CN206891446U - The spherical omnidirectional's gyro mechanism of totally enclosed type - Google Patents
The spherical omnidirectional's gyro mechanism of totally enclosed type Download PDFInfo
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- CN206891446U CN206891446U CN201720743739.0U CN201720743739U CN206891446U CN 206891446 U CN206891446 U CN 206891446U CN 201720743739 U CN201720743739 U CN 201720743739U CN 206891446 U CN206891446 U CN 206891446U
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- spheroid
- spherical shell
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- outer spherical
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Abstract
The utility model discloses a kind of spherical omnidirectional's gyro mechanism of totally enclosed type, including being installed in the outer spherical shell on equipment body and the horizontal rotor in outer spherical shell, horizontal rotor is placed between upper and lower arc spheroid, the centre of sphere of upper and lower arc spheroid is concentric with outer spherical shell, twin shaft model plane motor is installed, the upper and lower rotating shaft of twin shaft model plane motor is connected with upper and lower arc spheroid respectively in horizontal rotor；Upper and lower three pairs of trains are formed to being respectively provided with three omni-directional wheels for upper and lower arc spheroid, each omni-directional wheel by corresponding elastic wheel frame of telecontrol be installed on corresponding on arc spheroid and each omni-directional wheel for radial compaction on outer spherical shell inwall, each wheel carrier is provided with the motor that the corresponding omni-directional wheel of driving rotates under the elastic force effect of elastic wheel frame of telecontrol.The utility model solves the problems, such as the encapsulation of mechanical gyro, has the characteristics of compact-sized, safe and reliable.
Description
Technical field
Mechanical gyro balancing technique is the utility model is related to, specially a kind of spherical omnidirectional's gyro mechanism of totally enclosed type.
Background technology
Mechanical gyro is a kind of precision mechanism with high speed rotor, has stable movement and can provide larger gyro power
The characteristic of square.
At present, in terms of mechanical gyro is mainly used in the gesture stability of intelligent body, for example, Self-Balancing vehicle C-1, its car body bottom
Portion produces gyroscopic couple to keep the balance of car body equipped with two flywheels rotated at a high speed by flywheel precession.
From structure, current mechanical gyro is commonly divided into three kinds of single shaft, twin shaft and three axles, wherein, single shaft machinery
Gyro can caused by gyroscopic couple it is more single, can only carry out unidirectional pose adjustment to mechanical system, flexibility ratio deficiency,
Therefore its application is by a definite limitation；And multiaxis (twin shaft and three axles) gyro is generally realized by inside and outside nested axle, structure is relative
Complicated and space efficiency utilization is low.
In addition, in order to produce enough gyroscopic couples, the principle according to caused by gyroscopic couple, existing mechanical gyro
Open high speed rotor would generally be designed with (rotating speed is about 6000r/min~10000r/min).
However, this exposed high speed rotor structure is easily caused itself to turn in application by external influence
The damage of son produces dangerous to extraneous equipment and instrument and the person.
Utility model content
In view of the shortcomings of the prior art, technical problem to be solved in the utility model be propose it is a kind of it is compact-sized,
The spherical omnidirectional's gyro mechanism of safe and reliable totally enclosed type.
The spherical omnidirectional's gyro mechanism of totally enclosed type of above-mentioned technical problem is can solve the problem that, its technical scheme includes being installed in setting
Outer spherical shell on standby host body and the horizontal rotor located at outer spherical shell center of inside, the horizontal rotor are placed in upper and lower arc spheroid
Between, the centre of sphere of upper and lower arc spheroid is concentric with outer spherical shell, twin shaft model plane motor is provided with horizontal rotor, in level
The upper and lower rotating shaft of twin shaft model plane motor on rotor centre of gyration line is connected with upper and lower arc spheroid respectively；Corresponding to upper and lower
Arc spheroid is respectively provided with three omni-directional wheels and forms upper and lower three pairs of trains, the axle of three omni-directional wheels corresponding with upper arc spheroid
Line is orthogonal to a bit upwards, and the axis of three omni-directional wheels corresponding with arc lower spheroid is orthogonal to downwards a bit, in each pair of train
Upper and lower omni-directional wheel be symmetrical with the centre of sphere, each omni-directional wheel by corresponding elastic wheel frame of telecontrol be installed on corresponding to it is on arc spheroid and each
For radial compaction on the correspondence position of outer spherical shell inwall, each wheel carrier is provided with driving to omni-directional wheel under the elastic force effect of elastic wheel frame of telecontrol
The encoder for the motor omni-directional wheel rotational parameters corresponding with detection that corresponding omni-directional wheel rotates.
A kind of structure of each elastic wheel frame of telecontrol includes left and right support body, and each support body includes the spring housing and spring catch of mutual sheathing,
Pretension has compression spring between the spring housing and spring catch, and the omni-directional wheel is installed by wheel shaft on left and right spring housing,
The bottom of left and right spring catch is installed on corresponding arc spheroid.
Conventionally, the diameter of the horizontal rotor is more than arc spheroid base diameter and is less than the internal diameter of outer spherical shell.
Conventionally, the outer spherical shell is installed on equipment body by the shell block of its upper and lower, left and right.
The beneficial effects of the utility model：
1st, the spherical omnidirectional's gyro mechanism of the utility model totally enclosed type mainly solves the problems, such as the encapsulation of mechanical gyro, has
The characteristics of compact-sized, safe and reliable.
2nd, in the utility model structure, horizontal rotor is connected with upper and lower arc spheroid, and arc spheroid is fixed on by driving
On omni-directional wheel, the arc spheroid free omnidirectional's precession in outer spherical shell for alloing horizontal rotor and being connected, so as to
Gyroscopic couple is provided on any direction of principal axis.
3rd, in the utility model structure, it is fixed with horizontal rotor on connected arc spheroid for driving and producing power
The omni-directional wheel of square, omni-directional wheel make it tightly be contacted with outer spherical shell inwall, keep good transmission effect by elastic wheel frame of telecontrol.
Brief description of the drawings
Fig. 1 is a kind of structural representation of embodiment of the utility model.
Fig. 2 is Fig. 1 embodiment internal structure schematic diagrams.
Fig. 3 (a) is the structural representation of elastic wheel frame of telecontrol in Fig. 1 embodiments.
Fig. 3 (b) is the A-A cut-away views in Fig. 3 (a).
Figure number identifies：1st, outer spherical shell；2nd, horizontal rotor；3rd, arc spheroid；4th, twin shaft model plane motor；5th, omni-directional wheel；6th, it is electric
Machine；7th, elastic wheel frame of telecontrol；7-1, spring housing；7-2, spring catch；7-3, compression spring；7-4, wheel shaft.
Embodiment
Illustrated embodiment is described further to the technical solution of the utility model below in conjunction with the accompanying drawings.
The spherical omnidirectional's gyro mechanism of the utility model totally enclosed type, its structure include outer spherical shell 1 and in outer spherical shells 1
Horizontal rotor 2 and upper and lower arc spheroid 3, the outer spherical shell 1 are installed on equipment machine by the square shell block of its upper and lower, left and right
On body, as shown in Figure 1.
Middle position of the horizontal rotor 2 inside outer spherical shell 1 is set, and the centre of gyration line of horizontal rotor 2 is in outer
On the centre of sphere of spherical shell 1, upper and lower arc spheroid 3 is respectively arranged on above and below horizontal rotor 2, the ball of upper and lower arc spheroid 3
The heart is concentric with the centre of sphere of outer spherical shell 1, maintains interval between upper and lower arc spheroid 3 and horizontal rotor 2, horizontal rotor 2 it is straight
Footpath is more than the upper and lower base diameter of arc spheroid 3 and navigated less than the internal diameter of outer spherical shell 1, the center of inside of horizontal rotor 2 provided with twin shaft
Mould motor 4, the upper and lower rotating shaft of the twin shaft model plane motor 4 are on the centre of gyration line of horizontal rotor 2, twin shaft model plane motor 4
Upper and lower rotating shaft respectively enter the inside of upper and lower arc spheroid 3 and installed by bearing and connect, as shown in Figure 1 and Figure 2.
Upper and lower arc spheroid 3 is spacing by each three omni-directional wheels 5 (circumference uniform distribution) space of upper and lower respectively, upper and lower each
Three omni-directional wheels 5 form upper and lower three pairs of trains, and one is orthogonal to upwards with the axis of upper 3 corresponding three omni-directional wheels 5 of arc spheroid
Point, it is orthogonal to downwards a bit with the axis of 3 corresponding three omni-directional wheels 5 of arc lower spheroid, the upper and lower omni-directional wheel in each pair of train
5 are symmetrical with the centre of sphere, and each omni-directional wheel 5 is installed in place by the elastic wheel frame of telecontrol 7 on arc spheroid 3, the omni-directional wheel 5 after installation is in place
On the inwall of outer spherical shell 1, each elastic wheel frame of telecontrol 7 is provided with encoder radial compaction under the elastic force effect of elastic wheel frame of telecontrol 7
The corresponding omni-directional wheel 5 of the driving of motor 6 rotates, as shown in Figure 1 and Figure 2.
The elastic wheel frame of telecontrol 7 includes left and right support body, and each support body includes forward and backward two groups of spring housing 7-1 and spring catch 7-2 groups
Part, in every group of component, spring housing 7-1 and spring catch 7-2 mutual sheathings simultaneously have a compression spring 7-3 in pretension between the two, two groups
Spring housing 7-1 outer end connects and composes the inside "u"-shaped that is open, forward and backward two groups of spring catch 7-2 of left and right support body bottom
Portion be installed on corresponding on arc spheroid 3, corresponding omni-directional wheel 5 left and right support body is installed on by its left and right wheel shaft 7-4 before,
Be between spring housing 7-1 afterwards wheel shaft 7-4 in being connected in the medial launder of "u"-shaped with spring housing 7-1, as shown in Figure 1, Figure 2, Fig. 3
(a), shown in Fig. 3 (b).
The operation method of the spherical omnidirectional's gyro mechanism of the utility model totally enclosed type, including following job step：
1st, starting twin shaft model plane motor 4 drives horizontal rotor 2 to rotate at a high speed.
2nd, require that setting horizontal rotor 2 centre of gyration line it is expected the direction of precession according to the Torque vector control of equipment body
The velocity magnitude operated with horizontal rotor 2.
3rd, based on the expectation precession of the centre of gyration line of horizontal rotor 2, moved according to omni-directional wheel 5 on arc spheroid 3
Inverse kinematics principle obtain the speed of driving needed for each omni-directional wheel 5, due to omni-directional wheel 5 on the outer inwall of spherical shell 1 by friction
Power is moved and the centre of gyration line of horizontal rotor 2 is gone up precession in any direction, therefore the actuating speed of omni-directional wheel 5 has all the time
Solution.
4th, start motor 6 to drive the speed of six omni-directional wheels 5 on request to rotate and synthesize institute by certain corresponding relation
Desired speed, the synchronous driving of upper and lower omni-directional wheel 5 in each pair of train.
5th, the horizontal rotor 2 to run at high speed produces gyroscopic couple due to the precession of its centre of gyration line, the gyroscopic couple
Transmitted by the contiguity constraint between omni-directional wheel 5 and outer spherical shell 1 and outside spherical shell 1, because outer spherical shell 1 is fixedly mounted on equipment machine
On frame, therefore the equipment that gyroscopic couple is ultimately transferred to need torque.
6th, by adjusting direction and the running speed size of horizontal rotor 2 of the centre of gyration line of horizontal rotor 2, and then top is adjusted
Spiral shell output torque vector.
Claims (4)
1. the spherical omnidirectional's gyro mechanism of totally enclosed type, it is characterised in that：Including the outer spherical shell (1) being installed on equipment body and set
In the horizontal rotor (2) of outer spherical shell (1) center of inside, the horizontal rotor (2) is placed between upper and lower arc spheroid (3), upper,
The centre of sphere of arc lower spheroid (3) is concentric with outer spherical shell (1), is provided with twin shaft model plane motor (4) in horizontal rotor (2), is in
The upper and lower rotating shaft of twin shaft model plane motor (4) on horizontal rotor (2) centre of gyration line connects with upper and lower arc spheroid (3) respectively
Connect；Three omni-directional wheels (5) are respectively provided with corresponding to upper and lower arc spheroid (3) and form upper and lower three pairs of trains, with upper arc spheroid
(3) axis of three omni-directional wheels (5) corresponding to is orthogonal to a bit upwards, three omni-directional wheels (5) corresponding with arc lower spheroid (3)
Axis be orthogonal to downwards a bit, the upper and lower omni-directional wheel (5) in each pair of train is symmetrical with the centre of sphere, and each omni-directional wheel (5) passes through correspondingly
Elastic wheel frame of telecontrol (7) be installed on corresponding on arc spheroid (3) and each omni-directional wheel (5) is under the elastic force effect of elastic wheel frame of telecontrol (7)
For radial compaction on the correspondence position of outer spherical shell (1) inwall, each wheel carrier (8) is provided with the electricity that the corresponding omni-directional wheel (5) of driving rotates
The encoder of machine (6) omni-directional wheel (5) rotational parameters corresponding with detection.
2. the spherical omnidirectional's gyro mechanism of totally enclosed type according to claim 1, it is characterised in that：Each elastic wheel frame of telecontrol (7) bag
Left and right support body is included, each support body includes the spring housing (7-1) and spring catch (7-2) of mutual sheathing, the spring housing (7-1) and bullet
Pretension has compression spring (7-3) between spring pin (7-2), and the omni-directional wheel (5) is by wheel shaft (7-4) in left and right spring housing (7-1)
Upper installation, the bottom of left and right spring catch (7-2) are installed on corresponding arc spheroid (3).
3. the spherical omnidirectional's gyro mechanism of totally enclosed type according to claim 1 or 2, it is characterised in that：The horizontal rotor
(2) diameter is more than arc spheroid (3) base diameter and is less than the internal diameter of outer spherical shell (1).
4. the spherical omnidirectional's gyro mechanism of totally enclosed type according to claim 1 or 2, it is characterised in that：The outer spherical shell (1)
It is installed on by the shell block of its upper and lower, left and right on equipment body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720743739.0U CN206891446U (en) | 2017-06-23 | 2017-06-23 | The spherical omnidirectional's gyro mechanism of totally enclosed type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720743739.0U CN206891446U (en) | 2017-06-23 | 2017-06-23 | The spherical omnidirectional's gyro mechanism of totally enclosed type |
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| CN206891446U true CN206891446U (en) | 2018-01-16 |
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| CN201720743739.0U Withdrawn - After Issue CN206891446U (en) | 2017-06-23 | 2017-06-23 | The spherical omnidirectional's gyro mechanism of totally enclosed type |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107131874A (en) * | 2017-06-23 | 2017-09-05 | 桂林电子科技大学 | The spherical omnidirectional's gyro mechanism of totally enclosed type and its operation method |
| CN109702708A (en) * | 2019-01-18 | 2019-05-03 | 北京邮电大学 | Spherical robot mechanism and traveling method based on gyroscopic procession effect |
| CN109799819A (en) * | 2019-01-18 | 2019-05-24 | 北京邮电大学 | Snake-shaped robot mechanism and motion control method based on gyroscopic procession effect |
-
2017
- 2017-06-23 CN CN201720743739.0U patent/CN206891446U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107131874A (en) * | 2017-06-23 | 2017-09-05 | 桂林电子科技大学 | The spherical omnidirectional's gyro mechanism of totally enclosed type and its operation method |
| CN109702708A (en) * | 2019-01-18 | 2019-05-03 | 北京邮电大学 | Spherical robot mechanism and traveling method based on gyroscopic procession effect |
| CN109799819A (en) * | 2019-01-18 | 2019-05-24 | 北京邮电大学 | Snake-shaped robot mechanism and motion control method based on gyroscopic procession effect |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180116 Effective date of abandoning: 20230324 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20180116 Effective date of abandoning: 20230324 |