CN107131874B - Totally-enclosed spherical omnidirectional gyro mechanism and operation method thereof - Google Patents

Abstract

The invention discloses a fully enclosed spherical omnidirectional gyro mechanism and its operation method, which comprises an outer spherical shell fixed on the equipment body and a horizontal rotor arranged in the outer spherical shell. The horizontal rotor is placed in an upper and lower arc Between the spheres, the centers of the upper and lower arc-shaped spheres are all concentric with the outer spherical shell, and a biaxial model airplane motor is installed in the horizontal rotor, and the upper and lower rotating shafts of the biaxial model airplane motor are respectively connected with the upper and lower arc-shaped spheres; Each of the upper and lower arc-shaped spheres is equipped with three omnidirectional wheels to form three pairs of upper and lower wheel trains. Each omnidirectional wheel is installed on the corresponding arc-shaped sphere through a corresponding elastic wheel frame, and each omnidirectional wheel Under the elastic force of the wheel frame, it is pressed radially on the inner wall of the outer spherical shell, and each wheel frame is provided with a motor for driving the rotation of the corresponding omnidirectional wheel. The invention solves the packaging problem of the mechanical gyroscope, and has the characteristics of compact structure, safety and reliability.

Description

Fully enclosed spherical omnidirectional gyro mechanism and its operation method

technical field

The invention relates to a mechanical gyro balance technology, in particular to a fully enclosed spherical omnidirectional gyro mechanism and an operating method thereof.

Background technique

The mechanical gyroscope is a precision mechanism with a high-speed rotor, which has the characteristics of smooth motion and large gyro torque.

At present, mechanical gyroscopes are mainly used in the attitude control of intelligent bodies. For example, the self-balancing car C-1 has two high-speed rotating flywheels at the bottom of the car body. The gyro torque is generated by the precession of the flywheels to maintain the balance of the car body.

From a structural point of view, the current mechanical gyroscopes can usually be divided into three types: single-axis, double-axis and three-axis. Among them, the gyro torque that can be generated by a single-axis mechanical gyroscope is relatively simple, and it can only adjust the attitude of the mechanical system in one direction. Insufficient flexibility, so its application is limited; and multi-axis (two-axis and three-axis) gyroscopes are usually realized by inner and outer nested axes, the structure is relatively complex and the space utilization efficiency is low.

In addition, in order to generate sufficient gyro torque, according to the principle of gyro torque generation, existing mechanical gyroscopes are usually designed with an open high-speed rotor (rotating speed is about 6000r/min-10000r/min).

However, this exposed high-speed rotating rotor structure is susceptible to external influences during application, which may cause damage to the rotor itself or cause danger to external equipment, instruments and people.

Contents of the invention

Aiming at the deficiencies of the prior art, the technical problem to be solved by the present invention is to propose a compact, safe and reliable fully enclosed spherical omnidirectional gyro mechanism and its operating method.

A fully-enclosed spherical omnidirectional gyro mechanism capable of solving the above-mentioned technical problems. Its technical solution includes an outer spherical shell fixed on the equipment body and a horizontal rotor located in the center of the outer spherical shell. The horizontal rotor is placed on the upper and lower Between the arc-shaped spheres, the centers of the upper and lower arc-shaped spheres are concentric with the outer spherical shell, and the horizontal rotor is equipped with a dual-axis model aircraft motor, and the upper and lower shafts of the dual-axis model aircraft motor on the rotation center line of the horizontal rotor are respectively It is connected with the upper and lower arc-shaped spheres; corresponding to the upper and lower arc-shaped spheres, three omnidirectional wheels are respectively provided to form three pairs of upper and lower wheel trains, and the axes of the three omnidirectional wheels corresponding to the upper arc-shaped spheres are upward Intersect at one point, the axes of the three omnidirectional wheels corresponding to the lower arc-shaped sphere are perpendicular to one point downward, the upper and lower omnidirectional wheels in each pair of wheel trains are symmetrical to the center of the sphere, and each omnidirectional wheel passes through the corresponding elastic The wheel frame is installed on the corresponding arc-shaped sphere, and each omnidirectional wheel is pressed radially on the corresponding position of the inner wall of the outer spherical shell under the elastic force of the elastic wheel frame. A motor and an encoder that detects the rotation parameters of the corresponding omnidirectional wheel.

A structure of each elastic wheel frame includes left and right frame bodies, and each frame body includes a spring sleeve and a spring pin that are nested in each other, and a compression spring is preloaded between the spring sleeve and the spring pin, and the omnidirectional wheel passes through the axle. It is installed on the left and right spring sleeves, and the bottoms of the left and right spring pins are installed on the corresponding curved spheres.

Conventionally, the diameter of the horizontal rotor is larger than the bottom diameter of the arc-shaped sphere and smaller than the inner diameter of the outer spherical shell.

Conventionally, the outer spherical shell is installed on the equipment body through its upper, lower, left, and right shell seats.

The operating method of the fully enclosed spherical omnidirectional gyro mechanism, its working steps are:

1. Start the two-axis model airplane motor to drive the horizontal rotor to rotate at high speed.

2. According to the torque vector adjustment requirements of the equipment body, set the desired precession direction of the horizontal rotor rotation centerline (the direction can be arbitrary) and the speed of the horizontal rotor.

3. Based on the expected precession of the center line of the horizontal rotor rotation, the driving speed required for each omnidirectional wheel is calculated according to the inverse kinematics principle of the omnidirectional wheel moving on the arc-shaped sphere. Since the omnidirectional wheel is on the inner wall of the outer spherical shell The rotation centerline of the horizontal rotor can precess in any direction due to the upward movement, so the driving speed of the omnidirectional wheel always has a solution.

4. Start the motor to drive the six omnidirectional wheels to rotate at the required speed and synthesize the desired speed through a certain corresponding relationship.

5. The high-speed horizontal rotor generates gyro torque due to the precession of its center line of rotation. The gyro torque is transmitted to the outer spherical shell through the contact constraint between the omnidirectional wheel and the outer spherical shell. Since the outer spherical shell is fixed on the The equipment rack, so the gyro torque is finally transmitted to the equipment that needs the torque.

6. Adjust the gyro output torque vector by adjusting the direction of the rotation center line of the horizontal rotor and the operating speed of the horizontal rotor.

Beneficial effects of the present invention:

1. The fully enclosed spherical omnidirectional gyro mechanism of the present invention mainly solves the packaging problem of the mechanical gyro, and has the characteristics of compact structure, safety and reliability.

2. In the structure of the present invention, the horizontal rotor is fixedly connected with the upper and lower arc-shaped spheres, and by driving the omnidirectional wheel fixedly connected to the arc-shaped spheres, the horizontal rotor and the fixedly-connected arc-shaped spheres can move freely in the outer spherical shell. Omni-directional precession, thereby providing gyroscopic torque in any axis direction.

3. In the structure of the present invention, the arc-shaped sphere fixedly connected with the horizontal rotor is fixed with an omnidirectional wheel for driving and generating moment, and the omnidirectional wheel is tightly contacted with the inner wall of the outer spherical shell through the elastic wheel frame to keep it in good condition. transmission effect.

Description of drawings

Fig. 1 is a schematic structural diagram of an embodiment of the present invention.

Fig. 2 is a schematic diagram of the internal structure of the embodiment in Fig. 1 .

Fig. 3(a) is a schematic structural view of the elastic wheel frame in the embodiment of Fig. 1 .

Fig. 3(b) is a sectional view of A-A in Fig. 3(a).

Drawing number identification: 1. Outer spherical shell; 2. Horizontal rotor; 3. Arc-shaped sphere; 4. Two-axis model aircraft motor; 5. Omni-directional wheel; 6. Motor; 7. Elastic wheel frame; 7-1. Spring sleeve ; 7-2, spring pin; 7-3, compression spring; 7-4, axle.

Detailed ways

The technical solutions of the present invention will be further described below in conjunction with the embodiments shown in the accompanying drawings.

The structure of the fully enclosed spherical omnidirectional gyro mechanism of the present invention includes an outer spherical shell 1, a horizontal rotor 2 arranged in the outer spherical shell 1, and upper and lower arc-shaped spheres 3, and the outer spherical shell 1 passes through its upper and lower , left and right square housings are installed on the equipment body, as shown in Figure 1.

The horizontal rotor 2 is set at the central position inside the outer spherical shell 1, the center line of rotation of the horizontal rotor 2 is on the center of the outer spherical shell 1, and the upper and lower arc-shaped spheres 3 are respectively arranged above and below the horizontal rotor 2 , the center of the upper and lower arc-shaped spheres 3 is concentric with the center of the outer spherical shell 1, there is a gap between the upper and lower arc-shaped spheres 3 and the horizontal rotor 2, and the diameter of the horizontal rotor 2 is larger than that of the upper and lower arc-shaped The diameter of the bottom of the sphere 3 is smaller than the inner diameter of the outer spherical shell 1, and the inner center of the horizontal rotor 2 is provided with a two-axis model airplane motor 4, and the upper and lower rotating shafts of the two-axis model airplane motor 4 are on the rotation center line of the horizontal rotor 2. The upper and lower rotating shafts of the shaft model motor 4 respectively enter the interior of the upper and lower arc-shaped spheres 3 and are installed and connected by bearings, as shown in Fig. 1 and Fig. 2 .

The upper and lower arc-shaped spheres 3 are respectively space-limited by three omnidirectional wheels 5 (uniformly distributed on the circumference) of the upper and lower sides, and the upper and lower three omnidirectional wheels 5 form upper and lower three pairs of wheel trains, and the upper and lower The axes of the three omnidirectional wheels 5 corresponding to the arcuate sphere 3 are upwardly perpendicular to one point, and the axes of the three omnidirectional wheels 5 corresponding to the lower arcuate sphere 3 are downwardly perpendicular to one point, and the upper wheels in each pair of wheel trains are , The lower omnidirectional wheels 5 are symmetrical to the center of the sphere, each omnidirectional wheel 5 is installed in place by the elastic wheel frame 7 on the arc-shaped sphere 3, and the omnidirectional wheels 5 after being installed in place are under the elastic force of the elastic wheel frame 7 It is pressed radially on the inner wall of the outer spherical shell 1, and each elastic wheel frame 7 is provided with a motor 6 with an encoder to drive the corresponding omnidirectional wheel 5 to rotate, as shown in Fig. 1 and Fig. 2 .

The elastic wheel frame 7 includes left and right frame bodies, and each frame body includes front and rear two groups of spring sleeves 7-1 and spring pins 7-2 assemblies, and in each group of assemblies, spring sleeves 7-1 and spring pins 7-2 2 are mutually fitted and are preloaded with compression springs 7-3 between the two, and the outer ends of two groups of spring sleeves 7-1 are connected to form a "U"-shaped structure with an opening inward, and the front and rear two sides of the left and right frame bodies The bottom of group spring pin 7-2 is installed on the corresponding arc-shaped sphere 3, and corresponding omnidirectional wheel 5 is installed on the front and rear spring sleeve 7-1 of left and right frame body by its left and right axle 7-4. That is, the wheel shaft 7-4 is connected with the spring sleeve 7-1 in the middle groove of the "U" shape structure, as shown in Fig. 1, Fig. 2, Fig. 3(a) and Fig. 3(b).

The operating method of the fully enclosed spherical omnidirectional gyro mechanism of the present invention comprises the following working steps:

1. Start the two-axis model airplane motor 4 to drive the horizontal rotor 2 to rotate at high speed.

2. According to the torque vector adjustment requirements of the equipment body, set the desired precession direction of the center line of the horizontal rotor 2 and the speed at which the horizontal rotor 2 operates.

3. Based on the expected precession of the center line of rotation of the horizontal rotor 2, the required driving speed of each omnidirectional wheel 5 is obtained according to the inverse kinematics principle of the movement of the omnidirectional wheels 5 on the arc-shaped sphere 3. Since the omnidirectional wheels 5 relies on frictional movement on the inner wall of the outer spherical shell 1 to make the center line of rotation of the horizontal rotor 2 precess in any direction, so the driving speed of the omnidirectional wheel 5 always has a solution.

4. Start the motor 6 to drive the six omnidirectional wheels 5 to rotate at the required speed and synthesize the desired speed through a certain corresponding relationship. The upper and lower omnidirectional wheels 5 in each pair of wheel trains are driven synchronously.

5. The high-speed running horizontal rotor 2 generates gyro torque due to the precession of its center line of rotation, and the gyro torque is transmitted to the outer spherical shell 1 through the contact constraint between the omnidirectional wheel 5 and the outer spherical shell 1. Because the outer ball The shell 1 is fixedly installed on the equipment frame, so the gyro torque is finally transmitted to the equipment that needs the torque.

6. By adjusting the direction of the rotation center line of the horizontal rotor 2 and the operating speed of the horizontal rotor 2, the output torque vector of the gyroscope is adjusted.

Claims (5)

1. The fully enclosed spherical omnidirectional gyro mechanism is characterized in that: it includes an outer spherical shell (1) fixed on the equipment body and a horizontal rotor (2) located at the center of the outer spherical shell (1). The rotor (2) is placed between the upper and lower arc-shaped spheres (3), the centers of the upper and lower arc-shaped spheres (3) are concentric with the outer spherical shell (1), and the horizontal rotor (2) is equipped with a double shaft The aircraft model motor (4), the upper and lower rotating shafts of the biaxial aircraft model motor (4) on the horizontal rotor (2) rotation center line are connected with the upper and lower arc-shaped spheres (3) respectively; corresponding to the upper and lower arc-shaped spheres (3) three omnidirectional wheels (5) are respectively provided with and constitute upper and lower three pairs of wheel trains, and the axes of the three omnidirectional wheels (5) corresponding to the upper curved sphere (3) are upwards orthogonal to one point, and The axes of the three omnidirectional wheels (5) corresponding to the lower curved sphere (3) are perpendicular to one point downward, and the upper and lower omnidirectional wheels (5) in each pair of wheel trains are symmetrical to the center of the sphere, and each omnidirectional wheel (5) be installed on the corresponding arc-shaped sphere (3) through the corresponding elastic wheel frame (7), and each omnidirectional wheel (5) is radially compressed on the outer spherical shell ( 1) At the corresponding position on the inner wall, each elastic wheel frame (7) is provided with a motor (6) that drives the rotation of the corresponding omnidirectional wheel (5) and an encoder that detects the rotation parameters of the corresponding omnidirectional wheel (5). 2. The fully enclosed spherical omnidirectional gyro mechanism according to claim 1, characterized in that: each elastic wheel frame (7) includes left and right frame bodies, and each frame body includes spring sleeves (7-1) nested with each other and the spring pin (7-2), the compression spring (7-3) is preloaded between the spring sleeve (7-1) and the spring pin (7-2), and the omnidirectional wheel (5) passes through the axle ( 7-4) Install on the left and right spring sleeves (7-1), and the bottoms of the left and right spring pins (7-2) are installed on the corresponding curved spheres (3). 3. The fully enclosed spherical omnidirectional gyro mechanism according to claim 1 or 2, characterized in that: the diameter of the horizontal rotor (2) is larger than the bottom diameter of the arc-shaped sphere (3) and smaller than the outer spherical shell (1) inner diameter. 4. The fully enclosed spherical omnidirectional gyro mechanism according to claim 1 or 2, characterized in that: the outer spherical shell (1) is installed on the equipment body through its upper, lower, left, and right shell seats. 5. The fully enclosed spherical omnidirectional gyro mechanism operating method is characterized in that the fully enclosed spherical omnidirectional gyro mechanism according to claim 1 or 2 is adopted, and its working steps are: ①. Start the two-axis model airplane motor (4) to drive the horizontal rotor (2) to rotate at high speed; ②. According to the torque vector adjustment requirements of the equipment body, set the expected precession direction of the center line of the horizontal rotor (2) and the speed of the horizontal rotor (2); ③. Based on the expected precession of the center line of rotation of the horizontal rotor (2), according to the inverse kinematics principle of the movement of the omnidirectional wheels (5) on the arc-shaped sphere (3), the required The driving speed, because the omnidirectional wheel (5) moves on the inner wall of the outer spherical shell (1) makes the rotation center line of the horizontal rotor (2) precess in any direction, so the driving speed of the omnidirectional wheel (5) always has untie; ④, start the motor (6) to drive the six omnidirectional wheels (5) to rotate at the required speed and synthesize the desired speed through a certain corresponding relationship; ⑤. The horizontal rotor (2) running at high speed produces gyro torque due to the precession of its center line of rotation, and the gyro torque is directed toward the outer spherical shell through the contact constraint between the omnidirectional wheel (5) and the outer spherical shell (1). (1) transmission, since the outer spherical shell (1) is fixedly installed on the equipment frame, the gyro torque is finally transmitted to the equipment that needs the torque; ⑥. By adjusting the direction of the rotation center line of the horizontal rotor (2) and the operating speed of the horizontal rotor (2), the output torque vector of the gyroscope is adjusted.

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