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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- CN110615046A CN110615046A CN201910766042.9A CN201910766042A CN110615046A CN 110615046 A CN110615046 A CN 110615046A CN 201910766042 A CN201910766042 A CN 201910766042A CN 110615046 A CN110615046 A CN 110615046A
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- 230000000694 effects Effects 0.000 title claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 56
- 230000005540 biological transmission Effects 0.000 claims abstract description 26
- 230000002093 peripheral effect Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 abstract description 7
- 230000033001 locomotion Effects 0.000 abstract description 6
- 230000000712 assembly Effects 0.000 description 12
- 238000000429 assembly Methods 0.000 description 12
- 230000005484 gravity Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
- B62D37/04—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses
- B62D37/06—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses using gyroscopes
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- Chemical & Material Sciences (AREA)
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- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention discloses a self-balancing device based on a gyroscopic precession effect, which comprises a frame, wherein two precession mechanisms are arranged in the frame, and are symmetrically arranged relative to a central axis of the frame; each precession mechanism comprises a first flywheel component, a second flywheel component, a precession motor, a first transmission mechanism and a second transmission mechanism; the first flywheel component and the second flywheel component can rotate around respective longitudinal central axes; precession motor is connected with first flywheel subassembly through first drive mechanism, first flywheel subassembly is connected with second flywheel subassembly through second drive mechanism, utilize the rotation of two precession mechanism's flywheel subassembly, and the precession motor of every precession mechanism drives the precession rotation of two flywheel subassemblies simultaneously, make this self-balancing unit can keep the self-balancing in the biax direction, satisfy the actual demand, and guarantee that the motion of two flywheel subassemblies of precession mechanism is unified, can reach very high precession acceleration, less size has, the space is saved.
Description
Technical Field
The invention relates to the technical field of balance control, in particular to a self-balancing device based on a gyroscopic precession effect.
Background
In the running process of the moving object, the moving object can be subjected to external force action to cause unbalance due to external environmental factors. Therefore, a self-balancing device needs to be installed on the moving object to ensure that the moving object can be automatically balanced after losing balance to prevent toppling. However, each flywheel disc of the existing self-balancing device needs a steering engine to control, so that the movement of the flywheel discs is not uniform, the high precession acceleration cannot be achieved, and if a large adjusting force needs to be obtained, the rotational inertia of the flywheel needs to be further increased, so that the whole size is increased, and a large amount of space is occupied; and can only realize single-axis stability and can not meet the actual requirement.
Disclosure of Invention
The invention aims to provide a self-balancing device based on a gyroscopic precession effect, which aims to solve the problems that each flywheel disc of the existing self-balancing device needs a steering engine for control, so that the movement of the flywheel discs is not uniform, the high precession acceleration cannot be achieved, and if a large adjusting force needs to be obtained, the rotational inertia of a flywheel needs to be further increased, so that the whole size is increased, and a large amount of space is occupied; and can only realize the single-axis stability and can not meet the actual requirement.
According to the embodiment of the invention, a self-balancing device based on a gyroscopic precession effect is provided, which comprises a frame,
two precession mechanisms are arranged in the rack, and are symmetrically arranged relative to a central axis of the rack;
each precession mechanism comprises a first flywheel component, a second flywheel component, a precession motor, a first transmission mechanism and a second transmission mechanism; the first flywheel assembly and the second flywheel assembly can rotate around respective longitudinal central axes;
the precession motor is connected with first flywheel subassembly through first drive mechanism, first flywheel subassembly is connected with the second flywheel subassembly through second drive mechanism, the precession motor can make first minute wheelset and second minute wheelset rotatory around respective horizontal axis with the angular speed that the speed is the same and the opposite direction.
Specifically, the first flywheel component and the second flywheel component respectively comprise a shell, a flywheel motor and a connecting bearing;
the flywheel is positioned in the shell, the peripheral wall of one end of the flywheel is rotatably connected with one end surface of the shell through a connecting bearing, and the peripheral wall of the other end of the flywheel is rotatably connected with the other end surface of the shell through a connecting bearing; a rotating shaft of the flywheel motor penetrates through one end face of the shell and is rotatably connected with one end of the flywheel, and the flywheel motor can drive the flywheel to rotate along a longitudinal central axis of the first flywheel assembly; the precession linkage gears of the first flywheel component and the second flywheel component are meshed;
the outer side wall of the shell of the first flywheel component is connected with the outer side wall of the shell of the second flywheel component through a second transmission mechanism;
one end face, opposite to the flywheel motor, of the shell of the first flywheel assembly is connected with the precession motor through a first transmission mechanism.
Specifically, the first transmission mechanism comprises a first precession drive gear and a second precession drive gear; first precession drive gear installs in the axis of rotation of precession motor, second precession drive gear install on the casing of first flywheel subassembly with on the relative terminal surface of flywheel motor just the installation direction of second precession drive gear is mutually perpendicular with the terminal surface of casing, first precession drive gear and the meshing of second precession drive gear.
Specifically, the second transmission mechanism comprises a first precession linkage gear and a second precession linkage gear;
the first precession linkage gear is arranged on the outer side wall of the shell of the first flywheel component, and the second precession linkage gear is arranged on the outer side wall of the shell of the second flywheel component;
the first precession linkage gear is meshed with the second precession linkage gear.
Specifically, the flywheel motor is a brushless direct current motor, and the rotating speed of the flywheel is 30000 r/min.
Specifically, the shell comprises an upper shell and a lower shell, and the outer edge of the upper shell is detachably connected with the outer edge of the lower shell.
Specifically, a precession rotating shaft is arranged on the outer side wall of the shell along the direction of the transverse central axis.
Specifically, the precession rotating shafts of the two precession mechanisms are arranged on the same plane at an included angle with each other.
The embodiment of the invention provides a self-balancing device based on a gyro precession effect, which utilizes the autorotation of flywheel assemblies of two precession mechanisms and the precession motor of each precession mechanism to simultaneously drive the precession rotation of the two flywheel assemblies, so that the self-balancing device can keep self-balancing in the double-axis direction, meets the actual requirement, ensures the uniform motion of the two flywheel assemblies of the precession mechanism, can achieve very high precession acceleration, has smaller size and saves space.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a top view of a self-balancing device based on gyroscopic precession effect according to the present invention;
FIG. 2 is a block diagram of a first flywheel assembly;
FIG. 3 is a front view of FIG. 2;
FIG. 4 is a block diagram of a precession mechanism;
fig. 5 is a force analysis diagram of a self-balancing device based on the gyroscopic precession effect.
The device comprises a 1-precession mechanism, 11-a first flywheel component, 111-a flywheel motor, 112-an upper shell, 113-a connecting bearing, 114-a flywheel, 115-a precession rotating shaft, 116-a lower shell, 12-a second flywheel component, 2-a first precession linkage gear, 3-a second precession driving gear, 4-a second precession linkage gear, 5-a first precession driving gear, 6-a precession motor and 7-a rack.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
According to an embodiment of the present invention, as shown in fig. 1, 4 and 5, a self-balancing device based on a gyroscopic precession effect is provided, which includes a frame 7, two precession mechanisms 1 are disposed in the frame 7, and the two precession mechanisms 1 are symmetrically disposed with respect to a central axis of the frame 7; each precession mechanism 1 comprises a first flywheel component 11, a second flywheel component 12, a precession motor 6, a first transmission mechanism and a second transmission mechanism; the first flywheel assembly 11 and the second flywheel assembly 12 can rotate around respective longitudinal central axes; the precession motor 6 is connected with the first flywheel assembly 11 through a first transmission mechanism, the first flywheel assembly 11 is connected with the second flywheel assembly 12 through a second transmission mechanism, and the precession motor 6 can enable the first wheel dividing assembly and the second wheel dividing assembly to rotate around respective transverse central axes at angular speeds which are the same in speed and opposite in direction.
The embodiment of the invention provides a self-balancing device based on a gyro precession effect, which utilizes the autorotation of flywheel assemblies of two precession mechanisms 1 and the precession motor 6 of each precession mechanism 1 to simultaneously drive the precession rotation of the two flywheel assemblies, so that the self-balancing device can keep self-balancing in the double-axis direction, meets the actual requirement, ensures the uniform motion of the two flywheel assemblies of the precession mechanism 1, can achieve very high precession acceleration, has smaller size and saves space.
In the above embodiment, as shown in fig. 2 and 3, each of the first flywheel assembly 11 and the second flywheel assembly 12 includes a housing, a flywheel 114, a flywheel motor 111, and a connecting bearing 113; the flywheel 114 is positioned in the shell, the peripheral wall of one end of the flywheel 114 is rotatably connected with one end surface of the shell through a connecting bearing 113, and the peripheral wall of the other end of the flywheel 114 is rotatably connected with the other end surface of the shell through a connecting bearing 113; a rotating shaft of the flywheel motor 111 penetrates through one end face of the shell and is rotatably connected with one end of the flywheel 114, and the flywheel motor 111 can drive the flywheel 114 to rotate along a 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 meshed; the outer side wall of the housing of the first flywheel assembly 11 is connected with the outer side wall of the housing of the second flywheel assembly 12 through a second transmission mechanism; one end face of the housing of the first flywheel assembly 11, which is opposite to the flywheel motor 111, is connected with the precession motor 6 through a first transmission mechanism. The precession motor 6 is used for detecting the position and the speed by using a Hall sensor so as to monitor the posture of the self-balancing device, and the precession motor 6 is fixedly connected to the frame 7 through a flange; the flywheel motor 111 is controlled by PWM, and the flywheel motor 111 is fixedly connected with the shell. The flywheel 114 is connected with the flywheel motor 111 through a screw pair, the flywheel 114 adopts a flange type structure, the upper part and the lower part of the shaft of the flywheel 114 are respectively provided with a shaft shoulder which is respectively propped against the connecting bearings 113 on the two end surfaces of the shell.
Specifically, as shown in fig. 5, one precession mechanism 1 includes a flywheel assembly a and a flywheel assembly C, and the other precession mechanism 1 includes a flywheel assembly B and a flywheel assembly D, and the flywheels 114 of the four flywheel assemblies move at the same angular velocity and different angular velocities in different directions during operation. When the device connected with the frame 7 rotates around the x axis, the center of gravity shifts, gravity generates a turning moment M0 to the support plane, the flywheel motor 111 in the flywheel assembly a drives the flywheel 114 to rotate clockwise around the axis at an angular velocity of ω 0 'in the direction shown in fig. 5, the flywheel motor 111 in the flywheel assembly C drives the flywheel 114 to rotate counterclockwise around the axis at an angular velocity of ω 0 in the direction shown in fig. 5, the precession motor 6 drives the flywheel assembly a to precess in the direction shown in fig. 5 with a magnitude of ω 1 through the first transmission mechanism, the flywheel assembly a drives the flywheel assembly C to precess in a direction opposite to the precession direction of the flywheel assembly a with a magnitude of ω 1 through the second transmission mechanism, and according to conservation of angular momentum, the two flywheel assemblies can respectively provide balancing moments opposite to the turning moment M1 and M1' and the turning moment M0, so that the whole body is balanced.
Similarly, when the device connected to the frame 7 rotates around the Y axis, the center of gravity shifts, and gravity generates a turning moment M0 ' to the support plane, the flywheel motor 111 of the flywheel assembly B drives the flywheel 114 to rotate around the axis clockwise at an angular velocity of ω 0 ' in the direction shown in fig. 5, the flywheel motor 111 of the flywheel assembly D drives the flywheel 114 to rotate around the axis counterclockwise at an angular velocity of ω 0 ', the precession motor 6 drives the flywheel assembly B to precess with a magnitude of ω 2 along the direction shown in fig. 5 through the first transmission mechanism, the flywheel assembly B drives the flywheel assembly D to precess with a magnitude of ω 2 in a direction opposite to the precession direction of the flywheel assembly B through the second transmission mechanism, and according to the conservation of angular momentum, the two flywheel assemblies respectively provide balancing moments opposite to the turning moments M2, M2 ' and the turning moment M0 ', so that the whole body is balanced. Therefore, the self-balancing device of the embodiment can achieve the balance in one direction only by utilizing the autorotation of the flywheel 114 of the flywheel assembly and the precession of the two flywheel assemblies driven by one progressive motor, and compared with the prior art that each flywheel 114 plate needs to be driven by an independent steering engine to precess, the device ensures the uniformity and synchronism of the movement of the flywheel assemblies, can achieve very high precession acceleration, has smaller size and saves space.
In the above embodiment, as shown in fig. 2, 3 and 4, the first transmission mechanism includes the first precession drive gear 5 and the second precession drive gear 3; the first precession driving gear 5 is installed on a rotating shaft of the precession motor 6, the second precession driving gear 3 is installed on one end face of the casing of the first flywheel assembly 11 opposite to the flywheel motor 111, the installation direction of the second precession driving gear 3 is perpendicular to the end face of the casing, and the first precession driving gear 5 is meshed with the second precession driving gear 3. The second precession drive gear 3 is a semicircular gear structure, and the precession motor 6 drives the first flywheel assembly 11 to rotate around a horizontal transverse central axis of the first flywheel assembly 11, i.e. an X axis or a Y axis shown in fig. 5, through rotation of the first precession drive gear 5 and the second precession drive gear 3.
In the above embodiment, as shown in fig. 2, 3 and 4, the second transmission mechanism includes the first precession link gear 2 and the second precession link gear 4; the first precession linkage gear 2 is arranged on the outer side wall of the shell of the first flywheel component 11, and the second precession linkage gear 4 is arranged on the outer side wall of the shell of the second flywheel component 12; the first precession linkage gear 2 is engaged with the second precession linkage gear 4. The first precession linkage gear 2 and the second precession linkage gear 4 are of circular arc-shaped gear structures; in the rotating process of the first flywheel assembly 11, the meshing of the first precession linkage gear 2 and the second precession linkage gear 4 is utilized to drive the second flywheel assembly 12 to rotate along the direction which is the same as the rotating speed of the first flywheel assembly 11 and opposite to the rotating speed of the first flywheel assembly, so that the uniformity and the synchronism of the rotation of the two flywheel assemblies are ensured.
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 rapid start and rapid acceleration, and can provide a large precession angle for the flywheel 114 in a very short time.
In the above embodiment, as shown in fig. 2, the housing includes an upper housing 112 and a lower housing 116, and the outer edge of the upper housing 112 is detachably connected to the outer edge of the lower housing 116. Specifically, the upper housing 112 and the lower housing 116 are connected by bolts, which facilitates the assembly and disassembly of the housings.
In the above embodiment, as shown in fig. 5, the outer side wall of the housing is provided with the precession rotation shaft 115 along the direction of the transverse central axis. Specifically, the precession rotation shaft 115 is hinged to the frame 7, and the precession rotation shaft 115 is disposed in a direction of a rotation axis about which the precession motor 6 drives the precession rotation of the flywheel assembly, i.e., an X axis or a Y axis shown in fig. 5.
In the above embodiment, the precession rotation axes 115 of the two precession mechanisms 1 are arranged at an angle to each other on the same plane. As shown in fig. 5, the precession rotation axis 115 of the flywheel assembly a, the flywheel assembly B, the flywheel assembly C and the flywheel assembly D are located on the same plane, and an included angle is formed between the precession rotation axis 115 of the flywheel assembly a and the precession rotation axis 115 of the flywheel assembly B, and an included angle is formed between the precession rotation axis 115 of the flywheel assembly C and the precession rotation axis 115 of the flywheel assembly D, and the included angle may be any non-zero angle, that is, the X axis or the Y axis shown in fig. 5 is located on the same plane and is not parallel to each other.
Other embodiments of the invention will be 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 variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that 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.
Claims (8)
1. A self-balancing device based on gyroscopic precession effect is characterized by comprising a frame (7),
two precession mechanisms (1) are arranged in the rack (7), and the two precession mechanisms (1) are symmetrically arranged relative to the central axis of the rack (7);
each precession mechanism (1) comprises a first flywheel component (11), a second flywheel component (12), a precession motor (6), a first transmission mechanism and a second transmission mechanism; the first flywheel component (11) and the second flywheel component (12) can rotate around respective longitudinal central axes;
precession motor (6) are connected with first flywheel subassembly (11) through first drive mechanism, first flywheel subassembly (11) are connected with second flywheel subassembly (12) through second drive mechanism, precession motor (6) can make first minute wheelset and second minute wheelset rotatory around respective horizontal axis with the same and opposite angular velocity of direction of speed.
2. The self-balancing device based on gyroscopic precession effect according to claim 1, characterised in that the first flywheel assembly (11) and the second flywheel assembly (12) each comprise a housing, a flywheel (114), a flywheel motor (111) and a connecting bearing (113);
the flywheel (114) is positioned in the shell, the peripheral wall of one end of the flywheel (114) is rotatably connected with one end surface of the shell through a connecting bearing (113), and the peripheral wall of the other end of the flywheel (114) is rotatably connected with the other end surface of the shell through a connecting bearing (113); a rotating shaft of the flywheel motor (111) penetrates through one end face of the shell and is rotatably connected with one end of the flywheel (114), and the flywheel motor (111) can drive the flywheel (114) to rotate along a longitudinal central axis of the first flywheel assembly (11); the precession linkage gears of the first flywheel component (11) and the second flywheel component (12) are meshed;
the outer side wall of the shell of the first flywheel component (11) is connected with the outer side wall of the shell of the second flywheel component (12) through a second transmission mechanism;
one end face, opposite to the flywheel motor (111), of the shell of the first flywheel component (11) is connected with the precession motor (6) through a first transmission mechanism.
3. The self-balancing device based on gyroscopic precession effect according to claim 2, characterised in that said first transmission means comprise a first precession drive gear (5) and a second precession drive gear (3); first precession drive gear (5) are installed in the axis of rotation of precession motor (6), second precession drive gear (3) install on the casing of first flywheel subassembly (11) with on the relative terminal surface of flywheel motor (111) just the installation direction of second precession drive gear (3) is mutually perpendicular with the terminal surface of casing, first precession drive gear (5) and second precession drive gear (3) meshing.
4. The self-balancing device based on gyroscopic precession effect according to claim 2, characterised in that said second transmission comprises a first precessional linkage gear (2) and a second precessional linkage gear (4);
the first precession linkage gear (2) is installed on the outer side wall of the shell of the first flywheel component (11), and the second precession linkage gear (4) is installed on the outer side wall of the shell of the second flywheel component (12);
the first precession linkage gear (2) is meshed with the second precession linkage gear (4).
5. The self-balancing device based on gyroscopic precession effect according to claim 2, characterised in that the flywheel motor (111) is a brushless dc motor and the rotation speed of the flywheel (114) is 30000 r/min.
6. The self-balancing device based on gyroscopic precession effect according to claim 2, characterised in that the housing comprises an upper housing (112) and a lower housing (116), and the outer edge of the upper housing (112) is detachably connected with the outer edge of the lower housing (116).
7. Self-balancing device according to claim 2, characterised in that the outer side wall of the housing is provided with a precession axis (115) along the direction of the transverse central axis.
8. Self-balancing device according to claim 7, characterised in that the precession axes (115) of the two precession mechanisms (1) are arranged at an angle to each other in the same plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910766042.9A CN110615046B (en) | 2019-08-19 | 2019-08-19 | Self-balancing device based on gyroscopic precession effect |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910766042.9A CN110615046B (en) | 2019-08-19 | 2019-08-19 | Self-balancing device based on gyroscopic precession effect |
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| Publication Number | Publication Date |
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| CN110615046A true CN110615046A (en) | 2019-12-27 |
| CN110615046B CN110615046B (en) | 2021-09-28 |
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| CN201910766042.9A Expired - Fee Related CN110615046B (en) | 2019-08-19 | 2019-08-19 | Self-balancing device based on gyroscopic precession effect |
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| Publication number | Publication date |
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| CN110615046B (en) | 2021-09-28 |
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