Spherical gyro mechanism capable of rotating omnidirectionally and control method

Abstract

The invention discloses a spherical gyro mechanism capable of rotating omnidirectionally and a control method. A gyro rotor is arranged in a hollowed spherical body. The spherical body is arranged in upper and lower omnidirectional wheel driving assemblies which are capable of allowing the spherical ball to rotate omnidirectionally. The upper and lower omnidirectional wheel driving assemblies are arranged corresponding to upper and lower spherical surfaces. Each omnidirectional wheel driving assembly comprises multiple omnidirectional wheel groups which are circumferentially and uniformly distributed. Each omnidirectional wheel group comprises at least three omnidirectional wheels which are arranged on a corresponding arc wheel rack and are in contact with the spherical surfaces. In each omnidirectional wheel group, rotations of every two omnidirectional wheels are connected through a constant velocity universal joint. Rotation shafts of head and end omnidirectional wheels are connected with spherical body motors and incremental encoders for detecting rotation speed of the omnidirectional wheels. According to the invention, a steering problem of a gyro rotor around any shaft in the space is solved; disadvantages of traditional tri-axial mechanical gyros are overcome; and an omnidirectional driving method is provided and theoretical guidance is provided for establishment of a mode of an omnidirectional spherical gyro mechanism.

Description

[0001] Technical field: [0002] The invention relates to a gyro balance control technology, in particular to a spherical gyro mechanism capable of omnidirectional precession and a control method. [0003] Background technique: [0004] The mechanical gyroscope has the characteristics of compact structure and stable operation. Its precession can generate extremely strong gyro torque. It is an efficient and reliable mechanical device for adjusting the attitude of moving objects. At present, this kind of mechanism is often used in the automatic balance control of intelligent bodies, such as Lit's "never toppling" intelligent two-wheeled vehicle Lit Motor C1 and the single-point support cube robot Cubli. [0005] Existing mechanical gyroscopes include single-axis, double-axis and three-axis types, and the multi-axis operation is usually realized by inner and outer nested axes. In some skill performances, the high-speed rotation of the gyro rotor will automatically generate gyro t...

AI Technical Summary

Problems solved by technology

[0006] However, the current multi-axis mechanical gyroscope has redundant structures. For example, the cube robot Cubli uses three single-axis gyroscopes. The axes of the gyroscopes are perpendicular to each other, and the structure is complex, which has high requirements for machining accuracy; while the single-axis gyroscope, such as Lit The horizontally installed mechanical gyro of Motor C1 can only precess in one direction of pitch, and the adjustment range of the gyro torque generated by it will be limited to a certain extent.

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