A dual locking indexing device

Abstract

The application relates to a double-locking indexing device, belonging to the field of inertial measurement, which comprises a base, an outer frame mechanism, an inner frame mechanism, a double-locking mechanism and a control assembly; the base is provided with a hollow inner cavity, the outer frame mechanism is arranged in the hollow inner cavity and rotates around a first direction; the inner frame mechanism is embedded in the outer frame mechanism and rotates around a second direction, the first direction is perpendicular to the second direction; an inertial measurement element is arranged in the inner frame mechanism and rotates synchronously with the inner frame mechanism; the double-locking mechanism is arranged on the base and comprises two groups of end tooth disc locking units, the two groups of end tooth disc locking units are arranged along the diagonal direction of the device and are rotationally symmetrical about the center point of the device, and the pre-tightening force directions of the two groups of end tooth disc locking units are parallel; the control assembly is arranged on the base, and the two groups of end tooth disc locking units are synchronously controlled through the control assembly. The double-locking mechanism is used for realizing high-precision stable tracking and rapid locking.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of inertial measurement, and particularly relates to a double-locking positioning device. BACKGROUND

[0002] The three-self inertial measurement combination is an inertial measurement unit with self-calibration, self-alignment and self-diagnosis functions, which is simply referred to as three-self inertial measurement unit in the industry. At present, most of the research and application of inertial navigation are based on the three-self inertial measurement unit, and the three-self inertial measurement unit needs to realize the position flipping of the inertial measurement unit through a double-axis positioning device during self-calibration, and the real-time acquisition and feedback of attitude information and position through inertial measurement elements. When the non-calibration function is used, the inertial measurement core needs to be locked to ensure the stable and reliable flight attitude of the platform, so the demand for the positioning and locking mechanism of the three-self inertial measurement unit is large.

[0003] The existing positioning and locking mechanism realizes the function of locking the inertial measurement core through a locking function module, which is composed of a worm gear mechanism and a locking pin. Although it can realize locking, the locking precision is insufficient, which makes it difficult to be applied to the field of inertial navigation with high precision locking requirements. Another existing positioning device adopts two groups of orthogonally arranged locking mechanisms to realize the locking and positioning of the double-axis positioning mechanism. It adopts a locking method of matching the curved surface and the pressing block through the concave-convex curved surface, but due to the central deviation of the curved surface matching, an additional deviation torque is introduced to the rotating frame, which affects the locking precision. SUMMARY

[0004] In order to solve the above problems existing in the prior art, the present application provides a double-locking positioning device. The technical problem to be solved by the present application is solved by the following technical scheme:

[0005] The present application provides a double-locking positioning device, which comprises a base, an outer frame mechanism, an inner frame mechanism, a double-locking mechanism and a control assembly. The base is provided with a hollow inner cavity, the outer frame mechanism is arranged in the hollow inner cavity and rotates around a first direction, the inner frame mechanism is embedded in the outer frame mechanism and rotates around a second direction, the first direction is perpendicular to the second direction, an inertial measurement element is arranged in the inner frame mechanism and rotates synchronously with the inner frame mechanism, the double-locking mechanism is arranged on the base and comprises two groups of end tooth disc locking units, the two groups of end tooth disc locking units are arranged along the diagonal direction of the device and are rotationally symmetrical about the center point of the device, and the pre-tightening force directions of the two groups of end tooth disc locking units are parallel. The control assembly is arranged on the base, and the two groups of end tooth disc locking units are synchronously controlled through the control assembly. Each group of end tooth disc locking units comprises a fixed tooth disc, a movable tooth disc and a driving mechanism. The fixed tooth disc is fixed on the inner frame mechanism, the driving mechanism is fixed on the base, and the movable tooth disc is driven by the driving mechanism to extend and retract and mesh with the fixed tooth disc to lock the outer frame mechanism and the inner frame mechanism.

[0006] In one embodiment of the present invention, the outer frame mechanism includes: an outer frame torque motor assembly, an outer frame resolver assembly, and an outer frame; wherein the outer frame torque motor assembly and the outer frame resolver assembly are disposed opposite to each other on both sides of the base, and the outer frame is located between the outer frame torque motor assembly and the outer frame resolver assembly, wherein the outer frame is driven to rotate by the outer frame torque motor assembly, and the outer frame resolver assembly is used to detect the rotation angle of the outer frame in real time.

[0007] In one embodiment of the present invention, the inner frame mechanism includes: an inner frame torque motor assembly, an inner frame resolver assembly, and an inner frame; wherein the inner frame torque motor assembly and the inner frame resolver assembly are disposed opposite to each other on both sides of the outer frame, and the inner frame is located between the inner frame torque motor assembly and the inner frame resolver assembly; wherein the inner frame is driven to rotate by the inner frame torque motor assembly, and the inner frame resolver assembly is used to detect the rotation angle of the inner frame in real time.

[0008] In one embodiment of the present invention, each of the driving mechanisms includes: a servo motor assembly, a worm gear pair, and a trapezoidal lead screw pair. The servo motor assembly drives the trapezoidal lead screw pair through the worm gear pair, and the trapezoidal lead screw pair is connected to the movable gear disk.

[0009] In one embodiment of the present invention, each set of end gear locking units further includes a housing, the worm gear pair and the trapezoidal lead screw pair are both disposed in the housing, the worm is connected to the output end of the servo motor assembly, the worm gear is connected to the lead screw of the trapezoidal lead screw pair, and the movable gear is fixedly connected to the nut of the trapezoidal lead screw pair; guide rods are provided on both sides of the housing, and the movable gear is slidably connected to the two guide rods.

[0010] In one embodiment of the present invention, each set of end-tooth disk locking units includes two photoelectric switches. The maximum extension position and the minimum retraction position of the movable tooth disk are respectively provided with baffles. The two photoelectric switches are correspondingly arranged with the two baffles to obtain status feedback signals. The status feedback signals include unlocking signal and locking signal.

[0011] In one embodiment of the present invention, the control component is configured to perform synchronous closed-loop control of the two sets of end-tooth disk locking units based on the status feedback signal of the movable toothed disk; the control component includes: a servo control board, a control board, and a locking plate, the servo control board, the control board, and the locking plate being respectively fixed in the cavity on the side of the base and covered with a panel; wherein, the servo control board is used to control the outer frame torque motor assembly to drive the outer frame mechanism to rotate around the first direction; the control board is used to control the inner frame torque motor assembly to drive the inner frame mechanism to rotate around the second direction; the locking plate is used to control the double locking mechanism according to the unlocking signal and the locking signal to unlock or lock the inner frame mechanism.

[0012] In one embodiment of the present invention, after the movable toothed disc and the fixed toothed disc are engaged, the locking plate controls the two sets of end toothed disc locking units to perform at least three impact locks respectively, so as to apply a preload force between the fixed toothed disc and the movable toothed disc.

[0013] In one embodiment of the present invention, the outer frame mechanism is provided with an outer frame conductive slip ring, the inner frame mechanism is provided with an inner frame conductive slip ring, and the outer frame conductive slip ring and the inner frame conductive slip ring are connected in series and output to the control board.

[0014] In one embodiment of the present invention, the control component further includes a conversion board, which has multiple pads and wire-passing holes at both ends. The wiring harnesses between the outer frame torque motor assembly, the outer frame resolver assembly, the outer frame conductive slip ring, the inner frame torque motor assembly, the inner frame resolver assembly, the inner frame conductive slip ring, the servo control board, the control board, and the locking plate are all connected through the conversion board. The wiring harnesses pass through the wire-passing holes and are bent and soldered to the corresponding pads.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] The dual-locking indexing device of this invention, through a dual-degree-of-freedom rotating outer frame mechanism and inner frame mechanism combined with a dual-locking mechanism, achieves stability in both the frame coordinate system and the inertial space of the inertial measurement element. It also effectively solves the problem of the inertial measurement core failing to lock when using non-calibrated functions. The two sets of end-tooth disk locking units are arranged in a diagonally symmetrical layout, with the preload direction parallel, effectively eliminating the deflection torque caused by non-parallel locking forces, thus preventing structural deformation. The movable toothed disk, driven by a drive mechanism, engages with the fixed toothed disk, providing high rigidity and high precision locking, solving the problems of insufficient locking precision and poor reliability caused by gaps in existing locking mechanisms. Simultaneously, the synchronous control of the two sets of end-tooth disk locking units by the control component enables flexible and efficient locking operations, meeting the high-precision locking requirements of inertial navigation in dynamic environments.

[0017] The dual-locking indexing device of this invention employs torque motor drive and resolver feedback rotation angle in the outer and inner frame mechanisms, achieving high-precision rotation and closed-loop control with dual degrees of freedom, ensuring high-precision pointing of the inertial measurement element. The drive mechanism drives the movable gear disk to extend and retract along the guide rod through a worm gear pair and a trapezoidal screw pair. Combined with the position detection of the photoelectric switch, it achieves accurate judgment and rapid response of the locking position. The servo control board, control board, and locking board in the control component collaboratively manage the rotation and locking process, and apply preload through an impact locking mechanism, further enhancing locking reliability. The conductive slip rings of the inner and outer frames are connected in series, and combined with the conversion board, it ensures continuous signal transmission during rotation, has strong anti-interference ability, and the wire harness welding method based on the conversion board resists external force interference, ensuring stable and reliable wire harness connection.

[0018] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of a dual-locking rotation device provided in an embodiment of the present invention;

[0020] Figure 2 This is a schematic diagram of the internal structure of the dual-locking indexing device provided in an embodiment of the present invention;

[0021] Figure 3 This is an exploded structural diagram of the outer frame mechanism provided in an embodiment of the present invention;

[0022] Figure 4 This is an exploded structural diagram of the inner frame mechanism provided in an embodiment of the present invention;

[0023] Figure 5 This is a schematic diagram of the structure of the double locking mechanism provided in an embodiment of the present invention;

[0024] Figure 6 This is a structural cross-sectional view of the dual locking mechanism provided in an embodiment of the present invention.

[0025] Reference numerals: 1-Base; 2-Outer frame mechanism; 21-Outer frame torque motor assembly; 22-Outer frame resolver assembly; 23-Outer frame; 3-Inner frame mechanism; 31-Inner frame torque motor assembly; 32-Inner frame resolver assembly; 33-Inner frame; 4-Double locking mechanism; 41-Fixed gear disk; 42-Modible gear disk; 43-Drive mechanism; 431-Servo motor assembly; 432-Worm gear pair; 433-Trapezoidal screw pair; 44-Housing; 441-Guide rod; 45-Photoelectric switch; 46-Baffle; 5-Control assembly; 51-Servo control board; 52-Control board; 53-Locking plate; 54-Conversion plate; 10-Inertial measurement element. Detailed Implementation

[0026] To further illustrate the technical means and effects adopted by the present invention to achieve the intended purpose, the following detailed description of a double-locking rotation device according to the present invention is provided in conjunction with the accompanying drawings and specific embodiments.

[0027] The foregoing and other technical contents, features, and effects of the present invention will be clearly presented in the following detailed description of specific embodiments in conjunction with the accompanying drawings. Through the description of the specific embodiments, a more in-depth and concrete understanding can be gained of the technical means and effects adopted by the present invention to achieve its intended purpose. However, the accompanying drawings are for reference and illustration only and are not intended to limit the technical solutions of the present invention.

[0028] Example 1

[0029] like Figures 1 to 6 As shown, Figure 1 This is a schematic diagram of the structure of a dual-locking rotation device provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the internal structure of the dual-locking indexing device provided in an embodiment of the present invention; Figure 3 This is an exploded structural diagram of the outer frame mechanism provided in an embodiment of the present invention; Figure 4 This is an exploded structural diagram of the inner frame mechanism provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of the double locking mechanism provided in an embodiment of the present invention; Figure 6 This is a structural cross-sectional view of the dual locking mechanism provided in an embodiment of the present invention.

[0030] In this embodiment, the double-locking rotation device includes: a base 1, an outer frame mechanism 2, an inner frame mechanism 3, a double-locking mechanism 4, and a control component 5; the base 1 has a hollow inner cavity, the outer frame mechanism 2 is located in the hollow inner cavity and rotates around a first direction with a rotation angle range of 0°~360°; the inner frame mechanism 3 is embedded in the outer frame mechanism 2 and rotates around a second direction with a rotation angle range of 0°~360°, the first direction and the second direction are perpendicular to each other; the inertial measurement element 10 is located in the inner frame mechanism 3 and rotates synchronously with the inner frame mechanism 3; the double-locking mechanism 4 is located on the base 1 and includes two sets of symmetrically arranged end gear plate locking units. The two sets of end gear plate locking units are arranged diagonally and are rotationally symmetrical about the center point of the device. The preload directions of the two sets of end gear plate locking units are parallel to ensure stable locking of the frame and avoid structural deformation caused by the deflection torque generated by the non-parallel preload; the control component 5 is located on the base 1, and the two sets of end gear plate locking units are synchronously controlled by the control component 5.

[0031] In an optional embodiment, the outer frame mechanism 2 includes: an outer frame torque motor assembly 21, an outer frame resolver assembly 22, and an outer frame 23; wherein, the outer frame torque motor assembly 21 and the outer frame resolver assembly 22 are disposed opposite to each other on both sides of the base 1, and the outer frame 23 is located between the outer frame torque motor assembly 21 and the outer frame resolver assembly 22, wherein the outer frame 23 is driven to rotate by the outer frame torque motor assembly 21, and the outer frame resolver assembly 22 is used to detect the rotation angle of the outer frame 23 in real time.

[0032] For example, the outer frame torque motor assembly 21 includes an outer frame motor bracket, an outer frame motor, and an outer frame bushing; the outer frame resolver assembly 22 includes an outer frame resolver bushing, an outer frame resolver, and an outer frame resolver bracket. The outer frame torque motor assembly 21 and the outer frame resolver assembly 22 are installed on corresponding holes on both sides of the base 1, and the entire component can be quickly assembled and disassembled. The outer frame 23 is installed between the outer frame torque motor assembly 21 and the outer frame resolver assembly 22, and is supported by the outer frame bushing and the outer frame resolver bushing. The control component 5 controls the outer frame torque motor assembly 21, thereby driving the outer frame 23 to rotate around the first direction, and the outer frame resolver provides real-time feedback of angle information to achieve closed-loop position control.

[0033] In an optional embodiment, the inner frame mechanism 3 includes: an inner frame torque motor assembly 31, an inner frame resolver assembly 32, and an inner frame 33; wherein, the inner frame torque motor assembly 31 and the inner frame resolver assembly 32 are disposed opposite to each other on both sides of the outer frame 23, and the inner frame 33 is located between the inner frame torque motor assembly 31 and the inner frame resolver assembly 32, wherein the inner frame 33 is driven to rotate by the inner frame torque motor assembly 31, and the inner frame resolver assembly 32 is used to detect the rotation angle of the inner frame 33 in real time.

[0034] For example, the inner frame torque motor assembly 31 includes an inner frame motor bracket, an inner frame motor, an inner frame bushing, and an inner frame bearing. The inner frame resolver assembly 32 includes an inner frame resolver bushing, an inner frame resolver, and an inner frame resolver bracket. The inner frame torque motor assembly 31 and the inner frame resolver assembly 32 are installed on both sides of the outer frame 23. The inner frame 33 is installed between the inner frame torque motor assembly 31 and the inner frame resolver assembly 32 and is supported by the inner frame bushing and the inner frame resolver bushing. The control component 5 controls the inner frame torque motor assembly 31, thereby driving the inner frame 33 to rotate around the second direction. The inner frame resolver provides real-time feedback of angle information to achieve closed-loop position control.

[0035] Understandably, the first direction is the axial direction of the outer frame torque motor assembly 21 and the outer frame resolver assembly 22, and the second direction is the axial direction of the inner frame torque motor assembly 31 and the inner frame resolver assembly 32.

[0036] In an optional embodiment, each set of end-tooth plate locking units includes a fixed toothed plate 41, a movable toothed plate 42, and a drive mechanism 43; the fixed toothed plate 41 is fixed on the inner frame mechanism 3, the drive mechanism 43 is fixed on the base 1, and the movable toothed plate 42 is driven by the drive mechanism 43 to extend and retract and engage with the fixed toothed plate 41 to lock the outer frame mechanism 2 and the inner frame mechanism 3.

[0037] For example, each drive mechanism 43 includes: a servo motor assembly 431, a worm gear pair 432, and a trapezoidal lead screw pair 433. The servo motor assembly 431 drives the trapezoidal lead screw pair 433 through the worm gear pair 432. The trapezoidal lead screw pair 433 is connected to the movable gear disk 42.

[0038] Furthermore, each set of end-gear locking units also includes a housing 44, with a worm gear pair 432 and a trapezoidal screw pair 433 both housed within the housing 44. The worm gear pair 432 includes a worm gear and a worm, and the trapezoidal screw pair 433 includes a nut and a trapezoidal screw. The worm is connected to the output end of the servo motor assembly 431, i.e., the output shaft end of the servo motor. The worm gear is connected to the screw of the trapezoidal screw pair 433, and the movable gear 42 is fixedly connected to the nut of the trapezoidal screw pair 433. Guide rods 441 are provided on both sides of the housing 44, and the movable gear 42 is slidably connected to the two guide rods 441. When the servo motor assembly 431 drives the worm to rotate, it drives the trapezoidal screw pair 433 through the worm gear transmission. Since the trapezoidal screw pair 433 is fixedly connected to the movable gear 42, it can achieve reciprocating telescopic motion under the guidance of the guide rods 441.

[0039] In an optional embodiment, the control component 5 is configured to perform synchronous closed-loop control of the two sets of end-tooth locking units based on the status feedback signal of the movable toothed disc 42. The control component 5 includes a servo control board 51, a control board 52, and a locking plate 53. The servo control board 51, the control board 52, and the locking plate 53 are respectively fixed in the cavity on the side of the base 1, and are all covered with a panel. The servo control board 51 is used to control the outer frame torque motor assembly 21 to drive the outer frame mechanism 2 to rotate around a first direction. The control board 52 is used to control the inner frame torque motor assembly 31 to drive the inner frame mechanism 3 to rotate around a second direction. The locking plate 53 is used to control the double locking mechanism 4 according to the status feedback signal to unlock or lock the inner frame mechanism 3.

[0040] Specifically, the dual locking mechanism 4 is mounted on the base 1, with its fixed gear 41 mounted on the inner frame 33. The drive mechanism 43 is mounted on the base 1. Driven by the drive mechanism 43, the movable gear 42 reciprocates along the guide rod 441 and engages with the fixed gear 41. Furthermore, each set of end gear locking units includes two photoelectric switches 45. The maximum extension position and minimum retraction position of the movable gear 42 are respectively equipped with baffles 46. The two photoelectric switches 45 and the two baffles 46 are correspondingly arranged to obtain status feedback signals, including unlocking and locking signals. Based on the status feedback signals, the locking plate 53 controls the dual locking mechanism 4, causing the movable gear 42 to retract and engage with or disengage from the fixed gear 41, locking or unlocking the inner frame 33. Furthermore, based on the two discrete status signals (locking and unlocking) provided by the photoelectric switches 45, the start and stop actions of the drive mechanism 43 are controlled, thereby achieving a coordinated closed-loop operation of the two sets of end gear locking units.

[0041] Taking locking as an example, after the movable gear disk 42 moves to its position, the baffle 46 blocks the transmitter of the photoelectric switch 45, thereby obtaining a locking signal. After receiving the locking signal, the servo control board 51 and the control board 52 control the outer frame torque motor assembly 21 and the inner frame torque motor assembly 31 respectively to stop the rotation of the outer frame mechanism 2 and the inner frame mechanism 3. In addition, the outer frame resolver assembly 22 and the inner frame resolver assembly 32 can also feed back angle information to the servo control board 51 and the control board 52 respectively, so that the outer frame torque motor assembly 21 and the inner frame torque motor assembly 31 can also be controlled by the angle information to realize active control of the rotation angle of the outer frame mechanism 2 and the inner frame mechanism 3, and finally realize position closed-loop control. At this time, after the movable gear plate 42 and the fixed gear plate 41 are engaged, the locking plate 53 can simultaneously control the two end gear plate locking units to perform at least three impact locking operations, that is, to perform at least three intermittent locking operations, so as to apply a preload between the fixed gear plate 41 and the movable gear plate 42, so that the double locking indexing device can be reliably locked, and the stability of the locking process is improved.

[0042] In an optional embodiment, the outer frame mechanism 2 is provided with an outer frame conductive slip ring, and the inner frame mechanism 3 is provided with an inner frame conductive slip ring. The outer frame conductive slip ring and the inner frame conductive slip ring are connected in series and output to the control board 52. For example, the signals of the inertial measurement element 10, the inner frame torque motor assembly 31, and the inner frame resolver assembly 32 are led out through the inner frame conductive slip ring mounted on the inner frame mechanism 3 and connected in series with the outer frame conductive slip ring mounted on the outer frame mechanism 2. The outer frame conductive slip ring is used to lead out the signals of the outer frame torque motor assembly 21 and the outer frame resolver assembly 22, and finally connect them to the control component 5 to ensure that the signal remains continuous and uninterrupted when the dual-locking indexing device rotates at any angle.

[0043] Furthermore, the control component 5 also includes a conversion board 54. The conversion board 54 has multiple solder pads and wire-passing holes at both ends. The wire harnesses between the outer frame torque motor assembly 21, the outer frame resolver assembly 22, the outer frame conductive slip ring, the inner frame torque motor assembly 31, the inner frame resolver assembly 32, the inner frame conductive slip ring, the servo control board 51, the control board 52, and the locking board 53 are all connected through the conversion board 54. The wire harnesses pass through the wire-passing holes and are bent and soldered to the corresponding solder pads to ensure that the wire harness connection points are stable and reliable.

[0044] Specifically, the conversion board 54 can be divided into two ends, A and B, each with a number of pads and via holes. The wire harnesses pass through the bottom of the via holes at both ends A and B, are then bent 90°, and soldered to the corresponding pads. When the wire harnesses are subjected to external tension, the force is not directly transmitted to the pads; instead, the force is shared and distributed by the via holes and the bends, thus reducing the risk of loosening or breaking of the solder joints due to external forces and ensuring the reliability of the solder joints. Furthermore, by soldering signal lines, power lines, and other wire harnesses to independent pads, electromagnetic interference is reduced, and troubleshooting is facilitated.

[0045] It is worth noting that this invention symmetrically arranges two sets of end-tooth disc locking units along a diagonal direction, solving the problem that large-specific-weight, large-size inertial measurement elements 10 cannot achieve a conventional locking layout in the orthogonal direction. For aircraft, structural space is often extremely limited, and their weight and size are strictly restricted. When adopting an orthogonal layout, in order to avoid interference between the frame and the locking unit during frame rotation, it is often necessary to enlarge the size of the base 1 to meet the layout requirements in terms of space, but this will lead to an increase in size and weight. In addition, existing indexing devices are often irregularly shaped structures, with the largest available space in the diagonal direction in their structural space, and there is no need to enlarge the size of the base 1. By symmetrically arranging the two sets of end-tooth disc locking units along the diagonal direction in the extra space at the diagonal, the available space can be maximized, thereby meeting the size requirements.

[0046] However, this approach introduces a problem: due to the longest diagonal distance, the locking stroke also increases significantly, reaching approximately seven times that of the orthogonal locking method, thus placing higher demands on the stability of the locking process. Therefore, this invention sets the preload directions of the two sets of end-tooth disc locking units in parallel, and uses a current loop to achieve closed-loop coordinated control through the control component 5, thereby improving locking accuracy.

[0047] Specifically, this invention achieves timing coordination by controlling the simultaneous operation of two sets of end-tooth disc locking units. This enables high-precision meshing between the fixed toothed disc 41 and the movable toothed disc 42 during locking. After locking, the tooth surfaces of the end-tooth disc locking units at both ends are simultaneously stressed, resulting in uniform load distribution, making it suitable for locking applications of high-density inertial measurement units. Combined with the photoelectric switch 45 for precise position feedback, long-distance, high-precision, and high-stability locking is achieved even with a 40mm travel distance for the movable toothed disc 42. Furthermore, at least three impact locking actions ensure a strong meshing between the teeth, guaranteeing accurate application of the locking force. On the other hand, the symmetrical arrangement of the end-tooth disc locking units ensures that the load is evenly applied to the end teeth during overload impacts, preventing additional torque on the teeth and facilitating uniform load cancellation. This improves meshing accuracy, extends the life of the toothed discs, and further enhances the stability of repeated locking.

[0048] Furthermore, this invention connects the outer frame conductive slip ring and the inner frame conductive slip ring in series, forming a complete signal channel that runs through both the inner and outer frames. This ensures that the command and feedback signals between the control component 5 and the inertial measurement element 10, the inner and outer frame resolvers, and the torque motor remain continuous when rotating at any position. The conversion board 54, through its wire-through hole and pad design, ensures stable and reliable wiring harness connection points. When the wiring harness passes through the wire-through hole and is bent and soldered to the pad, the forces generated by external pulling or vibration will be absorbed and decomposed by the wire-through hole and the bend, providing a reliable path for current loop control. Therefore, even with a 40mm locking stroke, the control component 5 can acquire status feedback signals in real time and synchronously output drive current to the servo motor components 431 at both ends, achieving synchronous meshing of the movable gear discs 42 at both ends.

[0049] To enable those skilled in the art to fully understand and implement this invention, the specific implementation principle of this invention will be further explained below in conjunction with a specific application scenario.

[0050] The base 1 serves as the overall support structure, a square hollow frame structure. Its hollow inner cavity provides rotation space for the outer frame mechanism 2 and the inner frame mechanism 3. One side of the base 1 is used to install the outer frame torque motor assembly 21, and also to fix the control board 52 and locking plate 53 to this side, which is covered by the control panel. The opposite side is used to install the outer frame resolver assembly 22. The outer frame 23 is driven by the outer frame motor to rotate in a first direction; the inner frame mechanism 3 is nested inside the outer frame mechanism 2 and can rotate in a second direction. The inertial measurement element 10 is fixed to the inner frame mechanism 3.

[0051] The dual locking mechanism 4 is locked by two meshing toothed discs. The movable toothed disc 42 is driven and controlled by the servo motor assembly 431, and the fixed toothed disc 41 is fixedly installed on the inner frame mechanism 3. After the outer frame mechanism 2 and the inner frame mechanism 3 are controlled to reach the locking position by the control plate 52, the locking plate 53 controls the movable toothed disc 42 to move and mesh with the fixed toothed disc 41 to lock the outer frame mechanism 2 and the inner frame mechanism 3.

[0052] Specifically, the outer frame mechanism 2 includes an outer frame torque motor assembly 21 and an outer frame resolver assembly 22, which are mounted on the symmetrical sidewalls of the base 1. The rotor of the outer frame motor is rotatably connected to the outer frame motor bracket via angular contact bearings. The stator of the outer frame motor is fitted with the outer frame motor bracket with a clearance fit. The outer frame bushing is fixedly connected to the rotor of the outer frame motor, and the rotor of the outer frame motor serves as the output shaft of the outer frame torque motor assembly 21. The outer frame torque motor assembly 21 is mounted on the sidewall of the base 1 and fixedly connected to the base 1 via mounting holes on the outer frame motor bracket. The stator of the outer frame motor has corresponding mounting holes. The outer frame bushing is fixedly connected to the outer frame 23. The outer frame resolver assembly 22 is similar in composition to the outer frame torque motor assembly 21. The rotor of the outer frame resolver is rotatably connected to the outer frame resolver bracket via angular contact bearings. The stator of the outer frame resolver is fitted with the outer frame resolver bracket with a clearance fit. The outer frame resolver bushing is fixedly connected to the rotor of the outer frame resolver, with the rotor serving as the output shaft of the outer frame resolver assembly 22. The outer frame resolver assembly 22 is mounted on the side wall of the base 1 and is positioned opposite to the outer frame torque motor assembly 21. The outer frame resolver assembly 22 is fixedly connected to the base 1 via mounting holes on the outer frame resolver bracket. Corresponding mounting holes are provided on the stator of the outer frame resolver, thereby fixing the stator of the outer frame resolver onto the base 1. The outer frame resolver bushing is fixedly connected to the outer frame 23. Thus, through coaxial limiting and fixing at both ends, the outer frame 23 is supported within the hollowed-out inner cavity of the base 1 and can rotate from 0° to 360°.

[0053] The inner frame mechanism 3 is installed inside the outer frame mechanism 2, and the inertial measurement element 10 is installed inside the inner frame mechanism 3. When the inner frame mechanism 3 moves, it drives the inertial measurement element 10 to rotate. The double locking mechanism 4 is installed on the base 1. When the inner frame mechanism 3 reaches the locking position, the double locking mechanism 4 locks the inner frame mechanism 3.

[0054] Specifically, the inner frame mechanism 3 includes an inner frame torque motor assembly 31, an inner frame resolver assembly 32, and an inner frame 33. The inner frame torque motor assembly 31 and the inner frame resolver assembly 32 are mounted opposite each other on the symmetrical sidewalls of the outer frame 23. The rotor of the inner frame motor is rotatably connected to the inner frame motor bracket via an angular contact bearing. The stator of the inner frame motor is fitted with the inner frame motor bracket with a clearance fit. The inner frame bushing is fixedly connected to the rotor of the inner frame motor, and the rotor of the inner frame motor serves as the output shaft of the inner frame torque motor assembly 31. The inner frame torque motor assembly 31 is mounted on the side wall of the outer frame 23 and is fixedly connected to the outer frame 23 through the mounting holes on the inner frame motor bracket. The stator of the inner frame motor is provided with corresponding mounting holes. The inner frame bushing is fixedly connected to the inner frame 33. The inner frame resolver assembly 32 is similar to the inner frame torque motor assembly 31. The rotor of the inner frame resolver is rotatably connected to the inner frame resolver bracket through an angular contact bearing. The stator of the inner frame resolver is installed with a clearance fit to the inner frame resolver bracket. The inner frame bushing is fixedly connected to the rotor of the inner frame resolver. The rotor of the inner frame resolver serves as the output shaft of the inner frame resolver assembly 32. The inner frame resolver assembly 32 and the inner frame torque motor assembly 31 are mounted opposite each other on the side wall of the outer frame 23. The inner frame resolver assembly 32 is fixedly connected to the outer frame 23 through mounting holes on the inner frame resolver bracket. The stator of the inner frame resolver is provided with corresponding mounting holes, thereby fixing the stator of the inner frame resolver onto the outer frame 23. The inner frame resolver bushing is fixedly connected to the corresponding position of the outer frame 23. Thus, through coaxial limiting fixation at both ends, the inner frame 33 can rotate inside the outer frame 23.

[0055] The signals from the inertial measurement element 10, the control signals from the inner frame motor, and the feedback signals from the inner frame resolver can all be extracted through the inner frame conductive slip ring; the outer frame conductive slip ring is connected in series with the inner frame conductive slip ring and finally connected to the control board 52; the dual conductive slip ring series design ensures that the signal is uninterrupted when the outer frame mechanism 2 and the inner frame mechanism 3 rotate 360°, and has strong anti-interference ability.

[0056] The double locking mechanism 4 is an end-tooth disc locking type. Its working principle is that the movable toothed disc 42 achieves telescopic movement under the action of the drive mechanism 43. After reaching its position, it precisely meshes with the fixed toothed disc 41 to achieve the locking effect. The fixed toothed disc 41 is installed on the inner frame 33. When the fixed toothed disc 41 meshes with the movable toothed disc 42, it firmly locks the inner frame 33. Since the inner frame 33 is installed on the outer frame 23, it can also firmly lock the outer frame 23. The drive mechanism 43 is installed in the housing 44 and can drive the movable toothed disc 42 to reciprocate telescopic movement along the guide rod 441. Baffles 46 are installed at the maximum extension position and the minimum retraction position of the movable toothed disc 42, respectively, and are set opposite to the photoelectric switch 45 to provide unlocking and locking signals to the locking plate 53. The housing 44 is installed on the base 1, thereby controlling the double locking mechanism 4 to lock the inner frame 33 through the locking plate 53.

[0057] In the drive mechanism 43 of the double locking mechanism 4, the worm gear is connected to the output shaft of the servo motor assembly 431, the lead screw of the trapezoidal lead screw pair 433 is coaxially connected to the worm wheel, and the nut of the trapezoidal lead screw pair 433 is fixedly connected to the movable gear plate 42. When the locking plate 53 controls the servo motor assembly 431 to drive the worm gear to rotate, the worm wheel drives the trapezoidal lead screw to rotate, and finally realizes the reciprocating extension and retraction motion of the movable gear plate 42. Relying on the guide rods 441 installed on both sides of the housing 44 for limiting and bearing, the movable gear plate 42 always makes high-precision linear motion during the movement. Then, the control plate 52 controls the frame to accurately reach the locking angle position. At this time, the fixed gear plate 41 and the movable gear plate 42 correspond in the linear position. When the movable gear plate 42 is in place, precise meshing is achieved.

[0058] The double locking mechanism 4 includes two end toothed disc locking units, which are installed at the upper and lower ends of the base 1 respectively, in a 45° diagonal direction. When locked, the preload of the two end toothed disc locking units is parallel to the same straight line, ensuring stable locking of the frame and avoiding structural deformation caused by the deflection torque due to the non-parallel preload.

[0059] The dual-locking indexing device of the present invention adopts a delayed impact control method. The locking plate 53 can synchronously control the locking units of the two end gear disks. After reaching the meshing position, the control plate 52 cuts off the enable signal to the inner frame motor. At the same time, the locking plate 53 controls the drive mechanism 43 to make the movable gear disk 42 perform three consecutive instantaneous impacts, applying a preload between the fixed gear disk 41 and the movable gear disk 42 to ensure reliable meshing of the gear disks.

[0060] The dual-locking indexing device of this invention, through a dual-degree-of-freedom rotating outer frame mechanism and inner frame mechanism combined with a dual-locking mechanism, achieves stability in both the frame coordinate system and the inertial space of the inertial measurement element. It also effectively solves the problem of the inertial measurement core failing to lock when using non-calibrated functions. The two sets of end-tooth disk locking units are arranged in a diagonally symmetrical layout, with the preload direction parallel, effectively eliminating the deflection torque caused by non-parallel locking forces, thus preventing structural deformation. The movable toothed disk, driven by a drive mechanism, engages with the fixed toothed disk, providing high rigidity and high precision locking, solving the problems of insufficient locking precision and poor reliability caused by gaps in existing locking mechanisms. Simultaneously, the synchronous control of the two sets of end-tooth disk locking units by the control component enables flexible and efficient locking operations, meeting the high-precision locking requirements of inertial navigation in dynamic environments.

[0061] The dual-locking indexing device of this invention employs torque motor drive and resolver feedback rotation angle in the outer and inner frame mechanisms, achieving high-precision rotation and closed-loop control with dual degrees of freedom, ensuring high-precision pointing of the inertial measurement element. The drive mechanism drives the movable gear disk to extend and retract along the guide rod through a worm gear pair and a trapezoidal screw pair. Combined with the position detection of the photoelectric switch, it achieves accurate judgment and rapid response of the locking position. The servo control board, control board, and locking board in the control component collaboratively manage the rotation and locking process, and apply preload through an impact locking mechanism, further enhancing locking reliability. The conductive slip rings of the inner and outer frames are connected in series, and combined with the conversion board, it ensures continuous signal transmission during rotation, has strong anti-interference ability, and the wire harness welding method based on the conversion board resists external force interference, ensuring stable and reliable wire harness connection.

[0062] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations are intended to cover non-exclusive inclusion, such that an article or device comprising a list of elements includes not only those elements but also other elements not expressly listed. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the article or device comprising said element. Terms such as "connected" or "linked" are not limited to physical or mechanical connections but can include electrical connections, whether direct or indirect. The orientations or positional relationships indicated by terms such as "upper," "lower," "left," and "right" are based on the orientations or positional relationships shown in the accompanying drawings and are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention.

[0063] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of the present invention, and all such modifications and substitutions should be considered within the scope of protection of the present invention.

Claims

1. A dual locking indexing device, characterized by, The utility model relates to a kind of inertial measurement unit, including: Base, outer frame mechanism, inner frame mechanism, double locking mechanism and control assembly; The base is provided with hollow inner cavity, the outer frame mechanism is located in the hollow inner cavity, and rotates around the first direction;The inner frame mechanism is embedded in the outer frame mechanism, and rotates around the second direction, the first direction and the second direction are perpendicular to each other;Inertial measurement element is located in the inner frame mechanism, and rotates synchronously with the inner frame mechanism; The double locking mechanism is located on the base, including two groups of end tooth disc locking units, two groups of the end tooth disc locking unit are arranged along the diagonal direction of the device, and are rotationally symmetrical about the center point of the device, and the pre-tightening force direction of two groups of the end tooth disc locking unit is parallel;The control assembly is arranged on the base, and two groups of the end tooth disc locking unit are synchronously controlled by the control assembly; Wherein, each group of the end tooth disc locking unit includes fixed tooth disc, movable tooth disc and drive mechanism;The fixed tooth disc is fixed on the inner frame mechanism, the drive mechanism is fixed on the base, and the movable tooth disc is driven by the drive mechanism to extend and retract and engage with the fixed tooth disc to lock the outer frame mechanism and the inner frame mechanism; The outer frame mechanism includes: outer frame torque motor assembly, outer frame rotary variable component and outer frame;Wherein, the outer frame torque motor assembly and the outer frame rotary variable component are oppositely arranged on both sides of the base, and the outer frame is located between the outer frame torque motor assembly and the outer frame rotary variable component, wherein the outer frame is driven to rotate by the outer frame torque motor assembly, and the outer frame rotary variable component is used to detect the rotation angle of the outer frame in real time; The inner frame mechanism includes: inner frame torque motor assembly, inner frame rotary variable component and inner frame;Wherein, the inner frame torque motor assembly and the inner frame rotary variable component are oppositely arranged on both sides of the outer frame, and the inner frame is located between the inner frame torque motor assembly and the inner frame rotary variable component, wherein the inner frame is driven to rotate by the inner frame torque motor assembly, and the inner frame rotary variable component is used to detect the rotation angle of the inner frame in real time; Each group of the end tooth disc locking unit includes two photoelectric switches, the maximum extension position and the minimum retraction position of the movable tooth disc are provided with baffle respectively, and two photoelectric switches and two baffles are correspondingly arranged to correspondingly obtain state feedback signal, the state feedback signal includes unlocking to position signal and locking to position signal; After the movable tooth disc and the fixed tooth disc are engaged to position, at least three times of impact locking of two groups of the end tooth disc locking unit is implemented respectively to apply pre-tightening force between the fixed tooth disc and the movable tooth disc.

2. The dual locking indexing device of claim 1, wherein, Each drive mechanism includes: servo motor assembly, worm and worm gear pair and trapezoidal screw pair, the servo motor assembly is driven to drive the trapezoidal screw pair through the worm and worm gear pair, and the trapezoidal screw pair connects the movable tooth disc.

3. The dual locking indexing device of claim 2, wherein, Each of the end tooth disc locking units further comprises a housing, the worm and gear pair and the trapezoidal screw pair are arranged in the housing, the worm is connected to the output end of the servo motor assembly, the worm wheel is connected to the screw rod of the trapezoidal screw pair, and the movable tooth disc is fixedly connected to the nut of the trapezoidal screw pair; both sides of the housing are provided with guide rods, and the movable tooth disc is slidably connected with the two guide rods.

4. The dual locking indexing device of claim 1, wherein, The control assembly is configured to perform synchronous closed-loop control on the two groups of end tooth disc locking units based on the state feedback signal of the movable tooth disc; The control assembly comprises a servo control board, a control board and a locking board, which are respectively fixed in the cavities on the side of the base and externally covered with a panel; The servo control board is configured to control the outer frame torque motor assembly to drive the outer frame mechanism to rotate around the first direction, the control board is configured to control the inner frame torque motor assembly to drive the inner frame mechanism to rotate around the second direction, and the locking board is configured to control the double locking mechanism according to the unlocking and locking signals to unlock or lock the inner frame mechanism.

5. The dual locking indexing device of claim 4, wherein, The outer frame mechanism is provided with an outer frame conductive slip ring, the inner frame mechanism is provided with an inner frame conductive slip ring, and the outer frame conductive slip ring and the inner frame conductive slip ring are connected in series and then output to the control board.

6. The dual locking indexing device of claim 5, wherein, The control assembly further comprises a conversion board, both ends of the conversion board are respectively provided with a plurality of bonding pads and wire passing holes, the wire harness between the outer frame torque motor assembly, the outer frame rotary transformer assembly, the outer frame conductive slip ring, the inner frame torque motor assembly, the inner frame rotary transformer assembly, the inner frame conductive slip ring, the servo control board, the control board and the locking board is connected through the conversion board, the wire harness is passed out through the wire passing holes and is bent and welded on the corresponding bonding pads.

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