of the grating angle sensor shaft end assembly (7) after being filled and reinforced with polyimide supports, with a distance of 1mm±0.1mm between them.

8. The wireless transmission inertial measurement device of claim 1, wherein, The polyimide support body is a circle with a diameter of 71mm, one side has a notch, and the thickness is 2.5mm; the center part is a cylindrical protrusion for potting and reinforcing the magnetic core, the height is 19.5mm, the inside is hollow, the inner diameter is 30mm, and the outer diameter is 32mm.

9. The wireless transmission inertial measurement device of claim 1, wherein, The torque motor shaft end assembly (6) adopts a 90WLYR type brushless torque motor, and the thickness is 25mm.

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