Miniaturized three-axis gyroscope

Abstract

The utility model provides a miniaturized three-axis gyroscope, which belongs to the technical field of inertial navigation and comprises a shell, a circuit unit and a shell cover, the circuit unit is located in an inner cavity of the shell, and the shell cover is connected with the open end of the shell and used for sealing the inner cavity of the shell. The circuit unit comprises a horizontal circuit substrate and two side substrates, the two side substrates are longitudinally arranged, an included angle is formed between the two side substrates, an included angle is formed between the longitudinal projection of the side substrates and the longitudinal projection of the horizontal circuit substrate, and the side substrates are connected with the horizontal circuit substrate through flexible plates; a Z-axis gyroscope is arranged on the upper end face of the horizontal circuit substrate, and transverse gyroscopes are installed on the side faces of the two side face substrates. According to the miniaturized three-axis gyroscope provided by the utility model, the three gyroscopes form a non-orthogonal single-axis gyroscope layout by virtue of the horizontal circuit substrate and the two side substrates, so that the use efficiency of the space in the shell is improved, the overall size of the product is reduced, and the miniaturization of the product is further realized.

Description

Technical Field

[0001] This utility model belongs to the field of inertial navigation technology, and more specifically, it relates to a miniaturized three-axis gyroscope. Background Technology

[0002] A three-axis gyroscope is a device that measures the angular velocity of an object along three axes. By sensing the angular velocity in three-dimensional space, it calculates the three-dimensional angle of the object, thereby enabling precise navigation and control in various electronic systems. It is an indispensable sensor device in the field of inertial navigation.

[0003] Three-axis gyroscopes have a wide range of applications, including devices requiring motion control and motion information processing, such as automobiles, airplanes, and missiles. With continuous technological advancements and expanding application areas, market demands are placing increasingly stringent requirements on the size of three-axis gyroscopes. This necessitates the miniaturization of three-axis gyroscope sensors to provide greater flexibility in practical applications.

[0004] Currently, existing typical three-axis quartz micro-mechanical gyroscopes require wire connections to the data acquisition and processing circuit board. The soldering of multiple wires is time-consuming, hindering mass production and resulting in low production efficiency. The assembly of a typical three-axis quartz micro-mechanical gyroscope involves two steps: assembling a single-axis gyroscope and then assembling three single-axis gyroscopes onto the substrate of the three-axis gyroscope. This accumulates installation errors, making it difficult to significantly improve accuracy even with installation error compensation. Utility Model Content

[0005] The purpose of this invention is to provide a miniaturized three-axis gyroscope, which aims to solve the problems of large size and complex assembly of three-axis gyroscopes.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows: A miniaturized three-axis gyroscope is provided, comprising a housing, a circuit unit, and a cover; the circuit unit is located within the inner cavity of the housing, and the cover is connected to the open end of the housing to seal the inner cavity; the circuit unit includes a horizontal circuit board and two side boards, the two side boards being longitudinally arranged, forming an angle between them, and the longitudinal projection of the side boards forming an angle with the longitudinal projection of the horizontal circuit board; the side boards and the horizontal circuit board are connected by a flexible plate; a Z-axis gyroscope is provided on the upper surface of the horizontal circuit board, and transverse gyroscopes are mounted on the sides of the two side boards; a wiring hole is provided at the rear end of the housing, and a wire is connected to the side of the horizontal circuit board away from the side boards, the wire extending from the wiring hole.

[0007] In another embodiment of this application, the housing has three positioning portions, including a first positioning portion located at the middle of the front end of the housing and two second positioning portions located at the rear end of the housing. The two positioning portions are spaced apart along the width direction of the housing. The inner cavity of the housing is located between the three positioning portions, and the two side plates are located on both sides of the first positioning portion.

[0008] In another embodiment of this application, the first positioning part includes a first positioning area and a support structure. The upper end surface of the first positioning area is flush with the upper end surface of the housing. The support structure surrounds the outside of the first positioning area. The height of the support structure is lower than the height of the first positioning area. The upper end surface of the support structure forms a limiting step for supporting the housing cover on the outside of the first positioning area. The side surface of the support structure forms two mounting surfaces in the inner cavity of the housing. The two side substrates are attached to the two mounting surfaces one by one.

[0009] As another embodiment of this application, a recessed groove is provided in the middle of the mounting surface, the groove being used to accommodate the lateral gyroscope mounted on the side substrate.

[0010] In another embodiment of this application, the two mounting surfaces are spaced apart, and a support surface is provided between the two mounting surfaces, the support surface being in contact with the main board of the flexible plate.

[0011] In another embodiment of this application, the support surface has a groove, the main board of the flexible plate is attached to the bottom of the groove, and the main board has flexible connecting portions on both sides, the flexible connecting portions extending out of the groove and connecting to the side substrate on the same side.

[0012] In another embodiment of this application, the lower end of the motherboard has a flexible extension portion, which is used to connect the horizontal circuit board.

[0013] As another embodiment of this application, the front end of the horizontal circuit board has a clearance notch in the middle, the clearance notch includes a first clearance groove and a second clearance groove, the two ends of the first clearance groove in the length direction extend to the middle of the two side boards respectively, the first clearance groove is used to accommodate the side boards; the second clearance groove communicates with the middle of the bottom of the first clearance groove, the second clearance groove is used to accommodate the flexible extension.

[0014] The beneficial effects of the miniaturized triaxial gyroscope provided by this utility model are as follows: Compared with the prior art, the miniaturized triaxial gyroscope of this utility model forms a non-orthogonal single-axis gyroscope layout with three gyroscopes through the horizontal circuit board and two side boards, which improves the utilization efficiency of the internal space of the housing, reduces the overall size of the product, and further realizes the miniaturization of the product. In addition, the side boards and the horizontal circuit board are connected by flexible plates. Through the rigid-flex circuit board, it is easier to match the internal space design of the product housing, while also reducing the difficulty of the assembly process and improving the assembly efficiency. In addition, it makes the connection between the rigid plates more stable and reliable. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 A schematic diagram of the structure of the miniaturized three-axis gyroscope provided in this embodiment of the utility model;

[0017] Figure 2 A schematic diagram of the circuit unit provided in an embodiment of this utility model;

[0018] Figure 3 This is a schematic diagram of the installation of the circuit unit within the housing, as provided in an embodiment of the present invention.

[0019] In the figure: 1. Housing; 2. Housing cover; 3. Through hole; 4. First positioning part; 5. Wiring hole; 6. Horizontal circuit board; 7. Z-axis gyroscope; 8. Side board; 9. Lateral gyroscope; 10. Main board; 11. Flexible extension part; 12. Flexible connection part; 13. Support structure; 14. Sinking tank. Detailed Implementation

[0020] To make the technical problem to be solved, the technical solution, and the beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0021] Please see Figures 1 to 3The miniaturized three-axis gyroscope provided by this utility model will now be described. The miniaturized three-axis gyroscope includes a housing 1, a circuit unit, and a cover 2. The circuit unit is located in the inner cavity of the housing 1, and the cover 2 is connected to the open end of the housing 1 to close the inner cavity of the housing 1. The circuit unit includes a horizontal circuit board 6 and two side boards 8. The two side boards 8 are arranged longitudinally and have an included angle between them. The longitudinal projection of the side boards 8 and the longitudinal projection of the horizontal circuit board 6 have an included angle. The side boards 8 and the horizontal circuit board 6 are connected by a flexible plate. The upper end surface of the horizontal circuit board 6 has a Z-axis gyroscope 7, and the sides of the two side boards 8 are equipped with transverse gyroscopes 9. A wiring hole 5 is opened at the rear end of the housing 1. A wire is connected to the side of the horizontal circuit board 6 away from the side boards 8, and the wire extends out from the wiring hole 5.

[0022] The miniaturized three-axis gyroscope provided by this utility model, compared with the prior art, has a hollow device shell formed by connecting the housing 1 and the cover 2. A circuit unit is installed in the inner cavity of the device shell. The circuit unit is divided into three parts: a horizontal circuit board 6 for mounting the Z-axis gyroscope 7, and two side boards 8 for mounting the lateral gyroscope 9. The side boards 8 are mounted perpendicular to the horizontal direction and set at an angle. The three gyroscopes form a non-orthogonal single-axis gyroscope layout with the help of the horizontal circuit board 6 and the two side boards 8, which improves the utilization efficiency of the space inside the housing 1, reduces the overall size of the product, and further realizes the miniaturization of the product. In addition, the side boards 8 and the horizontal circuit board 6 are connected by a flexible plate. Through the rigid-flex circuit board, it is easier to match the internal space design of the product housing 1, while also reducing the difficulty of the assembly process and improving the assembly efficiency. In addition, it makes the connection between the rigid plates more stable and reliable.

[0023] A wiring hole 5 is provided at the rear end of the housing 1. A wire is connected to the side of the horizontal circuit board 6 away from the side board 8, and the wire extends out from the wiring hole 5. The wiring hole 5 and the horizontal circuit board 6 are at the same height, and the wire inside the wiring hole 5 is sealed by a sealing wire sleeve.

[0024] Optionally, the side substrates 8 are arranged longitudinally, with their bottom surfaces attached to the bottom of the inner cavity of the housing 1. The two side substrates 8 are perpendicular to each other, and two lateral gyroscopes 9 are arranged opposite each other. Alternatively, the two side substrates 8 are arranged symmetrically, with an included angle of 90° between them. Lateral gyroscopes 9 are mounted on the opposite sides of the side substrates 8 to sense the angular velocity on the plane containing the two side substrates 8, and then the angular velocities in the X and Y axes are calculated based on the tilt angle of the side substrates 8.

[0025] The angle between the front end face of the side substrate 8 and the horizontal circuit substrate 6 is 45°. The horizontal gyroscopes 9 on the two side substrates 8 are used to sense the angular velocity in the X and Y directions, and the Z-axis gyroscope 7 mounted on the upper end of the horizontal circuit substrate 6 is used to sense the angular velocity in the Z-axis direction.

[0026] Arranging the side substrates 8 at a 45° angle increases space utilization. Compared to the traditional orthogonal arrangement, the 45° non-orthogonal arrangement reduces the length and width of the housing 1 by 0.3 times, which is beneficial for miniaturizing the gyroscope. The overall structural design of the three-axis gyroscope reduces the housing size to 23×25×10mm, giving it a significant advantage in miniaturization compared to similar products.

[0027] At this moment, the angular velocities output along the X, Y, and Z axes are respectively:

[0028]

[0029]

[0030]

[0031] Since the horizontal circuit board 6 and the two side boards 8 are all rigid plates, and the three rigid plates are fixed to the housing 1 by adhesive, the installation accuracy of the circuit unit is affected by the manufacturing accuracy of the housing 1. After assembly, the output of the gyroscope is corrected by full-temperature calibration of the three-axis gyroscope, which can basically eliminate the influence caused by assembly errors. At the same time, full-temperature calibration can also reduce the influence of ambient temperature changes on the gyroscope output.

[0032] In some possible embodiments, please refer to Figure 1 and Figure 3 The housing 1 has three positioning parts, including a first positioning part 4 located at the middle of the front end of the housing 1 and two second positioning parts located at the rear end of the housing 1. The two positioning parts are spaced apart along the width direction of the housing 1. The inner cavity of the housing 1 is located between the three positioning parts, and the two side plates 8 are located on both sides of the first positioning part 4.

[0033] The positioning parts are arranged longitudinally, and each positioning part has a longitudinal through hole 3 for mounting and fixing a three-axis gyroscope. The positioning parts penetrate the entire structure of the housing 1, and the inner cavity of the housing 1 avoids the three positioning parts. At the same time, the cover 2 only fits with the inner cavity of the housing 1, avoiding the three positioning parts.

[0034] The three positioning parts are arranged in a triangle, with one at the center of the front end of the housing 1 and the other two at the two corners of the rear end of the housing 1. The line connecting the three positioning parts forms an isosceles triangle.

[0035] The inner cavity of the housing 1 is located between the three positioning parts. To save installation space during installation, the front end of the inner cavity of the housing 1 extends to both sides of the first positioning part 4. Correspondingly, the two side plates 8 are installed in the inner cavities on both sides of the first positioning part 4.

[0036] Specifically, if Figure 3 As shown, the first positioning part 4 includes a first positioning area and a support structure 13. The upper end surface of the first positioning area is flush with the upper end surface of the housing 1. The support structure 13 surrounds the outside of the first positioning area. The height of the support structure 13 is lower than the height of the first positioning area. The upper end surface of the support structure 13 forms a limiting step for supporting the cover 2 outside the first positioning area. The side surface of the support structure 13 forms two mounting surfaces in the inner cavity of the housing 1. The two side substrates 8 are attached to the two mounting surfaces one by one.

[0037] The first positioning part 4 includes a first positioning area, and a through hole 3 is formed in the first positioning area. A support structure 13 is formed along the circumferential axis of the first positioning area. The support structure 13 ensures the connection wall thickness of the through hole 3 and ensures the connection strength of the shell 1. The upper end of the support structure 13 extends to the lower end of the first positioning area. A limiting step is formed on the upper surface of the support structure 13. This limiting step is connected to the limiting steps formed on the upper part of the inner cavity of the shell 1 in other areas to form a limiting ring around the inner cavity. The shell cover 2 overlaps on the limiting ring and is laser welded to the shell 1 for sealing.

[0038] The support structure 13 forms longitudinal mounting surfaces on both sides of the first positioning area, with the mounting surfaces forming an angle with the X-axis direction. The mounting surfaces are used to position the side substrate 8, ensuring the mounting stability of the side substrate 8.

[0039] Specifically, a recessed groove 14 is provided in the middle of the mounting surface, which is used to accommodate the lateral gyroscope 9 mounted on the side substrate 8. The thickness of the support structure 13 is greater than the thickness of the limiting steps at other locations. The recessed groove 14 is provided in the middle of the support structure 13, with the groove opening facing the side substrate 8, and the upper end of the groove 14 extending to the upper end surface of the support structure 13.

[0040] During installation, the side substrate 8 is glued to the circumferential mounting surface of the recess 14, and the lateral gyroscope 9 located on the side substrate 8 is embedded in the recess 14. This ensures the installation stability of the lateral gyroscope 9 and the side substrate 8, while saving installation space.

[0041] In some possible embodiments, please refer to Figure 3 Two mounting surfaces are spaced apart, with a support surface between them, which is in contact with the main board 10 of the flexible board.

[0042] Two mounting surfaces are spaced apart, with their lengths matching the length of the side substrate 8. A support surface is formed between the two mounting surfaces along the X-axis, and this support surface is parallel to the rear end face of the housing 1. The support surface is used to fix and mount the main board 10 of the flexible plate.

[0043] The main board 10 of the flexible board is used to support and connect the two side substrates 8 and connect the two side substrates 8 to the horizontal circuit board 6.

[0044] To improve connection strength and save installation space, the support surface has a groove, the main board 10 of the flexible plate fits into the bottom of the groove, and the main board 10 has flexible connecting parts 12 on both sides. The flexible connecting parts 12 extend out of the groove and are connected to the side substrate 8 on the same side.

[0045] The support surface has an inwardly recessed groove, the main board 10 of the flexible board is attached to the groove, and the flexible connecting parts 12 on both sides extend around the edge of the groove to one side of the mounting surface and are connected to the side substrate 8 attached to the mounting surface.

[0046] The lower end of the main board 10 of the flexible circuit board has a flexible extension 11 for connecting to the horizontal circuit board 6. The flexible extension 11 can be extended downward to save installation space. The width of the flexible extension 11 is equal to the width of the main board 10.

[0047] The circuit unit of the three-axis gyroscope uses a rigid-flex board, which not only expands the installation layout of the entire circuit board from planar to three-dimensional installation, but also allows for optimized space utilization through bending and folding of the lines. At the same time, the wiring between the rigid boards uses flexible boards, which eliminates the need to use multiple wires to connect the three circuit boards during assembly, reducing the assembly process difficulty and improving assembly efficiency. In addition, compared with wire connections, using flexible boards to connect the circuit boards also improves reliability and stability.

[0048] The flexible plate is bonded to the side of the housing 1 with adhesive, which can achieve a full-surface bonding with the housing 1. If the electrical connection between the rigid plates is achieved by using wires, the wires are fixed to the housing 1 through line contact, which is less stable and reliable than the flexible plate with surface contact. This is another advantage of using a rigid-flexible plate, which can reliably fix the entire circuit unit to the housing 1 and enhance the reliability of the product.

[0049] In some possible embodiments, please refer to Figure 2 and Figure 3The horizontal circuit board 6 has a clearance notch at the center of its front end. The clearance notch includes a first clearance groove and a second clearance groove. The two ends of the first clearance groove extend to the center of the two side boards 8 in the length direction, and the first clearance groove is used to accommodate the side boards 8. The second clearance groove is connected to the center of the bottom of the first clearance groove, and the second clearance groove is used to accommodate the flexible extension 11.

[0050] To reduce the mounting space of the side substrates 8 and the flexible board, a clearance structure is made at the front end of the horizontal circuit board 6. The length of the first clearance groove is greater than the length of the second clearance groove. The second clearance groove is adapted to the flexible extension 11, and the first clearance groove is fitted to the two side substrates 8. By providing the first and second clearance grooves at the front end of the horizontal circuit board 6, the space on the outer side of the side substrates 8 is fully utilized, the size of the housing 1 is reduced, and a miniaturized design is achieved.

[0051] The lower middle part of the inner cavity of the housing 1 has an inwardly protruding limiting protrusion. The limiting protrusion is used to support the horizontal circuit board 6. While the horizontal circuit board 6 is attached to the limiting protrusion, its edge is attached to the side wall of the inner cavity of the housing 1 and is fixed to the inner side wall of the housing 1 by adhesive.

[0052] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A miniaturized three-axis gyroscope, characterized in that, The device includes a housing (1), a circuit unit, and a cover (2). The circuit unit is located in the inner cavity of the housing (1), and the cover (2) is connected to the open end of the housing (1) to close the inner cavity of the housing (1). The circuit unit includes a horizontal circuit board (6) and two side boards (8). The two side boards (8) are arranged longitudinally and have an angle between them. The longitudinal projection of the side boards (8) has an angle with the longitudinal projection of the horizontal circuit board (6). The side boards (8) and the horizontal circuit board (6) are connected by a flexible plate. The upper surface of the horizontal circuit board (6) has a Z-axis gyroscope (7), and the sides of the two side boards (8) are equipped with transverse gyroscopes (9). A wiring hole (5) is provided at the rear end of the housing (1). A wire is connected to the side of the horizontal circuit board (6) away from the side boards (8), and the wire extends out from the wiring hole (5).

2. The miniaturized three-axis gyroscope as described in claim 1, characterized in that, The housing (1) has three positioning parts, including a first positioning part (4) located at the middle of the front end of the housing (1) and two second positioning parts located at the rear end of the housing (1). The two positioning parts are spaced apart along the width direction of the housing (1). The inner cavity of the housing (1) is located between the three positioning parts, and the two side plates (8) are located on both sides of the first positioning part (4).

3. The miniaturized three-axis gyroscope as described in claim 2, characterized in that, The first positioning part (4) includes a first positioning area and a support structure (13). The upper end surface of the first positioning area is flush with the upper end surface of the housing (1). The support structure (13) surrounds the outside of the first positioning area. The height of the support structure (13) is lower than the height of the first positioning area. The upper end surface of the support structure (13) forms a limiting step for supporting the cover (2) on the outside of the first positioning area. The side surface of the support structure (13) forms two mounting surfaces in the inner cavity of the housing (1). The two side substrates (8) are attached to the two mounting surfaces one by one.

4. The miniaturized three-axis gyroscope as described in claim 3, characterized in that, A recessed groove (14) is provided in the middle of the mounting surface, and the groove (14) is used to fit the transverse gyroscope (9) mounted on the side substrate (8).

5. The miniaturized three-axis gyroscope as described in claim 3, characterized in that, The two mounting surfaces are spaced apart, and a support surface is provided between the two mounting surfaces. The support surface is in contact with the main board (10) of the flexible plate.

6. The miniaturized three-axis gyroscope as described in claim 5, characterized in that, The support surface has a groove, the main board (10) of the flexible plate is attached to the bottom of the groove, and the main board (10) has flexible connecting parts (12) on both sides. The flexible connecting parts (12) extend out of the groove and are connected to the side substrate (8) on the same side.

7. The miniaturized three-axis gyroscope as described in claim 6, characterized in that, The lower end of the motherboard (10) has a flexible extension (11) for connecting the horizontal circuit board (6).

8. The miniaturized three-axis gyroscope as described in claim 7, characterized in that, The horizontal circuit board (6) has a clearance notch at the center of its front end. The clearance notch includes a first clearance groove and a second clearance groove. The two ends of the first clearance groove extend to the center of the two side boards (8) in the length direction, respectively. The first clearance groove is used to accommodate the side boards (8). The second clearance groove communicates with the center of the bottom of the first clearance groove. The second clearance groove is used to accommodate the flexible extension (11).

Images