Mobile terminal based on inertial navigation positioning

Abstract

The application relates to a mobile terminal based on inertial navigation positioning, which comprises a shell with a base and a top cover, the base is open along a first direction; an annular step is arranged on the inner wall of the opposite side of the opening, a third annular flange, a fourth annular flange and a fifth flange are arranged on the outer periphery, a shear damping vibration ring is controlled and pre-pressed on the step, an annular skirt of a cabin body is fixed to the inner side of the vibration ring, an inertial positioning unit is arranged in the cabin body, a friction plate composed of an elastic element and a low-friction layer is arranged on the outer side of the annular skirt, round head guide columns are arranged on the fifth annular flange at equal angles, an axial free stroke Delta z is left between the round head of the assembled static guide column and the low-friction layer, a lateral gap delta is left between the fourth annular flange and the cabin body, and a pressing strip in the top cover presses the vibration ring through the cabin body. The mobile terminal is first sheared and isolated under the condition of landing / kicking high g, hard limiting bypass is triggered at Delta z, friction / micro compression energy is consumed, the fourth annular flange is matched to limit the lateral direction, saturation and offset jump of the inertial positioning unit are inhibited, and the positioning continuity and stability are improved.

Description

Technical Field

[0001] This utility model relates to mobile terminals, and more particularly to a mobile terminal based on inertial navigation positioning. Background Technology

[0002] Inertial navigation / inertial positioning is an important means of achieving continuous positioning and attitude estimation for individual soldiers / persons in environments where satellite signals are limited or blocked, such as underground spaces, cabins, wells, tunnels, and steel structure factories.

[0003] Mobile terminals using this type of inertial positioning system are typically worn or mounted on the body, such as in shoes, ankles, waists, or chests. During operation, they inevitably experience high-dynamic movements such as walking, running, jumping, squatting, climbing, crawling, and carrying heavy objects, accompanied by high-g impacts and broadband vibrations from hard ground contact (landing / kicking). The energy and frequency band composition of high-g impacts are complex and often coupled to the sensor mounting point through the rigid structure of the terminal housing. Existing wearable inertial positioning terminals mostly adopt a single-layer rigid mounting method of "IMU rigidly fixed to the housing / inner support plate," or simply sandwich an elastic pad / foam between the IMU and the housing to reduce impact.

[0004] However, the aforementioned buffer structures typically lack controlled preload and shear working zones, resulting in unpredictable axial / radial deformation of the elastic components. The vibration isolation frequency band and stiffness drift with the amount of assembly clamping. Furthermore, the lack of independent axial free travel and hard-limit bypass means that transient impacts such as landings or kicks are directly transmitted to the IMU via a rigid path, easily leading to saturation or bias jumps in the accelerometer / gyroscope. Therefore, there is an urgent need to propose a novel mobile terminal based on inertial navigation positioning to address these issues. Utility Model Content

[0005] The purpose of this invention is to provide a mobile terminal based on inertial navigation positioning that features controlled preload shear damping, axial free travel and hard limit bypass, and radial lateral limit.

[0006] The technical solution adopted by this utility model to solve the above problems is: a mobile terminal based on inertial navigation positioning, comprising: The housing includes a base and a top cover that correspond to each other. The base has an opening in a first direction perpendicular to the plane of the housing, and the top cover closes the opening to seal the housing. An annular step is provided on the inner wall of the base facing the opening, and forms a step height along the first direction. A third annular flange is provided on the outer periphery of the annular step, and a fourth annular flange is provided on the side of the third annular flange near the opening. A fifth annular flange is provided on the outer periphery of the third annular flange. A shear damping vibration damping ring is disposed at one end of the annular step near the opening, and the shear damping vibration damping ring is in a controlled pre-compression state in the first direction; The cabin is located in the inner ring area of ​​the shear damping ring, and the periphery of the cabin forms an annular skirt that is fixedly connected to the inner side of the shear damping ring. An inertial positioning unit is installed in the cabin. A friction pad assembly is disposed on the outer side of the annular skirt, the friction pad assembly including an elastic element facing the housing and a low-friction wear-resistant layer located on the outer side of the elastic element; A plurality of guide posts are provided, each of which is disposed on the fifth annular flange. The axis of the guide posts is arranged along the first direction. Each of the guide posts is distributed in an equal-angle annular array with the geometric center of the cabin as the center. The end of each guide post near the friction plate assembly is provided with a round head.

[0007] When the assembly is static, the round head of each guide post and the low-friction wear-resistant layer are spaced apart in the first direction to form an axial free travel Δz; the inner wall of the fourth annular flange and the outer side of the cabin form a lateral gap δ in the radial direction; the inner side of the top cover is provided with an annular pressure strip and abuts against the cabin to apply preload to the shear damping vibration reduction ring through the cabin.

[0008] Preferably, the number of guide pillars is at least three, and each guide pillar is arranged in a circular array at equal angles with the geometric center of the cabin as the center.

[0009] Preferably, the rounded head of the guide post near the friction pad assembly is a hemispherical or dome structure.

[0010] Preferably, the low-friction wear-resistant layer is made of PTFE or PEEK material, and the elastic element is made of silicone or TPU material.

[0011] The annular skirt has a groove on the side away from the opening, the elastic element is embedded in the groove, and the low-friction wear-resistant layer is attached to the outside of the elastic element.

[0012] Preferably, the axial free travel Δz relative to the height h of the shear damping ring satisfies: 0.15 h ≤ Δz ≤ 0.30 h.

[0013] Preferably, the lateral clearance δ is 0.25 mm to 0.35 mm. When the radial displacement of the cabin reaches δ, the outer side of the cabin contacts the inner wall of the fourth annular flange to limit the lateral travel of the cabin.

[0014] Preferably, the shear damping shock absorber ring is made of silicone or TPU material, and the cross-section of the shear damping shock absorber ring is rectangular, with a width of 3.0 mm to 3.5 mm and a height of 1.6 mm to 2.2 mm.

[0015] Preferably, the annular pressure strip on the top cover is a continuous annular rib coaxially arranged with the housing, which applies pressure to the cabin after assembly to cause the shear damping shock absorber ring to generate a compression of 0.10 mm to 0.20 mm, thereby forming pre-compression.

[0016] Preferably, the fifth annular flange is provided with a guide post hole that matches the guide post, one end of the guide post is press-fitted into the guide post hole in an interference fit manner, and the axis of the guide post is parallel to the first direction.

[0017] Preferably, the cabin is provided with a mounting column for installing the inertial positioning unit, and the inertial positioning unit is fixed on the mounting column by fasteners or buckles, and the angle error between the axial direction of the mounting column and the first direction is ≤1°.

[0018] Beneficial effects of the embodiments of this utility model Because it employs a limiting and bearing system formed by the annular steps located on the opposite side of the base and the opening, and the third, fourth, and fifth annular flanges; a fixed connection between the shear damping ring under controlled preload and the annular skirt of the cabin; equiangular array round-headed guide posts set on the fifth annular flange; and a composite friction plate assembly formed by the elastic element and low-friction wear-resistant layer arranged on the outer side of the cabin skirt, and with the axial free travel Δz and lateral clearance δ clearly defined in the static assembly, and with stable preload applied to the damping ring through the annular pressure strip on the inner side of the top cover, it can withstand high-g impacts and wide-frequency vibrations such as landing / kicking, first by the damping ring... The vibrating ring achieves controlled shear vibration isolation. When the displacement reaches Δz, the transmission link formed by the guide post round head, friction plate, and base triggers a hard-limit bypass to divert the remaining impact. At the same time, the low-friction wear-resistant layer of the friction plate and the elastic element generate repeatable friction / micro-compression energy dissipation. Combined with the fourth annular flange to limit the radial displacement, it effectively solves the problems of direct transmission of impact energy, vibration isolation frequency band drift, and lack of stroke limit caused by the rigid single-layer installation / simple soft pad impact reduction of existing inertial positioning units. In this way, it achieves the technical effects of suppressing accelerometer / gyroscope saturation and bias jump, improving the continuity and stability of inertial navigation positioning, and improving assembly consistency and durability. Attached Figure Description

[0019] Figure 1 A schematic structural diagram of a mobile terminal according to an embodiment of this application is shown.

[0020] Figure 2 A schematic cross-sectional view of a mobile terminal according to an embodiment of this application is shown.

[0021] Figure 3 It shows Figure 2 A magnified view of point A in the middle.

[0022] Figure 4 An explosion view of a mobile terminal in one embodiment of this application is shown. Figure 1 .

[0023] Figure 5 An explosion view of a mobile terminal in one embodiment of this application is shown. Figure 2 .

[0024] Among them: 10, base; 110, accommodating space; 120, annular step; 130, first annular flange; 140, second annular flange; 150, third annular flange; 20, top cover; 30, cabin; 310, annular skirt; 311, groove; 40, inertial positioning unit; 50, guide post; 60, shear assembly vibration damping ring; 70, annular pressure strip; 80, friction plate assembly; 810, elastic element; 820, low friction wear-resistant layer. Detailed Implementation

[0025] The specific embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but are not intended to limit the scope of this application.

[0026] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the scope of protection of this application. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0027] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art will understand the specific meaning of the above terms in this application based on the specific circumstances.

[0028] See Figures 1 to 5 A preferred embodiment of this application provides a mobile terminal based on inertial navigation positioning, including a housing, an annular step 120, a shear damping shock absorption ring, a cabin 30, an inertial positioning unit 40, a friction pad assembly 80, and a plurality of guide posts 50. The housing includes a base 10 and a top cover 20 corresponding to each other. The base 10 includes an accommodating space 110 and has an opening in a first direction perpendicular to the plane of the housing. The top cover 20 closes the opening to seal the housing. An annular step 120 is disposed on the inner wall of the base 10 facing the opening and forms a step height along the first direction. A third annular flange 150 is provided on the outer periphery of the annular step 120, and a fourth annular flange is provided on the side of the third annular flange 150 near the opening. A fifth annular flange is provided on the outer periphery of the third annular flange 150. A shear damping shock absorber ring is disposed at one end of the annular step 120 near the opening. The shear damping shock absorber ring is in a controlled pre-compression state in the first direction. A cabin 30 is disposed in the inner ring area of ​​the shear damping shock absorber ring. An annular skirt 310 is formed on the periphery of the cabin 30 and is fixedly connected to the inner side of the shear damping shock absorber ring. An inertial positioning unit is also included. 40 is disposed in the cabin 30; friction plate assembly 80 is disposed on the outside of the annular skirt 310, the friction plate assembly 80 includes an elastic element 810 facing the cabin 30 and a low-friction wear-resistant layer 820 located outside the elastic element 810; each of the guide posts 50 is disposed on the fifth annular flange, the axis of the guide post 50 is arranged along the first direction, each of the guide posts 50 is distributed in an equal-angle annular array with the geometric center of the cabin 30 as the center, and the end of the guide post 50 near the friction plate assembly 80 is provided with a round head; wherein, when assembled statically, the round head of each of the guide posts 50 and the low-friction wear-resistant layer 820 are spaced apart from each other in the first direction to form an axial free travel Δz; the inner sidewall of the fourth annular flange and the outer sidewall of the cabin 30 form a lateral gap δ in the radial direction; the inner side of the top cover 20 is provided with an annular pressure strip 70 and abuts against the cabin 30 to apply preload to the shear damping vibration damping ring through the cabin 30.

[0029] Specifically: The housing consists of a base 10 and a top cover 20 that correspond to each other. The base 10 has an opening in a first direction perpendicular to the plane of the housing, and the top cover 20 closes to the opening to seal the internal space of the housing.

[0030] The base 10 has an integrally formed annular step 120 on the inner wall of the side facing the opening. A third annular flange 150 is continuously formed on the outer periphery of the annular step 120. A fourth annular flange is formed on the side near the opening. A fifth annular flange is provided on the outer periphery of the third annular flange 150.

[0031] The shear damping shock absorber ring is set at one end of the annular step 120 near the opening and is preloaded in a controlled manner along the first direction.

[0032] The cabin 30 is located in the inner ring area of ​​the shear damping shock absorption ring. The periphery of the cabin 30 forms an annular skirt 310 and is fixedly connected to the inner side of the shock absorption ring, so that the cabin 30 is elastically suspended relative to the base 10 through the shock absorption ring. An inertial positioning unit 40 is installed inside the cabin 30.

[0033] The friction pad assembly 80 is arranged on the annular skirt 310 of the cabin 30. The friction pad assembly 80 is composed of an elastic element 810 facing the cabin 30 and a low-friction wear-resistant layer 820 located on its outer side.

[0034] Several guide posts 50 are fixed on the fifth annular flange, with their axes arranged along the first direction and distributed in an equal-angled annular array with the geometric center of the housing 30 as the center. The end of each guide post 50 near the friction plate assembly 80 is formed with a rounded head. In the static assembly state, the rounded head of the guide post 50 is spaced from the low-friction wear-resistant layer 820 in the first direction, forming an axial free travel for absorbing the displacement of the initial impact phase; the inner wall of the fourth annular flange and the outer surface of the housing 30 maintain a radial clearance, forming a lateral clearance for limiting lateral overtravel.

[0035] An annular pressure strip 70 is provided on the inner side of the top cover 20 and abuts against the cabin body 30. Stable preload is applied to the shear damping vibration reduction ring through the cabin body 30, thereby forming a controllable shear and compression working zone.

[0036] The housing can be made of metal or engineering plastic, the damping ring and elastic element 810 can be made of elastomeric material, the low friction wear-resistant layer 820 can be made of wear-resistant and low friction material, and the guide post 50 can be made of high-strength metal with smoothed ends.

[0037] After assembly, the annular pressure strip 70 applies preload to the damping ring through the housing 30, establishing a stable elastic working point for the damping ring in the first direction and radial direction. When the terminal is in normal motion, the housing 30, relative to the base 10, mainly undergoes small shear and compression deformation through the damping ring to isolate micro-vibrations. The round head of the guide post 50 remains separated from the low-friction wear-resistant layer 820 and does not participate in load bearing. When the equipment experiences high-intensity impacts such as landing or being kicked, the housing 30 rapidly displaces relative to the base 10 in the first direction. The impact is first absorbed and isolated by the damping ring. When the displacement reaches the axial free travel limit, the round head of the guide post 50 contacts the low-friction wear-resistant layer 820, forming a load bypass. The remaining impact is transmitted to the base 10 through the housing 30, friction plate assembly 80, and guide post 50. At the same time, the low-friction wear-resistant layer 820 in the friction plate assembly 80 and the elastic element 810 undergo controlled contact and slight compression, providing repeatable energy dissipation and buffering. If external forces cause a large radial displacement of the chamber 30, the outer surface of the chamber 30 will abut against the inner wall of the fourth annular flange, limiting lateral overtravel and preventing shear overload. After the impact is removed, the damping ring and elastic element 810 restore their elastic deformation, the chamber 30 returns to its initial position, and the device continues to operate stably.

[0038] This embodiment is applicable to scenarios where personnel or equipment are required to sense their position and attitude in environments where satellite signals are limited or blocked, including underground spaces, enclosed chambers, underground tunnels, tunnel structures, and large steel structure workshops; it is also suitable for scenarios where it is worn on the body or fixedly installed on the shoes, ankles, waist, chest, etc. During assembly, it is necessary to ensure that the annular pressure strip 70 reliably abuts against the cabin 30, the vibration damping ring is in a pre-compression state, and that the axial free travel between the round head of the guide post 50 and the low-friction wear-resistant layer 820 and the lateral clearance between the fourth annular flange and the cabin 30 are not occupied or interfered with by other components; during use, the outer surface of the friction plate assembly 80 should be kept clean to avoid hard particles from embedding and affecting contact stability. The device is suitable for common indoor and outdoor temperature and humidity environments and conventional mechanical impact environments, and maintains structural and functional consistency under long-term high-dynamic operation and repeated impact conditions.

[0039] The number and array of guide posts 50 can be evenly distributed at equal angles according to the housing space and load-bearing requirements to improve force symmetry and triggering consistency. The ends of the guide posts 50 can be dome-shaped or hemispherical, and wear-resistant or lubricating coatings can be applied to the end faces to improve contact quality. The friction pad assembly 80 can be installed by embedding, attaching, or completely covering. The low-friction wear-resistant layer 820 and the elastic element 810 can be selected with different materials and thickness combinations according to wear, temperature drift, and rebound requirements. If necessary, a shallow groove can be provided on the outside of the chamber 30 to accommodate the elastic element 810, so that the friction pad assembly 80 and the outer surface of the chamber 30 form a flush or slightly convex structure. The annular pressure strip 70 can be a continuous ring or a segmented ring, both of which should ensure that a stable preload is applied to the chamber 30. The cross-sectional shape of the vibration damping ring can be rectangular or approximately rectangular, and can also be locally reinforced according to structural strength and space adaptation. The shell material can be selected from metal or engineering plastics based on the trade-off between weight and strength. The cabin 30 can be made of rigid material to ensure the stability of the installation attitude of the inertial positioning unit 40.

[0040] In this embodiment, due to the use of a limiting and bearing system consisting of an annular step 120 on the opposite side of the base 10 and the opening, and a multi-level annular flange, a shear damping vibration reduction ring in a controlled pre-compression state is fixedly connected to the annular skirt 310 of the cabin 30, equiangular array round-headed guide posts 50 set on the outer annular flange, and a friction plate assembly 80 formed by stacking elastic elements 810 and low-friction wear-resistant layers 820, and the clear axial free travel and lateral clearance in the static assembly, and the application of stable pre-compression to the vibration reduction ring through the annular pressure strip 70 on the inner side of the top cover 20, the problems of impact energy directly reaching the sensor through a single-layer hard path, vibration isolation state drifting with assembly, and saturation and offset jump caused by lack of clear travel limit in the existing structure are effectively solved. Thus, the segmented isolation and controlled diversion of impact and vibration under high dynamic and repeated impact conditions, reliable limitation of lateral displacement, and significant improvement of positioning continuity and stability are achieved.

[0041] Furthermore, to avoid redundancy, it should be noted that, in addition to the structures related to vibration isolation and limiting mentioned above, to support the normal operation of the inertial positioning unit 40, the mobile terminal described in this application may also include a power supply and power management module, a main control processing module, a storage module, a signal transceiver module (wireless or wired), a clock or time reference module, a status indication and human-machine interaction module, and an environmental and auxiliary sensing module, etc. These functional modules can all be implemented using mature solutions already available in the field and belong to the prior art, and are not shown in detail in this application; their electrical or signal connection methods, communication protocols, wiring and shielding, etc., between them and the inertial positioning unit 40 inside the cabin 30 can also be selected and implemented based on the prior art, and do not constitute the focus of the improvement of this application. The above-mentioned conventional functional modules can be configured in the rigid area of ​​the base 10 or the top cover 20 according to the structural space and assembly requirements, or integrated with the shell; without affecting the core structure and effect of this application, they can be replaced, deleted or integrated, and this will not affect the protection scope of the claims of this application. In some embodiments, the fifth annular flange is provided with a guide post 50 hole that mates with the guide post 50. One end of the guide post 50 is press-fitted into the guide post 50 hole by an interference fit. The axis of the guide post 50 is parallel to the first direction. The number of guide posts 50 is at least three, and each guide post 50 is arranged in a circular array at equal angles with the geometric center of the cabin 30 as the center. The round head of the guide post 50 near the friction pad assembly 80 is a hemispherical or dome structure.

[0042] Specifically: The fifth annular flange is evenly distributed with guide post 50 holes that match the guide post 50. The axis of each guide post 50 hole is parallel to the first direction. One end of the guide post 50 is press-fitted into the corresponding guide post 50 hole in an interference fit. After press-fitting, the guide post 50 and the fifth annular flange form a reliable fixed bearing relationship.

[0043] There are no fewer than three guide pillars 50, which are arranged in a ring array at equal angular intervals around the geometric center of the cabin 30 to ensure symmetry in force application and triggering.

[0044] The end of each guide post 50 furthest from the fifth annular flange is machined into a round head, which can be hemispherical or dome-shaped, with a smooth transition between the round edge and the post body; the outer surface of the round head is finely polished to obtain stable and repeatable contact quality.

[0045] Furthermore, to ensure assembly consistency, a shoulder or positioning chamfer can be provided on the fifth annular flange for press-fitting limit, so that the press-fitting depth of the guide post 50 and the parallelism of the axis are controlled by the structural surface; if necessary, anti-rotation ribs or knurling areas can be provided on the outside of the hole of the guide post 50 to improve the anti-loosening ability.

[0046] The guide post 50 body can be made of a metal material with good strength and wear resistance. The round head can be further surface hardened or plated to improve durability under long-term repeated contact. In addition, the guide post 50 and the friction plate assembly 80 maintain an axial clearance during static assembly, and the array of guide posts 50 and the housing 30 maintain a circumferential concentric relationship to avoid off-center loading.

[0047] After assembly, the guide post 50 is fixed to the fifth annular flange by an interference fit, and the axis of the guide post 50 remains parallel to the first direction. During normal operation, the round head of the guide post 50 does not contact the outer surface of the friction plate assembly 80, serving only as a pre-set hard limiter. When an impact or rapid displacement occurs along the first direction, the chamber 30 moves relative to the base 10. Initially, other elastic components absorb the initial displacement. When the displacement reaches the preset gap, the round head of the guide post 50 at the corresponding position contacts the low-friction wear-resistant layer 820 of the friction plate assembly 80. Initially, the contact is point contact, which gradually expands to a small-area contact under load, thus establishing a stable load transfer path. Due to the fit between the round head surface and the polished surface, the contact stress is evenly distributed, and the contact friction is controlled. Energy is transferred to the base 10 through the guide post 50 and the fifth annular flange, achieving diversion and limitation of the remaining impact. The equiangular distribution of the guide post 50 array ensures consistent triggering conditions in all directions, avoiding eccentric loading and torsion caused by single-sided triggering. After the impact is removed, the guide post 50 separates from the friction plate assembly 80, and the system returns to standby mode.

[0048] In alternative embodiments, the guide post 50 and the fifth annular flange can be fixed using threaded fasteners, snap rings, or adhesive auxiliary structures to adapt to different manufacturing and maintenance strategies. The surface of the round head of the guide post 50 can be selected with different curvatures between a hemisphere and a dome to balance the contact area and stress level; the surface of the round head can be coated with a wear-resistant coating or a solid lubricant coating to improve wear and friction fluctuations. The number of guide posts 50 in the array can be increased or decreased according to the shell space and stress requirements, but still maintains the principle of equiangular distribution around the geometric center of the compartment 30 to ensure consistent triggering in all directions. To improve resistance to loosening, a partial edging or bulging structure can be provided around the hole of the guide post 50, or a secondary positioning and curing treatment can be performed after press-fitting. To facilitate replacement and maintenance, a disassembly window or guide channel can be reserved at the corresponding position of the fifth annular flange.

[0049] In this embodiment, due to the use of a guide post 50 hole and guide post 50 mating structure fixed on the fifth annular flange by interference fit, an array of equiangular annular guide posts 50 with the geometric center of the cabin 30 as the center, and a polished round head with a hemispherical or dome-shaped surface, the problems of inaccurate hard limit triggering and unstable impact diversion caused by the discrete distribution of guide bearing components, inconsistent triggering conditions, concentrated contact stress and uneven wear in the prior art are effectively solved. Thus, the technical effects of consistent load triggering, clear force path, controllable contact wear and stable hard limit performance under long-term use are achieved.

[0050] In some embodiments, the low-friction wear-resistant layer 820 is made of PTFE or PEEK material, and the elastic element 810 is made of silicone or TPU material; the annular skirt 310 has a groove 311 on the side away from the opening, the elastic element 810 is embedded in the groove 311, and the low-friction wear-resistant layer 820 is attached to the outside of the elastic element 810. The axial free travel Δz relative to the height h of the shear damping shock absorber ring satisfies 0.15 h ≤ Δz ≤ 0.30 h.

[0051] Specifically: The low-friction wear-resistant layer 820 is made of polytetrafluoroethylene or polyetheretherketone and serves as the working surface of the round head of the guide post 50. An elastic element 810, made of silicone or thermoplastic polyurethane, is provided on its inner side to provide compliance and rebound after contact triggering.

[0052] The annular skirt 310 has a groove 311 on the side away from the opening. The groove 311 is arranged continuously or in segments along the circumference of the skirt. The inner wall may be provided with a slight chamfer or anti-detachment rib to facilitate the insertion and positioning of the elastic element 810.

[0053] The elastic element 810 is embedded in the groove 311, and its outer surface is basically flush with or slightly convex to the end face of the skirt. The low-friction wear-resistant layer 820 is attached to the outside of the elastic element 810 and forms a solid laminated interface by bonding or lamination.

[0054] To ensure bonding quality, the outer surface of the elastic element 810 can be plasma activated or primed before bonding; to ensure positional stability, a shallow positioning shoulder can be set on the skirt to make the laminated part concentric with the cabin 30.

[0055] The axial free travel is proportionally limited to the height of the shear damping shock absorber ring. During assembly, the free travel is controlled by the height of the annular pressure strip 70, the limiting shims, or the reference shoulder surface to ensure that the free travel falls within the predetermined proportional range, thereby matching the available elastic travel of the shock absorber ring.

[0056] After assembly, the low-friction wear-resistant layer 820 faces the rounded head of the guide post 50, and the elastic element 810 is constrained by the groove 311. During normal operation, the rounded head of the guide post 50 remains separated from the low-friction wear-resistant layer 820, and the system relies solely on the damping ring for micro-vibration isolation. When a sudden impact occurs along the first direction, the cabin 30 rapidly displaces in the direction of the guide post 50, and the damping ring absorbs the initial stroke. When the displacement reaches the free stroke threshold, the rounded head of the guide post 50 contacts the surface of the low-friction wear-resistant layer 820, and the load is transferred to the guide post 50 and the base 10 through the laminated components. The elastic element 810 undergoes slight compression, and the low-friction surface provides controlled contact friction, forming a diversion and energy dissipation for the remaining impact. After the impact is removed, the elastic element 810 rebounds, the low-friction surface separates from the rounded head, and the cabin 30 returns to its initial position under the action of the damping ring.

[0057] During assembly, first, press the elastic element 810 evenly into the groove 311, ensuring it is flush and free of warping. Then, apply the low-friction wear-resistant layer 820, removing any air bubbles and curing the bonding interface. Next, assemble the top cover 20, establishing a stable pre-pressure using the annular pressure strip 70. Use a feeler gauge or measuring gauge to confirm that the free travel between the guide post 50 and the low-friction surface falls within the target proportional range. If necessary, adjustments can be made by changing the shim thickness or fine-tuning the pressure strip height. After assembly, conduct a reciprocating contact and sliding type test to check the fit and rebound.

[0058] The low-friction wear-resistant layer 820 can be achieved by sheet attachment, coating, or lamination; the elastic element 810 can be a solid strip, foam, or porous elastomer to obtain different compliance and rebound characteristics; the groove 311 can be a rectangular groove, dovetail groove, or composite groove with undercut to enhance the anti-detachment ability; the exposed surface of the laminate can be circular, rounded rectangular, or annular to match the shape and size of the contact patch of the guide post 50; the ratio of free travel to the height of the damping ring can be discretely adjusted by different combinations of pressure strip height, stop shoulder surface, or limiting pad to adapt to different structural spaces and impact levels.

[0059] In this embodiment, by employing a laminated structure consisting of a low-friction wear-resistant layer 820 and an elastic element 810 and embedding it into the groove 311 of the annular skirt 310, and by limiting the axial free travel within a proportional range that matches the height of the shear damping shock absorber ring, the technical problems of uncontrollable contact energy dissipation, unstable rebound, and inaccurate stroke triggering in existing solutions are effectively solved. This results in more stable load diversion, more repeatable energy dissipation, and more reliable return to position after impact triggering.

[0060] In some embodiments, the lateral clearance δ is 0.25 mm to 0.35 mm. When the radial displacement of the cabin 30 reaches δ, the outer surface of the cabin 30 contacts the inner wall of the fourth annular flange to limit the lateral travel of the cabin 30.

[0061] Specifically: The fourth annular flange, acting as a rigid limiting component, is coaxially arranged with the outer surface of the housing 30. The inner wall of the fourth annular flange is a continuous annular surface or an approximately annular surface formed by several equally spaced arc segments, with its axis aligned with the housing reference axis. The outer surface of the housing 30 is a cylindrical surface or a rounded outer circular surface that matches the inner wall. A predetermined minute gap is provided between the two in the radial direction, with the gap value within a defined narrow range. To ensure gap stability after assembly, the fourth annular flange is preferably integrally formed with the base 10 or reliably fixed via a coaxial positioning surface. The outer circle of the housing 30 and the housing reference surface are concentrically connected via a stop, shoulder, or positioning rib. The inner and outer walls can be finely polished, and small rounded corners are provided at the edges to reduce stress concentration and wear during trigger contact. If necessary, the inner wall can be covered with a wear-resistant or low-friction thin layer, or a replaceable wear-resistant liner can be embedded locally to improve the stability of long-term repeated triggering.

[0062] After assembly, the cabin 30 exhibits only limited relative displacement under normal micro-vibration and slight disturbances, maintaining separation between its outer surface and the inner wall of the fourth annular flange. When external forces cause the cabin 30 to experience a gradually increasing radial displacement, the outer surface of the cabin 30 initially moves freely within the gap range. When the radial displacement reaches the preset gap value, the outer surface contacts the inner wall, forming a lateral hard limit, preventing the cabin 30 from continuing to shift in that direction. Initially, the contact is a line contact or a small-area surface contact, which then forms a controllable load-bearing contact patch under load. The load is transmitted to the rigid structure of the base 10 through the fourth annular flange, preventing the cabin 30 from overtraveling laterally. After the external load is removed, under the action of other compliant elements in the system, the cabin 30 disengages from the contact and returns to its initial position, restoring the gap state.

[0063] To ensure the gap remains within a defined range and uniform throughout the circumference, a coaxial reference surface can be set on the base 10, and the concentricity of the outer circle of the chamber 30 and the fourth annular flange can be corrected using a fixture. The relative position between the inner and outer sidewalls is controlled by a shoulder or stop height chain. After assembly, the gap uniformity can be verified in multiple orientations using a gauge, and the consistency of the trigger point can be confirmed by a light touch test. For coating or liner solutions, surface pretreatment and curing must be completed before assembly to ensure reliable adhesion and consistent thickness.

[0064] The fourth annular flange can be designed as a continuous ring or a segmented ring. The segmented structure can achieve approximate circumferential limiting through equal arc gaps. The inner sidewall can use a ruled surface, a fine-textured surface, or a coated surface to match different friction and wear resistance requirements. Wear-resistant rings or replaceable protective rings can be locally installed on the outer side of the chamber 30 to reduce wear caused by repeated triggering. If it is necessary to reduce contact noise, a thin compliant liner can be added to the inner sidewall to achieve flexible triggering. The gap value can be set by adjusting the positioning shoulder, adding or removing shims, or fine-tuning the stop size, and matched with the shear compliance stroke of the system to ensure that lateral limiting intervenes in a reasonable triggering sequence.

[0065] In this embodiment, by adopting a technical means of setting a predetermined small lateral gap between the outer side of the cabin 30 and the inner sidewall of the fourth annular flange and achieving hard limiting through contact triggering, the technical problems of cabin 30 lacking clear travel boundaries and being prone to excessive shearing and structural cracking under lateral impact in the existing structure are effectively solved. Thus, the technical effects of controllable lateral travel, clear load transfer, high triggering consistency and good long-term durability are achieved.

[0066] In some embodiments, the shear damping shock absorber ring is made of silicone or TPU material, and the cross-section of the shear damping shock absorber ring is rectangular, with a width of 3.0 mm to 3.5 mm and a height of 1.6 mm to 2.2 mm; the annular pressure strip 70 on the top cover 20 is a continuous annular rib coaxially arranged with the shell, which applies pressure to the cabin 30 after assembly to generate a compression of 0.10 mm to 0.20 mm in the shear damping shock absorber ring to form a pre-compression.

[0067] Specifically: The shear damping shock absorber ring is made of silicone rubber or thermoplastic polyurethane, with an approximately rectangular cross-section and rounded corners to reduce stress concentration. Its outer surface is fixedly connected to the mounting surface of the annular step 120, and its inner surface is fixedly connected to the annular skirt 310 of the cabin 30. The bonding interface is a thin adhesive layer with surface activation or primer to improve adhesion.

[0068] The axial height and radial width of the damping ring are set according to a predetermined ratio to make it conform to the shear and compression directions.

[0069] The inner side of the top cover 20 has an integrally formed coaxial continuous annular pressure strip 70. The lower edge of the pressure strip abuts against the upper surface of the cabin 30 or its annular pressure bearing surface. When the parts are assembled, a small axial compression is applied to the vibration damping ring to establish a stable preload.

[0070] The pressure strip can be equipped with guide chamfers and stop shoulders to ensure that the position is repeated and consistent with the pre-pressure when clamping.

[0071] To ensure assembly quality, a few micro-positioning ribs or annular stops can be installed on the chamber 30 to correspond with and limit the pressure strip, preventing uneven pressure. The contact area between the vibration damping ring and the pressure strip should be kept clean and dry to prevent oil and particles from entering.

[0072] After assembly, the annular pressure strip 70 continuously applies preload to the damping ring through the housing 30, causing the damping ring to form a stable working point in the axial and radial directions. When the terminal is in a normal state, micro-vibrations are mainly borne by the damping ring, which provides isolation in the shear direction and buffering in the axial direction. The small displacement of the housing 30 relative to the base 10 recovers in a closed loop within the elastic range. When a strong impact occurs from an external force, the damping ring preferentially undergoes controlled deformation in the axial and shear directions. The preload eliminates assembly clearance and suppresses micro-collisions and squealing. After the impact is removed, the housing 30 quickly returns to its original position due to material rebound. Because the pressure strip and the damping ring are arranged coaxially, the force is uniform throughout the ring, avoiding local indentation and uneven loading.

[0073] During assembly, first attach the vibration damping ring to the annular step 120, then attach the cabin body 30 to its inner side and keep them concentric. Next, close the top cover 20 so that the annular pressure strip 70 contacts the pressure-bearing surface of the cabin body 30 and forms pre-pressure. Confirm the coaxiality and fit of the cabin body 30 and the shell using a jig or gauge, and make minor adjustments with shims or adjustable pressure strips if necessary. Maintain a constant clamping force and a clean environment at the bonding interface during curing. After curing, perform visual and functional checks to confirm that the pressure strip and cabin body 30 have continuous contact, without warping or hollow areas.

[0074] The vibration damping ring material can be selected from silicone rubber and thermoplastic polyurethane with different hardness and resilience characteristics; although the cross-section is rectangular, a small amount of guide ribs or stops can be added to the upper and lower surfaces to improve assembly positioning; the annular pressure strip 70 can be a whole ring or segmented splicing, as long as it is coaxial and continuous and the force is uniform; the end face of the pressure strip can be covered with a thin compliant liner to reduce contact noise and improve the adaptability to small deformations; the pre-pressure can be established by relying on the height of the pressure strip, or by using annular gaskets, adjustable stops or compressible seals to achieve equivalent control.

[0075] In this embodiment, by employing a shear damping ring with a rectangular cross-section made of silicone rubber or thermoplastic polyurethane and applying stable preload to it through a coaxial continuous annular pressure strip 70, the problem of vibration isolation frequency band drift caused by unstable preload and micro-collision and noise caused by assembly clearance in existing structures is effectively solved. This achieves the technical effects of uniform force distribution, consistent stiffness and damping, controllable triggering sequence, and stable vibration isolation performance and reset capability under long-term use.

[0076] In some embodiments, the cabin 30 is provided with a mounting post for mounting the inertial positioning unit 40. The inertial positioning unit 40 is fixed on the mounting post by fasteners or buckles, and the angle error between the axial direction of the mounting post and the first direction is ≤1°.

[0077] Specifically: The cabin 30 is equipped with a mounting post (also known as a mounting protrusion) for installing the inertial positioning unit 40. The mounting post is integrally formed with the cabin 30 or fixedly connected by a shaped insert. The mounting post can be cylindrical or polygonal in shape, with a pressure-bearing step and a positioning base surface at the top. The side or core of the post forms an inner hole or through hole that matches the fastener. Anti-rotation ribs and stop shoulders can be provided around the base surface to limit the rotation and sinking of the component.

[0078] The inertial positioning unit 40 is placed on the positioning base surface of the mounting column and is pressed between the pressure-bearing step and the rigid area of ​​the cabin 30 by fasteners, or it uses a snap-fit ​​structure to engage and lock with the mounting column. If necessary, thin gaskets, insulating sheets, or thinned linings are placed between the mounting column and the unit to improve fit and isolate parasitic stress. The axis of the mounting column is arranged in the same direction as the reference axis of the shell. The reference ribs, stops, and alignment marks in the cabin 30 together define the installation posture, so that the angular error of the mounting column axis relative to the first direction is no more than one degree.

[0079] To improve long-term stability, the mounting column can be made of a high-strength material compatible with the material of the cabin 30 or an insert with a surface hardening layer, and a smooth transition can be provided at the connection between the column root and the cabin 30 to reduce stress concentration.

[0080] During assembly, the inertial positioning unit 40 is first gently placed into position, aligned with the positioning base surface of the mounting column, allowing the base surface to naturally align with the unit's reference surface. It is then locked in place using fasteners or clips. The pressure-bearing step provides axial clamping, the anti-rotation rib limits tangential displacement, and the stop shoulder controls the installation height and attitude. After assembly, the mounting column, acting as a geometric reference, aligns the sensitive axis with the shell's reference direction. The high rigidity of the column and the overall support of the cabin 30 ensure that the attitude does not undergo significant deflection under vibration and impact. During operation, the load from the shell is transferred to the mounting column via the cabin 30, and then the pressure-bearing step and fasteners close into a stable force loop, preventing slight slippage and loosening of the unit at the mounting position. During maintenance and disassembly, simply releasing the fasteners or clips allows the unit to be reset to the designated reference surface, ensuring consistency during repeated assembly.

[0081] To ensure that the attitude error is controlled within the target range, the positioning base surface of the mounting column and the housing reference axis must be established with a reference chain through coaxial positioning surfaces or alignment ribs; the flatness of the bearing step and its perpendicularity to the column axis are ensured through forming process and post-processing; after fastening or locking, check the full fit between the unit and the positioning base surface, and there should be no warping or gaps. If gaskets or liners are used, the surfaces should be cleaned and activated first to ensure a firm fit and uniform thickness; avoid lateral prying during the entire assembly process to prevent the introduction of initial stress.

[0082] The mounting columns can be designed as a single or multiple columns in a coordinated positioning arrangement; the fastening method can be through-locking or column core locking, and the snap-fit ​​method can be spring arm engagement or annular groove self-locking; the pressure-bearing step can be an annular platform or multi-point shoulder, and ribs can be added to the column base to improve bending stiffness; the positioning base surface can be equipped with a slight guide chamfer and alignment marks to facilitate quick positioning and visual verification. If vibration resistance and loosening resistance are required, anti-loosening components or curing coatings can be added to the fastening interface; if maintenance convenience is required, the mounting columns and the cabin 30 can be designed as replaceable modular inserts.

[0083] In this embodiment, by employing a technical means of setting an installation column inside the cabin 30 and fixing the inertial positioning unit 40 to a rigid reference with a pressure-bearing step and a positioning base surface using fasteners or buckles, and by controlling the angular error of the installation column axis relative to the first direction within a very small range through the coaxial positioning surface and alignment structure, the technical problems of non-repeatable sensor installation posture, non-closed force path, and easy micro-slippage under impact and vibration leading to offset drift in the existing solution are effectively solved. Thus, the technical effects of stable installation posture, clear force chain, consistent repeated assembly, and conducive to maintaining positioning accuracy and long-term reliability are achieved.

[0084] The above description in this specification is merely illustrative of the present invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to replace them, as long as they do not depart from the content of this specification or exceed the scope defined in the claims, all of which shall fall within the protection scope of this invention.

Claims

1. A mobile terminal based on inertial navigation positioning, characterized in that, include: The housing includes a base and a top cover that correspond to each other. The base has an opening in a first direction perpendicular to the plane of the housing, and the top cover closes the opening to seal the housing. An annular step is provided on the inner wall of the base facing the opening, and forms a step height along the first direction. A third annular flange is provided on the outer periphery of the annular step, and a fourth annular flange is provided on the side of the third annular flange near the opening. A fifth annular flange is provided on the outer periphery of the third annular flange. A shear damping vibration damping ring is disposed at one end of the annular step near the opening, and the shear damping vibration damping ring is in a controlled pre-compression state in the first direction; The cabin is located in the inner ring area of ​​the shear damping ring, and the periphery of the cabin forms an annular skirt that is fixedly connected to the inner side of the shear damping ring. An inertial positioning unit is installed in the cabin. A friction pad assembly is disposed on the outer side of the annular skirt, the friction pad assembly including an elastic element facing the housing and a low-friction wear-resistant layer located on the outer side of the elastic element; A plurality of guide posts are provided, each of which is disposed on the fifth annular flange. The axis of the guide posts is arranged along the first direction. Each of the guide posts is arranged in an equal-angle annular array with the geometric center of the cabin as the center. The end of the guide post near the friction plate assembly is provided with a round head. When the assembly is static, the round head of each guide post and the low-friction wear-resistant layer are spaced apart in the first direction to form an axial free travel Δz; the inner wall of the fourth annular flange and the outer side of the cabin form a lateral gap δ in the radial direction; the inner side of the top cover is provided with an annular pressure strip and abuts against the cabin to apply preload to the shear damping vibration reduction ring through the cabin.

2. The mobile terminal based on inertial navigation positioning according to claim 1, characterized in that, The number of guide pillars is at least three, and each guide pillar is arranged in a circular array at equal angles with the geometric center of the cabin as the center.

3. The mobile terminal based on inertial navigation positioning according to claim 1, characterized in that, The rounded head of the guide post near the friction plate assembly is a hemispherical or dome structure.

4. The mobile terminal based on inertial navigation positioning according to claim 1, characterized in that: The low-friction wear-resistant layer is made of PTFE or PEEK material, and the elastic element is made of silicone or TPU material; The annular skirt has a groove on the side away from the opening, the elastic element is embedded in the groove, and the low-friction wear-resistant layer is attached to the outside of the elastic element.

5. The mobile terminal based on inertial navigation positioning according to claim 1, characterized in that, The axial free travel Δz relative to the height h of the shear damping ring satisfies: 0.15 h ≤ Δz ≤ 0.30 h.

6. The mobile terminal based on inertial navigation positioning according to claim 1, characterized in that, The lateral clearance δ is 0.25mm to 0.35mm. When the radial displacement of the cabin reaches δ, the outer side of the cabin contacts the inner wall of the fourth annular flange to limit the lateral travel of the cabin.

7. The mobile terminal based on inertial navigation positioning according to claim 1, characterized in that, The shear damping vibration damping ring is made of silicone or TPU material, and the cross-section of the shear damping vibration damping ring is rectangular, with a width of 3.0mm to 3.5mm and a height of 1.6mm to 2.2mm.

8. The mobile terminal based on inertial navigation positioning according to claim 1, characterized in that, The annular pressure strip on the top cover is a continuous annular rib coaxially arranged with the shell. After assembly, it applies pressure to the cabin to cause the shear damping shock absorber ring to generate a compression of 0.10 mm to 0.20 mm to form pre-compression.

9. The mobile terminal based on inertial navigation positioning according to claim 1, characterized in that, The fifth annular flange is provided with a guide post hole that matches the guide post. One end of the guide post is press-fitted into the guide post hole in an interference fit manner. The axis of the guide post is parallel to the first direction.

10. The mobile terminal based on inertial navigation positioning according to claim 1, characterized in that, The cabin is provided with a mounting column for installing the inertial positioning unit. The inertial positioning unit is fixed on the mounting column by fasteners or buckles. The angle error between the axis of the mounting column and the first direction is ≤1°.

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