A sway-prevention assembly based on double control moment gyroscopes

Abstract

The application discloses a kind of anti-swing assemblies based on double control moment gyroscopes, including shell, controller, attitude sensor, two double control moment gyroscopic components and two joints, shell is vertically arranged cylindrical piece, two joints are respectively arranged inside the both ends of shell, two double control moment gyroscopic components are arranged in two shells, and located between two joints, attitude sensor is arranged in the middle of lower joint, two joints are respectively used to be connected with outside setting, the gyroscopic moment direction of two double control moment gyroscopic components is mutually perpendicular in horizontal direction, controller is arranged in shell, and attitude sensor and two double control moment gyroscopic components are electrically connected with controller, two double control moment gyroscopic components are used to reduce the swing amplitude of shell, the anti-swing assembly based on double control moment gyroscopes can be applied by X direction and Y direction gyroscopic moment of two double control moment gyroscopic components in it respectively to make the swing amplitude of whole detection equipment reduce to keep stable.

Description

Technical Field

[0001] This invention belongs to the field of well exploration equipment, and particularly relates to an anti-sway assembly based on a dual-control torque gyroscope. Background Technology

[0002] Downhole exploration equipment typically operates thousands of meters underground via cables. During this process, swaying is unavoidable, especially when the equipment's own movements cause swaying interference, easily leading to instability. Simultaneously, downhole exploration equipment needs to perform high-speed data acquisition and transmission over long cables, requiring stability throughout this process. Patent document USRE31074E provides a solution for monitoring the shape of salt caverns, but this solution requires direct gear engagement to drive rotation, which is highly susceptible to instability in the underground environment. Domestic patents for sonar instruments targeting vertical cavities (such as CN114035177A) disclose salt cavern detection equipment, but do not reveal technologies or methods for achieving balance and stability. Currently, the lack of suitable structures to ensure balance in downhole exploration equipment results in low efficiency and low accuracy in long-distance operations. Summary of the Invention

[0003] To address the aforementioned technical problems, the present invention aims to provide an anti-sway assembly based on a dual-control torque gyroscope, which has a simple structure and can be connected to downhole detection equipment to reduce the sway amplitude of the detection equipment.

[0004] To achieve the above objectives, the technical solution of the present invention is as follows: an anti-sway assembly based on dual-control torque gyroscopes, comprising a housing, a controller, an attitude sensor, two dual-control torque gyroscope assemblies, and two connectors. The housing is a vertically arranged cylindrical component. The two connectors are respectively disposed inside the two ends of the housing. The two dual-control torque gyroscope assemblies are disposed inside the two housings and located between the two connectors. The attitude sensor is disposed in the middle of the lower connector. The two connectors are respectively used to connect to external components. The gyroscopic torque directions of the two dual-control torque gyroscope assemblies are perpendicular to each other in the horizontal direction. The controller is disposed inside the housing, and the attitude sensor and the two dual-control torque gyroscope assemblies are electrically connected to the controller. The two dual-control torque gyroscope assemblies are used to reduce the sway amplitude of the housing.

[0005] The beneficial effect of the above technical solution is that: after the anti-sway assembly based on dual-control torque gyroscope is installed and connected to the detection equipment through the connector, when the attitude sensor senses that the detection equipment is unstable during the well-diving process, the two dual-control torque gyroscope components inside can apply X-axis and Y-axis gyroscope torques respectively to reduce the sway of the entire detection equipment and maintain stability.

[0006] In the above technical solution, the outer shell is cylindrical, the connector is flared, and the two connectors are installed inside the outer shell. The two connectors are coaxially fixed inside the outer shell, and the smaller opening ends of the two connectors are close to each other.

[0007] The advantages of the above technical solution are that it has a simple structure and is easy to connect with detection equipment.

[0008] The dual-control torque gyroscope assembly described in the above technical solution includes a drive motor, a commutation transmission mechanism, and two gyroscope rotor mechanisms. The two gyroscope rotor mechanisms are vertically spaced apart. The commutation transmission mechanism is located between the two gyroscope rotor mechanisms, and the ends of the two gyroscope rotor mechanisms that are close to each other are connected and driven through the commutation transmission mechanism. The drive end of the drive motor is driven and driven to the end of any one of the gyroscope rotor mechanisms that is away from the commutation transmission mechanism. The drive motor is used to drive the two gyroscope rotor mechanisms to rotate synchronously in opposite directions.

[0009] The beneficial effect of the above technical solution is that the two gyroscope rotor mechanisms of the dual-control torque gyroscope assembly rotate in opposite directions under the drive of the drive motor, thereby achieving a damping effect on the swing amplitude in the X or Y direction, which can reduce the swing amplitude.

[0010] In the above technical solution, the two drive motors are respectively close to the corresponding ends of the connectors.

[0011] The beneficial effect of the above technical solution is that the two dual-control torque gyroscope components 4 can be installed in an inverted and staggered manner, so that the directions of their gyroscope torques can be intersected.

[0012] The reversing transmission mechanism described in the above technical solution includes a housing, a transition shaft, a transition bevel gear, two transmission shafts, and two bevel gears. Both transmission shafts are vertically arranged and spaced apart in the vertical direction. The two transmission shafts pass through both ends of the housing and are rotatably connected to the housing. The two bevel gears are coaxially fixedly mounted on the ends of the transmission shafts that are close to each other. The transition shaft is horizontally arranged between the two bevel gears, passes through the housing, and is rotatably connected to the housing. The transition bevel gear is coaxially fixedly mounted on the transition shaft. Both bevel gears mesh with the transition bevel gear. The ends of the two transmission shafts that are far apart from each other constitute the power transmission ends of the reversing transmission mechanism.

[0013] The advantages of the above technical solution are: its structure is simple, and the two transmission shafts always rotate synchronously in opposite directions when rotating, so that the corresponding two gyroscope rotor mechanisms rotate at the same speed but in opposite directions.

[0014] The gyroscope rotor mechanism described in the above technical solution includes a gyroscope housing, a gyroscope base, a gyroscope rotor, and a gyroscope motor. The gyroscope housing is vertically arranged, and one end of each drive shaft located outside the housing passes through the corresponding gyroscope housing and is rotatably connected to the gyroscope housing. The gyroscope housing is fixedly connected to the corresponding end of the housing. The drive shaft is fixedly connected to the corresponding gyroscope base. The gyroscope base has a mounting cavity inside. The gyroscope motor is fixedly installed in the mounting cavity, and its drive shaft is horizontally distributed. The gyroscope rotor is placed in the mounting cavity and coaxially fixedly installed at the drive end of the gyroscope motor. The drive motor is installed at the corresponding end of the corresponding gyroscope housing, and its drive end is drively connected to the corresponding gyroscope base. The drive motor drives the two gyroscope bases to rotate synchronously in opposite directions. The gyroscope motor is used to drive the corresponding gyroscope rotor to rotate, and the two gyroscope motors of the same dual-control torque gyroscope assembly rotate synchronously in opposite directions.

[0015] The beneficial effects of the above technical solution are: its structure is simple, so that while each gyroscope base rotates, the gyroscope rotor inside it also rotates, and the rotation direction of the gyroscope rotor is perpendicular to that of the gyroscope base, thus making its effect of counteracting the force of driving the detection device to shake better.

[0016] The gyroscope base described in the above technical solution includes a motor base and an end cover plate that are both vertically arranged and horizontally spaced. The upper and lower ends of the motor base and the end cover plate are connected to each other and are cylindrical. The motor base has a mounting groove recessed in the middle of the side near the end cover. The gyroscope motor is installed in the mounting groove, and the driving end of the gyroscope motor faces the end cover plate. The gyroscope rotor is located in the middle between the motor base and the end cover plate.

[0017] The beneficial effect of the above technical solution is that its structure is simple.

[0018] The gyroscope motor described in the above technical solution is an external rotor brushless DC motor.

[0019] The beneficial effect of the above technical solution is that its structure is more compact during installation.

[0020] The gyroscope rotor mechanism described in the above technical solution further includes a flange shaft, which is installed at the end of the gyroscope base away from the corresponding transmission shaft, and the shaft portion of the flange shaft passes through the corresponding gyroscope housing and is rotatably connected to it.

[0021] The beneficial effect of the above technical solution is that it makes the gyroscope base more stable when rotating inside the corresponding gyroscope housing.

[0022] In the above technical solution, the drive motor is mounted on the corresponding gyroscope housing via a mounting bracket, and its drive end is connected to the shaft of the corresponding flange shaft via a flexible coupling.

[0023] The beneficial effects of the above technical solution are that it makes the transmission between the drive motor and the corresponding gyroscope seat simpler, and the transmission effect is good with less vibration. Attached Figure Description

[0024] Figure 1 This is a cross-sectional view of the anti-sway assembly based on a dual-control torque gyroscope according to an embodiment of the present invention;

[0025] Figure 2 This is a cross-sectional view of the dual-control torque gyroscope assembly according to an embodiment of the present invention;

[0026] Figure 3 This is a cross-sectional view of the commutation transmission mechanism and the two gyroscope rotor mechanisms in an embodiment of the present invention;

[0027] Figure 4 This is an exploded view of the gyroscope rotor mechanism in an embodiment of the present invention;

[0028] Figure 5 This is an assembly diagram of the gyroscope base, gyroscope rotor, and gyroscope motor described in an embodiment of the present invention;

[0029] Figure 6 This is a schematic diagram showing the gyro torque distribution during operation of the four gyro rotor mechanisms in an embodiment of the present invention;

[0030] Figure 7 This is a schematic diagram of the gyro torque distribution of two dual-control torque gyro components in an embodiment of the present invention.

[0031] In the diagram: 1. Housing, 2. Controller, 3. Attitude sensor, 4. Dual control torque gyroscope assembly, 41. Drive motor, 411. Mounting bracket, 42. Reversing transmission mechanism, 421. Housing, 422. Transition shaft, 423. Transition bevel gear, 424. Drive shaft, 425. Bevel gear, 43. Gyroscope rotor mechanism, 431. Gyroscope housing, 432. Gyroscope base, 4321. Motor base, 43211. Mounting slot, 4322. End cover plate, 433. Gyroscope rotor, 434. Gyroscope motor, 435. Flange shaft, 44. Flexible coupling, 5. Connector. Detailed Implementation

[0032] The principles and features of the present invention are described below. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0033] like Figure 1As shown, this embodiment provides an anti-sway assembly based on dual-control torque gyroscopes, including a housing 1, a controller 2, an attitude sensor 3, two dual-control torque gyroscope assemblies 4, and two connectors 5. The housing 1 is a vertically arranged cylindrical component. The two connectors 5 are respectively disposed inside the two ends of the housing 1. The two dual-control torque gyroscope assemblies 4 are disposed inside the two housings 1 and located between the two connectors 5. The attitude sensor 3 is disposed in the middle of the lower connector 5. The two connectors 5 are respectively used for external connection. The two dual-control torque gyroscope assemblies 4... The gyro torque directions are perpendicular to each other in the horizontal direction. The controller 2 is located inside the housing 1, and the attitude sensor 3 and the two dual-control torque gyro assemblies 4 are electrically connected to the controller 2. The two dual-control torque gyro assemblies 4 are used to reduce the swing amplitude of the housing 1. After the dual-control torque gyro-based anti-sway assembly is installed and connected to the detection equipment through a connector, when the attitude sensor senses instability during the lowering of the detection equipment, the two dual-control torque gyro assemblies inside can apply X-axis and Y-axis gyro torques respectively to reduce the swing amplitude of the entire detection equipment and maintain stability.

[0034] In the above technical solution, the outer shell 1 is cylindrical, the connector 5 is horn-shaped, and the two connectors 5 are installed inside the outer shell 1. The two connectors 5 are coaxially fixed inside the outer shell 1, and the smaller opening ends of the two connectors 5 are close to each other. The structure is simple and convenient to connect with the detection equipment.

[0035] like Figure 2 and Figure 3 As shown, the dual-control torque gyroscope assembly 4 in the above technical solution includes a drive motor 41, a commutation transmission mechanism 42, and two gyroscope rotor mechanisms 43. The two gyroscope rotor mechanisms 43 are vertically spaced apart. The commutation transmission mechanism 42 is disposed between the two gyroscope rotor mechanisms 43, and the ends of the two gyroscope rotor mechanisms 43 that are close to each other are connected and transmitted through the commutation transmission mechanism 42. The drive end of the drive motor 41 is transmittedly connected to the end of any one of the gyroscope rotor mechanisms 43 that is away from the commutation transmission mechanism 42. The drive motor 41 is used to drive the two gyroscope rotor mechanisms 43 to rotate synchronously in opposite directions. In this way, the two gyroscope rotor mechanisms of the dual-control torque gyroscope assembly rotate in opposite directions under the drive of the drive motor, thereby achieving a damping effect on the swing amplitude in the X or Y direction, which reduces the swing amplitude.

[0036] In the above technical solution, the two drive motors 41 are respectively close to the corresponding ends of the connectors 5.

[0037] The beneficial effect of the above technical solution is that the two dual-control torque gyroscope components 4 can be installed in an inverted and staggered manner, so that the gyroscope torque directions of the two components can be intersected (that is, the gyroscope torque direction of one dual-control torque gyroscope component can be X-direction, while the gyroscope torque direction of the other dual-control torque gyroscope component can be Y-direction).

[0038] The reversing transmission mechanism 42 described in the above technical solution includes a housing 421, a transition shaft 422, a transition bevel gear 423, two transmission shafts 424, and two bevel gears 425. The two transmission shafts 424 are both vertically arranged and spaced apart in the vertical direction. The two transmission shafts 424 pass through both ends of the housing 421 and are rotatably connected to the housing 421. The two bevel gears 425 are coaxially fixedly installed at the adjacent ends of the transmission shafts 424. The transition shaft 422 is horizontally arranged between the two bevel gears 423. The gears 425 are connected to and pass through the housing 421, and are rotatably connected to the housing 421. The transition bevel gear 423 is coaxially fixed on the transition shaft 422. Both bevel gears 425 mesh with the transition bevel gear 423. The ends of the two transmission shafts 424 that are far apart from each other constitute the power transmission ends of the reversing transmission mechanism 42. Its structure is simple, and the two transmission shafts always maintain synchronous and opposite rotation when rotating, so that the corresponding two gyroscope rotor mechanisms have the same speed when rotating, but the rotation direction is opposite.

[0039] The gyroscope rotor mechanism 43 described in the above technical solution includes a gyroscope housing 431, a gyroscope base 432, a gyroscope rotor 433, and a gyroscope motor 434. The gyroscope housing 431 is vertically arranged, and one end of each drive shaft 424 located outside the housing 421 passes through the corresponding gyroscope housing 431 and is rotatably connected to the gyroscope housing 431. The gyroscope housing 431 is fixedly connected to the corresponding end of the housing 421. The drive shaft 424 is fixedly connected to the corresponding gyroscope base 432. The gyroscope base 432 has a mounting cavity inside, and the gyroscope motor 434 is fixedly mounted in the mounting cavity with its drive shaft horizontally distributed. The gyroscope rotor 433 is placed in the mounting cavity and is connected to the corresponding gyroscope base 432. The shaft is fixedly installed on the drive end of the gyroscope motor 434. The drive motor 41 is installed on the corresponding end of the gyroscope housing 431, and its drive end is connected to the corresponding gyroscope base 432. The drive motor 41 drives the two gyroscope bases 432 to rotate synchronously in opposite directions. The gyroscope motor 434 is used to drive the corresponding gyroscope rotor 433 to rotate. The two gyroscope motors 434 of the same dual-control torque gyroscope assembly 4 rotate synchronously in opposite directions. Its structure is simple. This allows each gyroscope base to rotate while its internal gyroscope rotor also rotates. The rotation direction of the gyroscope rotor is perpendicular to that of the gyroscope base, which makes the effect of counteracting the force of the driving detection device shaking better.

[0040] like Figure 4 and Figure 5 As shown, the gyroscope base 432 in the above technical solution includes a motor base 4321 and an end cover plate 4322, both arranged vertically and spaced laterally. The upper and lower ends of the motor base 4321 and the end cover plate 4322 are connected to each other in a cylindrical shape (connected by bolts; for example, the motor base can be provided with threaded holes, and the end cover plate can be provided with through holes aligned with the threaded holes. A bolt is inserted into the aligned through holes and the threaded holes for threaded connection). The motor base 4321 has a recessed mounting groove 43211 in the middle of the side near the end cover. The gyroscope motor 434 is installed in the mounting groove 43211, with the drive end of the gyroscope motor 434 facing the end cover plate 4322. The gyroscope rotor 433 is located in the middle between the motor base 4321 and the end cover plate 4322. Its structure is simple (the drive motor and the two gyroscope motors of the dual control torque gyroscope assembly 4 are all electrically connected to the controller).

[0041] The gyroscope motor 434 described in the above technical solution is an external rotor brushless DC motor, which has a more compact structure when installed (small size, high efficiency, high speed and stable operation, can directly drive the load without the need for a gearbox; the gyroscope precession motor adopts a low-speed brushless DC geared motor with built-in drive, which is easy to control in a closed loop; it increases the reliability of the overall system, and the drive control system can simultaneously transmit the motor's operating status to external devices, which is beneficial to improving work efficiency and also facilitates later maintenance and replacement).

[0042] The gyroscope rotor mechanism 43 described in the above technical solution also includes a flange shaft 435. The flange shaft 435 is installed at the end of the gyroscope base 432 away from the corresponding transmission shaft 424, and the shaft portion of the flange shaft 435 passes through the corresponding gyroscope housing 431 and is rotatably connected to it, so that the stability of the gyroscope base is better when it rotates in the corresponding gyroscope housing.

[0043] In the above technical solution, the drive motor 41 is mounted on the corresponding gyroscope housing 431 via the mounting bracket 411, and its drive end is connected to the shaft of the corresponding flange shaft 435 via the flexible coupling 44. This makes the transmission between the drive motor and the corresponding gyroscope base simpler, with good transmission effect and low vibration.

[0044] The controller can be set between the two dual-control torque gyroscope components 4. The controller can be an ARM series microcontroller, and the two gyroscope housings 431 located in the middle can be fixedly connected at their closest ends.

[0045] End caps can be installed at both ends of each gyroscope housing, and the drive shaft and flange shaft are rotatably connected to the end caps. In this embodiment, bearings can be provided at each rotatable connection for rotatable connection, and self-lubricating sleeves are added to the rotatable connection between the transition shaft and the drive shaft and the housing.

[0046] In this embodiment, the two dual-control torque gyroscope components 4 decompose the oscillation interference into interference in the X and Y directions, and stabilize and balance them respectively through the two dual-control torque gyroscope components 4, thus avoiding the coupling interference of balance control in different directions.

[0047] The upper dual-control torque gyroscope component can be defined as an X-axis dual-control torque gyroscope component, and the lower dual-control torque gyroscope component can be defined as a Y-axis dual-control torque gyroscope component. The operating principle of the two dual-control torque gyroscope components in this embodiment is as follows: Figure 6 and Figure 7As shown, in this embodiment, the two dual-control torque gyroscope components can cancel out the interference torque they generate, while greatly increasing the effective gyroscope torque. It should be noted that the precession angle of the X-axis dual-control torque gyroscope component is defined as α, and the precession angle of the Y-axis dual-control torque gyroscope component is defined as β. α and β can only output effective gyroscope torque within the range of 0°-90°. In actual control, their precession angles are limited to 0°-60°.

[0048] The two dual-control torque gyroscope assemblies comprise a total of four gyroscope rotor mechanisms distributed vertically at intervals. Figure 6 The diagram shows the gyro torque, precession angular velocity, and rotation angular velocity of four gyro rotor mechanisms. Figure 7 This diagram illustrates the decomposition of the gyro torque of the two dual-control torque gyro components.

[0049] Where τ is the gyroscopic torque of the gyro rotor mechanism (τ1, τ2, τ3, τ4 represent the gyroscopic torques of the four gyro rotor mechanisms from top to bottom), Ω is the precession angular velocity of the gyro rotor mechanism (Ω1, Ω2, Ω3, Ω4 represent the precession angular velocities of the four gyro rotor mechanisms from top to bottom), and ω is the rotational angular velocity of the gyro rotor (ω1, ω2, ω3, ω4 represent the rotational angular velocities of the four gyro rotor mechanisms from top to bottom).

[0050] In this embodiment, two connectors are used to connect to the detection equipment. The X-axis dual-control torque gyroscope assembly generates gyroscopic torque along the X-axis to suppress oscillation interference in the X-axis direction; the Y-axis dual-control torque gyroscope assembly generates gyroscopic torque along the Y-axis to suppress oscillation interference in the Y-axis direction. The oscillation interference of the entire anti-sway assembly can be decomposed into the X-axis and Y-axis, which are suppressed by the gyroscopic torques generated by the X-axis and Y-axis dual-control torque gyroscope assemblies, respectively, ultimately achieving balance and stability of the detection equipment and the anti-sway assembly. The X-axis and Y-axis dual-control torque gyroscope assemblies have the same mechanical structure, only differing in their installation method. They are only used in a pair with orthogonal installation (i.e., installed 90° off-center in a symmetrical state). Taking the X-axis dual-control torque gyroscope assembly as an example, it consists of a gyroscope rotor mechanism. A reversing transmission mechanism 42 ensures that the precession velocities of the two gyroscope rotor mechanisms are equal in magnitude and opposite in direction, and that the rotational speeds of the gyroscope rotors in both mechanisms are equal in magnitude and opposite in direction. This ensures that the interfering gyroscope torques generated by the two gyroscope rotor mechanisms can cancel each other out, and the resulting effective gyroscope torque is much greater than that of a single gyroscope rotor mechanism. The attitude sensor includes a gyroscope and an accelerometer (both electrically connected to the controller), used to collect the attitude information of the entire anti-sway assembly, including at least the angular velocity and acceleration information in the X and Y directions. The controller then uses the attitude sensor data to determine whether the entire anti-sway assembly has swayed. If the sway angle exceeds a preset value, the controller sends a control signal to control the operation of the dual-control torque gyroscope assembly to achieve anti-sway of the detection device and the anti-sway assembly.

[0051] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An anti-sway assembly based on a dual-control torque gyroscope, characterized in that, The device includes a housing (1), a controller (2), an attitude sensor (3), two dual-control torque gyroscope assemblies (4), and two connectors (5). The housing (1) is a vertically arranged cylindrical component. The two connectors (5) are respectively located inside the two ends of the housing (1). The two dual-control torque gyroscope assemblies (4) are located inside the two housings (1) and between the two connectors (5). The attitude sensor (3) is located in the middle of the lower connector (5). The two connectors (5) are respectively used to connect to external components. The gyroscope torque directions of the two dual-control torque gyroscope assemblies (4) are perpendicular to each other in the horizontal direction. The controller (2) is located inside the housing (1), and the attitude sensor (3) and the two dual-control torque gyroscope assemblies (4) are electrically connected to the controller (2). The two dual-control torque gyroscope assemblies (4) are used to reduce the swing amplitude of the housing (1). The housing (1) is cylindrical, and the connectors (5) are trumpet-shaped. The two connectors (5) are installed inside the housing (1), and both connectors (5) are coaxially fixed inside the housing (1), with the smaller opening ends of the two connectors (5) close to each other; the dual-control torque gyroscope assembly (4) includes a drive motor (41), a reversing transmission mechanism (42), and two gyroscope rotor mechanisms (43). The two gyroscope rotor mechanisms (43) are vertically spaced apart. The reversing transmission mechanism (42) is located between the two gyroscope rotor mechanisms (43), and the two gyroscope rotor mechanisms (43) are connected and driven by the reversing transmission mechanism (42) at their close ends. The drive end of the drive motor (41) is driven by the end of any one of the gyroscope rotor mechanisms (43) away from the reversing transmission mechanism (42). The drive motor (41) is used to drive the two gyroscope rotor mechanisms (43) to rotate synchronously in opposite directions; the two drive motors (41) are close to the corresponding connectors (5).The reversing transmission mechanism (42) includes a housing (421), a transition shaft (422), a transition bevel gear (423), two transmission shafts (424), and two bevel gears (425). The two transmission shafts (424) are vertically arranged and spaced apart in the vertical direction. Each transmission shaft (424) passes through both ends of the housing (421) and is rotatably connected to the housing (421). The two bevel gears (425) are coaxially fixedly installed at the ends of the transmission shafts (424) that are close to each other. The transition shaft (422) is horizontally arranged in a transverse direction. The two bevel gears (425) are connected to and rotatably connected to the housing (421) through the housing (421). The transition bevel gear (423) is coaxially fixed on the transition shaft (422). Both bevel gears (425) mesh with the transition bevel gear (423). The ends of the two transmission shafts (424) that are far apart from each other constitute the power transmission ends of the reversing transmission mechanism (42). The gyroscope rotor mechanism (43) includes a gyroscope housing (431), a gyroscope base (432), a gyroscope rotor (433), and a gyroscope motor. (434) The gyroscope housing (431) is vertically arranged, and one end of each drive shaft (424) located outside the housing (421) passes through the corresponding gyroscope housing (431) and is rotatably connected to the gyroscope housing (431). The gyroscope housing (431) is fixedly connected to the corresponding end of the housing (421). The drive shaft (424) is fixedly connected to the corresponding gyroscope base (432). The gyroscope base (432) has a mounting cavity inside, and the gyroscope motor (434) is fixedly installed in the mounting cavity, with its drive shaft horizontally distributed. The gyroscope rotor (433) is placed in the mounting cavity and coaxially fixedly mounted on the drive end of the gyroscope motor (434). The drive motor (41) is mounted on the corresponding end of the corresponding gyroscope housing (431), and its drive end is connected to the corresponding gyroscope base (432). The drive motor (41) drives the two gyroscope bases (432) to rotate synchronously in opposite directions. The gyroscope motor (434) is used to drive the corresponding gyroscope rotor (433) to rotate, and the two gyroscope motors (434) of the same dual-control torque gyroscope assembly (4) rotate synchronously in opposite directions. Two dual-control torque gyroscope components (4) decompose the oscillation interference into interference in the X and Y directions, which are then stabilized and balanced by the two dual-control torque gyroscope components (4), thus avoiding the coupling interference of balance control in different directions. The dual-control torque gyroscope component located at the upper end can be defined as the X-direction dual-control torque gyroscope component, and the dual-control torque gyroscope component located at the lower end can be defined as the Y-direction dual-control torque gyroscope component. Two connectors are used to connect to the detection equipment. The X-direction dual-control torque gyroscope component is used to generate gyroscope torque along the X direction to suppress the oscillation interference in the X direction. The Y-direction dual-control torque gyroscope component is used to generate gyroscope torque along the Y direction to suppress the oscillation interference in the Y direction. The oscillation interference of the entire anti-sway assembly can be decomposed into the X-axis and Y-axis, which are suppressed by the gyroscope torque generated by the X-direction dual-control torque gyroscope component and the Y-direction dual-control torque gyroscope component, respectively, so as to achieve the balance and stability of the detection equipment and the anti-sway assembly. The attitude sensor is used to collect the attitude information of the entire anti-sway assembly, including at least the angular velocity and acceleration information in the X and Y directions. The controller then uses the attitude sensor to determine whether the entire anti-sway assembly has swayed. If the sway angle exceeds the preset value, the controller sends a control signal to control the dual control torque gyroscope component to achieve anti-sway of the detection device and the anti-sway assembly.

2. The anti-sway assembly based on a dual-control torque gyroscope according to claim 1, characterized in that, The gyroscope base (432) includes a motor base (4321) and an end cover plate (4322) that are both vertically arranged and horizontally spaced. The upper and lower ends of the motor base (4321) and the end cover plate (4322) are connected to each other and are cylindrical. The motor base (4321) has a mounting groove (43211) recessed in the middle of the side near the end cover. The gyroscope motor (434) is installed in the mounting groove (43211). The driving end of the gyroscope motor (434) faces the end cover plate (4322). The gyroscope rotor (433) is located in the middle between the motor base (4321) and the end cover plate (4322).

3. The anti-sway assembly based on a dual-control torque gyroscope according to claim 1, characterized in that, The gyroscope motor (434) is an external rotor DC brushless motor.

4. The anti-sway assembly based on a dual-control torque gyroscope according to claim 2, characterized in that, The gyroscope rotor mechanism (43) further includes a flange shaft (435), which is installed at the end of the gyroscope base (432) away from the corresponding drive shaft (424), and the shaft portion of the flange shaft (435) passes through the corresponding gyroscope housing (431) and is rotatably connected to it.

5. The anti-sway assembly based on a dual-control torque gyroscope according to claim 4, characterized in that, The drive motor (41) is mounted on the corresponding gyroscope housing (431) via a mounting bracket (411), and its drive end is connected to the shaft of the corresponding flange shaft (435) via a flexible coupling (44).

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