CN107131874B - Totally-enclosed spherical omnidirectional gyro mechanism and operation method thereof - Google Patents
Totally-enclosed spherical omnidirectional gyro mechanism and operation method thereof Download PDFInfo
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- CN107131874B CN107131874B CN201710486400.1A CN201710486400A CN107131874B CN 107131874 B CN107131874 B CN 107131874B CN 201710486400 A CN201710486400 A CN 201710486400A CN 107131874 B CN107131874 B CN 107131874B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/02—Rotary gyroscopes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/02—Rotary gyroscopes
- G01C19/04—Details
- G01C19/06—Rotors
- G01C19/08—Rotors electrically driven
Abstract
The invention discloses a totally enclosed spherical omnidirectional gyro mechanism and an operation method thereof, and the mechanism comprises an outer spherical shell fixedly arranged on an equipment body and a horizontal rotor arranged in the outer spherical shell, wherein the horizontal rotor is arranged between an upper arc-shaped sphere and a lower arc-shaped sphere, the spherical centers of the upper arc-shaped sphere and the lower arc-shaped sphere are concentric with the outer spherical shell, a double-shaft model airplane motor is arranged in the horizontal rotor, and an upper rotating shaft and a lower rotating shaft of the double-shaft model airplane motor are respectively connected with the upper arc-shaped sphere and the lower arc-shaped sphere; three omnidirectional wheels are respectively arranged on the upper and lower arc-shaped spheres to form an upper and a lower pairs of wheel trains, each omnidirectional wheel is arranged on the corresponding arc-shaped spheres through the corresponding elastic wheel carrier, each omnidirectional wheel is radially pressed on the inner wall of the outer spherical shell under the elastic action of the elastic wheel carrier, and each wheel carrier is provided with a motor for driving the corresponding omnidirectional wheel to rotate. The invention solves the packaging problem of the mechanical gyroscope and has the characteristics of compact structure, safety and reliability.
Description
Technical Field
The invention relates to a mechanical gyro balancing technology, in particular to a totally enclosed spherical omnidirectional gyro mechanism and an operation method thereof.
Background
The mechanical gyro is a precise mechanism with a high-speed rotor, and has the characteristics of stable motion and capability of providing larger gyro moment.
At present, a mechanical gyroscope is mainly applied to attitude control of an intelligent body, for example, a self-balancing vehicle C-1 is provided with two flywheels rotating at a high speed at the bottom of a vehicle body, and gyroscopic moment is generated by precession of the flywheels to keep balance of the vehicle body.
In terms of structure, the current mechanical gyroscope can be generally divided into a single-axis mechanical gyroscope, a double-axis mechanical gyroscope and a three-axis mechanical gyroscope, wherein the moment of the gyroscope which can be generated by the single-axis mechanical gyroscope is single, only one-direction posture adjustment can be performed on a mechanical system, and the flexibility is insufficient, so that the application of the mechanical gyroscope is limited to a certain extent; multi-axis (dual-axis and tri-axis) gyros are generally realized by inner and outer nested axes, and have relatively complex structures and low space utilization efficiency.
In order to generate a sufficient gyro moment, an open high-speed rotor (rotation speed of about 6000r/min to 10000 r/min) is generally designed according to the principle of gyro moment generation.
However, such a bare high-speed rotating rotor structure is susceptible to external influences during application, which may cause damage to the rotor or may cause danger to external equipment, instruments and personnel.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a totally-enclosed spherical omnidirectional gyro mechanism which is compact in structure, safe and reliable and an operation method thereof.
The totally enclosed spherical omnidirectional gyro mechanism capable of solving the technical problems comprises an outer spherical shell fixedly arranged on an equipment body and a horizontal rotor arranged in the center of the inner part of the outer spherical shell, wherein the horizontal rotor is arranged between an upper arc-shaped sphere and a lower arc-shaped sphere, the sphere centers of the upper arc-shaped sphere and the lower arc-shaped sphere are concentric with the outer spherical shell, a double-shaft model airplane motor is arranged in the horizontal rotor, and an upper rotating shaft and a lower rotating shaft of the double-shaft model airplane motor positioned on the rotation center line of the horizontal rotor are respectively connected with the upper arc-shaped sphere and the lower arc-shaped sphere; the upper and lower wheel trains are formed by three omnidirectional wheels respectively corresponding to the upper and lower arc-shaped spheres, the axes of the three omnidirectional wheels corresponding to the upper arc-shaped sphere are orthogonal to one point upwards, the axes of the three omnidirectional wheels corresponding to the lower arc-shaped sphere are orthogonal to one point downwards, the upper and lower omnidirectional wheels in each wheel train are symmetrical to the sphere center, each omnidirectional wheel is arranged on the corresponding arc-shaped sphere through a corresponding elastic wheel frame, each omnidirectional wheel is radially pressed on the corresponding position of the inner wall of the outer sphere shell under the elastic force of the elastic wheel frame, and each elastic wheel frame is provided with a motor for driving the corresponding omnidirectional wheel to rotate and an encoder for detecting the rotation parameters of the corresponding omnidirectional wheel.
One structure of each elastic wheel carrier comprises a left frame body and a right frame body, each frame body comprises a spring sleeve and a spring pin which are mutually sleeved, a compression spring is preloaded between the spring sleeve and the spring pin, the omnidirectional wheel is installed on the left spring sleeve and the right spring sleeve through a wheel shaft, and the bottoms of the left spring pin and the right spring pin are installed on corresponding arc-shaped spheres.
Conventionally, the diameter of the horizontal rotor is larger than the diameter of the bottom of the arc-shaped sphere and smaller than the inner diameter of the outer spherical shell.
Conventionally, the outer spherical shell is mounted on the equipment body through upper, lower, left and right shell seats.
The operation method of the totally-enclosed spherical omnidirectional gyro mechanism comprises the following working steps:
1. and starting the double-shaft model airplane motor to drive the horizontal rotor to rotate at a high speed.
2. The expected precession direction (the direction can be arbitrary) of the rotation center line of the horizontal rotor and the running speed of the horizontal rotor are set according to the torque vector regulation requirement of the machine body.
3. Based on the expected precession of the rotation center line of the horizontal rotor, the driving speed of each omnidirectional wheel is obtained according to the inverse kinematics principle of the movement of the omnidirectional wheels on the arc-shaped sphere, and the rotation center line of the horizontal rotor can precess in any direction due to the movement of the omnidirectional wheels on the inner wall of the outer spherical shell, so the driving speed of the omnidirectional wheels is always solved.
4. The starting motor drives six omnidirectional wheels to rotate according to the required speed and synthesizes the expected speed through a certain corresponding relation.
5. The horizontal rotor rotating at high speed generates gyro moment due to precession of the revolution center line of the horizontal rotor, the gyro moment is transmitted to the outer spherical shell through contact constraint between the omnidirectional wheel and the outer spherical shell, and the gyro moment is finally transmitted to equipment needing moment due to the fact that the outer spherical shell is fixedly installed on the equipment frame.
6. The output moment vector of the gyroscope is adjusted by adjusting the direction of the rotation center line of the horizontal rotor and the operation speed of the horizontal rotor.
The invention has the beneficial effects that:
1. the totally-enclosed spherical omnidirectional gyro mechanism mainly solves the packaging problem of mechanical gyros and has the characteristics of compact structure, safety and reliability.
2. In the structure of the invention, the horizontal rotor is fixedly connected with the upper arc-shaped sphere and the lower arc-shaped sphere, and the horizontal rotor and the fixedly connected arc-shaped spheres can freely and omnidirectionally precess in the outer spherical shell by driving the omnidirectional wheel fixedly connected with the arc-shaped spheres, thereby providing gyroscopic moment in any axial direction.
3. In the structure of the invention, an omnidirectional wheel used for driving and generating torque is fixedly arranged on the arc-shaped ball body fixedly connected with the horizontal rotor, and the omnidirectional wheel is tightly contacted with the inner wall of the outer spherical shell through the elastic wheel carrier, thereby keeping good transmission effect.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
Fig. 2 is a schematic diagram of the internal structure of the embodiment of fig. 1.
Fig. 3 (a) is a schematic structural view of the elastic wheel carrier in the embodiment of fig. 1.
FIG. 3 (b) isbase:Sub>A sectional view taken along line A-A in FIG. 3 (base:Sub>A).
And (3) identifying the figure number: 1. an outer spherical shell; 2. a horizontal rotor; 3. an arc-shaped sphere; 4. a dual-axis model airplane motor; 5. an omni wheel; 6. a motor; 7. an elastic wheel carrier; 7-1, spring housing; 7-2, a spring pin; 7-3, compressing the spring; 7-4 and an axle.
Detailed Description
The technical solution of the present invention will be further explained with reference to the embodiments shown in the drawings.
The invention relates to a totally-enclosed spherical omnidirectional gyro mechanism, which structurally comprises an outer spherical shell 1, a horizontal rotor 2, an upper arc-shaped sphere and a lower arc-shaped sphere 3, wherein the horizontal rotor 2, the upper arc-shaped sphere and the lower arc-shaped sphere are arranged in the outer spherical shell 1, and the outer spherical shell 1 is arranged on an equipment body through an upper square shell seat, a lower square shell seat, a left square shell seat and a right square shell seat, as shown in figure 1.
The horizontal rotor 2 is arranged in the central position inside the outer spherical shell 1, the rotation center line of the horizontal rotor 2 is positioned on the sphere center of the outer spherical shell 1, the upper arc-shaped sphere 3 and the lower arc-shaped sphere 3 are respectively arranged above and below the horizontal rotor 2, the sphere centers of the upper arc-shaped sphere 3 and the lower arc-shaped sphere 3 are concentric with the sphere center of the outer spherical shell 1, an interval is kept between the upper arc-shaped sphere 3 and the horizontal rotor 2, the diameter of the horizontal rotor 2 is larger than the diameter of the bottom of the upper arc-shaped sphere 3 and smaller than the inner diameter of the outer spherical shell 1, a double-shaft model airplane motor 4 is arranged in the inner center of the horizontal rotor 2, the upper rotating shaft and the lower rotating shaft of the double-shaft model airplane motor 4 are positioned on the rotation center line of the horizontal rotor 2, and the upper rotating shaft and the lower rotating shaft of the double-shaft model airplane motor 4 respectively enter the inner parts of the upper arc-shaped sphere 3 and the lower arc-shaped sphere 3 and are connected through bearings in an installation manner, as shown in fig. 1 and fig. 2.
The upper and lower arc-shaped ball bodies 3 are respectively limited by three omnidirectional wheels 5 (circumferentially and uniformly distributed) at the upper and lower parts, the upper and lower three omnidirectional wheels 5 form an upper and lower three pairs of wheel trains, the axes of the three omnidirectional wheels 5 corresponding to the upper arc-shaped ball body 3 are orthogonal to a point upwards, the axes of the three omnidirectional wheels 5 corresponding to the lower arc-shaped ball body 3 are orthogonal to a point downwards, the upper and lower omnidirectional wheels 5 in each pair of wheel trains are symmetrical to the center of a sphere, each omnidirectional wheel 5 is installed in position through an elastic wheel frame 7 on the arc-shaped ball body 3, the omnidirectional wheel 5 installed in position is radially pressed on the inner wall of the outer ball shell 1 under the elastic force of the elastic wheel frame 7, and a motor 6 with a coder is arranged on each elastic wheel frame 7 to drive the corresponding omnidirectional wheel 5 to rotate, as shown in fig. 1 and fig. 2.
The elastic wheel carrier 7 comprises a left frame body and a right frame body, each frame body comprises a front group of spring sleeves 7-1 and a rear group of spring pins 7-2, in each group of components, the spring sleeves 7-1 and the spring pins 7-2 are mutually sleeved and a compression spring 7-3 is pre-tightened between the spring sleeves and the spring pins 7-2, the outer ends of the two groups of spring sleeves 7-1 are connected to form a U-shaped structure with an inward opening, the bottoms of the front group of spring pins 7-2 and the rear group of spring pins 7-2 of the left frame body and the right frame body are installed on corresponding arc-shaped spheres 3, and corresponding omnidirectional wheels 5 are installed between the front group of spring sleeves 7-1 and the rear group of the left frame body and the right frame body through left and right wheel shafts 7-4, namely wheel shafts 7-4 are connected with the spring sleeves 7-1 in middle grooves of the U-shaped structures, as shown in figures 1, 2, 3 (a) and 3 (b).
The operation method of the totally-enclosed spherical omnidirectional gyro mechanism comprises the following working steps:
1. and starting the double-shaft model airplane motor 4 to drive the horizontal rotor 2 to rotate at a high speed.
2. The expected precession direction of the rotation center line of the horizontal rotor 2 and the running speed of the horizontal rotor 2 are set according to the torque vector regulation requirement of the machine body.
3. Based on the expected precession of the rotation center line of the horizontal rotor 2, the driving speed of each omnidirectional wheel 5 is obtained according to the inverse kinematics principle of the movement of the omnidirectional wheels 5 on the arc-shaped sphere 3, and the rotation center line of the horizontal rotor 2 can precess in any direction due to the fact that the omnidirectional wheels 5 move on the inner wall of the outer spherical shell 1 by means of friction force, so that the driving speed of the omnidirectional wheels 5 is always solved.
4. The starting motor 6 drives six omnidirectional wheels 5 to rotate according to the required speed and synthesizes the expected speed through a certain corresponding relation, and the upper omnidirectional wheel 5 and the lower omnidirectional wheel 5 in each pair of wheel trains are synchronously driven.
5. The horizontal rotor 2 rotating at high speed generates a gyro moment due to precession of a revolution center line thereof, the gyro moment is transmitted to the outer spherical shell 1 through contact constraint between the omni wheel 5 and the outer spherical shell 1, and the gyro moment is finally transmitted to equipment requiring moment because the outer spherical shell 1 is fixedly installed on an equipment frame.
6. The output moment vector of the gyroscope is adjusted by adjusting the direction of the rotation center line of the horizontal rotor 2 and the operation speed of the horizontal rotor 2.
Claims (5)
1. Totally enclosed spherical omnidirectional gyroscope mechanism, its characterized in that: the device comprises an outer spherical shell (1) fixedly arranged on a device body and a horizontal rotor (2) arranged in the center of the inner part of the outer spherical shell (1), wherein the horizontal rotor (2) is arranged between an upper arc-shaped sphere body and a lower arc-shaped sphere body (3), the centers of the upper arc-shaped sphere body and the lower arc-shaped sphere body (3) are concentric with the outer spherical shell (1), a double-shaft model airplane motor (4) is arranged in the horizontal rotor (2), and an upper rotating shaft and a lower rotating shaft of the double-shaft model airplane motor (4) positioned on the rotation center line of the horizontal rotor (2) are respectively connected with the upper arc-shaped sphere body and the lower arc-shaped sphere body (3); the upper and lower arc-shaped spheres (3) are respectively provided with three omnidirectional wheels (5) to form an upper and lower three pairs of wheel trains, the axes of the three omnidirectional wheels (5) corresponding to the upper arc-shaped spheres (3) are upwards orthogonal to one point, the axes of the three omnidirectional wheels (5) corresponding to the lower arc-shaped spheres (3) are downwards orthogonal to one point, the upper and lower omnidirectional wheels (5) in each pair of wheel trains are symmetrical to the center of a sphere, each omnidirectional wheel (5) is arranged on the corresponding arc-shaped spheres (3) through a corresponding elastic wheel carrier (7), each omnidirectional wheel (5) is radially pressed on the corresponding position of the inner wall of the outer spherical shell (1) under the elastic action of the elastic wheel carrier (7), and each elastic wheel carrier (7) is provided with a motor (6) for driving the corresponding omnidirectional wheel (5) to rotate and an encoder for detecting the rotation parameters of the corresponding omnidirectional wheel (5).
2. The totally enclosed spherical omnidirectional gyroscope mechanism of claim 1, wherein: each elastic wheel carrier (7) comprises a left frame body and a right frame body, each frame body comprises a spring sleeve (7-1) and a spring pin (7-2) which are mutually sleeved, a compression spring (7-3) is preloaded between the spring sleeve (7-1) and the spring pin (7-2), the omnidirectional wheel (5) is installed on the left spring sleeve (7-1) and the right spring sleeve (7-1) through a wheel shaft (7-4), and the bottoms of the left spring pin (7-2) and the right spring pin (7-2) are installed on the corresponding arc-shaped spheres (3).
3. The totally enclosed spherical omnidirectional gyroscope mechanism of claim 1 or 2, characterized in that: the diameter of the horizontal rotor (2) is larger than the diameter of the bottom of the arc-shaped sphere (3) and smaller than the inner diameter of the outer spherical shell (1).
4. The totally enclosed spherical omnidirectional gyroscope mechanism of claim 1 or 2, characterized in that: the outer spherical shell (1) is arranged on the equipment body through upper, lower, left and right shell seats.
5. A method for operating a totally enclosed spherical omnidirectional gyro mechanism, characterized in that a totally enclosed spherical omnidirectional gyro mechanism as claimed in claim 1 or 2 is used, the working steps of which are:
(1) starting a double-shaft model airplane motor (4) to drive a horizontal rotor (2) to rotate at a high speed;
(2) setting the expected precession direction of the rotation center line of the horizontal rotor (2) and the running speed of the horizontal rotor (2) according to the torque vector regulation requirement of the equipment body;
(3) on the basis of the expected precession of the rotation center line of the horizontal rotor (2), the speed required to be driven by each omnidirectional wheel (5) is obtained according to the inverse kinematics principle that the omnidirectional wheels (5) move on the arc-shaped sphere (3), and the rotation center line of the horizontal rotor (2) can precess in any direction due to the movement of the omnidirectional wheels (5) on the inner wall of the outer spherical shell (1), so the driving speed of the omnidirectional wheels (5) is always solved;
(4) the starting motor (6) drives the six omnidirectional wheels (5) to rotate according to the required speed and synthesizes the expected speed through a certain corresponding relation;
(5) the gyroscopic moment is generated by the precession of the revolution center line of the horizontal rotor (2) which runs at a high speed, the gyroscopic moment is transmitted to the outer spherical shell (1) through the contact constraint between the omnidirectional wheel (5) and the outer spherical shell (1), and the gyroscopic moment is finally transmitted to equipment needing moment because the outer spherical shell (1) is fixedly arranged on the equipment frame;
(6) and adjusting the direction of the rotation center line of the horizontal rotor (2) and the operation speed of the horizontal rotor (2) to further adjust the moment vector output by the gyroscope.
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| CN107131874B true CN107131874B (en) | 2023-03-24 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108036782B (en) * | 2017-12-13 | 2021-02-02 | 陕西宝成航空仪表有限责任公司 | Spherical symmetrical gyroscope |
| CN109245467B (en) * | 2018-10-23 | 2023-10-17 | 桂林电子科技大学 | Nested double-rotor gyro mechanism |
| CN109799819B (en) * | 2019-01-18 | 2020-06-05 | 北京邮电大学 | Snake-shaped robot mechanism based on gyro precession effect and motion control method |
| CN112356011A (en) * | 2020-10-29 | 2021-02-12 | 西北工业大学 | Spherical robot for stabilizing measurement platform by utilizing flywheel |
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| GB884061A (en) * | 1957-06-03 | 1961-12-06 | Standard Telephones Cables Ltd | Gyroscopes, gyroscope stabilised systems and gas bearings for the same |
| GB1258439A (en) * | 1969-06-30 | 1971-12-30 | ||
| US3911591A (en) * | 1972-03-27 | 1975-10-14 | Sperry Rand Corp | Belt driven gyroscopic instrument for an aircraft |
| FR2363780A1 (en) * | 1976-09-03 | 1978-03-31 | Znamensky Sergei | Automatic gyroscope balancing mechanism - has counter-balancing ball which moves radially along rotating diametral slot |
| US4984459A (en) * | 1989-09-21 | 1991-01-15 | Shannon E Paul | Rate of turn indicator |
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