Torque generation device and method and electronic equipment

Abstract

The embodiment of the invention provides a torque generation device and method and electronic equipment, and the device comprises a double-shaft torque generator which is used for alternately outputting two kinds of torque which are opposite in the same axis direction; the double-shaft torque generator comprises a plurality of gyro motors and a cam connecting rod transmission device; the plurality of gyro motors comprise at least one pair of paired gyro motors; the torque acting structure is used for receiving and transmitting torque, and the torque acting structure is located between the double-shaft torque generator and the single-shaft torque compensation device and connected with the double-shaft torque generator and the single-shaft torque compensation device through ratchet wheel structures; and the single-shaft torque compensation device is used for performing compensation according to the torque which is alternately output by the double-shaft torque generator and is opposite in direction, so that the torque received and transmitted by the torque acting structure is continuous torque in the same direction. The torque generation device provided by the embodiment of the invention can generate continuous torque without reactive force.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of mechanical structures, and more particularly, to a torque generating device, method, and electronic device. Background Art

[0002] Torque, as an important physical quantity, plays a crucial role in modern industry and scientific research. It can not only transmit rotational power but also precisely control the movement of mechanical components. Among them, torque that always remains in the same direction is continuous torque, and torque that does not depend on any fixed fulcrum and does not generate a reaction force on a certain fulcrum can be called non-reaction torque. Continuous and non-reaction torque has high independence and extremely low dependence on the external environment, which can improve the stability of mechanical components. Therefore, how to provide a torque generating device to generate continuous and non-reaction torque has become an urgent problem for those skilled in the art. Summary of the Invention

[0003] In view of this, the embodiments of the present application provide a torque generating device, method, and electronic device that can generate continuous and non-reaction torque.

[0004] To achieve the above object, the embodiments of the present application provide the following technical solutions.

[0005] In a first aspect, the embodiments of the present application provide a torque generating device, including:

[0006] A biaxial torque generator for alternately outputting two torques in opposite directions along the same axis; the biaxial torque generator includes a plurality of gyro motors and a cam-link transmission device. The plurality of gyro motors include at least a pair of paired gyro motors. Among them, while the paired gyro motors rotate by themselves, they rotate in opposite symmetric directions around mutually parallel revolution axes, and the movement trajectories of the plurality of gyro motors are determined by the cam-link transmission device;

[0007] A torque acting structure for receiving and transmitting torque. The torque acting structure is located between the biaxial torque generator and the uniaxial torque compensation device, and is connected to the biaxial torque generator and the uniaxial torque compensation device respectively through ratchet structures;

[0008] An uniaxial torque compensation device for compensating according to the torques in opposite directions alternately output by the biaxial torque generator, so that the torque received and transmitted by the torque acting structure is a continuous torque in the same direction.

[0009] Optionally, the biaxial torque generator further includes: a main drive motor for driving the cam-link transmission device;

[0010] The cam-linkage transmission device includes at least one cam and a set of linkages. The set of linkages connects the cam and the common rotation shaft of a gyro motor. The common rotation shaft is used to fix the base of the gyro motor and provide a fulcrum for the gyro motor to perform revolution; wherein, the main drive motor drives the cam to rotate, the rotation of the cam drives the set of linkages connected to the cam to rotate, the rotation of the set of linkages drives the common rotation shaft of the gyro motor to rotate, and the gyro motor performs a revolution around the common rotation shaft.

[0011] Optionally, each set of linkages includes: a first linkage, a second linkage, and an auxiliary rod;

[0012] Wherein, one end of the first linkage moves as the cam rotates, the other end of the first linkage is connected to one end of the second linkage, the other end of the second linkage is fixedly connected to the common rotation shaft of the gyro motor, and the auxiliary rod is used to fix the movement trajectory of the end point of the first linkage close to the cam, so that the movement trajectory of the end point is always located on the line connecting the axis of the cam and the axis of the common rotation shaft.

[0013] Optionally, the biaxial torque generator further includes: an inter-common-rotation-shaft gear set located between the common rotation shafts of the paired gyro motors; the inter-common-rotation-shaft gear set is used to connect the common rotation shafts of the paired gyro motors, so that the common rotation shaft of the gyro motor driven by the linkages drives the common rotation shaft of the gyro motor not driven by the linkages through the inter-common-rotation-shaft gear set.

[0014] Optionally, the working period of the biaxial torque generator includes: an active period and a reset period;

[0015] Wherein, in the active period, the torque output by the biaxial torque generator is in the same direction as the target torque; in the reset period, the torque output by the biaxial torque generator is in the opposite direction to the torque output in the active period.

[0016] Optionally, it further includes: a travel switch circuit for monitoring the working period of the biaxial torque generator.

[0017] Optionally, in the active period, the ratchet structure where the torque acting structure is connected to the biaxial torque generator is in an engaged state, transmitting the torque output by the biaxial torque generator to the torque acting structure, and the ratchet structure where the torque acting structure is connected to the uniaxial torque compensation device is in a non-engaged state, not transmitting torque;

[0018] During the reset period, the ratchet structure where the torque acting structure is connected to the biaxial torque generator is in a non-engaged state and does not transmit torque. The ratchet structure where the torque acting structure is connected to the uniaxial torque compensation device is in an engaged state, and transmits the torque output by the uniaxial torque compensation device to the torque acting structure.

[0019] Optionally, the uniaxial torque compensation device includes: a uniaxial torque compensator gyro motor;

[0020] During the active period, the uniaxial torque compensation device outputs a torque in the direction opposite to the target torque through the uniaxial torque compensator gyro motor; during the reset period, the uniaxial torque compensation device outputs a torque in the same direction as the target torque through the uniaxial torque compensator gyro motor.

[0021] Optionally, the uniaxial torque compensation device further includes: a uniaxial torque compensator fixed shaft, and the uniaxial torque compensator gyro motor is fixedly connected to the ratchet structure through the uniaxial torque compensator fixed shaft.

[0022] Optionally, it further includes: a single-chip microcomputer;

[0023] The single-chip microcomputer is used to receive the torque generation request and the monitoring result of the working period of the biaxial torque generator, and based on the torque generation request, generate a motor control signal and a drive control signal; the motor control signal is used to control the rotation of multiple gyro motors in the biaxial torque generator, and the drive control signal is used to control the main drive motor in the biaxial torque generator to drive the cam link transmission device in the biaxial torque generator, so that while the paired gyro motors rotate themselves, they rotate in opposite symmetric directions around the mutually parallel revolution axes, generating two torques in opposite directions along the same axis direction alternately output by the biaxial torque generator.

[0024] Optionally, the single-chip microcomputer is further used to generate a control signal for the uniaxial torque compensator gyro motor based on the torque generation request and the monitoring result, and the control signal for the uniaxial torque compensator gyro motor is used to control the working condition of the uniaxial torque compensator gyro motor, so that during any working period, the torque generated by the uniaxial torque compensation device is in the opposite direction to the torque output by the biaxial torque generator.

[0025] In a second aspect, an embodiment of the present application provides a torque generation method, which is applied to the torque generation device described in the first aspect above. The method includes:

[0026] Obtain a torque generation request and the monitoring result of the working period of the biaxial torque generator;

[0027] Generate a motor control signal and a drive control signal based on the torque generation request; the motor control signal is used to control the rotation of multiple gyro motors in the biaxial torque generator, and the multiple gyro motors include at least a pair of paired gyro motors; the drive control signal is used to control the main drive motor in the biaxial torque generator to drive the cam link transmission device in the biaxial torque generator, so that while the paired gyro motors rotate themselves, they rotate in opposite symmetric directions around the mutually parallel revolution axes, generating two torques in opposite directions along the same axis direction alternately output by the biaxial torque generator;

[0028] Wherein, the motion trajectories of the multiple gyro motors are determined by the cam link transmission device.

[0029] In a third aspect, an embodiment of the present application provides an electronic device, and the electronic device at least includes the torque generation device as described above.

[0030] It can be seen that the torque generation device provided by the embodiment of the present application is provided with a biaxial torque generator, and the biaxial torque generator can alternately output two torques in opposite directions along the same axis. The biaxial torque generator is provided with multiple gyro motors and a cam link transmission device. The multiple gyro motors include at least a pair of paired gyro motors. Among them, the paired gyro motors rotate themselves and rotate in opposite symmetric directions around the mutually parallel revolution axes; a torque acting structure for receiving and transmitting torque, and the torque acting structure is located between the biaxial torque generator and the uniaxial torque compensation device, and is respectively connected to the biaxial torque generator and the uniaxial torque compensation device through a ratchet structure, so that the torque output by the biaxial torque generator or the uniaxial torque compensation device can be received through the ratchet structure; the uniaxial torque compensation device is used to compensate according to the torques in opposite directions alternately output by the biaxial torque generator, so that the torque received and transmitted by the torque acting structure is a continuous torque in the same direction. In the embodiment of the present application, since the torques alternately output by the biaxial torque generator are in opposite directions, that is, discontinuous torques, therefore, a uniaxial torque compensation device is provided for compensation. That is to say, both the biaxial torque generator and the uniaxial torque compensation device can be used as torque generation sources. The torque acting structure switches the meshing connection state with the biaxial torque generator or the uniaxial torque compensation device through the ratchet structure to realize the switching of the torque generation source and alternately transmit the torques output by each of them, so as to ensure that the torque acting structure always receives a torque in the same direction. Furthermore, the torque generation device can continuously generate a torque in the same direction; at the same time, the torque generation in the embodiment of the present application does not depend on any other fulcrum or device, is generated by the torque generation device, and will not generate a reaction force on a certain fulcrum or device. Therefore, the torque generation device provided by the embodiment of the present application can generate a continuous torque without reaction force. Description of the Drawings

[0031] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the accompanying drawings required in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only the embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on the provided accompanying drawings.

[0032] Figure 1 It is a structural example diagram of a torque generation device shown in the embodiments of the present application;

[0033] Figure 2 It is a structural example diagram of a biaxial torque generator shown in the embodiments of the present application;

[0034] Figure 3 It is another structural example diagram of a biaxial torque generator shown in the embodiments of the present application;

[0035] Figure 4 It is a structural example diagram of a torque action shown in the embodiments of the present application;

[0036] Figure 5 It is a structural example diagram of a single-axis torque compensation device shown in the embodiments of the present application;

[0037] Figure 6 It is a flowchart of a torque generation method provided by the embodiments of the present application. Detailed implementation manners

[0038] The following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0039] Torque, as an important physical quantity, plays a crucial role in modern industry and scientific research. It can not only transmit rotational power but also precisely control the movement of mechanical components. Among them, torque that always maintains the same direction is continuous torque. Torque that does not depend on any fixed fulcrum and does not generate a reaction force on a certain fulcrum can be called ungrounded torque. Continuous and ungrounded torque has high independence and extremely low dependence on the external environment. Therefore, it is particularly suitable for fields with high requirements for balance, stability, or high precision, such as satellite attitude control in the aerospace field, equipment adjustment in the space station, and attitude control of unmanned aerial vehicles; attitude adjustment of underwater or aerial robots and aircraft in robots; balance adjustment of the human body in the medical field, and non-invasive treatment assistance for diseases such as essential tremors (such as Parkinson's); force feedback for immersive experience of the human body in wearable devices, etc.

[0040] In view of this, the embodiments of the present application provide a torque generation device that can generate continuous and ungrounded torque. Figure 1 It is a structural example diagram of the torque generation device shown in the embodiments of the present application. Figure 2 It is a structural example diagram of a biaxial torque generator shown in the embodiments of the present application. Figure 3 It is another structural example diagram of the biaxial torque generator shown in the embodiments of the present application. Figure 4 It is a structural example diagram of the torque action structure shown in the embodiments of the present application. Figure 5 It is a structural example diagram of a uniaxial torque compensation device shown in the embodiments of the present application. The torque generation device may include the following.

[0041] A biaxial torque generator 100, which is used to alternately output two torques in opposite directions along the same axis direction; the biaxial torque generator includes a plurality of gyro motors 110 and a cam-link transmission device 120. The plurality of gyro motors include at least a pair of paired gyro motors. Among them, while the paired gyro motors rotate themselves, they rotate in opposite symmetric directions around mutually parallel revolution axes, and the movement trajectories of the plurality of gyro motors are determined by the cam-link transmission device.

[0042] A torque action structure 200, which is used to receive and transmit torque. The torque action structure 200 is located between the biaxial torque generator 100 and the uniaxial torque compensation device 300, and is connected to the biaxial torque generator and the uniaxial torque compensation device respectively through ratchet structures.

[0043] The single-axis torque compensation device 300 is configured to compensate for the torques with opposite directions alternately output by the biaxial torque generator, so that the torque received and transmitted by the torque acting structure is a continuous torque in the same direction.

[0044] Next, in combination with Figure 2 and Figure 3 , the structure of the biaxial torque generator 100 will be introduced in detail.

[0045] In the embodiment of the present application, the biaxial torque generator is used to generate a torque without reaction force and provide torque output for the entire torque generating device; during the operation of the biaxial torque generator, two torques with opposite directions along the same axis will be alternately output.

[0046] Specifically, referring to Figure 2 , the multiple gyro motors 110 may include a pair of paired gyro motors. While the paired gyro motors are rotating themselves, they rotate in opposite symmetrical directions around the mutually parallel revolution axes, performing a reciprocating swinging motion, and the motion trajectory is in a scissor shape; during the swinging process, the combined torque of the two gyro motors always remains on the same straight line. When the two gyro motors shift to the left simultaneously, the generated combined torque is opposite to the combined torque when they shift to the right simultaneously. Therefore, a complete swinging cycle includes one movement to the left and one movement to the right, or it can be first to the right and then to the left, or along other directions, such as up and down, counterclockwise and clockwise. During this reciprocating motion process, the motion directions of the forward and return trips are always opposite; in each swinging cycle, the biaxial torque generator alternately outputs two torques with opposite directions, that is, first to the left and then to the right, or completes torque switching according to other set motion trajectories. Through the above structural design, the biaxial torque generator can alternately output two torques with opposite directions along the same axis, and this torque is a torque without reaction force that does not require a fixed fulcrum.

[0047] In the embodiment of the present application, since the reciprocating motion of the gyro motor will alternately output two torques with opposite directions, the working period of the biaxial torque generator can be divided into two types, including an active period (Active Phase) and a recovery period (Recovery Phase); among them, during the active period, the torque output by the biaxial torque generator is in the same direction as the target torque; during the recovery period, the torque output by the biaxial torque generator is opposite to the direction of the target torque.

[0048] In the embodiment of the present application, the torque generating device may further include: a travel switch circuit 130, which is used to monitor the working period in which the biaxial torque generator 100 is located.

[0049] Further, in the embodiments of the present application, the torque generating device further includes a microcontroller unit (MCU), which serves as the control core of the entire torque generating device and is responsible for overall logic and coordination. The multiple gyro motors are all uniformly controlled by the MCU. Since the rotational speed of the gyro motor is proportional to its angular momentum, the magnitude of the non-reactive torque generated can be directly adjusted by the MCU, making the magnitude of the generated torque controllable and variable.

[0050] In an alternative implementation, the gyro motor can be a brushless motor. The brushless motor has advantages such as high response speed, less mechanical wear, and long service life. Using a brushless motor for rotation and back-and-forth swinging can generate angular momentum, and then the torque can be output by utilizing the structural design of the biaxial torque generator. Among them, angular momentum is a physical quantity describing the rotational motion of an object, and the change in angular momentum is the result of the action of torque.

[0051] In other embodiments, the gyro motor can be other motors that can meet the rotation and power requirements.

[0052] In an alternative implementation, a counterweight 111 can also be provided on the gyro motor. The counterweight 111 can be used to cooperate with the gyro motor to provide an increase in angular momentum, and in a specific implementation, it can be set according to the target torque required to be output.

[0053] Further, in the embodiments of the present application, referring to Figure 2 , the paired gyro motors can be arranged in the up-down direction and rotate in opposite symmetric directions around the mutually parallel revolution axes while operating themselves.

[0054] In other embodiments, when the volume and weight permit, the paired gyro motors can be arranged left-right. At this time, the paired gyro motors can rotate in opposite symmetric directions around the same revolution axis while operating themselves, that is, the revolution axes of each motor are located on the same axis.

[0055] In the embodiments of the present application, referring to Figure 2 , the biaxial torque generator 100 further includes a main drive motor 140 for driving the cam-link transmission device 120, and the movement trajectories of the multiple gyro motors are determined by the cam-link transmission device 120.

[0056] In an alternative implementation, the main drive motor 140 can be a brushed motor. The brushed motor has a simple structure and is easy to control. By changing the power supply voltage or current, the speed of the motor can be conveniently controlled. At the same time, the brushed motor can provide a large starting torque when starting, which helps to quickly respond when receiving a torque generation requirement and provide the torque that meets the requirement.

[0057] In other embodiments, the main drive motor may be other motors that can meet the rotation and power requirements.

[0058] Continuing to refer to Figure 2 , the cam-linkage transmission device 120 includes at least one cam 121 and a set of linkages. The set of linkages connects the cam 121 and the common rotation axis of a gyro motor. For example, Figure 2 shown are the mutually parallel common rotation axes 112 of multiple gyro motors. The common rotation axis is used to fix the base of the gyro motor and provide a fulcrum for the gyro motor to perform revolution. While the paired gyro motors are rotating on their own axes, they each revolve around their common rotation axis.

[0059] Among them, the main drive motor 140 drives the cam 121 to rotate. The rotation of the cam 121 drives the rotation of a set of linkages connected to the cam. The rotation of the set of linkages drives the rotation of the common rotation axis of the gyro motor, and the gyro motor performs a revolution motion around the common rotation axis.

[0060] In an alternative implementation, a main drive motor gear set 150 may be provided between the main drive motor 140 and the cam 121 for transmitting the rotational motion of the main drive motor to the cam.

[0061] In the embodiments of the present application, the paired gyro motors are driven by the main drive motor and transmitted through the cam-linkage transmission device to perform a reciprocating (rocking) circular motion. Specifically, the main drive motor provides power for the rotation of the cam. By driving the rotation of the cam, due to the irregular shape of the cam, the cam can drive the linkage group to deform, and then drive the rotation of the common rotation axis of the gyro motor connected to the linkage group, thereby controlling the motion trajectories of the multiple gyro motors. At the same time, in the embodiments of the present application, by using the cam-linkage transmission device, the space required for the reciprocating (rocking) motion can be significantly reduced, and the weight and size of the entire torque generating device can be reduced.

[0062] Further, in an alternative implementation, a set of linkages in the cam-linkage transmission device 120 may include: a first linkage A, a second linkage B, and an auxiliary rod 122.

[0063] Among them, one end of the first linkage A moves as the cam 121 rotates. The other end of the first linkage A is connected to one end of the second linkage B. The other end of the second linkage B is fixedly connected to the common rotation axis of the gyro motor. The auxiliary rod 122 is used to fix the motion trajectory of the end point of the first linkage A close to the cam 121, so that the motion trajectory of the end point is always on the connection line between the axis of the cam 121 and the axis of the common rotation axis.

[0064] Specifically, in the embodiments of the present application, the first link A, the second link B, and the line connecting the axes of the connecting common rotating shafts together form a triangle. Through a limiting device such as the auxiliary rod 122, it is ensured that the other two vertices of the triangle except the intersection of the first link A and the second link B are always located on the line connecting the axis of the cam 121 and the axis of the common rotating shaft. As the cam rotates, due to the irregular shape of the cam, the change in the cam radius causes the angles of the triangle to change, thereby controlling the movement of the common rotating shaft and further controlling the movement trajectories of multiple gyro motors.

[0065] In other embodiments, other limiting devices such as grooves, magnetic attraction, or tracks can also be used to ensure that the movement trajectory of the first link is always located on the line connecting the axis of the cam and the axis of the common rotating shaft.

[0066] In other embodiments, other rotating objects can also be used. For example, one end of one link is fixed on a turntable or a gear to change the end angle of the link device, control the movement of the common rotating shaft, and further control the reciprocating (rocking) movement of multiple gyro motors.

[0067] Further, in an alternative implementation, the biaxial torque generator may further include: an inter-common-rotating-shaft gear set 160, located between the common rotating shafts of the paired gyro motors; the inter-common-rotating-shaft gear set is used to connect the common rotating shafts of the paired gyro motors, so that the common rotating shaft of the gyro motor driven by the link drives the common rotating shaft of the non-link-driven gyro motor through the inter-common-rotating-shaft gear set.

[0068] In the embodiments of the present application, a cam-link transmission device is connected to the common rotating shaft of one gyro motor, and then drives one gyro motor to move. Therefore, it is necessary to set an inter-common-rotating-shaft gear set to transmit the movement of the common rotating shaft of the gyro motor driven by the link to the common rotating shaft of the other gyro motor paired with the gyro motor, so as to realize driving the paired gyro motors to perform rocking movement and alternately output two torques in opposite directions along the same axis. That is to say, the common rotating shafts of the paired gyro motors are connected by a gear transmission method and are synchronously driven by a single main drive motor, which can effectively reduce the complexity and weight of the entire torque generation device, and at the same time ensure that the revolution movements of the paired gyro motors are coordinated.

[0069] As an alternative implementation, in other embodiments, a corresponding cam-link transmission device can also be provided for each gyro motor for transmission, and multiple cam-link transmission devices can be driven by the same main drive motor without setting an inter-common-rotating-shaft gear set.

[0070] Further, referring to Figure 2 and Figure 4In the embodiment of the present application, the dual-axis torque generator 100 also includes: a bearing frame 170 for bearing and supporting the entire torque generating device, and the dual-axis torque generator 100 transmits the generated torque to the torque action structure 200 through the bearing frame 170 and the ratchet structure; a bearing 180 is provided on the bearing frame 170, and the bearing can be used to provide motion support and reduce friction.

[0071] Next, combine Figure 1 and Figure 4 , the structure of the torque action structure 200 is introduced in detail.

[0072] As the core structure of torque action, the torque action structure is a key component that directly acts on the target. For example, when it is used as a wearable device, its output is directly applied to the human body; when it is used as an aircraft component, its output directly acts on the aircraft body.

[0073] In the embodiment of the present application, the torque action structure is used to receive and transmit torque. Specifically, the torque action structure only receives and transmits the torque output by the dual-axis torque generator and the single-axis torque compensation device that is consistent with the target torque direction, and does not transmit the torque that is opposite to the target torque direction. In other words, the dual-axis torque generator and the single-axis torque compensation device are connected to the torque action structure only through the ratchet mechanism, and their output will not be directly applied to the target, but the torque is indirectly transmitted and applied through the torque action structure.

[0074] In the specific implementation, please refer to Figure 4 The torque action structure 200 is located between the dual-axis torque generator 100 and the uniaxial torque compensation device 300, and the dual-axis torque generator and the uniaxial torque compensation device are connected through ratchet structures respectively. The dual-axis torque generator and the uniaxial torque compensator transmit torque through the ratchet structures respectively; the ratchet structure may include a ratchet 201 and a ratchet pawl 202 on the dual-axis torque generator side, and a ratchet 203 and a ratchet pawl 204 on the uniaxial torque compensation device side.

[0075] The ratchet structure consists of a ratchet wheel and a ratchet pawl. The ratchet wheel is the main component of the ratchet structure, and the ratchet pawl is a part used to move the ratchet wheel for intermittent motion. When the driving component (such as a dual-axis torque generator or a single-axis torque compensation device) drives the ratchet pawl to reciprocate, the ratchet pawl interacts with the teeth of the ratchet wheel, so that the ratchet wheel can only rotate in one direction. For example, when the ratchet pawl swings clockwise, it will push the ratchet wheel to rotate in the same direction, and when the ratchet pawl swings in the opposite direction, the ratchet pawl will slide over the ratchet wheel, and the ratchet wheel will stop rotating, thereby realizing the intermittent motion of the ratchet wheel.

[0076] In the application embodiment, since the biaxial torque generator alternately outputs two torques with opposite directions along the same axis direction, the working period of the biaxial torque generator is divided into an active period and a reset period.

[0077] In the active period, the torque direction output by the biaxial torque generator is consistent with the target torque direction. At this time, the ratchet structure where the torque acting structure is connected to the biaxial torque generator is in an engaged state, and thus the torque output by the biaxial torque generator can be transmitted to the torque acting structure; at the same time, the torque direction output by the uniaxial torque compensator is opposite to the target torque direction, and the ratchet structure where the torque acting structure is connected to the uniaxial torque compensation device generates friction and is in a non-engaged state, so no torque is transmitted.

[0078] Conversely, in the reset period, the torque direction output by the biaxial torque generator is inconsistent with the target torque direction, and the ratchet structure where the torque acting structure is connected to the biaxial torque generator generates friction and is in a non-engaged state, so no torque is transmitted; at the same time, the torque direction output by the uniaxial torque compensator is consistent with the target torque direction, and the ratchet structure where the torque acting structure is connected to the uniaxial torque compensation device is in an engaged state, and the torque output by the uniaxial torque compensation device is transmitted to the torque acting structure.

[0079] Therefore, the torque acting structure can receive and transmit torque in the same direction as the target torque direction at any time period, that is, continuous torque in the same direction.

[0080] Further, in an alternative implementation, continue to refer to Figure 4 , the ratchet pawl 202 is arranged on the bearing frame 170 and is used to cooperate with the ratchet 201 to adjust the engagement state between the biaxial torque generator 100 and the torque acting structure 200. Thus, the torque acting structure 200 can receive the torque output by the biaxial torque generator 100; at the same time, the torque acting structure 200 can also connect to the uniaxial torque compensation device 300 and receive the torque output by the uniaxial torque compensation device by adjusting the ratchet structure (including the ratchet 203 and the ratchet pawl 204) on the uniaxial torque compensation device side.

[0081] Optionally, refer to Figure 4, the torque acting structure 200 may further include: a torque acting structure frame 205; in a specific implementation, the setting of the torque acting structure frame 205 depends on the specific application of the torque generating device and the fixing method of the application target. Taking a hand-wearable device as an example, the torque acting structure frame 205 provides a wearing base for applying torque to the hand. A motor that can control its offset angle can be installed on the torque acting structure to make the torque direction generated by it controllable and variable, that is, the torque direction can be in any direction. In other applications, the torque acting frame can also be set to other frame shapes according to the applied device or scenario.

[0082] Next, in combination with Figure 4 and Figure 5 , the single-axis torque compensation device 300 will be introduced in detail.

[0083] In the embodiment of the present application, since the biaxial torque generator alternately outputs torques in opposite directions, it is necessary to set a single-axis torque compensation device to compensate when the biaxial torque generator outputs a torque in the opposite direction to the target torque, so that the torque acting structure can receive continuous torques in the same direction.

[0084] Referring to Figure 5 , the single-axis torque compensation device 300 includes: a single-axis torque compensator gyro motor 310; in the active period, the single-axis torque compensation device outputs a torque in the opposite direction to the target torque through the single-axis torque compensator gyro motor; in the reset period, the single-axis torque compensation device outputs a torque in the same direction as the target torque through the single-axis torque compensator gyro motor.

[0085] In an alternative implementation, the single-axis torque compensator gyro motor 310 can be a brushless motor, and a counterweight for providing angular momentum amplification can be provided on the brushless motor.

[0086] In the embodiments of the present application, the single-axis torque compensation device can output a torque without reaction force by changing the magnitude of the angular momentum of a rotating object; in the active phase, since the torque direction output by the biaxial torque generator is the same as the target torque direction, there is no need for the single-axis torque compensation device to compensate for torque. The single-axis torque compensation device can return to the initial state of the cycle by changing the rotation speed of the gyro motor 310 of the single-axis torque compensator. A torque opposite to the target torque direction will be generated during this process. In the recovery phase, since the torque direction output by the biaxial torque generator is not the same as the target torque direction, the single-axis torque compensation device is required to compensate for torque. By adjusting the rotation speed of the gyro motor 310 of the single-axis torque compensator, the output torque is made the same as the target torque direction, that is, the ineffective torque generated by the biaxial torque generator during this period can be compensated; the change in its rotation speed is controlled by a single-chip microcomputer, and the direction of the generated torque is related to the positive or negative (i.e., direction) of the change in the rotation speed (i.e., acceleration), and the magnitude of the generated torque is related to the absolute value of the change in the rotation speed. To ensure the continuity of torque transmission by the torque action structure, the continuity includes the same magnitude and the same direction. The change in the rotation speed should make the torque generated by the single-axis torque compensation device the same as the torque generated by the biaxial torque generator during the active phase.

[0087] Further, with continued reference to Figure 5 , the single-axis torque compensation device 300 further includes: a single-axis torque compensator fixed shaft 320. The gyro motor 310 of the single-axis torque compensator is fixedly connected to the ratchet 203 through the single-axis torque compensator fixed shaft 320. A ratchet pawl 204 is provided on the single-axis torque compensator fixed shaft 320 for cooperating with the ratchet 203 to adjust the meshing state of the ratchet and the torque action structure for torque compensation; wherein, a compression spring 2041 is provided on the ratchet pawl for the ratchet pawl to mesh with the ratchet.

[0088] In an alternative implementation, a bearing 180 can also be provided between the single-axis torque compensator fixed shaft 320 and the ratchet 203. The connection is made through the bearing 180, which can provide movement support and reduce friction.

[0089] Further, in the embodiments of the present application, due to the difference between the biaxial torque generator and the uniaxial torque compensation device, the change in the cam radius determines the duration ratio of the active period and the reset period during the operation of the system. To reduce the output pressure of the uniaxial torque compensation device, the duration of the active period can be made longer than that of the reset period by adjusting the shape of the cam or the design of the radius change; conversely, to increase the upper limit of the output torque of the entire torque generation device, the duration of the active period can be made shorter than that of the reset period; the selection of this ratio is also closely related to the parameters of the motor used in the selected uniaxial torque compensation device; that is to say, the presence of the cam device enables the torque generation device to flexibly adjust the ratio of the active period to the reset period to adapt to different parameter requirements and application scenarios.

[0090] Correspondingly, in the embodiments of the present application, the single-chip microcomputer, which is the control core of the entire torque generation device, can be used to receive the torque generation request and the monitoring result of the working period of the biaxial torque generator, and based on the torque generation request, generate a motor control signal and a drive control signal; the motor control signal is used to control the rotation of multiple gyro motors in the biaxial torque generator, and the drive control signal is used to control the main drive motor in the biaxial torque generator to drive the cam link transmission device in the biaxial torque generator, so that while the paired gyro motors rotate themselves, they rotate in opposite symmetric directions around parallel revolution axes to generate two torques in opposite directions along the same axis alternately output by the biaxial torque generator.

[0091] That is to say, the drive control signal is used to drive the cam link transmission device, and then the paired gyro motors can perform a reciprocating (rocking) motion around the parallel revolution axes under the transmission of the cam link transmission device; the motor control signal is used to control the rotation of the gyro motors themselves; the control of the biaxial torque generation device is achieved jointly by the drive control signal and the motor control signal, so that the biaxial torque generator alternately outputs two torques in opposite directions along the same axis.

[0092] Further, the single-chip microcomputer is also used to generate a control signal for the uniaxial torque compensator gyro motor based on the torque generation request and the monitoring result, and the control signal for the uniaxial torque compensator gyro motor is used to control the working condition of the uniaxial torque compensator gyro motor, so that at any working period, the torque generated by the uniaxial torque compensation device is in the opposite direction to the torque output by the biaxial torque generator, and thus torque compensation can be achieved when the biaxial torque generator outputs invalid torque.

[0093] As can be seen from the above, both the single-axis torque compensation device and the dual-axis torque generator can generate torque without reaction force, that is, both the single-axis torque compensation device and the dual-axis torque generator can serve as the torque generation source of the entire torque generation device. Therefore, as an optional implementation, if the ratios of the active and reset periods are the same, another single-axis torque compensation device can be used to replace the original dual-axis torque generator, that is, it becomes two single-axis torque generators that transmit and output torque through the torque action structure.

[0094] Similarly, as another optional implementation, when the weight and volume of the device permit, another dual-axis torque generator can also be used to replace the original single-axis torque compensation device, that is, it becomes two dual-axis torque generators that alternately transmit and output torque through the torque action structure.

[0095] It can be seen that the torque generation device provided in the embodiment of the present application is provided with a dual-axis torque generator. The dual-axis torque generator can alternately output two torques in opposite directions along the same axis. A plurality of gyro motors and a cam-link transmission device are provided in the dual-axis torque generator. The plurality of gyro motors include at least a pair of paired gyro motors. Among them, when the paired gyro motors rotate themselves, they rotate in opposite symmetric directions around the mutually parallel revolution axes; a torque action structure for receiving and transmitting torque. The torque action structure is located between the dual-axis torque generator and the single-axis torque compensation device, and is respectively connected to the dual-axis torque generator and the single-axis torque compensation device through a ratchet structure, and thus can receive the torque output by the dual-axis torque generator or the single-axis torque compensation device through the ratchet structure; the single-axis torque compensation device is used to compensate according to the torques in opposite directions alternately output by the dual-axis torque generator, so that the torque received and transmitted by the torque action structure is a continuous torque in the same direction. In the embodiment of the present application, since the torques alternately output by the dual-axis torque generator are in opposite directions, that is, discontinuous torques, therefore, a single-axis torque compensation device is provided for compensation. That is to say, both the dual-axis torque generator and the single-axis torque compensation device can serve as torque generation sources. The torque action structure switches the engagement connection state with the dual-axis torque generator or the single-axis torque compensation device through the ratchet structure to realize the switching of the torque generation source and alternately transmit the torques output by each of them to ensure that the torque action structure always receives a torque in the same direction. Furthermore, the torque generation device can continuously generate a torque in the same direction; at the same time, the torque generation in the embodiment of the present application does not depend on any other fulcrum or device, is generated by the torque generation device, and will not generate a reaction force on a certain fulcrum or device. Therefore, the torque generation device provided in the embodiment of the present application can generate a continuous and reaction-force-free torque.

[0096] From the perspective of the microcontroller, the torque generation method of the embodiments of the present application will be introduced below. The torque generation method described below can be regarded as the control process executed by the microcontroller when implementing torque generation. The torque generation method described below can be referred to in correspondence with the content of the torque generation device described above.

[0097] Figure 6 The flowchart of the torque generation method provided by the embodiments of the present application is shown, which is applied to the torque generation device described in the foregoing embodiments. Referring to Figure 6 , the torque generation method may include:

[0098] Step S601: Obtain a torque generation request and the monitoring result of the working period of the biaxial torque generator.

[0099] Step S602: Generate a motor control signal and a drive control signal based on the torque generation request; the motor control signal is used to control the rotation of multiple gyro motors in the biaxial torque generator, and the multiple gyro motors include at least a pair of paired gyro motors; the drive control signal is used to control the main drive motor in the biaxial torque generator to drive the cam-link transmission device in the biaxial torque generator, so that while the paired gyro motors rotate themselves, they rotate in opposite symmetric directions around parallel revolution axes, generating two torques in opposite directions along the same axis direction alternately output by the biaxial torque generator; wherein, the movement trajectories of the multiple gyro motors are determined by the cam-link transmission device.

[0100] Further, the torque generation method may further include: generating a control signal for the single-axis torque compensator gyro motor based on the torque generation request and the monitoring result of the working period of the biaxial torque generator, and the control signal for the single-axis torque compensator gyro motor is used to control the working condition of the single-axis torque compensator gyro motor, so that at any working period, the torque generated by the single-axis torque compensation device is in the opposite direction to the torque output by the biaxial torque generator.

[0101] That is to say, in the embodiment of the present application, the control of the single-chip microcomputer over the torque generating device can be divided into the control of the biaxial torque generator and the control of the uniaxial torque compensation device. Specifically, the single-chip microcomputer obtains the received torque generation request and the monitoring result of the working period of the biaxial torque generator. The torque generation request may include information such as the magnitude and direction of the required target torque. Based on the torque generation request, the single-chip microcomputer generates a drive control signal and a motor control signal for controlling the biaxial torque generator, so that the biaxial torque generator alternately outputs torques in opposite directions along the same axis, that is, alternately outputs torques in the same direction as the target torque. At the same time, based on the monitoring result of the working period of the biaxial torque generator, it can be ensured that the single-chip microcomputer generates a control signal for the gyro motor of the uniaxial torque compensator during the correct working period. By controlling the working conditions of the gyro motor of the uniaxial torque compensator, the torque generated by the uniaxial torque compensation device is in the opposite direction to the torque output by the biaxial torque generator at any working period, and thus the invalid torque output by the biaxial torque generator can be compensated. The torques received by the torque acting structure alternately from different torque generation sources (such as the biaxial torque generator and the uniaxial torque compensation device) are always in the same direction, so that the torque generating device can generate a continuous and unidirectional torque without reaction force that is consistent with the target torque.

[0102] The embodiment of the present application further provides an electronic device, and the electronic device at least includes the torque generating device as described in the foregoing embodiment.

[0103] The above describes multiple embodiment solutions provided by the embodiment of the present application. The various alternative ways introduced in each embodiment solution can be combined and cross-referenced with each other without conflict, so as to extend a variety of possible embodiment solutions, all of which can be considered as the embodiment solutions disclosed and made public by the embodiment of the present application.

[0104] Although the embodiment of the present application is disclosed as above, the present application is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present application. Therefore, the protection scope of the present application should be subject to the scope defined by the claims.

Claims

1. A torque generating device, characterized in that: include: A dual-axis torque generator, the dual-axis torque generator is used to alternately output two torques in opposite directions along the same axis; the dual-axis torque generator includes a plurality of gyro motors and a cam-connecting rod transmission device, the plurality of gyro motors include at least one pair of gyro motors, wherein the paired gyro motors rotate in opposite symmetrical directions around mutually parallel revolution axes while operating themselves, and the motion trajectories of the plurality of gyro motors are determined by the cam-connecting rod transmission device; A torque acting structure, the torque acting structure is used to receive and transmit torque, the torque acting structure is located between the dual-axis torque generator and the single-axis torque compensation device, and is connected to the dual-axis torque generator and the single-axis torque compensation device through a ratchet structure respectively; A single-axis torque compensation device is used to compensate for the torques in opposite directions alternately output by the dual-axis torque generator, so that the torque received and transmitted by the torque action structure is a continuous torque in the same direction.

2. The torque generating device according to claim 1, characterized in that: The dual-shaft torque generator further includes: a main drive motor for driving the cam-link transmission device; The cam-connecting rod transmission device includes at least one cam and a group of connecting rods, wherein the group of connecting rods connects the cam and the orbital axis of a gyro motor, and the orbital axis is used to fix the base of the gyro motor and provide a fulcrum for the gyro motor to revolve; wherein the main drive motor drives the cam to rotate, and the rotation of the cam drives the group of connecting rods connected to the cam to rotate, and the rotation of the group of connecting rods drives the orbital axis of the gyro motor to rotate, and the gyro motor revolves around the orbital axis.

3. The torque generating device according to claim 2, characterized in that: Each connecting rod group includes: a first connecting rod, a second connecting rod and an auxiliary rod; Among them, one end of the first connecting rod moves with the rotation of the cam, the other end of the first connecting rod is connected to one end of the second connecting rod, and the other end of the second connecting rod is fixedly connected to the orbital axis of the gyro motor, and the auxiliary rod is used to fix the motion trajectory of the end point of the first connecting rod close to the cam, so that the motion trajectory of the end point is always located on the line connecting the axis center of the cam and the axis center of the orbital axis.

4. The torque generating device according to claim 3, characterized in that: The dual-axis torque generator also includes: an inter-axis gear set, which is located between the axis of revolution of the paired gyro motors; the inter-axis gear set is used to connect the axis of revolution of the paired gyro motors, so that the axis of revolution of the gyro motor driven by the connecting rod drives the axis of revolution of the gyro motor not driven by the connecting rod through the inter-axis gear set.

5. The torque generating device according to claim 1, characterized in that: The working period of the dual-axis torque generator includes: an active period and a reset period; In the active period, the torque output by the dual-axis torque generator is in the same direction as the target torque; in the reset period, the torque output by the dual-axis torque generator is in the opposite direction to the target torque.

6. The torque generating device according to claim 5, characterized in that: Also includes: The travel switch circuit is used to monitor the working period of the dual-axis torque generator.

7. The torque generating device according to claim 5, characterized in that: In the active period, the torque action structure is in meshing state with the ratchet structure connected to the dual-axis torque generator, and the torque output by the dual-axis torque generator is transmitted to the torque action structure, while the torque action structure is in non-meshing state with the ratchet structure connected to the single-axis torque compensation device, and no torque is transmitted; During the reset period, the torque action structure is in a non-engaged state with the ratchet structure connected to the dual-axis torque generator and does not transmit torque, while the torque action structure is in an engaged state with the ratchet structure connected to the single-axis torque compensation device and transmits the torque output by the single-axis torque compensation device to the torque action structure.

8. The torque generating device according to claim 5, characterized in that: The single-axis torque compensation device comprises: a single-axis torque compensator gyro motor; During the active period, the single-axis torque compensation device outputs a torque in the opposite direction to the target torque through the single-axis torque compensator gyro motor; during the reset period, the single-axis torque compensation device outputs a torque in the same direction as the target torque through the single-axis torque compensator gyro motor.

9. The torque generating device according to claim 8, characterized in that: The single-axis torque compensator device further comprises: a single-axis torque compensator fixed shaft, and the single-axis torque compensator gyro motor is fixedly connected to the ratchet structure via the single-axis torque compensator fixed shaft.

10. The torque generating device according to claim 9, characterized in that: Also includes: Single chip microcomputer; The single chip microcomputer is used to receive a torque generation request and a monitoring result of a working period of the dual-axis torque generator, and generate a motor control signal and a drive control signal based on the torque generation request; The motor control signal is used to control the rotation of multiple gyro motors in the dual-axis torque generator, and the drive control signal is used to control the main drive motor in the dual-axis torque generator to drive the cam-connecting rod transmission device in the dual-axis torque generator, so that the paired gyro motors can rotate in opposite and symmetrical directions around mutually parallel orbital axes while operating themselves, thereby generating two torques in opposite directions along the same axis that are alternately output by the dual-axis torque generator.

11. The torque generating device according to claim 10, characterized in that: The single-chip microcomputer is also used to generate a control signal of the single-axis torque compensator gyro motor based on the torque generation request and the monitoring result. The control signal of the single-axis torque compensator gyro motor is used to control the working condition of the single-axis torque compensator gyro motor so that in any working period, the torque generated by the single-axis torque compensation device is opposite to the direction of the torque output by the dual-axis torque generator.

12. A method for generating torque, characterized in that: Applied to the torque generating device according to any one of claims 1 to 11, the method comprises: Obtaining a torque generation request and a monitoring result of a working period of a dual-axis torque generator; Based on the torque generation request, a motor control signal and a drive control signal are generated; the motor control signal is used to control the rotation of multiple gyro motors in the dual-axis torque generator, and the multiple gyro motors include at least one pair of gyro motors; the drive control signal is used to control the main drive motor in the dual-axis torque generator to drive the cam-connecting rod transmission device in the dual-axis torque generator, so that the paired gyro motors rotate in opposite and symmetrical directions around mutually parallel revolution axes while running themselves, thereby generating two kinds of torques in opposite directions along the same axis that are alternately output by the dual-axis torque generator; Wherein, the motion trajectories of the multiple gyro motors are determined by a cam-connecting rod transmission device.

13. The torque generation method according to claim 12, characterized in that: Also includes: Based on the torque generation request and the monitoring result, a control signal of the single-axis torque compensator gyro motor is generated, and the control signal of the single-axis torque compensator gyro motor is used to control the working condition of the single-axis torque compensator gyro motor so that in any working period, the torque generated by the single-axis torque compensation device is opposite to the direction of the torque output by the dual-axis torque generator.

14. An electronic device, characterized in that: The electronic device comprises at least the torque generating device according to any one of claims 1-11.

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