Miniaturized three-axis integrated laser gyroscope

Abstract

The utility model provides a miniaturized three-axis integrated laser gyroscope. The miniaturized three-axis integrated laser gyroscope comprises a cavity, a first mounting surface and a second mounting surface, a first mounting channel and a second mounting channel are respectively formed in the first mounting surface and the second mounting surface; the third mounting surfaces are arranged at the vertexes of the cavity; a third mounting channel is formed in the third mounting surface; the anode group and the cathode group are respectively arranged in the first mounting channel and the second mounting channel; the spherical mirror group and the light combining mirror are respectively arranged in the third mounting channel; the light path channel is arranged in the cavity and is respectively communicated with the first mounting channel, the second mounting channel and the third mounting channel; the shaking wheel is arranged in a mounting hole formed in one surface of the cavity in a penetrating manner; the miniaturized three-axis integrated laser gyroscope provided by the utility model is compact in structure, and the overall size is further reduced; and three beams of circulating light generated in the light path channel are reflected through the spherical mirror group to form three paths of digital outputs, so that angular velocity information of three axes is measured respectively.

Description

Technical Field

[0001] The utility model relates to the technical field of laser gyroscopes, and in particular to a miniaturized three-axis integrated laser gyroscope. Background Art

[0002] A laser gyroscope is a sensing device based on the Sagnac effect for measuring the angular motion of a carrier, and is one of the core components of an inertial navigation system. Compared with other types of gyroscopes such as mechanical gyroscopes, three-float gyroscopes, electrostatic gyroscopes, and fiber optic gyroscopes, it has the advantages of fast startup, high precision, large dynamic range, shock resistance, and high stability, and is currently the most widely used gyroscope.

[0003] The laser gyroscopes in the prior art adopt single-axis laser gyroscopes, that is, a single-axis laser gyroscope can only measure the angular rate in one direction, and three single-axis laser gyroscopes need to be orthogonally installed to measure the angular rates in three directions to meet the requirements of the inertial navigation system. However, the single-axis laser gyroscope limits the application of the laser gyroscope in the field of miniaturized applications.

[0004] In order to reduce the size of the laser gyroscope, in the prior art, the publication number is CN218097784U, and the name is a novel spatial three-axis laser gyro resonator cavity, including: a first sensitive optical loop, a second sensitive optical loop, and a third sensitive optical loop. The three sensitive optical loops intersect perpendicularly to each other in the non-gain area pipeline. It ensures that the three optical paths will not interfere with each other, can be independently adjusted, and can effectively avoid the technical difficulties of the current spatial three-axis laser gyro cross-correlation cavity and cross-frequency stabilization. Further improve the accuracy of the spatial three-axis laser gyro and reduce the difficulty of cavity adjustment and frequency stabilization.

[0005] However, the volume of the three-axis integrated laser gyroscope made by the novel spatial three-axis laser gyro resonator cavity in the prior art is still relatively large, and it cannot better meet the miniaturization requirements. Summary of the Utility Model

[0006] The purpose of the utility model is to provide a miniaturized three-axis integrated laser gyroscope, which can solve the above technical problems;

[0007] The utility model provides a miniaturized three-axis integrated laser gyroscope, including:

[0008] A cavity, and a first mounting surface and a second mounting surface are respectively arranged at the chamfer of the cavity; and a first mounting channel is opened on the first mounting surface, and a second mounting channel is opened on the second mounting surface;

[0009] A third mounting surface, arranged at each vertex of the cavity; and a third mounting channel is opened on the third mounting surface;

[0010] Anode groups, which are respectively arranged in the first installation channels; cathode groups, which are respectively arranged in the second installation channels; spherical mirror groups, which are respectively arranged in the third installation channels, and a light combining mirror is also arranged in one of the third installation channels;

[0011] Optical path channels, which are arranged in the cavity and are respectively communicated with the first installation channels, the second installation channels and the third installation channels;

[0012] A dithering wheel, which is inserted into the installation holes opened on one surface of the cavity.

[0013] As a further technical solution, the cavity is a four-sided cavity, and the first installation surfaces are respectively arranged at three of the chamfered corners; the second installation surfaces are respectively arranged at the other three chamfered corners.

[0014] As a further technical solution, the first installation channels are opened on all three first installation surfaces; the second installation channels are arranged on all three second installation surfaces.

[0015] As a further technical solution, the anode group includes three anodes, which are respectively arranged in the first installation channels.

[0016] As a further technical solution, the cathode group includes three cathodes, which are respectively arranged in the second installation channels.

[0017] As a further technical solution, the optical path channels include:

[0018] A transverse tube group, which is respectively communicated with the second installation channels and the third installation channels;

[0019] A longitudinal tube group, which is respectively communicated with the first installation channels and the third installation channels.

[0020] As a further technical solution, the transverse tube group includes: three first pipes, and the adjacent first pipes are respectively communicated with the third installation channels; in addition, the first pipes are communicated with the second installation channels through first branch pipes.

[0021] As a further technical solution, the longitudinal tube group includes: three second pipes, one end of the three second pipes is connected to one of the third installation channels, the other ends are respectively connected to the other three third installation channels, and the second pipes are communicated with the first installation channels through second branch pipes.

[0022] As a further technical solution, the dithering wheel includes:

[0023] A first wheel body and a second wheel body, the first wheel body and the second wheel body are arranged alternately;

[0024] An installation body, which is arranged on the second wheel body;

[0025] A plurality of driving bodies, which are arranged on the second wheel body; a plurality of adjusting bodies, which are arranged on the first wheel body.

[0026] As a further technical solution, the first wheel body includes six adjusting arms arranged at equal intervals; the second wheel body includes three driving arms arranged at equal intervals; two adjusting arms are arranged between adjacent driving arms.

[0027] The technical solution of the present utility model forms a first mounting surface and a second mounting surface structure at the chamfer of the cavity, and opens a first mounting channel and a second mounting channel on the first mounting surface and the second mounting surface, and then installs the anode group and the cathode group in the first mounting channel and the second mounting channel; at the same time, a third mounting surface is formed after cutting at each vertex of the cavity; and a third mounting channel is opened on the third mounting surface, and the spherical mirror group and the beam combining mirror are installed in the third mounting channel; and the first mounting channel, the second mounting channel and the third mounting channel are connected through an optical path channel placed in the cavity; and corresponding detection is carried out in cooperation with a jitter wheel placed in a mounting hole opened in the cavity; compared with the prior art, the technical solution of the present utility model has a compact structure and further reduces the overall size; and three circular lights generated in the optical path channel are reflected by the spherical mirror group, and the three circular lights are output at the beam combining mirror to form three-way digital output, and then the angular velocity information of three axes is measured respectively. Description of the Drawings

[0028] In order to more clearly illustrate the specific embodiments of the present utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required to be used in the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0029] Figure 1 It is a schematic structural diagram of a miniaturized three-axis integrated laser gyroscope of the present utility model;

[0030] Figure 2 It is a three-dimensional view of a miniaturized three-axis integrated laser gyroscope of the present utility model at an angle;

[0031] Figure 3 It is a three-dimensional view of a miniaturized three-axis integrated laser gyroscope of the present utility model at another angle;

[0032] Figure 4 It is a three-dimensional view of the cavity of the present utility model at an angle;

[0033] Figure 5 It is a three-dimensional view of the cavity of the present utility model at another angle;

[0034] Figure 6 It is a three-dimensional view of the optical path channel of the present utility model;

[0035] Figure 7 This is a perspective view of the jitter wheel in the present utility model;

[0036] Explanation of reference numerals:

[0037] 1 - Cavity; 11 - First mounting surface; 12 - Second mounting surface; 13 - Third mounting surface; 101 - First mounting channel; 102 - Second mounting channel; 103 - Third mounting channel; 4 - Anode; 5 - Cathode; 6 - Spherical mirror; 711 - First pipe; 712 - First branch pipe; 721 - Second pipe; 722 - Second branch pipe; 8 - Jitter wheel; 81 - First wheel body; 82 - Second wheel body; 83 - Mounting body; 84 - Driving body; 85 - Adjusting body; 9 - Mounting hole; 10 - Light - combining mirror. Detailed implementation manners

[0038] Next, the technical solutions of the present utility model will be clearly and completely described in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present utility model, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0039] In the description of the present utility model, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present utility model.

[0040] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more features. In the description of the present utility model, "a plurality" means two or more unless otherwise specifically defined. In addition, the terms "mounting", "connecting", and "coupling" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0041] Such asFigure 1-7 As shown in the figure, a miniaturized three-axis integrated laser gyroscope proposed by the present utility model includes:

[0042] A cavity 1, with a first mounting surface 11 and a second mounting surface 12 respectively provided at the chamfers of the cavity 1; and a first mounting channel 101 is opened on the first mounting surface 11, and a second mounting channel 102 is opened on the second mounting surface 12; a third mounting surface 13 is provided at each vertex of the cavity 1; and a third mounting channel 103 is opened on the third mounting surface 13; it should be noted that in the present utility model, the cavity 1 is a hollow structure, therefore, the first mounting channel 101, the second mounting channel 102 and the third mounting channel 103 penetrate through the outer wall of the cavity 1 to connect the inner cavity inside the cavity 1 with the outside;

[0043] Anode groups are respectively arranged in the first mounting channel 101; cathode groups are respectively arranged in the second mounting channel 102; spherical mirror groups are respectively arranged in the third mounting channel 103, and a combining mirror 10 is further arranged in one of the third mounting channels 103; it should be noted that in the present utility model, the anode groups are in the same plane after installation; the cathode groups are in the same plane after installation; the spherical mirror groups are in the same plane after installation; thus ensuring that the light is in a stable state during transmission;

[0044] An optical path channel is arranged inside the cavity 1 and is respectively communicated with the first mounting channel 101, the second mounting channel 102 and the third mounting channel 103; specifically, the anode groups, the cathode groups, the spherical mirror groups and the combining mirror 10 are connected through the optical path channel; a dither wheel 8 is inserted into a mounting hole 9 opened on one surface of the cavity 1; the vibration frequency of the cavity 1 can be controlled through the dither wheel 8;

[0045] As Figure 4-5 shown, the cavity 1 is a four-sided cavity 1, and the formed cavity 1 includes six chamfers and four vertices; the first mounting surface 11 is respectively arranged at three of the chamfers; the second mounting surface 12 is respectively arranged at the other three chamfers; the first mounting channels 101 are opened on all three first mounting surfaces 11; the second mounting channels 102 are all arranged on the three second mounting surfaces 12; the anode group includes three anodes 4, which are respectively arranged in the first mounting channels 101; the cathode group includes three cathodes 5, which are respectively arranged in the second mounting channels 102;

[0046] As Figure 6As shown, the optical path channel includes a transverse tube group and a longitudinal tube group. The transverse tube group is respectively communicated with the second installation channel 102 and the third installation channel 103; the longitudinal tube group is respectively communicated with the first installation channel 101 and the third installation channel 103; wherein, the transverse tube group includes three first pipelines 711, and the adjacent first pipelines 711 are respectively communicated with the third installation channel 103; in addition, the first pipeline 711 is communicated with the second installation channel 102 through a first branch pipe 712; the longitudinal tube group includes three second pipelines 721, one end of the three second pipelines 721 is connected to one of the third installation channels 103, and the other ends are respectively connected to the other three third installation channels 103, and the second pipeline 721 is communicated with the first installation channel 101 through a second branch pipe 722;

[0047] After the overall installation is completed, three annular optical paths are formed; the angular velocities of three axes can be measured; specifically, the adjacent first installation surfaces 11, the second installation surfaces 12 between the adjacent first installation surfaces 11, and the third installation surfaces 13 at both ends of the second installation surfaces 12 form an installation range. Two anodes 4, a cathode 5, two spherical mirrors 6 and the corresponding first pipeline 711, first branch pipe 712, second pipeline 721 and second branch pipe 722 on the installation range form an annular optical path; in the actual use stage, the two anodes 4 are connected with positive electricity, and the cathode 5 is connected with negative electricity; a first light beam and a second light beam are respectively formed between the two anodes 4 and the cathode 5. The first light beam and the second light beam are transmitted in the first pipeline 711 and the second pipeline 721, and the first light beam and the second light beam are rotated by the spherical mirrors 6 on both sides of the second installation surface 12 and then converge at the beam combining mirror 10, and the rotation angular velocity of the carrier is obtained through the Sagnac effect;

[0048] Of course, in addition to the above-mentioned group of annular optical paths, annular optical paths are also formed on the other two sides, and their working principles are the same as those of the above-mentioned group of annular optical paths. For the sake of saving space, the present invention does not further limit this; it should be noted that in the present invention, the cavity 1 is supported by microcrystalline glass, so that the mechanical strength and temperature stability of the cavity 1 can be improved, and the stability of all components installed on the cavity 1 can be further ensured.

[0049] Such as Figure 7As shown, the dithering wheel 8 includes a first wheel body 81 and a second wheel body 82, and the first wheel body 81 and the second wheel body 82 are arranged in an interleaved manner; the mounting body 83 is arranged on the second wheel body 82; a number of driving bodies 84 are arranged on the second wheel body 82; a number of adjusting bodies 85 are arranged on the first wheel body 81; during the actual installation stage, both the first wheel body 81 and the second wheel body 82 are placed in the mounting hole 9, and the first wheel body 81 is in contact with the inner wall of the mounting hole 9; and it is fixed to the cavity 1 through the mounting body 83. Specifically, through holes are provided on the mounting body 83, and after bolts or screws pass through the through holes, they are fixed to the cavity 1; specifically, the first wheel body 81 includes six adjusting arms arranged at equal intervals; the second wheel body 82 includes three driving arms arranged at equal intervals; two adjusting arms are arranged between adjacent driving arms; adjusting bodies 85 are arranged on one side of the six adjusting arms; driving bodies 84 are arranged on both sides of the three driving arms; and in the present utility model, the adjusting arm includes an adjusting plate and an arc plate, and the diameter of the circle where the peripheries of the six arc plates are located is equal to the diameter of the circular cross-section of the mounting hole 9; thus, when the dithering wheel 8 is placed in the mounting hole 9, on the one hand, it can fully contact the inner wall of the mounting hole 9, and on the other hand, through the setting of the arc plate, the contact area with the inner wall of the mounting hole 9 can be increased;

[0050] During actual use, the second wheel body 82 is driven to dither through the driving body 84, and the dithering is transmitted to the cavity 1 through the mounting body 83 to realize the measurement of the dithering frequency by the laser gyroscope; the laser gyroscope measures the dithering obtained by the cavity 1, and converts the measured vibration time-domain information into a frequency signal through Fourier transform, and then obtains the vibration frequency; the adjusting body 85 applies a feedback vibration force to the first wheel body 81 by using the piezoelectric effect. Since the arc plate is in contact with the inner wall of the mounting hole 9, the vibration frequency of the cavity 1 is maintained at a set value under the action of the first wheel body 81; thereby improving the accuracy of the laser gyroscope; in the present utility model, the vibration frequency of the cavity 1 is 400 - 600 Hz.

[0051] The technical solution of the present utility model has a compact structure, further reducing the overall size; and by reflecting the three beams of circulating light generated in the spherical mirror group reflection optical path channel, three-way digital outputs are formed, and then the angular velocity information of three axes is measured respectively; it should be noted that a photoelectric conversion module is also arranged at the position where the combining mirror 10 is located to convert the optical path difference of the three beams of circulating light into an electrical signal; realizing three-way digital data; in addition, the photoelectric conversion module uses a photoelectric converter in the prior art, and the present utility model does not further limit this.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A miniaturized three-axis integrated laser gyroscope, characterized in that, Comprising: A cavity (1) with a first mounting surface (11) and a second mounting surface (12) respectively provided at the chamfer of the cavity (1); and a first mounting channel (101) is provided on the first mounting surface (11), and a second mounting channel (102) is provided on the second mounting surface (12); A third mounting surface (13) is provided at each vertex of the cavity (1); and a third mounting channel (103) is provided on the third mounting surface (13); An anode group is respectively provided in the first mounting channel (101); a cathode group is respectively provided in the second mounting channel (102); a spherical mirror (6) group is respectively provided in the third mounting channel (103), and a light combining mirror (10) is further provided in one of the third mounting channels (103); An optical path channel is provided in the cavity (1) and is respectively communicated with the first mounting channel (101), the second mounting channel (102) and the third mounting channel (103); A jitter wheel (8) is inserted into a mounting hole (9) provided on one surface of the cavity (1).

2. The miniaturized three-axis integrated laser gyroscope according to claim 1, wherein The cavity (1) is a four-sided cavity (1), and the first mounting surface (11) is respectively provided at three of the chamfers; the second mounting surface (12) is respectively provided at the other three chamfers.

3. The miniaturized three-axis integrated laser gyroscope according to claim 2, wherein The first mounting channels (101) are provided on all three first mounting surfaces (11); the second mounting channels (102) are provided on all three second mounting surfaces (12).

4. The miniaturized three-axis integrated laser gyroscope according to claim 3, wherein, The anode group includes three anodes (4) respectively provided in the first mounting channel (101).

5. The miniaturized three-axis integrated laser gyroscope according to claim 3, wherein The cathode group includes three cathodes (5) respectively provided in the second mounting channel (102).

6. The miniaturized three-axis integrated laser gyroscope according to claim 1, wherein The optical path channel includes: A transverse tube group is respectively communicated with the second mounting channel (102) and the third mounting channel (103); A longitudinal tube group is respectively communicated with the first mounting channel (101) and the third mounting channel (103).

7. The miniaturized three-axis integrated laser gyroscope according to claim 6, wherein The transverse tube group includes: three first pipes (711), and the adjacent first pipes (711) are respectively communicated with the third mounting channel (103); in addition, the first pipe (711) is communicated with the second mounting channel (102) through a first branch pipe (712).

8. The miniaturized three-axis integrated laser gyroscope according to claim 6, wherein The longitudinal tube group includes: three second pipes (721), one end of the three second pipes (721) is connected to one of the third mounting channels (103), and the other ends are respectively connected to the other three third mounting channels (103), and the second pipe (721) is communicated with the first mounting channel (101) through a second branch pipe (722).

9. The miniaturized three-axis integrated laser gyroscope according to claim 1, characterized in that The jitter wheel (8) includes: A first wheel body (81) and a second wheel body (82), the first wheel body (81) and the second wheel body (82) are arranged alternately; A mounting body (83) is provided on the second wheel body (82); A plurality of driving bodies (84) are provided on the second wheel body (82); a plurality of adjusting bodies (85) are provided on the first wheel body (81).

10. The miniaturized three-axis integrated laser gyroscope according to claim 9, characterized in that, The first wheel body (81) includes six adjusting arms arranged at equal intervals; the second wheel body (82) includes three driving arms arranged at equal intervals; two of the adjusting arms are arranged between adjacent driving arms.

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