CN206657246U - Can omnidirectional's precession spherical top mechanism - Google Patents
Can omnidirectional's precession spherical top mechanism Download PDFInfo
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- CN206657246U CN206657246U CN201720387858.7U CN201720387858U CN206657246U CN 206657246 U CN206657246 U CN 206657246U CN 201720387858 U CN201720387858 U CN 201720387858U CN 206657246 U CN206657246 U CN 206657246U
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- directional wheel
- omnidirectional
- gyrorotor
- spheroid
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Abstract
The utility model discloses it is a kind of can omnidirectional's precession spherical top mechanism, the gyrorotor is in hollow spheroid, the spheroid be placed in can make its can all-direction rotation it is upper, in lower omni-directional wheel drive component, on described, lower omni-directional wheel drive component corresponds respectively to the upper of spheroid, lower peripheral surface is set, each omni-directional wheel drive component includes multiple omni-directional wheel groups of circumference uniform distribution, each omni-directional wheel group includes at least three omni-directional wheel with sphere-contact on corresponding arc wheel carrier, in each omni-directional wheel group, connected two-by-two between the rotating shaft of omni-directional wheel by constant velocity cardan joint, it is first, the rotating shaft of tail omni-directional wheel connects spherical electric machine and detects the incremental encoder of omnidirectional's wheel speed respectively.The utility model solves Steering of the gyrorotor around any axle in space, improves the deficiency of traditional three shaft mechanical gyros, there is provided a kind of omnidirectional's driving method, theoretical direction is provided for the model foundation of omnibearing spherical gyro mechanism.
Description
Technical field：
The utility model is related to gyroscope balance control technology, specially it is a kind of can omnidirectional's precession spherical top mechanism.
Background technology：
Mechanical gyro has the characteristics that compact-sized, operating is stable, and its precession can produce extremely strong gyroscopic couple, be one
The moving object attitude regulation mechanical device of kind high efficient and reliable.Autobalance of the current this normal pooled applications of mechanism in intelligent body
Control aspect, such as " never toppling over " intelligent two-wheel car Lit Motor C1 and single-point support square machine of Lit companies
People Cubli.
Existing mechanical gyro has single shaft, twin shaft and three axles several, and the operating of multiaxis is typically realized by inside and outside nested axle.
In the performance of some skills, the high-speed rotation of gyrorotor, gyroscopic couple can be automatically generated after being interfered and offsets disturbance torque
The balance of holding system.
But the mechanical gyro structural redundancy of current multiaxis, as square robot C ubli employs three single shaft gyros, its
Gyro axis is vertical two-by-two, complicated, there is very high requirement to machining accuracy；And the gyro of single shaft, such as Lit Motor C1
Be horizontally mounted mechanical gyro, the unidirectional precession of pitching can only be carried out, its produce gyroscopic couple adjusting range can be by one
Fixed limitation.
Utility model content
In view of the shortcomings of the prior art, the utility model proposes it is a kind of can omnidirectional's precession spherical top mechanism.
The utility model can omnidirectional's precession spherical top mechanism, its technical scheme includes being placed in the gyrorotor of spheroid,
The spheroid is placed in the upper and lower omni-directional wheel drive component that can make its all-direction rotation, the upper and lower omni-directional wheel drive component point
Not Dui Yingyu the upper and lower sphere of spheroid set, each omni-directional wheel drive component includes circumferentially uniform multiple omni-directional wheel groups, each complete
Include to wheel group in three omni-directional wheels with sphere-contact corresponded on arc wheel carrier, each omni-directional wheel group, two-by-two omnidirectional
Connected between the rotating shaft of wheel by universal joint, the rotating shaft of initial and end omni-directional wheel connects spherical electric machine and detection omnidirectional wheel speed respectively
Incremental encoder.
Key point of the present utility model is how the mechanism is balanced control, and how its torque is transmitted, and works as ball
During body precession, the gyrorotor in spheroid, which runs at high speed, produces gyroscopic couple, and the torque passes through omni-directional wheel drive component and spheroid
Effect of contraction and be delivered in work package and be operated.
The design of foundation and controller for ease of model, the axis of the middle omni-directional wheel of each omni-directional wheel group in top is to submitting
It is compiled in a bit；The axis of the middle omni-directional wheel of each omni-directional wheel group in lower section is intersected in downwards a bit.
To prevent driving from skidding, glue-line is provided with the wheel face of the omni-directional wheel or with the sphere of spheroid.
A kind of structure of omnidirectional's gyro includes gyrorotor placed in the middle, and the upper and lower shaft end of the gyrorotor passes through
Bearning mechanism is installed, the shaft end connection gyro machine of gyrorotor, the increment of another shaft end connecting detection gyrorotor rotating speed
Formula encoder.
The beneficial effects of the utility model：
1st, the utility model mainly solves Steering of the rotor around any axle in space, improves traditional three shaft mechanical tops
The deficiency of spiral shell, there is provided a kind of method of omnidirectional's driving, while provide theory for the model foundation of omnibearing spherical gyro mechanism
Instruct.
2nd, the utility model accurately controls the precession steering of ball after by modeling, and it can be made to be produced on any direction of principal axis
Raw gyroscopic couple.
3rd, the utility model make use of the operation principle of constraint tramsfer torque, can have rotating torque caused by high speed rotor
The parts that pass to of effect are operated.
Brief description of the drawings
Fig. 1 is a kind of dimensional structure diagram of embodiment of the utility model.
Fig. 2 is the dimensional structure diagram of lower bracing frame in Fig. 1 embodiments.
Fig. 3 is the internal structure schematic diagram of spherical shell in this Fig. 1 embodiments.
Figure number identifies：1st, spheroid；2nd, arc wheel carrier；3rd, omni-directional wheel；4th, universal joint；5th, pancake motor；6th, increment type encodes
Device；7th, gyrorotor；8th, gyro machine；9th, bearing；10th, dividing plate；11st, supporting plate；12nd, omni-directional wheel group；13rd, platform.
Embodiment
Illustrated embodiment is described further to the technical solution of the utility model below in conjunction with the accompanying drawings.
The utility model can omnidirectional's precession spherical top mechanism, its technical scheme includes hollow spheroid 1, the spheroid
1 is placed in the upper and lower omni-directional wheel drive component of its rotation of omni-directional drive, and upper and lower omni-directional wheel drive component is installed on parts
On upper and lower platform 13, spheroid 1 is built-in with gyrorotor 7, as shown in Figure 1.
Omnidirectional's gyro is included in gyrorotor 7 placed in the middle in spheroid 1, the upper and lower end point of the rotating shaft of gyrorotor 7
Do not installed in place on upper and lower dividing plate 10 inside the spheroid 1 by bearing 9, the upper end of the rotating shaft of gyrorotor 7 by being installed on every
Gyro machine 8 on plate 10 directly drives, and the lower end of the rotating shaft of gyrorotor 7 is connected and installed in the increment type coding on lower clapboard 10
Device 6, as shown in Figure 3.
Upper and lower omni-directional wheel drive component corresponds on the upper and lower sphere of spheroid 1 respectively, with the next omni-directional wheel drive component
Exemplified by：(each omni-directional wheel group 12 is in each corresponding to three omni-directional wheel groups 12 of the next omni-directional wheel drive component including circumference uniform distribution
Vertical plane on), each omni-directional wheel group 12 includes complete with the sphere-contact of spheroid 1 by three of the corresponding installation of arc wheel carrier 2
To 3 (there is identical specification size) of wheel, in each omni-directional wheel group 12, the rotating shaft of first omni-directional wheel 3 and second omni-directional wheel 3
Connected between rotating shaft, the rotating shaft of second omni-directional wheel 3 and the rotating shaft of the 3rd omni-directional wheel 3 by universal joint 4, first omnidirectional
The rotating shaft of wheel 3 and the output axis connection for the motor 5 installed on arc wheel carrier 2, rotating shaft and the arc wheel carrier 2 of the 3rd omni-directional wheel 3
The rotating shaft connection of the incremental encoder 6 of upper installation, each arc wheel carrier 2 is by corresponding supporting plate 11 in the lower platform of parts
Installed on 13, the middle omni-directional wheel 3 in three omni-directional wheel groups 12 be in same level and among three omni-directional wheel 3 axis
Intersect at a bit downwards；The upper and lower alignment in position of corresponding omni-directional wheel group 12 in upper and lower omni-directional wheel drive component, as Fig. 1,
Shown in Fig. 2.
Claims (5)
1. can omnidirectional's precession spherical top mechanism, including gyrorotor (7), it is characterised in that：The gyrorotor (7) is located at
In hollow spheroid (1), the spheroid (1), which is placed in, can make it described in upper and lower omni-directional wheel drive component of all-direction rotation
The upper and lower sphere that upper and lower omni-directional wheel drive component corresponds respectively to spheroid (1) is set, and each omni-directional wheel drive component includes circumference
Uniform multiple omni-directional wheel groups (12), each omni-directional wheel group include on corresponding arc wheel carrier (2) at least three and sphere
The omni-directional wheel (3) of contact, in each omni-directional wheel group, connected two-by-two between the rotating shaft of omni-directional wheel (3) by universal joint (4), initial and end is complete
Rotating shaft to wheel (3) connects pancake motor (5) and detects the incremental encoder (6) of omni-directional wheel (3) rotating speed respectively.
2. it is according to claim 1 can omnidirectional's precession spherical top mechanism, it is characterised in that：Upper and lower omnidirectional's wheel drive
Component is three omni-directional wheel groups (12).
3. it is according to claim 2 can omnidirectional's precession spherical top mechanism, it is characterised in that：Upper each omni-directional wheel group
(12) axis of middle omni-directional wheel (3) is intersected in a bit upwards；The axle of the middle omni-directional wheel (3) of each omni-directional wheel group (12) in lower section
Line is intersected in downwards a bit.
4. according to any one in claims 1 to 3 can omnidirectional's precession spherical top mechanism, it is characterised in that：Institute
State on the wheel face of omni-directional wheel (3) or be provided with glue-line with the sphere of spheroid (1).
5. according to any one in claims 1 to 3 can omnidirectional's precession spherical top mechanism, it is characterised in that：Institute
Stating omnidirectional's gyro includes gyrorotor (7) placed in the middle, and the upper and lower shaft end of the gyrorotor (7) is installed by Bearning mechanism, top
The shaft end connection gyro machine (8) of spiral shell rotor (7), the increment type coding of another shaft end connecting detection gyrorotor (7) rotating speed
Device (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720387858.7U CN206657246U (en) | 2017-04-13 | 2017-04-13 | Can omnidirectional's precession spherical top mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720387858.7U CN206657246U (en) | 2017-04-13 | 2017-04-13 | Can omnidirectional's precession spherical top mechanism |
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| Publication Number | Publication Date |
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| CN206657246U true CN206657246U (en) | 2017-11-21 |
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| CN201720387858.7U Active CN206657246U (en) | 2017-04-13 | 2017-04-13 | Can omnidirectional's precession spherical top mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106873645A (en) * | 2017-04-13 | 2017-06-20 | 桂林电子科技大学 | Can omnidirectional's precession spherical top mechanism and control method |
-
2017
- 2017-04-13 CN CN201720387858.7U patent/CN206657246U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106873645A (en) * | 2017-04-13 | 2017-06-20 | 桂林电子科技大学 | Can omnidirectional's precession spherical top mechanism and control method |
| CN106873645B (en) * | 2017-04-13 | 2023-06-20 | 桂林电子科技大学 | Spherical gyro mechanism capable of conducting omnidirectional precession and control method |
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