CN110615046A - Self-balancing device based on gyroscopic precession effect - Google Patents
Self-balancing device based on gyroscopic precession effect Download PDFInfo
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Abstract
本发明公开了一种基于陀螺进动效应的自平衡装置，包括机架，机架内设置有两个进动机构，两个进动机构相对于机架的中轴线对称设置；每个进动机构包括第一飞轮组件、第二飞轮组件、进动电机、第一传动机构和第二传动机构；第一飞轮组件及第二飞轮组件可绕各自的纵向中轴线自转；进动电机通过第一传动机构与第一飞轮组件连接，第一飞轮组件通过第二传动机构与第二飞轮组件相连接，利用两个进动机构的飞轮组件的自转，以及每个进动机构的进动电机同时带动两个飞轮组件的进动旋转，使该自平衡装置可在双轴方向上保持自平衡，满足实际需求，并且保证进动机构的两个飞轮组件的运动统一，能够达到很高的进动加速度，具有较小的尺寸，节约空间。
The invention discloses a self-balancing device based on the gyro precession effect, which includes a frame, and two precession mechanisms are arranged in the frame, and the two precession mechanisms are arranged symmetrically with respect to the central axis of the frame; The mechanism includes a first flywheel assembly, a second flywheel assembly, a precession motor, a first transmission mechanism and a second transmission mechanism; the first flywheel assembly and the second flywheel assembly can rotate around their respective longitudinal central axes; the precession motor passes through the first The transmission mechanism is connected with the first flywheel assembly, and the first flywheel assembly is connected with the second flywheel assembly through the second transmission mechanism, using the rotation of the flywheel assembly of the two precession mechanisms and the precession motor of each precession mechanism to simultaneously drive The precession rotation of the two flywheel components enables the self-balancing device to maintain self-balance in the biaxial direction, which meets the actual needs, and ensures that the movement of the two flywheel components of the precession mechanism is unified, and can achieve high precession acceleration , has a smaller size and saves space.
Description
技术领域technical field
本发明涉及平衡控制技术领域，特别涉及一种基于陀螺进动效应的自平衡装置。The invention relates to the technical field of balance control, in particular to a self-balancing device based on the gyro precession effect.
背景技术Background technique
运动物体在行驶过程中，在行进过程中，由于外界环境因素，会受到外力作用导致失去平衡。因此，需要在运动物体上安装自平衡装置，以保证运动物体在失去平衡后，能够自行平衡，防止倾倒。但是现有的自平衡装置每个飞轮盘均需要一个舵机来进行控制，造成飞轮盘的运动不统一，不能达到很高的进动加速度，若需得到大的调整力，则需要进一步加大飞轮的转动惯量而导致造成整体尺寸的加大，占用大量空间；并且只能实现单轴稳定，不能满足实际需求。During the driving process, the moving object will lose its balance due to external environmental factors due to external forces. Therefore, it is necessary to install a self-balancing device on the moving object to ensure that the moving object can balance itself and prevent it from toppling after losing balance. However, each flywheel in the existing self-balancing device requires a steering gear to control, resulting in non-uniform movement of the flywheel, which cannot achieve a high precession acceleration. If a large adjustment force is required, it needs to be further increased The moment of inertia of the flywheel increases the overall size and takes up a lot of space; and it can only achieve single-axis stability, which cannot meet actual needs.
发明内容Contents of the invention
本发明的目的在于提供一种基于陀螺进动效应的自平衡装置，以解决现有的自平衡装置每个飞轮盘均需要一个舵机来进行控制，造成飞轮盘的运动不统一，不能达到很高的进动加速度，若需得到大的调整力，则需要进一步加大飞轮的转动惯量而导致造成整体尺寸的加大，占用大量空间；并且只能实现单轴稳定，不能满足实际需求的问题。The purpose of the present invention is to provide a self-balancing device based on the gyro precession effect, to solve the problem that each flywheel disc of the existing self-balancing device needs a steering gear to control, resulting in non-uniform motion of the flywheel disc, which cannot achieve very high High precession acceleration, if a large adjustment force is required, it is necessary to further increase the moment of inertia of the flywheel, resulting in an increase in the overall size and taking up a lot of space; and it can only achieve single-axis stability, which cannot meet the actual needs. .
根据本发明的实施例，提供了一种基于陀螺进动效应的自平衡装置，包括机架，According to an embodiment of the present invention, a self-balancing device based on the gyro precession effect is provided, including a frame,
所述机架内设置有两个进动机构，两个所述进动机构相对于所述机架的中轴线对称设置；Two precession mechanisms are arranged in the frame, and the two precession mechanisms are arranged symmetrically with respect to the central axis of the frame;
每个所述进动机构包括第一飞轮组件、第二飞轮组件、进动电机、第一传动机构和第二传动机构；所述第一飞轮组件及第二飞轮组件可绕各自的纵向中轴线自转；Each of the precession mechanisms includes a first flywheel assembly, a second flywheel assembly, a precession motor, a first transmission mechanism, and a second transmission mechanism; the first flywheel assembly and the second flywheel assembly can rotate around their respective longitudinal central axes rotation;
所述进动电机通过第一传动机构与第一飞轮组件连接，所述第一飞轮组件通过第二传动机构与第二飞轮组件相连接，所述进动电机能够使第一分轮组与第二分轮组以速率相同且方向相反的角速度绕各自的横向中轴线旋转。The precession motor is connected with the first flywheel assembly through the first transmission mechanism, and the first flywheel assembly is connected with the second flywheel assembly through the second transmission mechanism, and the precession motor can make the first sub-wheel set and the second flywheel assembly The two wheel sets rotate around their respective transverse central axes at angular velocities with the same rate and opposite directions.
具体地，所述第一飞轮组件和第二飞轮组件均包括壳体、飞轮、飞轮电机及连接轴承；Specifically, both the first flywheel assembly and the second flywheel assembly include a housing, a flywheel, a flywheel motor and connecting bearings;
所述飞轮位于壳体内，且所述飞轮一端的周壁通过连接轴承与所述壳体的一端面转动连接，所述飞轮另一端的周壁通过连接轴承与所述壳体的另一端面转动连接；所述飞轮电机的转动轴穿过所述壳体的一端面且与所述飞轮的一端转动连接，所述飞轮电机能够驱动飞轮沿所述第一飞轮组件的纵向中轴线旋转；所述第一飞轮组件和第二飞轮组件的进动联动齿轮相啮合；The flywheel is located in the casing, and the peripheral wall at one end of the flywheel is rotatably connected to one end surface of the casing through a connecting bearing, and the peripheral wall at the other end of the flywheel is rotatably connected to the other end surface of the casing through a connecting bearing; The rotation shaft of the flywheel motor passes through one end surface of the housing and is rotationally connected with one end of the flywheel, and the flywheel motor can drive the flywheel to rotate along the longitudinal central axis of the first flywheel assembly; the first The flywheel assembly is engaged with the precession linkage gear of the second flywheel assembly;
所述第一飞轮组件的壳体的外侧壁通过第二传动机构与第二飞轮组件的壳体的外侧壁相连接；The outer wall of the housing of the first flywheel assembly is connected to the outer wall of the housing of the second flywheel assembly through the second transmission mechanism;
所述第一飞轮组件的壳体上与所述飞轮电机相对的一端面通过第一传动机构与进动电机连接。An end face of the casing of the first flywheel assembly opposite to the flywheel motor is connected to the precession motor through a first transmission mechanism.
具体地，所述第一传动机构包括第一进动驱动齿轮和第二进动驱动齿轮；所述第一进动驱动齿轮安装在进动电机的转动轴上，所述第二进动驱动齿轮安装在第一飞轮组件的壳体上与所述飞轮电机相对的一端面上且所述第二进动驱动齿轮的安装方向与壳体的端面相垂直，所述第一进动驱动齿轮与第二进动驱动齿轮啮合。Specifically, the first transmission mechanism includes a first precession drive gear and a second precession drive gear; the first precession drive gear is installed on the rotating shaft of the precession motor, and the second precession drive gear Installed on the housing of the first flywheel assembly on an end surface opposite to the flywheel motor and the installation direction of the second precession drive gear is perpendicular to the end surface of the housing, the first precession drive gear and the second precession drive gear Two precession drive gear meshes.
具体地，所述第二传动机构包括第一进动联动齿轮和第二进动联动齿轮；Specifically, the second transmission mechanism includes a first precession linkage gear and a second precession linkage gear;
所述第一进动联动齿轮安装在所述第一飞轮组件的壳体的外侧壁，所述第二进动联动齿轮安装在所述第二飞轮组件的壳体的外侧壁；The first precession linkage gear is installed on the outer wall of the housing of the first flywheel assembly, and the second precession linkage gear is installed on the outer wall of the housing of the second flywheel assembly;
所述第一进动联动齿轮与第二进动联动齿轮相啮合。The first precession linkage gear meshes with the second precession linkage gear.
具体地，所述飞轮电机为无刷直流电机，所述飞轮的转速为30000r/min。Specifically, the flywheel motor is a brushless DC motor, and the speed of the flywheel is 30000r/min.
具体地，所述壳体包括上壳体和下壳体，所述上壳体的外缘与所述下壳体的外缘为可拆卸连接。Specifically, the casing includes an upper casing and a lower casing, and the outer edge of the upper casing is detachably connected to the outer edge of the lower casing.
具体地，所述壳体的外侧壁上沿横向中轴线的方向设置有进动转轴。Specifically, a precession shaft is provided on the outer wall of the housing along the direction of the transverse central axis.
具体地，两个所述进动机构的进动转轴在同一平面上彼此呈夹角设置。Specifically, the precession shafts of the two precession mechanisms are arranged on the same plane at an included angle to each other.
本发明实施例提供了一种基于陀螺进动效应的自平衡装置，利用两个进动机构的飞轮组件的自转，以及每个进动机构的进动电机同时带动两个飞轮组件的进动旋转，使该自平衡装置可在双轴方向上保持自平衡，满足实际需求，并且保证进动机构的两个飞轮组件的运动统一，能够达到很高的进动加速度，具有较小的尺寸，节约空间。The embodiment of the present invention provides a self-balancing device based on the gyro precession effect, which uses the rotation of the flywheel assemblies of the two precession mechanisms, and the precession motor of each precession mechanism simultaneously drives the precession and rotation of the two flywheel assemblies , so that the self-balancing device can maintain self-balancing in the two-axis direction, meet the actual needs, and ensure the uniform movement of the two flywheel assemblies of the precession mechanism, which can achieve high precession acceleration, has a small size, and saves space.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required in the embodiments. Obviously, the accompanying drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.
图1为本发明提供的一种基于陀螺进动效应的自平衡装置俯视图；Fig. 1 is a top view of a self-balancing device based on the gyro precession effect provided by the present invention;
图2为第一飞轮组件的结构图；Fig. 2 is a structural diagram of the first flywheel assembly;
图3为图2的主视图；Fig. 3 is the front view of Fig. 2;
图4为进动机构的结构图；Fig. 4 is the structural diagram of precession mechanism;
图5为基于陀螺进动效应的自平衡装置的受力分析图。Fig. 5 is a force analysis diagram of the self-balancing device based on the gyro precession effect.
其中，1-进动机构，11-第一飞轮组件，111-飞轮电机，112-上壳体，113-连接轴承，114-飞轮，115-进动转轴，116-下壳体，12-第二飞轮组件，2-第一进动联动齿轮，3-第二进动驱动齿轮，4-第二进动联动齿轮，5-第一进动驱动齿轮，6-进动电机，7-机架。Among them, 1-precession mechanism, 11-first flywheel assembly, 111-flywheel motor, 112-upper casing, 113-connecting bearing, 114-flywheel, 115-precession shaft, 116-lower casing, 12-the first Two flywheel components, 2-first precession linkage gear, 3-second precession drive gear, 4-second precession linkage gear, 5-first precession drive gear, 6-precession motor, 7-frame .
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整的描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
根据本发明的实施例，如图1、图4和图5所示，提供了一种基于陀螺进动效应的自平衡装置，包括机架7，机架7内设置有两个进动机构1，两个进动机构1相对于机架7的中轴线对称设置；每个进动机构1包括第一飞轮组件11、第二飞轮组件12、进动电机6、第一传动机构和第二传动机构；第一飞轮组件11及第二飞轮组件12可绕各自的纵向中轴线自转；进动电机6通过第一传动机构与第一飞轮组件11连接，第一飞轮组件11通过第二传动机构与第二飞轮组件12相连接，进动电机6能够使第一分轮组与第二分轮组以速率相同且方向相反的角速度绕各自的横向中轴线旋转。According to an embodiment of the present invention, as shown in Figure 1, Figure 4 and Figure 5, a self-balancing device based on the gyro precession effect is provided, including a frame 7, and two precession mechanisms 1 are arranged in the frame 7 , two precession mechanisms 1 are arranged symmetrically with respect to the central axis of the frame 7; each precession mechanism 1 includes a first flywheel assembly 11, a second flywheel assembly 12, a precession motor 6, a first transmission mechanism and a second transmission mechanism mechanism; the first flywheel assembly 11 and the second flywheel assembly 12 can rotate around their respective longitudinal central axes; the precession motor 6 is connected with the first flywheel assembly 11 through the first transmission mechanism, and the first flywheel assembly 11 is connected with the second transmission mechanism The second flywheel assembly 12 is connected, and the precession motor 6 can make the first pinion wheel set and the second pinion wheel set rotate around their respective transverse central axes at angular velocities with the same rate but opposite directions.
本发明实施例提供了一种基于陀螺进动效应的自平衡装置，利用两个进动机构1的飞轮组件的自转，以及每个进动机构1的进动电机6同时带动两个飞轮组件的进动旋转，使该自平衡装置可在双轴方向上保持自平衡，满足实际需求，并且保证进动机构1的两个飞轮组件的运动统一，能够达到很高的进动加速度，具有较小的尺寸，节约空间。The embodiment of the present invention provides a self-balancing device based on the gyro precession effect, which utilizes the rotation of the flywheel assemblies of the two precession mechanisms 1, and the precession motor 6 of each precession mechanism 1 simultaneously drives the two flywheel assemblies. Precession rotation enables the self-balancing device to maintain self-balancing in the direction of two axes, which meets actual needs, and ensures that the movement of the two flywheel components of the precession mechanism 1 is unified, and can achieve high precession acceleration, with a small size, saving space.
在上述实施例中，如图2和图3所示，第一飞轮组件11和第二飞轮组件12均包括壳体、飞轮114、飞轮电机111及连接轴承113；飞轮114位于壳体内，且飞轮114一端的周壁通过连接轴承113与壳体的一端面转动连接，飞轮114另一端的周壁通过连接轴承113与壳体的另一端面转动连接；飞轮电机111的转动轴穿过壳体的一端面且与飞轮114的一端转动连接，飞轮电机111能够驱动飞轮114沿第一飞轮组件11的纵向中轴线旋转；第一飞轮组件11和第二飞轮组件12的进动联动齿轮相啮合；第一飞轮组件11的壳体的外侧壁通过第二传动机构与第二飞轮组件12的壳体的外侧壁相连接；第一飞轮组件11的壳体上与飞轮电机111相对的一端面通过第一传动机构与进动电机6连接。其中，进动电机6上使用霍尔传感器进行位置和速度的检测，以监测自平衡装置的姿态，并且进动电机6通过法兰固定连接在机架7上；飞轮电机111使用PWM控制，飞轮电机111与壳体固定连接。飞轮114与飞轮电机111通过螺纹副连接，飞轮114采用法兰式结构，飞轮114轴上下各有一个轴肩，分别顶在壳体两端面的连接轴承113上。2 and 3, the first flywheel assembly 11 and the second flywheel assembly 12 include a housing, a flywheel 114, a flywheel motor 111 and a connecting bearing 113; the flywheel 114 is located in the housing, and the flywheel The surrounding wall at one end of 114 is rotationally connected with one end surface of the housing through the connecting bearing 113, and the surrounding wall at the other end of the flywheel 114 is rotationally connected with the other end surface of the housing through the connecting bearing 113; the rotating shaft of the flywheel motor 111 passes through one end surface of the housing And with one end of the flywheel 114, the flywheel motor 111 can drive the flywheel 114 to rotate along the longitudinal central axis of the first flywheel assembly 11; the precession linkage gears of the first flywheel assembly 11 and the second flywheel assembly 12 are engaged; the first flywheel The outer wall of the housing of the assembly 11 is connected to the outer wall of the housing of the second flywheel assembly 12 through the second transmission mechanism; an end surface opposite to the flywheel motor 111 on the housing of the first flywheel assembly 11 is passed through the first transmission mechanism Connect with precession motor 6. Among them, the Hall sensor is used on the precession motor 6 to detect the position and speed to monitor the attitude of the self-balancing device, and the precession motor 6 is fixedly connected to the frame 7 through the flange; the flywheel motor 111 is controlled by PWM, and the flywheel The motor 111 is fixedly connected with the casing. Flywheel 114 is connected with flywheel motor 111 by thread pair, and flywheel 114 adopts flange type structure, and flywheel 114 shaft has a shaft shoulder up and down respectively, props up on the connection bearing 113 of shell two end surfaces respectively.
具体地，如图5所示，一个进动机构1包括飞轮组件A和飞轮组件C，另一个进动机构1包括飞轮组件B和飞轮组件D，四个飞轮组件的飞轮114在工作时以大小相同，方向不同的角速度运动。当机架7所连接的装置绕x轴转动，重心产生偏移，重力对支撑平面产成一个翻转力矩M0，飞轮组件A中的飞轮电机111带动飞轮114沿图5所示方向绕轴顺时针以ω0’的角速度自转，飞轮组件C的飞轮电机111带动飞轮114以ω0的角速度沿图5所示方向绕轴逆时针自转，进动电机6通过第一传动机构带动飞轮组件A以大小为ω1沿着图5示方向进动，飞轮组件A通过第二传动机构带动飞轮组件C以大小为ω1且与飞轮组件A进动方向相反的方向进动，根据角动量守恒，两个飞轮组件会分别提供翻转力矩M1和M1’与翻转力矩M0相反的平衡力矩，使整体达到平衡。Specifically, as shown in Figure 5, a precession mechanism 1 includes a flywheel assembly A and a flywheel assembly C, and another precession mechanism 1 includes a flywheel assembly B and a flywheel assembly D, and the flywheels 114 of the four flywheel assemblies work with a size The same, but different directions of angular velocity motion. When the device connected to the frame 7 rotates around the x-axis, the center of gravity shifts, and the gravity generates an overturning moment M0 on the support plane, and the flywheel motor 111 in the flywheel assembly A drives the flywheel 114 clockwise around the axis in the direction shown in Figure 5 Rotating at an angular velocity of ω0', the flywheel motor 111 of the flywheel assembly C drives the flywheel 114 to rotate counterclockwise around the axis at an angular velocity of ω0 in the direction shown in Figure 5, and the precession motor 6 drives the flywheel assembly A through the first transmission mechanism with a magnitude of ω1 Precessing along the direction shown in Figure 5, the flywheel assembly A drives the flywheel assembly C to precess in the direction of ω1 and the direction opposite to the precession direction of the flywheel assembly A through the second transmission mechanism. According to the conservation of angular momentum, the two flywheel assemblies will respectively Provide the balance moment of overturning moment M1 and M1' opposite to overturning moment M0, so that the whole reaches balance.
同理，当机架7所连接的装置绕Y轴转动，重心产生偏移，重力对支撑平面产成一个翻转力矩M0’，飞轮组件B的飞轮电机111带动飞轮114沿图5所示方向绕轴顺时针以ω0’的角速度旋转，飞轮组件D的飞轮电机111带动飞轮114以ω0’的角速度绕轴逆时针旋转，进动电机6通过第一传动机构带动飞轮组件B以大小为ω2沿着图5示方向进动，飞轮组件B通过第二传动机构带动飞轮组件D以大小为ω2且与飞轮组件B进动方向相反的方向进动，根据角动量守恒，两个飞轮组件会分别提供翻转力矩M2、M2’与翻转力矩M0’相反的平衡力矩，使整体达到平衡。因此，本实施例的自平衡装置仅利用飞轮组件的飞轮114自转以及一个进步电机带动两个飞轮组件的进动，就可以达到一个方向的平衡，与现有技术中每个飞轮114盘都需要单独的舵机驱动进行进动相比，保证飞轮组件运动的统一性和同步性，能够达到很高的进动加速度，具有较小的尺寸，节约空间。Similarly, when the device connected to the frame 7 rotates around the Y axis, the center of gravity shifts, and the gravity generates a turning moment M0' on the support plane, and the flywheel motor 111 of the flywheel assembly B drives the flywheel 114 to rotate along the direction shown in Figure 5 The shaft rotates clockwise at an angular velocity of ω0', the flywheel motor 111 of the flywheel assembly D drives the flywheel 114 to rotate counterclockwise around the axis at an angular velocity of ω0', and the precession motor 6 drives the flywheel assembly B with a magnitude of ω2 along the Figure 5 shows the directional precession. The flywheel assembly B drives the flywheel assembly D to precess in the direction of ω2 and the direction opposite to the precession direction of the flywheel assembly B through the second transmission mechanism. According to the conservation of angular momentum, the two flywheel assemblies will respectively provide flipping The moment M2, M2' is the opposite balance moment to the overturning moment M0', so that the whole is balanced. Therefore, the self-balancing device of the present embodiment only utilizes the rotation of the flywheel 114 of the flywheel assembly and the precession of the two flywheel assemblies driven by a progressive motor to achieve balance in one direction. Compared with precession driven by a single steering gear, the uniformity and synchronization of the movement of the flywheel assembly can be ensured, high precession acceleration can be achieved, the size is small, and space is saved.
在上述实施例中，如图2、图3和图4所示，第一传动机构包括第一进动驱动齿轮5和第二进动驱动齿轮3；第一进动驱动齿轮5安装在进动电机6的转动轴上，第二进动驱动齿轮3安装在第一飞轮组件11的壳体上与飞轮电机111相对的一端面上且第二进动驱动齿轮3的安装方向与壳体的端面相垂直，第一进动驱动齿轮5与第二进动驱动齿轮3啮合。其中，第二进动驱动齿轮3为半圆状的齿轮结构，利用进动电机6通过第一进动驱动齿轮5和第二进动驱动齿轮3的转动，带动第一飞轮组件11绕第一飞轮组件11的水平横向中轴线旋转，即图5所示的X轴或Y轴。In the above-mentioned embodiment, as shown in Fig. 2, Fig. 3 and Fig. 4, the first transmission mechanism includes a first precession drive gear 5 and a second precession drive gear 3; the first precession drive gear 5 is installed on the precession drive gear On the rotating shaft of the motor 6, the second precession drive gear 3 is installed on the housing of the first flywheel assembly 11 on an end surface opposite to the flywheel motor 111 and the installation direction of the second precession drive gear 3 is in line with the end of the housing. The planes are perpendicular, and the first precession drive gear 5 meshes with the second precession drive gear 3 . Wherein, the second precession drive gear 3 is a semicircular gear structure, and the precession motor 6 is used to drive the first flywheel assembly 11 around the first flywheel through the rotation of the first precession drive gear 5 and the second precession drive gear 3 The horizontal central axis of the assembly 11 rotates, that is, the X axis or the Y axis shown in FIG. 5 .
在上述实施例中，如图2、图3和图4所示，第二传动机构包括第一进动联动齿轮2和第二进动联动齿轮4；第一进动联动齿轮2安装在第一飞轮组件11的壳体的外侧壁，第二进动联动齿轮4安装在第二飞轮组件12的壳体的外侧壁；第一进动联动齿轮2与第二进动联动齿轮4相啮合。其中，第一进动联动齿轮2和第二进动联动齿轮4为圆弧状的齿轮结构；在第一飞轮组件11在旋转的过程中，利用第一进动联动齿轮2与第二进动联动齿轮4的啮合，带动第二飞轮组件12沿与第一飞轮组件11转动速度相同，且方向相反进行旋转，从而保证两个飞轮组件的旋转的统一性和同步性。In the above embodiment, as shown in Fig. 2, Fig. 3 and Fig. 4, the second transmission mechanism includes a first precession linkage gear 2 and a second precession linkage gear 4; the first precession linkage gear 2 is installed on the first On the outer wall of the housing of the flywheel assembly 11 , the second precession linkage gear 4 is installed on the outer wall of the housing of the second flywheel assembly 12 ; the first precession linkage gear 2 is meshed with the second precession linkage gear 4 . Wherein, the first precession linkage gear 2 and the second precession linkage gear 4 are arc-shaped gear structures; when the first flywheel assembly 11 is rotating, the first precession linkage gear 2 and the second precession linkage gear 4 are used to The meshing of the linkage gear 4 drives the second flywheel assembly 12 to rotate at the same speed as the first flywheel assembly 11 and in the opposite direction, thereby ensuring the uniformity and synchronization of the rotation of the two flywheel assemblies.
在上述实施例中，飞轮电机111为无刷直流电机，飞轮114的转速为30000r/min。无刷直流电机具有启动迅速，加速度快的特点，能在极短的时间内为飞轮114提供一个大的进动角。In the above embodiment, the flywheel motor 111 is a brushless DC motor, and the rotation speed of the flywheel 114 is 30000 r/min. The brushless DC motor has the characteristics of quick start and fast acceleration, and can provide a large precession angle for the flywheel 114 in a very short time.
在上述实施例中，如图2所示，壳体包括上壳体112和下壳体116，上壳体112的外缘与下壳体116的外缘为可拆卸连接。具体地，上壳体112与下壳体116通过螺栓连接，可方便壳体的拆装。In the above embodiment, as shown in FIG. 2 , the casing includes an upper casing 112 and a lower casing 116 , and the outer edge of the upper casing 112 is detachably connected to the outer edge of the lower casing 116 . Specifically, the upper shell 112 and the lower shell 116 are connected by bolts, which facilitates disassembly and assembly of the shells.
在上述实施例中，如图5所示，壳体的外侧壁上沿横向中轴线的方向设置有进动转轴115。具体地，进动转轴115与机架7铰接，并且进动转轴115沿进动电机6带动飞轮组件的进动旋转所绕的旋转轴的方向设置，即图5所示的X轴或Y轴。In the above embodiment, as shown in FIG. 5 , a precession shaft 115 is provided on the outer wall of the housing along the direction of the transverse central axis. Specifically, the precession shaft 115 is hinged to the frame 7, and the precession shaft 115 is arranged along the direction of the rotation axis around which the precession motor 6 drives the flywheel assembly to rotate, that is, the X axis or the Y axis shown in FIG. 5 .
在上述实施例中，两个进动机构1的进动转轴115在同一平面上彼此呈夹角设置。如图5所示，飞轮组件A、飞轮组件B、飞轮组件C和飞轮组件D的进动转轴115处于同一平面上，且飞轮组件A的进动转轴115和飞轮组件B进动转轴115之间形成夹角，飞轮组件C的进动转轴115和飞轮组件D进动转轴115之间形成夹角,夹角可为任意不为零的角度即可，即图5所示的X轴或Y轴在同一平面且不相互平行即可。In the above embodiments, the precession shafts 115 of the two precession mechanisms 1 are arranged on the same plane at an angle to each other. As shown in Figure 5, the precession shafts 115 of flywheel assembly A, flywheel assembly B, flywheel assembly C, and flywheel assembly D are on the same plane, and between the precession shaft 115 of flywheel assembly A and the precession shaft 115 of flywheel assembly B An included angle is formed. An included angle is formed between the precession shaft 115 of the flywheel assembly C and the precession shaft 115 of the flywheel assembly D. The included angle can be any non-zero angle, that is, the X axis or the Y axis shown in FIG. 5 On the same plane and not parallel to each other.
本领域技术人员在考虑说明书及实践这里公开的发明后，将容易想到本发明的其它实施方案。本申请旨在涵盖本发明的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本发明的一般性原理并包括本发明未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本发明的真正范围和精神由下面的权利要求指出。Other embodiments of the invention will be readily apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any modification, use or adaptation of the present invention, these modifications, uses or adaptations follow the general principles of the present invention and include common knowledge or conventional technical means in the technical field not disclosed in the present invention . The specification and examples are to be considered exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
应当理解的是，本发明并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本发明的范围仅由所附的权利要求来限制。It should be understood that the present invention is not limited to the precise constructions which have been described above and shown in the accompanying drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
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