CN114759724A

CN114759724A - Torque output device

Info

Publication number: CN114759724A
Application number: CN202210297761.2A
Authority: CN
Inventors: 高潮; 王志伟; 李雨欣; 代加林; 邵博; 于洁
Original assignee: China Three Gorges Corp
Current assignee: China Three Gorges Corp
Priority date: 2022-03-23
Filing date: 2022-03-23
Publication date: 2022-07-15
Anticipated expiration: 2042-03-23
Also published as: CN114759724B

Abstract

The present invention provides a torque output device, including: the main motor comprises a main motor rotating shaft and a main motor shell used for connecting external equipment; the flywheel system comprises a flywheel and a flywheel driving part, wherein the flywheel driving part comprises a flywheel motor, the flywheel motor is in transmission connection with the flywheel, the flywheel motor is connected with a main motor rotating shaft, and the rotating axis of the flywheel is not parallel or collinear with the rotating axis of the main motor rotating shaft. Under the condition that the rotation axis of the flywheel and the axis of the main motor rotating shaft are not parallel and collinear, when the main motor drives the external rotating part and the rotating flywheel simultaneously, the flywheel has the characteristic of maintaining in-situ rotation and shows an impedance gyro moment, so that the torque output device does not need stable connection of external objects, and can effectively output torque outwards without complex transmission. The defect that the stable and effective torque can be formed only by stably connecting an external object with complex transmission on the shell of the conventional torque output device is overcome.

Description

Torque output device

Technical Field

The invention relates to the technical field of power output devices, in particular to a torque output device.

Background

Torque is a power that causes an object to rotate and is used in a large number of mechanical devices. The prior art torque output devices are generally provided by a power unit (such as an electric motor or a hydraulic motor) with a fixed housing, and the torque output devices of the prior art have to firmly fix the position, especially the rotation direction, of the housing of the power unit. The fixed housing, regardless of the intermediate connection form, is ultimately intended to form a stable connection with a stable external object (such as the ground), so that the output shaft can stably and effectively output torque. Although this type of torque output can be applied to most application scenarios, the disadvantage of the need to stably connect such external objects to the ground is highlighted in some special scenarios, for example, when a small floating platform on the water surface is used for underwater sampling drilling, the floating operation platform is easily reversely spun by the reaction force of the water bottom on the drill pipe during drilling operation due to the shallow draft of the platform caused by the miniaturization of the related equipment, and this instability not only easily affects the normal development of the operation, but also easily causes dizziness and even accidental falls and falling of the operators standing thereon.

Disclosure of Invention

Therefore, the present invention is directed to overcome the problem in the prior art that a housing of a torque output device must be firmly connected to an external object to form a stable effective torque, and thereby a torque output device capable of effectively providing a torque to the outside by itself is provided.

In order to solve the above technical problem, the present application provides a torque output apparatus, including:

the main motor comprises a main motor rotating shaft and a main motor shell used for connecting external equipment;

the flywheel system comprises a flywheel and a flywheel driving part, wherein the flywheel driving part comprises a flywheel motor, the flywheel motor is in transmission connection with the flywheel, the flywheel motor is connected with a main motor rotating shaft, and the rotating axis of the flywheel is not parallel to the rotating axis of the main motor rotating shaft and is not collinear.

Optionally, the axis of rotation of the flywheel intersects and is perpendicular to the axis of the main motor shaft.

Optionally, the number of the flywheels is more than two, and the flywheels are evenly distributed around the circumference of the axis of the main motor rotating shaft.

Optionally, the flywheel drive component further comprises:

the flywheel transmission assembly is arranged between the flywheel and the flywheel motor, and more than two flywheels are driven by the same flywheel motor through the flywheel transmission assembly.

Optionally, the flywheel system further comprises:

the transmission case is arranged between the flywheel and the main motor rotating shaft; the main motor rotating shaft and the flywheel motor are fixedly connected with the transmission case;

the flywheel drive assembly comprises:

the main flywheel gear is arranged on an output shaft of the flywheel motor;

the driven flywheel gear is meshed with the main flywheel gear;

the flywheel rotating shaft is rotatably connected with the side wall of the transmission case, one end of the flywheel rotating shaft extends into the transmission case and is fixedly connected with the driven flywheel gear, and the other end of the flywheel rotating shaft extends out of the transmission case and is fixedly connected with the flywheel.

Optionally, the flywheel rotating shaft includes a sliding shaft and a transmission shaft slidably sleeved outside the sliding shaft, a sliding fit surface between the sliding shaft and the transmission shaft is a non-circular cross section, the sliding shaft is fixedly connected to the flywheel, the transmission shaft is rotatably connected to a side wall of the transmission case, a secondary flywheel gear is arranged at one end of the transmission shaft, and a relative position of the sliding shaft on the transmission shaft is adjusted by the flywheel adjusting part.

Optionally, the sliding shaft and the transmission shaft are hollow structures, a slave flywheel gear through hole is arranged on the slave flywheel gear,

the flywheel system also comprises a flywheel adjusting part, and the relative position of the sliding shaft on the transmission shaft is adjusted through the flywheel adjusting part;

the flywheel adjustment component includes:

the adjusting motor is fixedly connected with the transmission case;

the main adjusting gear is arranged on an output shaft of the adjusting motor;

the auxiliary adjusting gear is meshed with the main adjusting gear;

the vertical support is fixedly connected with the transmission case and is positioned on the inner side of the transmission case relative to the driven flywheel gear; the secondary adjusting gear is rotationally connected with the vertical bracket;

the screw rod is fixedly connected with the slave adjusting gear;

the sliding rod is fixedly connected with the vertical support and is parallel to the axis of the lead screw; the sliding rod and the screw rod penetrate through the flywheel gear through hole and are inserted into the hollow structures of the sliding shaft and the transmission shaft;

the sliding block is connected with the sliding rod in a sliding mode, is connected with the lead screw in a threaded mode, is connected with the sliding shaft in a rotating mode and is limited in the axial direction of the sliding shaft.

Optionally, the slide bar is U-shaped, the head of the U-shaped slide bar is fixedly connected with the vertical support, and two side edges of the U-shaped slide bar are slidably connected with the slide block.

Optionally, the main motor rotating shaft is fixedly connected to one end of the transmission case, and the flywheel motor is fixedly connected to the other end of the transmission case; the adjusting motor is fixedly connected inside the transmission case.

Optionally, the transmission case, the flywheel motor and the adjusting motor are all of symmetrical structures, and the symmetrical shaft of the transmission case, the symmetrical shaft of the flywheel motor, the symmetrical shaft of the adjusting motor and the axis of the main motor rotating shaft are located on the same straight line.

By adopting the technical scheme, the invention has the following technical effects:

1. according to the torque output device provided by the invention, under the condition that the rotation axis of the flywheel is not parallel to and collinear with the axis of the main motor rotating shaft, when the main motor simultaneously drives the external rotating part and the rotating flywheel, the flywheel has the characteristic of maintaining in-situ rotation and shows an impedance gyro moment, so that the torque output device can effectively output torque to the outside without stable connection of external objects and complicated transmission. The defect that the shell of the conventional torque output device can form stable and effective torque only by stably connecting an external object with complex transmission is overcome.

2. The torque output device provided by the invention has the advantages that the rotation axis of the flywheel is intersected and vertical to the axis of the main motor rotating shaft, and the gyro moment as large as possible can be obtained under the same other conditions.

3. The torque output device provided by the invention has more than two flywheels which are uniformly distributed around the circumference of the axis of the main motor rotating shaft. More than two flywheels can provide stronger gyro torque, and the torque output capacity of the device is enhanced. In addition, a plurality of flywheels are uniformly distributed around the axis circumference of the main motor rotating shaft, so that a gyroscope body is generally formed, and the rotating shaft of the connected external rotating object can be kept stable by utilizing the shafting fixing property of the gyroscope body.

4. The torque output device provided by the invention drives a plurality of flywheels by the same flywheel motor, so that the whole structure of the device is compact, and the manufacturing cost is reduced.

5. The torque output device provided by the invention realizes synchronous rotation of the flywheels in a gear transmission mode, so that the gyro moment of each flywheel is balanced and uniform and acts on the rotating shaft of the main motor uniformly, the shaft body and the related bearing components are prevented from being stressed unevenly, and the service life of the torque output device is prolonged.

6. The flywheel of the torque output device provided by the invention is adjustable relative to the axial line of the rotating shaft of the main motor, so that the rotary inertia of the integral gyroscope formed by a plurality of flywheels which are uniformly distributed on the circumference is adjustable, and the rotary inertia of the integral gyroscope is increased, so that the rotating shaft of the device can be kept at a high self-stability characteristic by realizing high axial stability at a low rotating speed.

7. The torque output device provided by the invention can enable each flywheel to obtain synchronous axial positioning adjustment through the flywheel adjusting part, so that the symmetry among all parts is ensured in the adjustment process, and the quality balance is also ensured, thereby not influencing the mechanical property of the whole device. In addition, the adjusting structure is very compact, the middle space formed after the main flywheel gear and the driven flywheel gear are meshed is skillfully utilized, and the hollow flywheel transmission assembly is utilized to complete the setting of the adjusting assembly, so that the whole volume of the device is not excessively increased.

8. The U-shaped sliding rod of the torque output device provided by the invention not only simply adds a matching rod piece at the other side to enable the two rods to bear force, but also enables the two rods to be integrated due to the connection of the tail ends (the U-shaped bottom), has higher structural strength, prevents torsional pendulum deflection in a cantilever structure, and ensures the normal operation of equipment.

9. The torque output device provided by the invention has the advantages that the main motor and the flywheel motor are respectively positioned at the two ends of the transmission case, and the adjusting motor is arranged in the transmission case, so that the whole structure of the device is very compact, the structure size of the transmission case can be reduced compared with other layout schemes, and the total weight and the material consumption are reduced.

10. According to the torque output device provided by the invention, the flywheel motor, the adjusting motor and the transmission case are all of symmetrical structures, and the centers of the flywheel motor, the adjusting motor and the transmission case are all overlapped, so that the mass distribution of a gyroscope body formed by a plurality of flywheels is balanced, and better shafting property is obtained.

11. The number of the flywheels on each flywheel rotating shaft and the mass of the flywheels can be installed, replaced and adjusted according to conditions, and the adjustment of the rotational inertia of the whole gyroscope can be further realized.

12. The torque output device can effectively output torque to the outside without the need of stable connection of external objects, so the device can be manufactured into a packaging piece and is convenient for modular design and placement.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic perspective view of an embodiment of the present invention;

FIG. 2 is an exploded perspective view of an embodiment of the present invention;

FIG. 3 is an exploded perspective view of a corresponding portion of the transmission assembly in accordance with an embodiment of the present invention;

FIG. 4 is an exploded perspective view of a corresponding portion of the flywheel drive assembly in accordance with an embodiment of the present invention;

fig. 5 is an exploded perspective view of a corresponding portion of a flywheel adjustment member according to an embodiment of the present invention.

Description of reference numerals:

1-main motor, 2-transmission box assembly, 3-flywheel motor, 4-controller, 5-flywheel transmission component, 6-flywheel adjusting component, 7-transmission box, 8-main flywheel gear, 9-transparent cover, 10-transmission box top flange, 11-main flywheel gear mounting hole, 12-transmission box bottom flange, 13-transmission box through hole, 14-transparent cover through hole, 15-main motor rotating shaft, 16-main motor shell, 17-main motor shell flange, 18-flywheel, 19-flywheel through hole, 20-sliding shaft, 21-sliding shaft flange, 22-transmission shaft, 23-slider limiting hole, 24-transmission shaft step section, 25-sliding shaft through hole, 26-gear seat, 27-transmission shaft through hole, 28-auxiliary flywheel gear, 29-auxiliary flywheel gear through hole, 30-sliding rod, 31-sliding block, 32-slider threaded hole, 33-slider through hole, 34-lead screw, 35-auxiliary adjusting gear, 36-vertical support, 37-auxiliary adjusting gear mounting hole, 38-sliding rod fixing hole, 39-support through hole, 40-main adjusting gear mounting hole, 41-transmission box base flange, 42-main adjusting gear, 43-transmission box base, 44-flywheel rotating shaft and 45-adjusting motor.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood 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.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Furthermore, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

The present embodiment provides a torque output device.

In one embodiment, as shown in fig. 1 and 2, it includes a main motor 1, a flywheel 18, and a flywheel motor 3 that drives the flywheel 18 to rotate. The main motor 1 has a main motor shaft 15 and a main motor housing 16 as a general rotary electric machine; wherein the main motor housing 16 is connected to an external device requiring rotational torque through a main motor housing flange 17. The flywheel 18 is rotatably connected with the main motor rotating shaft 15, and the rotating axis of the flywheel 18 is not parallel and collinear with the axis of the main motor rotating shaft 15. The flywheel motor 3 is connected with the main motor rotating shaft 15 and is connected with the flywheel 18 in a power transmission manner.

The flywheel 18 of the device is driven by the flywheel motor 3 to rotate to form a gyro body, so that the device has the corresponding characteristics of a gyroscopic gyro. The rotation axis including the gyroscope body has a property of being fixed in space, i.e., the orientation of the rotation axis remains unchanged, in other words, the gyroscope body has a resistance to axial changes under the action of external force. If the gyroscope body is forced by external torque to change the orientation of the rotating shaft, the gyroscope body can apply corresponding reverse torque to an external force object, and the torque is called gyroscope torque. Many gyroscopic mechanical works at home and abroad interpret the gyro moment as the main moment of the Coriolis inertia force of each component mass point of a rigid body, the moment is in positive correlation with the rotational inertia of a gyro body, the self rotating speed of the gyro body and the swinging angular speed of a gyro rotating shaft, and for the device, the self rotating speed of the gyro body is directly controlled by a flywheel motor 3, and the swinging angular speed of the gyro rotating shaft is influenced by the rotating speed of a main motor 1. Therefore, when the rotation axis of the flywheel 18 is not parallel to and collinear with the axis of the main motor rotating shaft 15, and the main motor 1 simultaneously drives the external rotating component and the rotating flywheel 18, the flywheel 18 shows an impedance gyro moment, so that the torque output device can effectively output torque to the outside without the need of a firm connection of an external object. For example, when the device is applied to a floating drilling platform, the main motor shell 16 is fixedly connected with a drill rod and is rotatably connected with a drilling machine support, and the shell does not need to be fixedly connected like other power devices. Therefore, even if the drill rod generates reverse torque in the drilling operation, the reverse torque does not act on the floating platform, so that the floating platform keeps stability.

It should be noted that, in order to control the rotation speed and start and stop of the main motor 1 and the flywheel motor 3, the device may be provided with a controller 4, and the connection of some rotating parts of the device with external cables may be realized by the prior art such as a conductive slip ring.

Based on the above embodiment, in a preferred embodiment, the rotation axis of the flywheel 18 intersects and is perpendicular to the axis of the main motor shaft 15. The flywheel 18 and the main motor shaft 15 in such a positional relationship can obtain a gyro moment as large as possible under otherwise the same conditions.

Based on the above embodiment, in a preferred embodiment, the number of the flywheels 18 is two or more, and is evenly distributed around the circumference of the axis of the main motor rotating shaft 15. More than two flywheels 18 may provide a stronger gyroscopic torque, enhancing the torque output capability of the device. In addition, a plurality of flywheels 18, which are distributed uniformly around the axis circumference of the main motor shaft 15, form a gyroscope as a whole, and the shaft of the connected external rotating object can be kept stable by utilizing the shafting stability of the gyroscope. Still use small-size floating drilling platform example, after setting up like this, the drilling rod has the dead axle nature, and even small-size floating platform produces some unstable trends because of reasons such as billowing or strong wind, can also carry out impedance offset by a wide margin under the dead axle nature effect of this device for drilling operation can be accomplished smoothly high-efficiently.

Based on the above embodiments, in a preferred embodiment, as shown in fig. 3, the method further includes: the flywheel transmission assembly 5 is arranged between the flywheel 18 and the flywheel motor 3, and more than two flywheels 18 are driven by the same flywheel motor 3 through the flywheel transmission assembly 5. The plurality of flywheels 18 are driven by the same flywheel motor 3, so that the whole structure of the device is compact, and the manufacturing cost is reduced.

Based on the above embodiments, in a preferred embodiment, as shown in fig. 3 and 4, it further includes: and the transmission case 7 is arranged between the flywheel 18 and the main motor rotating shaft 15. The main motor rotating shaft 15 and the flywheel motor 3 are both fixedly connected with the transmission case 7. And the flywheel transmission assembly 5 comprises: a main flywheel gear 8 arranged on the output shaft of the flywheel motor 3, a secondary flywheel gear 28 engaged with the main flywheel gear 8 and a flywheel rotating shaft 44 rotatably connected with the side wall of the transmission case 7. One end of the flywheel rotating shaft 44 extends into the transmission case 7 and is fixedly connected with the secondary flywheel gear 28, and the other end of the flywheel rotating shaft 44 extends out of the transmission case 7 and is fixedly connected with the flywheel 18. Through the gear transmission mode, synchronous rotation of the flywheels 18 is realized, the gyro moment of each flywheel 18 is balanced and uniform and uniformly acts on the main motor rotating shaft 15, uneven stress on the shaft body and related bearing parts is avoided, and the service life of the main motor is prolonged.

Based on the above embodiments, in a preferred embodiment, as shown in fig. 4, the flywheel rotating shaft 44 includes the sliding shaft 20 and the transmission shaft 22 slidably fitted outside the sliding shaft 20. The sliding engagement surfaces of the sliding shaft 20 and the transmission shaft 22 are non-circular in cross-section (specifically, regular hexagonal in this embodiment) to transmit the rotational torque of the flywheel 18. The sliding shaft 20 passes through the flywheel through hole 19 and is fixedly connected with the flywheel 18 through a sliding shaft flange 21, the transmission shaft 22 is rotatably connected with the side wall of the transmission box 7, one end of the transmission shaft is connected with the driven flywheel gear 28 through a gear seat 26, and the relative position of the sliding shaft 20 on the transmission shaft 22 is adjusted through the flywheel adjusting part 6. The structure realizes that the distance of the flywheel 18 relative to the axis of the main motor rotating shaft 15 is adjustable, so that the rotary inertia of the integral gyroscope formed by a plurality of flywheels 18 which are uniformly distributed on the circumference is adjustable, and the farther the flywheel 18 is away from the axis of the main motor rotating shaft 15, the larger the rotary inertia of the integral gyroscope is. Because the rotation speed of the integral gyroscope is limited by various factors, for example, the rotation speed of the integral gyroscope is limited by factors such as torque and rotation speed output by the device, the rotation speed of the integral gyroscope cannot be too high sometimes, so that the relevant characteristics of the gyroscope are weakened, and the rotation inertia of the integral gyroscope is increased, so that the strong axis fixing performance can be realized by using a lower rotation speed, and the rotating shaft of the device can keep enough self-stability. The flywheel 18 can be retracted at high rotational speeds to provide sufficient self-stability to reduce the operating space occupied by the device. In addition, the number of the flywheels on each flywheel rotating shaft and the mass of the flywheels can be installed, replaced and adjusted according to conditions, and the adjustment of the rotational inertia of the whole gyroscope can be further realized.

Based on the above embodiments, in a preferred embodiment, as shown in fig. 4 and 5, the sliding shaft 20 and the transmission shaft 22 are both hollow, specifically, a sliding shaft through hole 25 is formed in the sliding shaft 20, and a transmission shaft through hole 27 is formed in the transmission shaft 22. The slave flywheel gear 28 is also provided with a slave flywheel gear through hole 29, so that the whole flywheel transmission assembly 5 is of a hollow structure. The flywheel adjusting member 6 includes: the adjusting motor 45, the main adjusting gear 42, the auxiliary adjusting gear 35, the vertical support 36, the lead screw 34, the slide rod 30 and the slide block 31. Wherein, the adjusting motor 45 is fixedly connected with the transmission case 7. The main adjusting gear 42 is provided on an output shaft of the adjusting motor 45. The slave adjusting gear 35 is engaged with the master adjusting gear 42 and is mounted for rotation in the slave adjusting gear mounting hole 37 of the stand 36. The vertical support 36 is fixedly connected with the transmission case 7 through a transmission case base 43 and is located on the inner side of the transmission case 7 (i.e., closer to the center of the transmission case 7) with respect to the driven flywheel gear 28. The lead screw 34 passes through the bracket through hole 39 and is fixedly connected with the secondary adjusting gear 35. The slide rod 30 is inserted into the slide rod fixing hole 38 and is firmly connected with the vertical bracket 36, and is parallel to the axis of the lead screw 34. The slide rod 30 and the lead screw 34 are inserted into the hollow structures of the slide shaft 20 and the transmission shaft 22 through the flywheel gear through hole 29. The sliding block 31 is connected with the sliding rod 30 in a sliding mode through a sliding block through hole 33 and is connected with the lead screw 34 in a threaded mode through a sliding block threaded hole 32. The slider 31 is rotatably connected to the sliding shaft 20, and the slider 31 is axially limited on the sliding shaft 20, specifically, in the present embodiment, a slider limiting hole 23 is formed on a side wall of the sliding shaft 20, the slider limiting hole 23 is groove-shaped, a groove width is larger than a diameter of the sliding shaft through hole 25, and the slider 31 can be not only rotated but also axially limited when inserted into the groove.

The flywheel adjusting part 6 with the structure can ensure that each flywheel 18 obtains synchronous axial positioning adjustment, so that the symmetry of each part, namely the quality balance, is ensured in the adjusting process, and the mechanical property of the whole device is not influenced. In addition, the structure is very compact, the middle space formed by meshing the main flywheel gear 8 and the auxiliary flywheel gear 28 is skillfully utilized, and the hollow flywheel transmission component 5 is utilized to complete the arrangement of the adjusting component, so that the integral volume of the device is not excessively increased.

Based on the above embodiment, in a preferred embodiment, as shown in fig. 3 and 4, in order to fix the transmission shaft 22 in the axial direction, the transmission case 7 is provided with the transmission case through hole 13, the transmission shaft 22 is provided with the transmission shaft step 24 with a larger diameter, so that the transmission shaft step 24 rotates in the transmission case through hole 13, the thin transmission shaft 22 is provided with the transparent cover 9 with the transparent cover through hole 14, and the transparent cover 9 is fixed on the transmission case 7.

Based on the above embodiments, in a preferred embodiment, as shown in fig. 5, the sliding rod 30 is U-shaped, the U-shaped head (i.e. the open end) of the sliding rod 30 is fixedly connected to the upright bracket 36, and two sides of the U-shape of the sliding rod 30 are slidably connected to the sliding block 31. Because the slide bar 30 is in a cantilevered support configuration. In the use state, because of the friction force of the rotating sliding shaft 20 to the sliding block 31, the sliding rod 30 is subjected to corresponding torque, and is easy to deflect, so that the sliding rod is no longer parallel to the lead screw 34, and the sliding block 31 is blocked. The U-shaped sliding rod 30 not only simply adds a matching rod piece at the other side to enable double rods to bear force, but also enables the two rods to be integrated due to the connection of the tail end (the closed end in the U shape), so that the structural strength is higher, the torsional deflection in a cantilever structure is prevented, and the normal operation of the equipment is ensured.

Based on the above embodiments, in a preferred embodiment, as shown in fig. 2 and 3, the main motor shaft 15 is provided with corresponding flanges, the transmission case base 43 is provided with the transmission case base flange 41, the transmission case bottom surface is provided with the transmission case base flange 12, and the three flanges are overlapped and fixedly connected with each other. And a transmission box top flange 10 is arranged at the top end of the transmission box 7 and used for connecting the flywheel motor 3, and an output shaft of the flywheel motor 3 extends into the transmission box 7 from a main flywheel gear mounting hole 11. The adjusting motor 45 is installed in the inner cavity of the transmission case base 43, the output shaft thereof passes through the main adjusting gear installation hole 40 to be connected with the main adjusting gear 42, and the transmission case base 43 is integrally and fixedly connected inside the transmission case 7. The structure that the main motor 1 and the flywheel motor 3 are respectively positioned at two ends of the transmission case 7, and the adjusting motor 45 is arranged in the transmission case 7 is characterized in that the main motor 1 is a power output main part and has a larger volume; the flywheel motor 3 needs to provide high angular momentum for the flywheels 18, so that the power is relatively small, and the overall size is large; and the adjusting motor 45 only provides power for adjusting the position of the flywheel 18, so the power is small and the size is small. Therefore, the whole structure of the device is very compact, compared with other layout schemes, the structure size of the transmission case 7 can be reduced, and the total weight and the material consumption are reduced.

Based on the above embodiments, in a preferred embodiment, as shown in fig. 2 and 3, the transmission case 7, the flywheel motor 3 and the adjusting motor 45 are all of symmetrical structures, and the symmetrical axis of the transmission case 7, the symmetrical axis of the flywheel motor 3, the symmetrical axis of the adjusting motor 45 and the axis of the main motor rotating shaft 15 are on the same straight line. Because the motor and the transmission case 7 are relatively high-mass components except the flywheel 18 in the device, in the layout mode, after the flywheel motor 3, the adjusting motor 45 and the transmission case 7 are all symmetrical structures and the centers are all overlapped, the mass distribution of the gyroscope body formed by the flywheels 18 can be balanced, and better axial stability can be obtained.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications of the invention may be made without departing from the scope of the invention.

Claims

1. A torque output device, comprising:

the main motor (1) comprises a main motor rotating shaft (15) and a main motor shell (16) used for connecting external equipment;

the flywheel system comprises a flywheel (18) and a flywheel driving part, wherein the flywheel driving part comprises a flywheel motor (3), the flywheel motor (3) is in transmission connection with the flywheel (18), the flywheel motor (3) is connected with a main motor rotating shaft (15), and the rotating axis of the flywheel (18) is not parallel to and collinear with the rotating axis of the main motor rotating shaft (15).

2. A torque output device according to claim 1, characterized in that the axis of rotation of the flywheel (18) intersects and is perpendicular to the axis of the main motor shaft (15).

3. A torque output device according to claim 1, characterised in that the number of flywheels (18) is two or more and is evenly distributed circumferentially around the axis of the main motor shaft (15).

4. A torque output device as claimed in claim 3, wherein said flywheel drive member further comprises:

the flywheel transmission assembly (5) is arranged between the flywheel (18) and the flywheel motor (3), and more than two flywheels (18) are driven by the same flywheel motor (3) through the flywheel transmission assembly (5).

5. The torque output device according to claim 4, wherein the flywheel system further comprises:

the transmission case (7) is arranged between the flywheel (18) and the main motor rotating shaft (15); the main motor rotating shaft (15) and the flywheel motor (3) are fixedly connected with the transmission case (7);

the flywheel transmission assembly (5) comprises:

the main flywheel gear (8) is arranged on an output shaft of the flywheel motor (3);

the driven flywheel gear (28) is meshed with the main flywheel gear (8);

the flywheel rotating shaft (44) is rotatably connected with the side wall of the transmission box (7), one end of the flywheel rotating shaft (44) extends into the transmission box (7) and is fixedly connected with the slave flywheel gear (28), and the other end of the flywheel rotating shaft (44) extends out of the transmission box (7) and is fixedly connected with the flywheel (18).

6. The torque output device according to claim 5, wherein the flywheel rotating shaft (44) comprises a sliding shaft (20) and a transmission shaft (22) slidably sleeved outside the sliding shaft (20), the sliding fit surface between the sliding shaft (20) and the transmission shaft (22) is a non-circular cross section, the sliding shaft (20) is fixedly connected with the flywheel (18), the transmission shaft (22) is rotatably connected with the side wall of the transmission case (7), and one end of the transmission shaft is provided with a secondary flywheel gear (28).

7. A torque output device according to claim 6, characterized in that the sliding shaft (20) and the transmission shaft (22) are hollow, and a slave flywheel gear (28) is provided with a slave flywheel gear through hole (29);

the flywheel system further comprises a flywheel adjusting part (6), and the relative position of the sliding shaft (20) on the transmission shaft (22) is adjusted through the flywheel adjusting part (6);

the flywheel adjustment part (6) comprises:

the adjusting motor (45) is fixedly connected with the transmission case (7);

a main adjusting gear (42) arranged on an output shaft of the adjusting motor (45);

a slave adjusting gear (35) meshed with the master adjusting gear (42);

the vertical support (36) is fixedly connected with the transmission box (7) and is positioned at the inner side of the transmission box (7) relative to the driven flywheel gear (28); the secondary adjusting gear (35) is rotationally connected with the vertical bracket (36);

the screw rod (34) is fixedly connected with the slave adjusting gear (35);

the sliding rod (30) is fixedly connected with the vertical bracket (36) and is parallel to the axis of the lead screw (34); the sliding rod (30) and the lead screw (34) both pass through the flywheel gear through hole (29) and are inserted into the hollow structures of the sliding shaft (20) and the transmission shaft (22);

the sliding block (31) is connected with the sliding rod (30) in a sliding mode, is connected with the lead screw (34) in a threaded mode, is connected with the sliding shaft (20) in a rotating mode and is limited in the axial direction of the sliding shaft (20).

8. The torque output device according to claim 7, wherein the slide rod (30) is U-shaped, the U-shaped head of the slide rod (30) is fixedly connected with the upright bracket (36), and two sides of the U-shaped head of the slide rod (30) are slidably connected with the slide block (31).

9. A torque output device according to claim 7, characterized in that the main motor shaft (15) is fixedly connected to one end of the transmission case (7), and the flywheel motor (3) is fixedly connected to the other end of the transmission case (7); the adjusting motor (45) is fixedly connected inside the transmission case (7).

10. The torque output device according to claim 9, wherein the transmission case (7), the flywheel motor (3) and the adjustment motor (45) are all symmetrical structures, and the symmetry axis of the transmission case (7), the symmetry axis of the flywheel motor (3), the symmetry axis of the adjustment motor (45) and the axis of the main motor rotating shaft (15) are in the same straight line.