MEMS gyroscope with protection function

Abstract

The invention relates to the technical field of gyroscopes, and discloses an MEMS gyroscope with a protection function, which solves the problem of poor damping effect, and comprises a protection box, a protection bottom plate is fixed at the bottom of the protection box, a filter plate is arranged at the left end of the protection box, two longitudinal rails are fixed in the protection box, and the two longitudinal rails are arranged on the protection bottom plate. A transverse rail is arranged between the two longitudinal rails, a fan is arranged at the bottom of the transverse rail, a plurality of positioning shafts are arranged at the upper end of the protection bottom plate, a damping ball is slidably connected to the outer portion of each positioning shaft, a connecting pipe is arranged at the top of each positioning shaft, and a clamping rod is slidably connected to the interior of each connecting pipe. A gyroscope is also arranged in the protection box; according to the invention, through the navigation IMU board, based on an error compensation algorithm of a gyroscope and an acceleration sensor of an MEMS, a high-precision north-seeking algorithm, a complex scene high-adaptability navigation algorithm, an integrated navigation fusion algorithm and other technologies, high-precision pose detection under large-angle, high-dynamic and other scenes is realized.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of gyroscopes, and specifically relates to a MEMS gyroscope with a protection function. BACKGROUND

[0002] With the rapid development of the coal industry, mine safety and production efficiency have become the focus of the industry. As the key equipment of the fully-mechanized coal mining face in coal mines, the performance and stability of the hydraulic support directly affect the safety and production efficiency of the mine. When operating in the coal mine, the hydraulic support needs to be adjusted in real time according to the operating state of the coal cutter. The poses of different parts of the support, such as the top beam, cross beam, tail beam and support, will change accordingly. Only relying on the height sensor and pressure sensor provided by the hydraulic support, the attitude of the hydraulic support cannot be accurately obtained, so it is difficult to monitor abnormal working conditions such as slipping, losing and biting of the hydraulic support during this process. Sometimes, safety accidents such as collision between the hydraulic support and the coal mining machine may occur, which restricts the further improvement of the automatic production efficiency. The traditional attitude detection method of the hydraulic support mainly relies on manual experience and periodic inspection. This method is not only inefficient, but also has limited accuracy and reliability, and cannot meet the production requirements of modern mines in terms of high efficiency, safety and intelligence. With the emergence of MEMS gyroscopes, this problem has been solved.

[0003] However, the existing gyroscopes are mostly of an integral structure, so that when one part of the entire gyroscope is damaged, the entire gyroscope is scrapped, thereby wasting a lot of resources. In addition, the existing gyroscopes are invalid due to the vibration of the hydraulic support during use, thereby reducing the service life of the gyroscope. Therefore, the application provides a MEMS gyroscope with a protection function. SUMMARY

[0004] In view of the above situation, in order to overcome the defects of the prior art, the application provides a MEMS gyroscope with a protection function, which effectively solves the problems proposed in the above background.

[0005] In order to achieve the above object, the present application provides the following technical scheme: A MEMS gyroscope with protection function, including a protection box, the bottom of the protection box is fixed with a protection bottom plate, the right end of the protection box is tightly attached with a protection door, the left end of the protection box is fixed with an air inlet frame, the left end of the protection box is provided with a filter plate, the right end of the filter plate is provided with a baffle, the inside of the protection box is fixed with two longitudinal rails, the two longitudinal rails are provided with a transverse rail, the bottom of the transverse rail is fixed with a close-to-rod, the bottom of the close-to-rod is provided with a fan, the upper end of the protection bottom plate is slidably connected with a plurality of moving blocks, the top of each moving block is provided with a positioning shaft, the outside of each positioning shaft is slidably connected with a shock absorbing ball, the top of each positioning shaft is fixed with a connecting ring, the outside of each connecting ring is provided with a plurality of connecting heads, the top of each positioning shaft is provided with a connecting pipe, the inside of each connecting pipe is slidably connected with a clamping rod, the bottom of each clamping rod is provided with a plurality of clamping shafts, the outside of each clamping shaft is provided with a clamping head, the inside of each clamping shaft is slidably connected with a moving wedge, the inside of the protection box is further provided with a gyroscope, the inside of the gyroscope is provided with a power board, the bottom of the power board is provided with a main control board, the bottom of the main control board is provided with a north-seeking motor, the top of the north-seeking motor is rotatably connected with a motor shaft, the outside of the motor shaft is slidably connected with a navigation IMU board.

[0006] Preferably, the bottom of the protection bottom plate is fastened and connected with the hydraulic support through the fixing bolts, the right end of the protection box is fixed with a protection rubber strip, the protection rubber strip is fastened and connected with the protection door through the bolts, the top of the protection bottom plate is further fixed with a controller, the front end of the controller is fixed with a power supply, the inside of the protection box is further fixed with a temperature sensor.

[0007] Preferably, the inside of the protection box is provided with a plurality of sealing heads which are fixedly connected with the baffle, the left end of the baffle is fixed with two sealing rods, the sealing rods are fixedly connected with the air inlet frame, the upper end of the air inlet frame is further fixed with a cleaning rod, the bottom of the cleaning rod is fixed with a cleaning strip, and the cleaning strip is tightly attached with the filter plate.

[0008] Preferably, the inside of each longitudinal rail is tightly attached with a longitudinal roller, the outside of each longitudinal roller is rotatably connected with a longitudinal positioning plate, the outer side of each longitudinal positioning plate is fixed with a longitudinal motor, each longitudinal motor is rotatably connected with the longitudinal roller on its inner side, the inner side of each longitudinal positioning plate is fixed with a connecting plate, each connecting plate is fixedly connected with the transverse rail on its inside, the inside of the transverse rail is tightly attached with a transverse roller, the outside of the transverse roller is rotatably connected with a transverse positioning plate, the front end of the transverse positioning plate is fixed with a transverse motor, the shaft of the transverse motor is rotatably connected with the transverse roller on its rear end, and the transverse positioning plate is fixedly connected with the close-to-rod on its bottom.

[0009] Preferably, the close-to-rod bottom is fixed with a reversing motor, the reversing motor bottom is rotationally connected with a reversing block, the reversing block front end is fixed with a vice-reversing motor, the reversing block inside is rotationally connected with a reversing head, the vice-reversing motor is rotationally connected with the reversing head, the reversing head front end is fixed with a camera, the reversing head bottom is fixed with a fan motor, and the fan motor is rotationally connected with the fan at the bottom.

[0010] Preferably, the protection box inside is provided with a positioner, the positioner is fastened with the protection bottom plate through bolts, the positioner inside is rotationally connected with an adaptive rod, the adaptive rod is fixed with the moving block outside, the positioner top is fixed with a plurality of adaptive motors, and each adaptive motor is rotationally connected with the adaptive rod at the bottom.

[0011] Preferably, each moving block top is fixed with a connecting disc, each connecting disc is fixed with the positioning shaft at the top, each damping ball outside is provided with a damping spring, each positioning shaft top is fixed with a connecting ring, each connecting ring outside is slidably connected with a plurality of connecting rods, each connecting rod outside is fixed with a blocking plate, each blocking plate is fixed with the connecting head outside, and each connecting rod outside is further provided with a connecting spring.

[0012] Preferably, each connecting head is slidably connected with the damping track on the connecting pipe outside, each connecting pipe lower end is further fixed with a supporting ring, each supporting ring top is closely attached with an adaptive plate, each adaptive plate top is closely attached with a connecting bottom plate, the connecting bottom plate top is fixed with the gyroscope, each adaptive plate top is further provided with a clamping plate and is slidably connected with the connecting pipe, and each clamping plate bottom is closely attached with the connecting bottom plate.

[0013] Preferably, the connecting pipe top is fixed with a clamping spring, the clamping spring is fixed with the clamping rod at the top, the connecting pipe is further provided with a plurality of clamping holes, each clamping rod bottom is fixed with an anti-deviation plate, the anti-deviation plate is closely attached with the clamping shaft, each anti-deviation plate is fixed with the moving wedge at the bottom, each clamping shaft outside is further provided with a clamping shaft spring, each clamping shaft outside is fixed with an anti-falling plate, each anti-falling plate is fixed with the clamping head outside, and each clamping head can be closely attached with the clamping hole.

[0014] Preferably, the top of the gyroscope is fastened with an upper cover, the right end of the upper cover is fixed with a wire, the wire is closely attached to the through hole on the protective door through a rubber ring, the power panel is fastened with the gyroscope through bolts, the main control panel is fastened with the gyroscope through bolts, the north-seeking motor bottom is fastened with the connecting bottom plate through bolts, the top of the motor shaft is slidingly connected with a top plate, the top plate is clamped with a positioning ring at the top, a replacement groove is arranged on the top plate, a anti-shaking strip is slidingly connected on the top plate, the bottom of the anti-shaking strip is fixed with an anti-shaking plate, the anti-shaking plate is closely attached to the navigation IMU plate, and the anti-shaking strip is further provided with an anti-shaking spring.

[0015] Compared with the prior art, the beneficial effects of the present application are: The navigation IMU plate of the device is based on the error compensation algorithm of MEMS-based gyroscope and acceleration sensor, high-precision north-seeking algorithm, complex scene high adaptability navigation algorithm, and combined navigation fusion algorithm, so as to realize high-precision pose detection in large-angle and high-dynamic scenes, continuous navigation and north-seeking fusion of the navigation IMU plate, self-calibration, and establishment of a reference benchmark for underground cluster equipment. The anti-shaking plate and the navigation IMU plate are closely attached through the cooperation of the anti-shaking strip and the anti-shaking spring, thereby ensuring the stability of the navigation IMU plate. The navigation IMU plate can be easily disassembled due to the replacement groove, thereby improving the service life of the entire device. The air inlet frame is used for protecting the cleaning rod, the filter plate is used for filtering dust in the air, and the sealing rod can drive the baffle to move, so that the sealing head is closely attached to the filter plate. The cleaning rod can drive the cleaning strip to move, thereby cleaning the dust on the filter plate, ensuring the filtering effect, and improving the protection efficiency. The longitudinal motor can drive the longitudinal roller to rotate, thereby driving the longitudinal positioning plate to move along the longitudinal rail, and driving the transverse rail to move along the longitudinal rail. The transverse motor can drive the transverse roller to move along the transverse rail, thereby driving the close-to-rod to move along the transverse rail. The transverse rail can be extended or retracted to drive the reversing motor to lift, and the reversing motor can drive the reversing block to rotate. The auxiliary reversing motor can drive the reversing head to rotate, so that the fan motor can be moved to any position outside the gyroscope, thereby improving the use range of the entire device, ensuring the cooling effect, and improving the cooling efficiency while ensuring the cooling accuracy. The application can make the moving block movable and reversible by matching the motor and the matching rod, so as to adapt to different sizes of gyroscopes, can reduce the shock through the shock absorbing spring and the shock absorbing ball, so as to ensure the shock absorbing effect, ensure the stability of the gyroscope, ensure the safety of the gyroscope, and can make the connecting pipe liftable and prevent the connecting pipe from rotating through the cooperation of the connecting head and the shock absorbing track, so as to facilitate the disassembly of the connecting pipe, facilitate the replacement of the shock absorbing spring and the shock absorbing ball, and prevent the connecting head from separating from the shock absorbing track due to the action of the blocking plate; The application is used for positioning the anti-deviation plate through the clamping rod, and the clamping head and the clamping hole are matched to clamp the clamping plate, so as to adapt to different thicknesses of the connecting bottom plate, so as to improve the use range of the whole device, the clamping head is conveniently lowered, the clamping shaft moves inward when the clamping rod rises due to the action of the clamping shaft and the moving wedge, so that the clamping head is separated from the clamping hole, the clamping rod is conveniently lifted, the clamping plate is liftable, the stability of the gyroscope is ensured, and the connecting bottom plate of different thicknesses can be adapted, so as to improve the use range of the whole device. BRIEF DESCRIPTION OF DRAWINGS

[0016] The accompanying drawings are used to provide a further understanding of the application, and constitute a part of the specification, together with the embodiments of the application, to explain the application, and do not constitute a limitation on the application.

[0017] In the drawings: Figure 1 It is the overall schematic diagram of the application; Figure 2 It is the overall left end schematic diagram of the application; Figure 3 It is the internal schematic diagram of the protection box of the application; Figure 4 It is the cross-sectional view schematic diagram of the protection box of the application; Figure 5 It is the bottom schematic diagram of the transverse track of the application; Figure 6 It is the bottom schematic diagram of the reversing motor of the application; Figure 7 It is the internal schematic diagram of the air inlet frame of the application; Figure 8 It is the internal schematic diagram of the blocking plate of the application; Figure 9 It is the internal schematic diagram of the gyroscope of the application; Figure 10 It is the cross-sectional view schematic diagram of the gyroscope of the application; Figure 11 It is the upper end schematic diagram of the motor shaft of the application; Figure 12 It is the bottom schematic diagram of the protection bottom plate of the application; Figure 13The schematic diagram of the upper end of the moving block of the present application; Figure 14 The schematic diagram of the top of the connecting disc of the present application; Figure 15 The schematic diagram of the upper end of the positioning shaft of the present application; Figure 16 The schematic diagram of the section of the connecting pipe of the present application; Figure 17 The schematic diagram of the upper end of the support ring of the present application; Figure 18 The schematic diagram of the moving wedge of the present application; Figure 19 The schematic diagram of the connecting ring of the present application.

[0018] In the figure: 1 - protection box; 2 - air inlet frame; 3 - longitudinal track; 4 - gyroscope; 5 - connecting pipe; 6 - moving block; 7 - transverse track; 8 - north-seeking motor; 9 - damping spring; 101 - protection door; 102 - protection rubber strip; 103 - protection bottom plate; 104 - fixing bolt; 105 - controller; 106 - power supply; 107 - temperature sensor; 201 - filter plate; 202 - baffle; 203 - cleaning rod; 204 - cleaning strip; 205 - sealing rod; 206 - sealing head; 301 - longitudinal positioning plate; 302 - longitudinal roller; 303 - longitudinal motor; 304 - connecting plate; 401 - upper cover; 402 - wire; 403 - connecting bottom plate; 404 - power supply plate; 405 - main control plate; 501 - clamping plate; 502 - clamping rod; 503 - clamping spring; 504 - clamping hole; 505 - clamping head; 506 - adapter plate; 507 - support ring; 508 - clamping shaft; 509 - clamping shaft spring; 510 - anti-deviation plate; 511 - moving wedge; 512 - anti-falling plate; 601 - adapter rod; 602 - positioner; 603 - adapter motor; 701 - close-to-rod; 702 - transverse positioning plate; 703 - transverse motor; 704 - reversing motor; 705 - reversing block; 706 - auxiliary reversing motor; 707 - reversing head; 708 - fan motor; 709 - fan; 710 - camera; 711 - transverse roller; 801 - motor shaft; 802 - top plate; 803 - navigation IMU plate; 804 - replacement slot; 805 - positioning ring; 806 - anti-shaking strip; 807 - anti-shaking plate; 808 - anti-shaking spring; 901 - damping ball; 902 - connecting disc; 903 - positioning shaft; 904 - connecting ring; 905 - connecting head; 906 - connecting rod; 907 - connecting spring; 908 - blocking plate; 909 - damping track. DETAILED DESCRIPTION

[0019] Clearly, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments; based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative labor fall within the protection scope of the present application.

[0020] Embodiment one, by Figures 1-5 , Figures 8-9 , Figures 13-16The utility model discloses a kind of MEMS gyroscopes with protection function, including protection box 1, the protection box 1 is made of alloy material, the protection box 1 is used to protect the gyroscope 4, protection bottom plate 103 is fixed in the bottom of the protection box 1, the protection bottom plate 103 is made of alloy material, the protection bottom plate 103 is used to support the protection box 1, protection door 101 is closely attached to the right end of the protection box 1, the protection door 101 facilitates opening the protection box 1, air inlet frame 2 is fixed in the left end of the protection box 1, the air inlet frame 2 is made of alloy material, the air inlet frame 2 is used to protect the cleaning rod 203, the left end of the protection box 1 is equipped with filter plate 201, the filter plate 201 is used to filter dust in air, the right end of the filter plate 201 is equipped with baffle 202, the baffle 202 is made of alloy material, the baffle 202 is used to position the sealing head 206, two longitudinal rails 3 are fixed in the inside of the protection box 1, the longitudinal rail 3 is made of alloy material, the longitudinal rail 3 facilitates the movement of longitudinal roller 302, transverse rail 7 is equipped between two the longitudinal rail 3, the transverse rail 7 is made of alloy material, the transverse rail 7 facilitates the movement of transverse roller 711, the bottom of the transverse rail 7 is fixed with close-to-rod 701, the close-to-rod 701 is telescopic, so as to drive the reversing motor 704 to lift, the bottom of the close-to-rod 701 is equipped with fan 709, the fan 709 can reduce the temperature inside the protection box 1 by rotating, so as to ensure the safety of the gyroscope 4, a plurality of moving blocks 6 are slidably connected to the upper end of the protection bottom plate 103, the moving block 6 is made of alloy material, the moving block 6 is used to position the connecting disc 902, the top of each moving block 6 is equipped with positioning shaft 903, the positioning shaft 903 is made of alloy material, the positioning shaft 903 is used to position the shock-absorbing ball 901, the outside of each positioning shaft 903 is slidably connected with shock-absorbing ball 901, the shock-absorbing ball 901 adopts spherical structure, the shock-absorbing ball 901 is made of rubber material, the shock-absorbing ball 901 is used to reduce shock, the top of each positioning shaft 903 is fixed with connecting ring 904, the connecting ring 904 is made of alloy material, the connecting ring 904 is used to position the connecting rod 906, the outside of each connecting ring 904 is equipped with a plurality of connecting heads 905, the connecting head 905 is made of alloy material, the connecting head 905 cooperates with the shock-absorbing rail 909 to make the connecting pipe 5 can be lifted while preventing the connecting pipe 5 from rotating, the top of each positioning shaft 903 is equipped with connecting pipe 5, the connecting pipe 5 is made of alloy material, the connecting pipe 5 is used to position the clamping plate 501, the inside of each connecting pipe 5 is slidably connected with clamping rod 502, the clamping rod 502 is made of alloy material, the clamping rod 502 is used to position the anti-deviation plate 510, the bottom of each clamping rod 502 is equipped with a plurality of clamping shafts 508, the clamping shaft 508 is made of alloy material,The clamping shaft 508 is used for positioning the anti-off plate 512, each clamping shaft 508 is externally provided with a clamping head 505, the clamping head 505 adopts a wedge-shaped structure, the clamping head 505 is made of alloy material, the clamping head 505 can be clamped with the clamping hole 504, thereby adapting to the different thicknesses of the connecting bottom plate 403, each clamping shaft 508 is internally and slidably connected with a moving wedge 511, the moving wedge 511 adopts a right triangle structure, the moving wedge 511 is made of alloy material, the moving wedge 511 is raised to drive the clamping shaft 508 to move inward, the protective box 1 is internally provided with a gyroscope 4, the gyroscope 4 is made of plastic material, the gyroscope 4 is used for positioning the main control plate 405, the gyroscope 4 is internally provided with a power board 404, the power board 404 provides the required power for the internal parts of the gyroscope 4, the bottom of the power board 404 is provided with the main control plate 405, the main control plate 405 is used for controlling the internal mechanism of the gyroscope 4, the top of the main control plate 405 is fixedly provided with an acceleration sensor, the bottom of the main control plate 405 is provided with a north-seeking motor 8, the north-seeking motor 8 can drive the motor shaft 801 to rotate, the top of the north-seeking motor 8 is rotatably connected with the motor shaft 801, the motor shaft 801 is used for positioning the navigation IMU plate 803, the motor shaft 801 is externally and slidably connected with the navigation IMU plate 803, the navigation IMU plate 803 is based on the error compensation algorithm of MEMS-based gyroscope and acceleration sensor, high-precision north-seeking algorithm, complex scene high adaptability navigation algorithm, and combination navigation fusion algorithm, so as to realize high-precision pose detection in large-angle and high-dynamic scenes, the navigation IMU plate 803 is continuously navigated and fused with north-seeking, self-calibration, and establishes a reference benchmark for underground cluster equipment.

[0021] In example two, on the basis of example one, Figures 6-7The bottom of the protection bottom plate 103 is fastened and connected with the hydraulic support through the fixing bolt 104. The right end of the protection box 1 is fixed with the protection rubber strip 102. The protection rubber strip 102 is made of rubber material. The protection rubber strip 102 can guarantee the sealing property of the whole device. The protection rubber strip 102 is fastened and connected with the protection door 101 through the bolt. The top of the protection bottom plate 103 is further fixed with the controller 105. The controller 105 is used for controlling the whole device. The front end of the controller 105 is fixed with the power supply 106. The power supply 106 provides the required electric energy for the whole device. The inside of the protection box 1 is further fixed with the temperature sensor 107. The temperature sensor 107 is used for monitoring the inside temperature of the protection box 1. The inside of the protection box 1 is provided with a plurality of sealing heads 206 which are fixedly connected with the baffle 202. The baffle 202 can prevent dust from entering the inside of the protection box 1 by closely contacting with the filter plate 201. The left end of the baffle 202 is fixed with two sealing rods 205. The sealing rods 205 are telescopic, so as to drive the baffle 202 to move. The sealing rods 205 are fixedly connected with the air inlet frame 2. The upper end of the air inlet frame 2 is further fixed with the cleaning rod 203. The cleaning rod 203 is telescopic, so as to drive the cleaning strip 204 to move, thereby facilitating the cleaning of the filter plate 201. The bottom of the cleaning rod 203 is fixed with the cleaning strip 204. The cleaning strip 204 is made of rubber material. The cleaning strip 204 closely contacts with the filter plate 201. The top of the gyroscope 4 is fastened and connected with the upper cover 401. The upper cover 401 is made of plastic material. The upper cover 401 can guarantee the sealing property of the gyroscope 4. The right end of the upper cover 401 is fixed with the wire 402. The wire 402 facilitates the electric connection between the gyroscope 4 and the external equipment. The wire 402 closely contacts with the through hole on the protection door 101 through the rubber ring. The power board 404 is fastened and connected with the gyroscope 4 through the bolt. The main control board 405 is fastened and connected with the gyroscope 4 through the bolt. The north-seeking motor 8 is fastened and connected with the connecting bottom plate 403 through the bolt. The top of the motor shaft 801 is slidingly connected with the top plate 802. The top plate 802 is made of alloy material. The top plate 802 is used for positioning the anti-shaking strip 806. The top of the top plate 802 is clamped with the positioning ring 805. The positioning ring 805 is made of alloy material. The positioning ring 805 is used for positioning the anti-shaking strip 806. The top plate 802 is provided with the replacement groove 804. The replacement groove 804 facilitates the dismounting of the navigation IMU board 803. The top plate 802 is slidingly connected with the anti-shaking strip 806. The anti-shaking strip 806 is made of alloy material. The anti-shaking strip 806 is used for positioning the anti-shaking plate 807. The bottom of the anti-shaking strip 806 is fixed with the anti-shaking plate 807. The anti-shaking plate 807 is made of alloy material. The anti-shaking plate 807 is used for positioning the navigation IMU board 803. The anti-shaking plate 807 closely contacts with the navigation IMU board 803.The anti-shaking strip 806 is externally provided with an anti-shaking spring 808 which is elastic so as to make the navigation IMU plate 803 close to the motor shaft 801. Before using the device, the staff opens the upper cover 401, further inserts the navigation IMU plate 803 into the motor shaft 801, further rotates the top plate 802, at this time, due to the effect of the anti-shaking strip 806 and the anti-shaking spring 808, the anti-shaking plate 807 is close to the navigation IMU plate 803, so as to ensure the stability of the navigation IMU plate 803, further the staff fastens the main control plate 405 and the gyroscope 4 through bolts, at the same time, fastens the power plate 404 and the gyroscope 4 through bolts, further the staff fastens the gyroscope 4 and the upper cover 401 through bolts, so as to ensure that the whole device is detachable, further the staff installs the gyroscope 4 in the protective box 1, further fastens the protective bottom plate 103 and the hydraulic support through the fixing bolt 104, when monitoring, due to the effect of the acceleration sensor on the top of the main control plate 405 and the main control plate 405, the inclination and displacement of the gyroscope 4 can be monitored, at the same time, due to the effect of the north-seeking motor 8, the motor shaft 801 can be rotated, so as to make the navigation IMU plate 803 face the north direction, so as to ensure the accuracy of monitoring, when the temperature sensor 107 monitors that the temperature in the protective box 1 is high, the controller 105 controls the sealing rod 205 to extend, so as to drive the filter plate 201 to move inward, so that the sealing head 206 is separated from the filter plate 201, so that the external air enters the protective box 1, so as to cool the gyroscope 4, further when the temperature sensor 107 monitors that the temperature is still high, the controller 105 controls the sealing rod 205 to contract, so that the sealing head 206 is close to the filter plate 201, further the controller 105 controls the cleaning rod 203 to extend, so as to drive the cleaning strip 204 to move, so as to clean the filter plate 201, so as to ensure the cooling effect.

[0022] In example three, on the basis of example one, Figures 10-11Each of the longitudinal rails 3 is tightly fitted with a longitudinal roller 302, which facilitates the movement of the transverse rail 7 by rotating. Each of the longitudinal rollers 302 is rotatably connected with a longitudinal positioning plate 301 outside, the longitudinal positioning plate 301 is made of alloy material, and the longitudinal positioning plate 301 is used for positioning the longitudinal roller 302. Each of the longitudinal positioning plates 301 is fixed with a longitudinal motor 303 outside, the longitudinal motor 303 can drive the longitudinal roller 302 to rotate, and each of the longitudinal motors 303 is rotatably connected with the longitudinal roller 302 inside. Each of the longitudinal positioning plates 301 is fixed with a connecting plate 304 inside, the connecting plate 304 is made of alloy material, and the connecting plate 304 is used for positioning the transverse rail 7. Each of the connecting plates 304 is fixedly connected with the transverse rail 7 inside. The transverse rail 7 is tightly fitted with a transverse roller 711 inside, which can make the close-to-bar 701 move along the transverse rail 7 by moving inside the transverse rail 7. The transverse roller 711 is rotatably connected with a transverse positioning plate 702 outside, the transverse positioning plate 702 is made of alloy material, and the transverse positioning plate 702 is used for positioning the close-to-bar 701. The transverse positioning plate 702 is fixed with a transverse motor 703 at the front end, the transverse motor 703 can drive the transverse roller 711 to rotate, and the transverse motor 703 is rotatably connected with the rotating shaft of the transverse roller 711 at the rear end. The transverse positioning plate 702 is fixedly connected with the close-to-bar 701 at the bottom. The close-to-bar 701 is fixed with a reversing motor 704 at the bottom, the reversing motor 704 can drive the reversing block 705 to rotate, and the reversing motor 704 is rotatably connected with the reversing block 705 at the bottom. The reversing block 705 is made of alloy material, and the reversing block 705 is used for positioning the reversing head 707. The reversing block 705 is fixed with a secondary reversing motor 706 at the front end, the secondary reversing motor 706 can drive the reversing head 707 to rotate, and the reversing block 705 is rotatably connected with the reversing head 707 inside. The reversing head 707 is used for positioning the fan motor 708, and the secondary reversing motor 706 is rotatably connected with the reversing head 707. The reversing head 707 is fixed with a camera 710 at the front end, the camera 710 is used for monitoring the position of the fan 709. The reversing head 707 is fixed with a fan motor 708 at the bottom, the fan motor 708 can drive the fan 709 to rotate, and the fan motor 708 is rotatably connected with the fan 709 at the bottom. When the filter plate 201 is cleaned, the temperature is still high, the controller 105 controls the longitudinal motor 303 to work, so as to drive the longitudinal roller 302 to rotate, so that the horizontal rail 7 moves along the longitudinal rail 3, at the same time, the controller 105 controls the horizontal motor 703 to drive the horizontal roller 711 to rotate, so as to drive the horizontal positioning plate 702 to move along the horizontal rail 7, further, the close-to-rod 701 can drive the reversing motor 704 to move up and down through the telescopic, further, the reversing motor 704 can drive the reversing block 705 to rotate, at the same time, through the auxiliary reversing motor 706, the reversing head 707 can be driven to rotate, so that the fan 709 can be moved to any position outside the gyroscope 4, at this time, due to the effect of the camera 710, the position of the fan 709 can be monitored, further, the controller 105 informs the fan motor 708 to work, so as to drive the fan 709 to rotate, so as to further cool the gyroscope 4, so as to ensure the cooling effect, so as to ensure the safety of the gyroscope 4, so as to improve the service life of the gyroscope 4.

[0023] In the fourth embodiment, on the basis of the first embodiment, Figure 12 , Figures 17-19The protection box 1 is internally provided with a positioner 602 made of alloy material, which is used for positioning the adapter rod 601, and is fastened and connected with the protection bottom plate 103 through bolts. The positioner 602 is internally rotatably connected with the adapter rod 601, which is telescopic, so that the moving block 6 is movable. The adapter rod 601 is fixedly connected with the moving block 6 outside. A plurality of adapter motors 603 are fixed on the top of the positioner 602. The adapter motors 603 can drive the adapter rod 601 to rotate. The adapter motors 603 and the adapter rod 601 can make the moving block 6 movable and reversible, so as to adapt to different sizes of the gyroscope 4. Each adapter motor 603 is rotatably connected with the adapter rod 601 at the bottom thereof. Each moving block 6 is fixedly connected with a connecting disc 902 at the top thereof. The connecting disc 902 is made of alloy material and is used for positioning the positioning shaft 903. Each connecting disc 902 is fixedly connected with the positioning shaft 903 at the top thereof. Each positioning shaft 903 is fixedly connected with a connecting ring 904 at the top thereof. The connecting ring 904 is made of alloy material and is used for positioning the connecting rod 906. A plurality of connecting rods 906 are slidably connected with the connecting ring 904 outside. The connecting rod 906 is made of alloy material and is used for positioning the blocking plate 908. Each connecting rod 906 is fixedly connected with the blocking plate 908 outside. The blocking plate 908 is made of alloy material and is used for positioning the connecting head 905. Each blocking plate 908 is fixedly connected with the connecting head 905 outside. Each connecting rod 906 is further provided with a connecting spring 907 outside. The connecting spring 907 is elastic, so that the connecting head 905 is away from the connecting ring 904 when it is not stressed. Each connecting head 905 is slidably connected with the damping track 909 on the connecting pipe 5. Each connecting pipe 5 is further fixedly connected with a supporting ring 507 at the lower end. The supporting ring 507 is made of alloy material and is used for supporting the adapter plate 506. Each supporting ring 507 is tightly connected with the adapter plate 506 at the top. The adapter plate 506 is made of alloy material and is used for supporting the connecting bottom plate 403. Each adapter plate 506 is tightly connected with the connecting bottom plate 403 at the top. The connecting bottom plate 403 is made of plastic material and is used for supporting the gyroscope 4. The connecting bottom plate 403 is fixedly connected with the gyroscope 4 at the top. Each adapter plate 506 is further provided with a clamping plate 501 and is slidably connected with the connecting pipe 5 at the top.Each of the clamping plates 501 is in close contact with the connecting bottom plate 403, the connecting pipe 5 has clamping springs 503 fixed at the top, the clamping springs 503 are elastic, so that the clamping rods 502 are away from the connecting pipe 5 when not under force, the clamping springs 503 are fixedly connected with the clamping rods 502 at the top, the connecting pipe 5 is also provided with a plurality of groups of clamping holes 504, the clamping holes 504 facilitate positioning of the clamping heads 505, each of the clamping rods 502 has a deviation prevention plate 510 fixed at the bottom, the deviation prevention plate 510 is made of alloy material, the deviation prevention plate 510 is used for positioning the clamping shafts 508, so as to ensure that the clamping shafts 508 can only move horizontally, the deviation prevention plate 510 is in close contact with the clamping shafts 508, each of the deviation prevention plates 510 is fixedly connected with the moving wedges 511 at the bottom, each of the clamping shafts 508 is also provided with a clamping shaft spring 509 outside, the clamping shaft spring 509 is elastic, so that the clamping heads 505 are away from the moving wedges 511 when not under force, each of the clamping shafts 508 has a anti-dropping plate 512 fixed outside, the anti-dropping plate 512 is made of alloy material, the anti-dropping plate 512 is used for positioning the clamping heads 505, each of the anti-dropping plates 512 is fixedly connected with the clamping heads 505 outside, and each of the clamping heads 505 can be in close contact with the clamping holes 504. In use of the device, the worker fixes the positioner 602 with the guard bottom plate 103 through bolts, further the controller 105 controls the adaptive motor 603 to rotate, so as to drive the adaptive rod 601 to rotate, and the adaptive rod 601 can drive the moving block 6 to move due to the telescopic function, so as to adapt the connecting bottom plate 403 of different shapes and sizes, so as to improve the use range of the whole device, further the worker puts the damping spring 9 and the damping ball 901 into the outside of the positioning shaft 903 in turn, at this time the worker inserts the connecting pipe 5 into the outside of the positioning shaft 903, at this time the connecting rod 906 and the blocking plate 908 can drive the blocking plate 908 to move, so as to drive the connecting head 905 to move outward, so as to make the connecting head 905 close to the damping track 909, so that the connecting pipe 5 can only be lifted, so as to ensure the damping effect of the damping spring 9 and the damping ball 901, further the worker installs the adaptive plate 506 on the top of the support ring 507, at this time the worker places the connecting bottom plate 403 outside the connecting pipe 5, further the worker places the clamping plate 501 on the top of the connecting bottom plate 403 in turn, further the worker presses the clamping head 505, so as to make the clamping head 505 separate from the clamping hole 504, further the worker presses the clamping rod 502, so as to make the anti-deviation plate 510 descend, so as to make the clamping head 505 descend, when the clamping head 505 is close to the clamping plate 501, the worker releases the clamping rod 502, at this time the clamping head 505 can be clamped with the clamping hole 504 due to the action of the clamping shaft spring 509 and the clamping shaft 508, so as to ensure the stability of the clamping plate 501, when the device is used, the vibration frequency of the gyroscope 4 can be reduced due to the action of the damping spring 9 and the damping ball 901, so as to ensure the safety of the gyroscope 4, when the gyroscope 4 needs to be disassembled, the worker pulls the clamping rod 502, so as to make the moving wedge 511 rise, so as to make the clamping shaft 508 move inward, so as to make the clamping head 505 move inward, so as to facilitate taking out the clamping plate 501.

[0024] The workflow of the application is: before using the device, the worker opens the upper cover 401, further inserts the navigation IMU board 803 into the motor shaft 801, further rotates the top plate 802, at this time the anti-shake plate 807 is close to the navigation IMU board 803 due to the effect of the anti-shake bar 806 and the anti-shake spring 808, so as to ensure the stability of the navigation IMU board 803, further the worker fastens the connection between the main control board 405 and the gyroscope 4 through the bolt, at the same time fastens the connection between the power board 404 and the gyroscope 4 through the bolt, further the worker fastens the connection between the gyroscope 4 and the upper cover 401 through the bolt, so as to ensure that the whole device can be disassembled, further the worker fixes the positioner 602 to the protection bottom plate 103 through the bolt, further the controller 105 controls the rotation of the adaptive motor 603, so as to drive the rotation of the adaptive rod 601, at the same time the adaptive rod 601 can drive the movement of the moving block 6 due to the telescopic function, so as to make the whole device adapt to different shapes and different sizes of the connecting bottom plate 403, so as to improve the use range of the whole device, further the worker puts the damping spring 9 and the damping ball 901 into the outside of the positioning shaft 903 in turn, at this time the worker inserts the connecting pipe 5 into the outside of the positioning shaft 903, at this time the connecting rod 906 and the blocking plate 908 can make the blocking plate 908 move, so as to make the connecting head 905 move outward, so as to make the connecting head 905 close to the damping rail 909, so as to make the connecting pipe 5 only ascend and descend, so as to ensure the damping effect of the damping spring 9 and the damping ball 901, further the worker installs the adaptive plate 506 on the top of the support ring 507, at this time the worker places the connecting bottom plate 403 outside the connecting pipe 5, further the worker places the clamping plate 501 on the top of the connecting bottom plate 403 in turn, further the worker presses the clamping head 505, so as to make the clamping head 505 separate from the clamping hole 504, further the worker presses the clamping rod 502, so as to make the anti-deviation plate 510 descend, so as to make the clamping head 505 descend, when the clamping head 505 is close to the clamping plate 501, the worker releases the clamping rod 502, at this time the clamping head 505 and the clamping hole 504 can be clamped due to the effect of the clamping shaft spring 509 and the clamping shaft 508, so as to ensure the stability of the clamping plate 501, when the whole device is used, the vibration frequency of the gyroscope 4 can be reduced due to the effect of the damping spring 9 and the damping ball 901, so as to ensure the safety of the gyroscope 4, when monitoring, the inclination and displacement of the gyroscope 4 can be monitored due to the effect of the acceleration sensor on the top of the main control board 405 and the main control board 405,Meanwhile, since the north-seeking motor 8 can drive the motor shaft 801 to rotate, the navigation IMU board 803 can be directed to the true north direction due to the effect of the navigation IMU board 803, thereby ensuring the accuracy of monitoring. When the temperature sensor 107 monitors that the temperature inside the protective box 1 is high, the controller 105 controls the sealing rod 205 to extend, thereby driving the filter plate 201 to move inward, so that the sealing head 206 is separated from the filter plate 201, so that external air enters the inside of the protective box 1, thereby cooling the gyroscope 4. Further, when the temperature sensor 107 monitors that the temperature is still high, the controller 105 controls the sealing rod 205 to contract, so that the sealing head 206 is in close contact with the filter plate 201. Further, the controller 105 controls the cleaning rod 203 to extend, thereby driving the cleaning strip 204 to move, thereby cleaning the filter plate 201, thereby ensuring the cooling effect. When the temperature is still high after the filter plate 201 is cleaned, the controller 105 controls the longitudinal motor 303 to work, thereby driving the longitudinal roller 302 to rotate, so that the transverse rail 7 moves along the longitudinal rail 3. Meanwhile, the controller 105 controls the transverse motor 703 to drive the transverse roller 711 to rotate, thereby driving the transverse positioning plate 702 to move along the transverse rail 7. Further, the close-to-rod 701 can drive the reversing motor 704 to move up and down through extension and contraction. Further, the reversing motor 704 can drive the reversing block 705 to rotate, and the auxiliary reversing motor 706 can drive the reversing head 707 to rotate, so that the fan 709 can be moved to any position outside the gyroscope 4. At this time, the position of the fan 709 can be monitored due to the effect of the camera 710. Further, the controller 105 informs the fan motor 708 to work, thereby driving the fan 709 to rotate, thereby further cooling the gyroscope 4, thereby ensuring the cooling effect, thereby ensuring the safety of the gyroscope 4, thereby improving the service life of the gyroscope 4. When it is necessary to disassemble the gyroscope 4, the worker pulls the clamping rod 502, so that the moving wedge 511 rises, thereby driving the clamping shaft 508 to move inward, so that the clamping head 505 moves inward, thereby facilitating the removal of the clamping plate 501.

[0025] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting; it is not intended to exclude myriad other embodiments of the present application that other inventors can develop based on the same general inventive concepts embodied by the described embodiments. That is, although the present application is described in terms of particular embodiments and illustrative figures, it should be apparent that the scope of the present application is not limited to these specific embodiments.

[0026] While the embodiments of the application have been shown and described herein, it is to be understood that the scope of the application, jointly pointed out in the appended claims, is not to be limited to the above-described embodiments but can be otherwise variously changed, modified, replaced, and altered within the principles and spirit of the present application.

Claims

1. A MEMS gyroscope with protective function, characterized in that: The system includes a protective box (1), a protective base plate (103) fixed to the bottom of the protective box (1), a protective door (101) tightly fitted to the right end of the protective box (1), an air intake frame (2) fixed to the left end of the protective box (1), a filter plate (201) provided on the left end of the protective box (1), a baffle (202) provided on the right end of the filter plate (201), two longitudinal tracks (3) fixed inside the protective box (1), a transverse track (7) provided between the two longitudinal tracks (3), a proximity rod (701) fixed at the bottom of the transverse track (7), a fan (709) provided at the bottom of the proximity rod (701), several moving blocks (6) slidably connected to the upper end of the protective base plate (103), a positioning shaft (903) provided at the top of each moving block (6), a shock-absorbing ball (901) slidably connected to the outside of each positioning shaft (903), and a fixed top of each positioning shaft (903). A connecting ring (904) is provided with several connecting heads (905) on the outside of each connecting ring (904). A connecting tube (5) is provided at the top of each positioning shaft (903). A clamping rod (502) is slidably connected inside each connecting tube (5). Several clamping shafts (508) are provided at the bottom of each clamping rod (502). A clamping head (505) is provided outside each clamping shaft (508). A moving wedge (511) is slidably connected inside each clamping shaft (508). A gyroscope (4) is also provided inside the protective box (1). A power board (404) is provided inside the gyroscope (4). A main control board (405) is provided at the bottom of the power board (404). A north-finding motor (8) is provided at the bottom of the main control board (405). A motor shaft (801) is rotatably connected to the top of the north-finding motor (8). A navigation IMU board (803) is slidably connected to the outside of the motor shaft (801).

2. A MEMS gyroscope with protective function according to claim 1, characterized in that: The bottom of the protective base plate (103) is fastened to the hydraulic support by fixing bolts (104). A protective rubber strip (102) is fixed to the right end of the protective box (1). The protective rubber strip (102) is fastened to the protective door (101) by bolts. A controller (105) is also fixed to the top of the protective base plate (103). A power supply (106) is fixed to the front end of the controller (105). A temperature sensor (107) is also fixed inside the protective box (1).

3. A MEMS gyroscope with protective function according to claim 2, characterized in that: The protective box (1) is provided with several sealing heads (206) inside, which are fixedly connected to the baffle (202). Two sealing rods (205) are fixed on the left end of the baffle (202). The sealing rods (205) are fixedly connected to the air intake frame (2). A cleaning rod (203) is also fixed on the upper end of the air intake frame (2). A cleaning strip (204) is fixed on the bottom of the cleaning rod (203). The cleaning strip (204) is tightly attached to the filter plate (201).

4. A MEMS gyroscope with protective function according to claim 1, characterized in that: Each of the longitudinal tracks (3) has a longitudinal roller (302) tightly fitted inside, and a longitudinal positioning plate (301) is rotatably connected to the outside of each of the longitudinal rollers (302). A longitudinal motor (303) is fixed to the outside of each of the longitudinal positioning plates (301). Each of the longitudinal motors (303) is rotatably connected to the longitudinal roller (302) on its inner side. A connecting plate (304) is fixed to the inside of each of the longitudinal positioning plates (301). Each connecting plate (304) is fixedly connected to the transverse track (7) inside. A transverse roller (711) is tightly fitted inside the transverse track (7). A transverse positioning plate (702) is rotatably connected to the outside of the transverse roller (711). A transverse motor (703) is fixed to the front end of the transverse positioning plate (702). The transverse motor (703) is rotatably connected to the shaft of the transverse roller (711) at its rear end. The transverse positioning plate (702) is fixedly connected to the proximity rod (701) at its bottom.

5. A MEMS gyroscope with protective function according to claim 4, characterized in that: A commutator motor (704) is fixed at the bottom of the proximity rod (701). A commutator block (705) is rotatably connected to the bottom of the commutator motor (704). A secondary commutator motor (706) is fixed at the front end of the commutator block (705). A commutator head (707) is rotatably connected inside the commutator block (705). The secondary commutator motor (706) is rotatably connected to the commutator head (707). A camera (710) is fixed at the front end of the commutator head (707). A fan motor (708) is fixed at the bottom of the commutator head (707). The fan motor (708) is rotatably connected to the fan (709) at its bottom.

6. A MEMS gyroscope with protective function according to claim 3, characterized in that: The protective box (1) is equipped with a locator (602) inside. The locator (602) is fastened to the protective base plate (103) by bolts. An adapter rod (601) is rotatably connected inside the locator (602). The adapter rod (601) is fixedly connected to the moving block (6) outside it. Several adapter motors (603) are fixed on the top of the locator (602). Each adapter motor (603) is rotatably connected to the adapter rod (601) at its bottom.

7. A MEMS gyroscope with protective function according to claim 6, characterized in that: Each of the moving blocks (6) has a connecting plate (902) fixed on its top. Each of the connecting plates (902) is fixedly connected to the positioning shaft (903) on its top. Each of the shock-absorbing balls (901) is provided with a shock-absorbing spring (9) on its outside. Each of the positioning shafts (903) has a connecting ring (904) fixed on its top. Each of the connecting rings (904) is slidably connected with a plurality of connecting rods (906). Each of the connecting rods (906) is fixedly provided with a blocking plate (908) on its outside. Each of the blocking plates (908) is fixedly connected to the connecting head (905) on its outside. Each of the connecting rods (906) is also provided with a connecting spring (907) on its outside.

8. A MEMS gyroscope with protective function according to claim 7, characterized in that: Each connector (905) is slidably connected to the shock-absorbing track (909) on the external connecting pipe (5). Each connecting pipe (5) is also fixed with a support ring (507) at its lower end. Each support ring (507) is tightly fitted with an adapter plate (506) at its top. Each adapter plate (506) is tightly fitted with a connecting base plate (403) at its top. The top of the connecting base plate (403) is fixedly connected to the gyroscope (4). Each adapter plate (506) is also provided with a clamping plate (501) at its top, which is slidably connected to the connecting pipe (5). The bottom of each clamping plate (501) is tightly fitted to the connecting base plate (403).

9. A MEMS gyroscope with protective function according to claim 8, characterized in that: A clamping spring (503) is fixed at the top of the connecting tube (5). The clamping spring (503) is fixedly connected to the clamping rod (502) at its top. The connecting tube (5) is also provided with a number of clamping holes (504). An anti-deviation plate (510) is fixed at the bottom of each clamping rod (502). The anti-deviation plate (510) is tightly fitted with the clamping shaft (508). Each anti-deviation plate (510) is fixedly connected to the moving wedge (511) at its bottom. A clamping shaft spring (509) is also provided outside each clamping shaft (508). An anti-detachment plate (512) is fixed outside each clamping shaft (508). Each anti-detachment plate (512) is fixedly connected to the clamping head (505) on its outside. Each clamping head (505) can be tightly fitted with the clamping hole (504).

10. A MEMS gyroscope with protective function according to claim 8, characterized in that: The top of the gyroscope (4) is fastened to a cover (401), and a wire (402) is fixed to the right end of the cover (401). The wire (402) is tightly fitted to the through hole on the protective door (101) by a rubber ring. The power board (404) is fastened to the gyroscope (4) by bolts. The main control board (405) is fastened to the gyroscope (4) by bolts. The bottom of the north-finding motor (8) is fastened to the connecting base plate (403) by bolts. A top plate (802) is slidably connected to the top of the motor shaft (801). A positioning ring (805) is snapped onto the top of the top plate (802). A replacement groove (804) is provided on the top plate (802). An anti-sway strip (806) is slidably connected to the top plate (802). An anti-sway plate (807) is fixed at the bottom of the anti-sway strip (806). The anti-sway plate (807) is in close contact with the navigation IMU board (803). An anti-sway spring (808) is also provided on the outside of the anti-sway strip (806).

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