Torque balancing device, turntable and aircraft

Abstract

The present invention discloses a torque balancing device, a turntable, and an aircraft. The invention belongs to the field of aircraft technology. The torque balancing device comprises: a motor, an output shaft, a first harmonic drive, a second harmonic drive, and a balancing flywheel. The motor comprises a stator and a rotor. The output shaft is connected to the rotor. The first flexspline of the first harmonic drive is connected to the stator. The second flexspline of the second harmonic drive is connected to the first wave generator of the first harmonic drive. The balancing flywheel is connected to the second wave generator of the second harmonic drive. While the rotor drives the load to rotate via the output shaft, the stator drives the balancing flywheel to rotate via the first and second harmonic drives. The balancing flywheel rotates in the opposite direction to that of the output shaft. The rapid rotation of the balancing flywheel can be used to balance the interference torque generated by the load driven by the output shaft, thereby improving the stability of the torque balancing device.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft, and in particular to a torque balancing device, a turntable and an aircraft. Background Art

[0002] In related technologies, drones, satellites and other aircraft can capture images through cameras, and are usually equipped with a turntable that can drive the camera to rotate. However, in the process of the turntable driving the camera to rotate, the turntable will generate an interference torque on the fuselage of the aircraft, reducing the stability of the aircraft and easily causing the camera to shake, affecting the camera's imaging quality. Summary of the Invention

[0003] The present invention aims to solve at least one of the above-mentioned technical problems in the prior art to a certain extent. To this end, the present invention provides a torque balancing device that can balance the interference torque.

[0004] The present invention also provides a turntable having the torque balancing device.

[0005] The present invention also provides an aircraft having the torque balancing device.

[0006] According to an embodiment of the present invention, a torque balancing device includes: a motor including a stator and a rotor; an output shaft connected to the rotor; a first harmonic drive including a first wave generator, a first flexspline, and a first rigid wheel, the first wave generator being rotationally connected to the first flexspline and causing the first flexspline to undergo elliptical deformation, wherein the outer teeth of the first flexspline in the major axis direction are meshed with the inner teeth of the first rigid wheel, and the outer teeth of the first flexspline in the minor axis direction are disengaged from the inner teeth of the first rigid wheel, and the first flexspline is connected to the stator; a second harmonic drive including a second wave generator, a second flexspline, and a second rigid wheel, the second wave generator being rotationally connected to the second flexspline and causing the second flexspline to undergo elliptical deformation, wherein the outer teeth of the second flexspline in the major axis direction are meshed with the inner teeth of the second rigid wheel, and the outer teeth of the second flexspline in the minor axis direction are disengaged from the inner teeth of the second rigid wheel, and the second flexspline is connected to the first wave generator; and a balancing flywheel connected to the second wave generator.

[0007] According to the torque balancing device of the embodiment of the present invention, while the rotor drives the load to rotate via the output shaft, the stator drives the balancing flywheel to rotate via the first harmonic driver and the second harmonic driver. The rotation direction of the balancing flywheel is opposite to that of the output shaft. The rapid rotation of the balancing flywheel can be used to balance the interference torque generated by the load driven by the output shaft, thereby improving the stability of the torque balancing device. At the same time, the first harmonic driver and the second harmonic driver have a compact structure and light weight, which can reduce the volume and weight of the torque balancing device, making the torque balancing device have good application prospects.

[0008] According to some embodiments of the present invention, the output shaft, the motor, the first harmonic drive, the second harmonic drive, and the balancing flywheel are coaxially arranged along a first axis.

[0009] According to some embodiments of the present invention, the torque balancing device further includes a housing having a mounting groove, and the motor, the output shaft, the first harmonic transmission and the second harmonic transmission are all installed in the mounting groove; wherein the output shaft and the balancing flywheel are both rotatably connected to the housing around the first axis, and the first rigid wheel and the second rigid wheel are fixedly connected to the inner wall of the mounting groove.

[0010] According to some embodiments of the present invention, a communication hole is further provided on the housing, the communication hole is communicated with the mounting groove, and at least a portion of the communication hole is opposite to the balancing flywheel.

[0011] According to some embodiments of the present invention, the housing includes: a first sub-housing, a second sub-housing and a third sub-housing connected in sequence along the first axis, the balance flywheel is rotatably connected to the first sub-housing through a first bearing, the second rigid wheel is fixedly connected to a side of the second sub-housing close to the first sub-housing, the first rigid wheel is fixedly connected to a side of the second sub-housing close to the third sub-housing, and the output shaft is rotatably connected to the third sub-housing through a second bearing.

[0012] According to some embodiments of the present invention, the first bearing is a deep groove ball bearing, and the second bearing is a cross roller bearing.

[0013] According to some embodiments of the present invention, the torque balancing device further includes: a transmission connecting member, through which the first flexible wheel is connected to the stator, and the transmission connecting member includes: an outer ring portion, a connecting ring portion and an inner ring portion, the outer ring portion is connected to the radial outer side of the connecting ring portion and is connected to the stator, and the inner ring portion is connected to the radial inner side of the connecting ring portion and is connected to the first flexible wheel.

[0014] According to another embodiment of the present invention, a turntable includes: a mounting bracket and the above-mentioned torque balancing device, the torque balancing device is mounted on the mounting bracket, and the output shaft is suitable for driving the load member to rotate relative to the mounting bracket.

[0015] According to the turntable of the embodiment of the present invention, while the rotor of its torque balancing device drives the load to rotate via the output shaft, the stator drives the balancing flywheel to rotate via the first harmonic driver and the second harmonic driver. The rotation direction of the balancing flywheel is opposite to that of the output shaft. The rapid rotation of the balancing flywheel can be used to balance the interference torque generated by the load driven by the output shaft, thereby improving the stability of the turntable. At the same time, the first harmonic driver and the second harmonic driver have a compact structure and light weight, which can reduce the volume and weight of the turntable.

[0016] According to another aspect of the present invention, an aircraft embodiment includes: a fuselage, a mounting bracket, a load member and the above-mentioned torque balancing device; one torque balancing device is correspondingly installed on the fuselage, and the mounting bracket is connected to the output shaft of the torque balancing device on the fuselage; another torque balancing device is correspondingly installed on the mounting bracket, and the load member is connected to the output shaft of the torque balancing device on the mounting bracket.

[0017] In an aircraft according to an embodiment of the present invention, while the rotor of its torque balancing device drives the load member and the mounting bracket to rotate via the output shaft, the stator drives the balancing flywheel to rotate via the first harmonic drive and the second harmonic drive. The rotation direction of the balancing flywheel is opposite to that of the output shaft. The rapid rotation of the balancing flywheel can be used to balance the interference torque generated by the output shaft driving the load member and the mounting bracket, thereby improving the stability of the aircraft. At the same time, the first harmonic drive and the second harmonic drive have a compact structure and are lightweight, which can reduce the size and weight of the aircraft.

[0018] According to some embodiments of the present invention, the axial direction of the output axis of the torque balancing device on the fuselage is the azimuth axis, the axial direction of the output axis of the torque balancing device on the mounting bracket is the pitch axis, the load member is a camera, the direction of the lens of the camera is the visual axis, and the visual axis and the azimuth axis are both perpendicular to the pitch axis.

[0019] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic diagram of a torque balancing device according to an embodiment of the present invention;

[0021] Figure 2 is a cross-sectional view of a torque balancing device according to an embodiment of the present invention;

[0022] Figure 3 is a schematic diagram of the internal structure of a torque balancing device according to an embodiment of the present invention;

[0023] Figure 4 is a schematic diagram of a turntable and a load member according to an embodiment of the present invention;

[0024] Figure 5 is a schematic diagram of a drone according to an embodiment of the present invention.

[0025] Reference numerals:

[0026] Motor 1; stator 11; rotor 12;

[0027] Output shaft 2;

[0028] First harmonic drive 3; first wave generator 31; first flexible pulley 32; first rigid pulley 33;

[0029] Second harmonic drive 4; second wave generator 41; second flexible pulley 42; second rigid pulley 43;

[0030] Balance flywheel 5;

[0031] Housing 6; first sub-housing 61; second sub-housing 62; third sub-housing 63; mounting groove 64; communicating hole 65;

[0032] First bearing 71; second bearing 72; bearing seat 73; bearing outer pressure ring 74; bearing inner pressure ring 75;

[0033] Transmission connecting member 8; outer ring portion 81; connecting ring portion 82; inner ring portion 83;

[0034] Torque balancing device 10;

[0035] Mounting bracket 20; load member 30; back plate 301;

[0036] fuselage 40;

[0037] Turntable 100;

[0038] Aircraft 1000. DETAILED DESCRIPTION

[0039] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0040] In the description of the present invention, it should be understood that the terms "inside" and "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0041] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0042] In the present invention, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood broadly. For example, they may refer to fixed or detachable connections, or integration; mechanical or electrical connections, or communication; direct or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0043] The torque balancing device 10 , the turntable 100 , and the aircraft 1000 according to the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0044] Reference Figures 1-4 As shown, the torque balancing device 10 includes: a motor 1, an output shaft 2, a first harmonic drive 3, a second harmonic drive 4 and a balance flywheel 5. The motor 1 includes a stator 11 and a rotor 12. The output shaft 2 is connected to the rotor 12. The first harmonic drive 3 includes a first wave generator 31, a first flexible spline 32 and a first rigid spline 33. The first wave generator 31 is rotatably connected to the first flexible spline 32 and causes the first flexible spline 32 to generate an elliptical deformation. The outer teeth of the first flexible spline 32 in the long axis direction are meshed with the inner teeth of the first rigid spline 33. The outer teeth of the first flexible spline 32 in the short axis direction are meshed with the inner teeth of the first rigid spline 33. The first flex spline 32 is connected to the stator 11 and is disengaged from the inner teeth of the first rigid pulley 33. The second harmonic drive 4 includes a second wave generator 41, a second flex spline 42, and a second rigid pulley 43. The second wave generator 41 is rotationally connected to the second flex spline 42 and causes the second flex spline 42 to produce an elliptical deformation. The outer teeth of the second flex spline 42 in the major axis direction are engaged with the inner teeth of the second rigid pulley 43. The outer teeth of the second flex spline 42 in the minor axis direction are disengaged from the inner teeth of the second rigid pulley 43. The second flex spline 42 is connected to the first wave generator 31, and the balancing flywheel 5 is connected to the second wave generator 41.

[0045] The output shaft 2 of the torque balancing device 10 can be connected to an external load 30. The stator 11 of the motor 1 can drive the rotor 12 to rotate, so that the rotor 12 drives the load 30 to rotate to a preset angle through the output shaft 2. The load 30 can be a camera. At the same time, the stator 11 is rotatable relative to the rotor 12. During the process of the stator 11 driving the rotor 12 to rotate, the stator 11 is subjected to a rotational torque opposite to the rotation direction of the rotor 12. The stator 11 rotates in opposite directions to the rotor 12. The stator 11 drives the balancing flywheel 5 to rotate through the first harmonic drive 3 and the second harmonic drive 4. The first harmonic drive 3 and the second harmonic drive 4 can achieve secondary acceleration of the balancing flywheel 5, so that the rotation speed of the balancing flywheel 5 is greater than the rotation speed of the stator 11. The rapid rotation of the balancing flywheel 5 can be used to balance the interference torque generated by the output shaft 2 driving the load 30, thereby balancing the torque of the torque balancing device 10, reducing the risk of shaking of the torque balancing device 10 and improving the stability of the torque balancing device 10.

[0046] Specifically, the motor 1 can be a brushless motor, and the torque of the motor 1 meets the design requirements. The rotor 12 of the motor 1 is rotatably arranged on the radial inner side of its stator 11. The rotor 12 is fixedly connected to the output shaft 2. The stator 11 is a rotatable component, that is, the freedom of the stator 11 to rotate around its axis is released. When the stator 11 drives the rotor 12 to rotate, the rotor 12 rotates synchronously with the output shaft 2, and the output shaft 2 drives the external load part 30 to rotate synchronously. The rotation directions of the stator 11 and the rotor 12 are opposite.

[0047] The first harmonic drive 3 includes a first wave generator 31, a first flexspline 32, and a first rigid spline 33. The first rigid spline 33 can be a rigid internal gear with internal teeth. The first wave generator 31 is the output end of the first harmonic drive 3 and can include an elliptical cam and a peripheral flexible bearing. The first wave generator 31 is located radially inward of the first rigid spline 33. The first flexspline 32 is the input end of the first harmonic drive 3 and is connected to the stator 11. The first flexspline 32 can be a thin-walled cup gear with external teeth on its outer surface. The number of teeth on the first flexspline 32 is slightly less than the number of teeth on the internal teeth of the first rigid spline 33. The first flexspline 32 is rotatably mounted on the outer side of the first wave generator 31. The first wave generator 31 causes the first flexspline 32 to elliptically deform. The external teeth of the first flexspline 32 along its major axis mesh with the internal teeth of the first rigid spline 33, while the external teeth of the first flexspline 32 along its minor axis disengage from the internal teeth of the first rigid spline 33.

[0048] When the stator 11 rotates, the first rigid wheel 33 is stationary, and the stator 11 drives the first flex spline 32 to rotate. Due to the difference in the number of teeth between the first flex spline 32 and the first rigid wheel 33, the first flex spline 32 is squeezed toward the first wave generator 31 at the meshing point, thereby driving the first wave generator 31 to rotate. The first harmonic drive 3 is a speed-increasing mechanism, that is, the speed of the first wave generator 31 is greater than the speed of the stator 11.

[0049] The second harmonic drive 4 includes a second wave generator 41, a second flexspline 42, and a second rigid spline 43. The second rigid spline 43 can be a rigid internal gear with internal teeth. The second wave generator 41 is the output end of the second harmonic drive 4 and is connected to the balance flywheel 5. The second wave generator 41 can include an elliptical cam and a peripheral flexible bearing. The second wave generator 41 is located radially inward of the second rigid spline 43. The second flexspline 42 is the input end of the second harmonic drive 4 and is connected to the first wave generator 31. The second flexspline 42 can be a thin-walled cup-shaped gear. The outer surface of the second flexspline 42 has external teeth. The number of teeth on the outer surface of the second flexspline 42 is slightly less than the number of teeth on the inner teeth of the second rigid wheel 43. The second flexspline 42 is rotatably mounted on the outer side of the second wave generator 41. The second wave generator 41 causes the second flexspline 42 to produce an elliptical deformation. The outer teeth of the second flexspline 42 along its major axis mesh with the inner teeth of the second rigid wheel 43, and the outer teeth of the second flexspline 42 along its minor axis disengage from the inner teeth of the second rigid wheel 43.

[0050] When the stator 11 rotates, the second rigid pulley 43 is stationary. The stator 11 drives the second flex spline 42 to rotate via the first wave generator 31 of the first harmonic drive 3. Due to the difference in the number of teeth between the second flex spline 42 and the second rigid pulley 43, the second flex spline 42 is squeezed toward the second wave generator 41 at the meshing point, thereby driving the second wave generator 41 to rotate. In turn, the second wave generator 41 drives the balance flywheel 5 to rotate. The second harmonic drive 4 is a speed-increasing mechanism, that is, the speed of the second wave generator 41 is greater than the speed of the first wave generator 31.

[0051] It is understood that when the torque balancing device 10 is in operation, the power transmission path on the rotor 12 side is: rotor 12, output shaft 2, load member 30, and the power transmission path on the stator 11 side is: stator 11, first flex spline 32, first wave generator 31, second flex spline 42, second wave generator 41, balance flywheel 5. Among them, the rotor 12, output shaft 2, and load member 30 rotate in the same direction, the stator 11 and rotor 12 rotate in opposite directions, and the first flex spline 32 and stator 11 rotate in the same direction. The first wave generator 31 rotates in opposite directions to the first flexspline 32, while the second flexspline 42 rotates in the same direction as the first wave generator 31. The second wave generator 41 rotates in opposite directions to the second flexspline 42, and the balancing flywheel 5 rotates in the same direction as the second wave generator 41. That is, the rotor 12, output shaft 2, load member 30, first wave generator 31, and second flexspline 42 rotate in one direction, while the stator 11, first flexspline 32, second wave generator 41, and balancing flywheel 5 rotate in the other direction.

[0052] It should be noted that according to the momentum theorem:

[0053]

[0054]

[0055] Wherein, formula (1) is the calculation formula for the moment of inertia of a rigid body when the rigid body rotates around a fixed axis, J represents the moment of inertia, m represents the mass of the rigid body, and r represents the radius of gyration. Formula (2) is the moment balance formula, M(t) represents the net moment, ω represents the angular velocity of the component, n represents the collective name of the components with the same rotation direction as the balance flywheel 5 (i.e., the stator 11, the first flexspline 32, the second wave generator 41, and the balance flywheel 5), and s represents the collective name of the components with the same rotation direction as the load part 30 (i.e., the rotor 12, the output shaft 2, the load part 30, the first wave generator 31, and the second flexspline 42). That is, in formula (2), The first term represents the sum of the torques generated by the stator 11, the first flexspline 32, the second wave generator 41, and the balancing flywheel 5. The second term represents the sum of the torques generated by the rotor 12, the output shaft 2, the load 30, the first wave generator 31, and the second flexspline 42. Therefore, by designing the acceleration ratios of the first and second harmonic drive 3 and 4 and the moment of inertia of the balancing flywheel 5, the vector difference M(t) between the first and second terms is set to zero. The torques in opposite directions cancel each other out. When the orientation of the load 30 changes, the torque balancing device 10 eliminates the influence of the reverse interference torque generated by driving the load 30.

[0056] According to the torque balancing device 10 of the embodiment of the present invention, when the rotor 12 drives the load member 30 to rotate via the output shaft 2, the stator 11 drives the balancing flywheel 5 to rotate via the first harmonic driver 3 and the second harmonic driver 4. The rotation direction of the balancing flywheel 5 is opposite to the rotation direction of the output shaft 2. The rapid rotation of the balancing flywheel 5 can be used to balance the interference torque generated by the output shaft 2 driving the load member 30, thereby improving the stability of the torque balancing device 10. At the same time, the first harmonic driver 3 and the second harmonic driver 4 have a compact structure and light weight, which can reduce the volume and weight of the torque balancing device 10, making the torque balancing device 10 have a good application prospect.

[0057] In some embodiments of the present invention, reference Figure 2 and Figure 3 As shown, the output shaft 2, the motor 1, the first harmonic drive 3, the second harmonic drive 4 and the balancing flywheel 5 are coaxially arranged along the first axis, that is, the rotation axis of the output shaft 2, the rotation axis of the rotor 12, the rotation axis of the stator 11, the rotation axis of the first wave generator 31, the rotation axis of the second wave generator 41 and the rotation axis of the balancing flywheel 5 are all the first axis, so as to ensure the stability of the torque balancing device 10 when the torque balancing device 10 is working and reduce the vibration of the torque balancing device 10 in the direction perpendicular to the first axis.

[0058] In some embodiments of the present invention, reference Figure 1-Figure 3 As shown, the torque balancing device 10 also includes a housing 6, which has a mounting groove 64. The motor 1, the output shaft 2, the first harmonic drive 3 and the second harmonic drive 4 are all installed in the mounting groove 64, wherein the output shaft 2 and the balance flywheel 5 are both rotatably connected to the housing 6 around the first axis, and the first rigid wheel 33 and the second rigid wheel 43 are fixedly connected to the inner wall of the mounting groove 64.

[0059] Specifically, the output shaft 2 and the balancing flywheel 5 can be rotatably connected to the inner wall of the mounting groove 64 through corresponding bearings to ensure the stability of the rotation of the output shaft 2 and the balancing flywheel 5. The first rigid wheel 33 and the second rigid wheel 43 can be fixedly connected to the inner wall of the mounting groove 64 through corresponding fasteners to prevent the first rigid wheel 33 and the second rigid wheel 43 from rotating. At the same time, the motor 1, the output shaft 2, the first harmonic transmission 3 and the second harmonic transmission 4 are all installed in the mounting groove 64 of the housing 6, so that the torque balancing device 10 is formed into an assembly that is easy to assemble and use. The torque balancing device 10 can be assembled to a preset position through the housing 6. In addition, the housing 6 can also protect the motor 1, the output shaft 2, the first harmonic transmission 3 and the second harmonic transmission 4 to improve the service life of the torque balancing device 10.

[0060] In some embodiments of the present invention, reference Figure 1-Figure 3As shown, the housing 6 further defines a communication hole 65 that communicates with the mounting slot 64 , with at least a portion of the communication hole 65 facing the balancing flywheel 5 . The communication hole 65 can be used to dissipate heat, allowing air to circulate and exchange heat inside and outside the mounting slot 64 to prevent excessive temperatures within the torque balancing device 10 . The communication hole 65 can also be used to observe the rotational state of the balancing flywheel 5 and determine whether the balancing flywheel 5 is stuck, thereby facilitating fault diagnosis of the torque balancing device 10 . Furthermore, lubricating oil can be added to the torque balancing device 10 through the communication hole 65 to facilitate maintenance of the torque balancing device 10 . Optionally, there are multiple communication holes 65 to enhance the heat dissipation effect of the communication holes 65 .

[0061] In some embodiments of the present invention, reference Figure 1-Figure 3 As shown, the housing 6 includes: a first sub-housing 61, a second sub-housing 62 and a third sub-housing 63 connected in sequence along the first axis, the balance flywheel 5 is rotatably connected to the first sub-housing 61 through a first bearing 71, the second rigid wheel 43 is fixedly connected to a side of the second sub-housing 62 close to the first sub-housing 61, the first rigid wheel 33 is fixedly connected to a side of the second sub-housing 62 close to the third sub-housing 63, and the output shaft 2 is rotatably connected to the third sub-housing 63 through a second bearing 72.

[0062] Specifically, the second sub-shell 62 can be connected between the first sub-shell 61 and the third sub-shell 63 by fasteners. The first sub-shell 61, the second sub-shell 62 and the third sub-shell 63 jointly define a mounting groove 64, splitting the shell 6 into three sub-shells connected in sequence. During the assembly process of the torque balancing device 10, the first sub-shell 61 and the third sub-shell 63 on both sides of the second sub-shell 62 can be finally installed to the second sub-shell 62 to facilitate the assembly of the torque balancing device 10 and reduce the risk of interference between the various components of the torque balancing device 10 during the assembly process.

[0063] For example, assembly of the torque balancing device 10 may include the following steps:

[0064] Step S1 : The second rigid wheel 43 is fixedly connected to a side of the second sub-housing 62 close to the first sub-housing 61 , and the first rigid wheel 33 is fixedly connected to a side of the second sub-housing 62 close to the third sub-housing 63 .

[0065] In step S2 , the first wave generator 31 and the second flexspline 42 are fixedly connected, and then the second wave generator 41 and the second flexspline 42 are installed in the second rigid pulley 43 , and the first wave generator 31 and the first flexspline 32 are installed in the first rigid pulley 33 .

[0066] Step S3 : fixedly connecting the stator 11 to the first flexible pulley 32 .

[0067] Step S4 , fixedly connecting the balancing flywheel 5 to the second wave generator 41 .

[0068] Step S5 , installing the first bearing 71 in the first sub-housing 61 , then fixing the first sub-housing 61 and the second sub-housing 62 together, and inserting the balancing flywheel 5 into the first bearing 71 .

[0069] Step S6 , installing the second bearing 72 , the output shaft 2 and the rotor 12 in the third sub-housing 63 , then fixing the third sub-housing 63 and the second sub-housing 62 together, and positioning the rotor 12 radially inward of the stator 11 .

[0070] In the above steps, the two components that are fixedly connected can be fixed by bonding, snapping, fastener connection, etc.

[0071] In some embodiments of the present invention, the first bearing 71 is a deep groove ball bearing, and the second bearing 72 is a cross roller bearing. The deep groove ball bearing has the advantages of strong versatility, low cost, and the ability to withstand certain radial and axial loads, which can ensure the stability of the output shaft 2. The cross roller bearing has the advantages of high rigidity, high precision, the ability to withstand large loads, and compact structure, which can reduce the shaking of the balance flywheel 5 and occupy less space.

[0072] In some embodiments of the present invention, reference Figure 2 and Figure 3 As shown, the second bearing 72 is installed on the third sub-housing 63 through the bearing seat 73, the bearing outer pressure ring 74 and the bearing inner pressure ring 75. The bearing seat 73 can be used to support the second bearing 72. The bearing inner pressure ring 75 and the bearing outer pressure ring 74 can be pressed against the second bearing 72 on the radial inner and outer sides of the second bearing 72 respectively, so as to limit and fix the second bearing 72 well and improve the load-bearing capacity and stability of the second bearing 72. Among them, the contact end faces of the bearing seat 73, the bearing inner pressure ring 75 and the bearing outer pressure ring 74 with the second bearing 72 have high tolerance accuracy. In addition, the contact surface between the output shaft 2 and the second bearing 72 needs to have good cylindricity and surface roughness, and also needs to have good stiffness characteristics to prevent deformation in the working environment.

[0073] In some embodiments of the present invention, reference Figure 2 and Figure 3 As shown, the torque balancing device 10 also includes: a transmission connecting member 8, through which the first flexible spline 32 is connected to the stator 11, and the transmission connecting member 8 includes: an outer ring portion 81, a connecting ring portion 82 and an inner ring portion 83, the outer ring portion 81 is connected to the radial outer side of the connecting ring portion 82 and is connected to the stator 11, and the inner ring portion 83 is connected to the radial inner side of the connecting ring portion 82 and is connected to the first flexible spline 32.

[0074] It is understandable that the stator 11 is located radially outside the rotor 12 and has a relatively large radial dimension. If the stator 11 is directly connected to the first flexible spline 32 , the radial dimension of the first flexible spline 32 will be too large, which is not conducive to the miniaturization of the torque balancing device 10 .

[0075] To this end, in an embodiment of the present invention, the outer ring portion 81 of the transmission connector 8 is connected to the radially outer side of the connecting ring portion 82 and is connected to the stator 11, and the inner ring portion 83 of the transmission connector 8 is connected to the radially inner side of the connecting ring portion 82 and is connected to the first flexible spline 32. The first flexible spline 32 is indirectly connected to the stator 11 through the transmission connector 8, thereby ensuring the transmission between the first flexible spline 32 and the stator 11 when the radial size of the first flexible spline 32 is small, which is conducive to the miniaturization of the first harmonic drive 3 and the torque balancing device 10.

[0076] In some embodiments of the present invention, the balancing flywheel 5 has a high degree of cylindricity and a uniform mass distribution to ensure dynamic balance during rotation and avoid dynamic imbalance and the introduction of additional vibration interference when the balancing flywheel 5 rotates at high speeds. Furthermore, the components of the torque balancing device 10 must be assembled with high precision during installation. The materials used for these components should have good stiffness and temperature characteristics to avoid deformation that could affect the rotational accuracy of the mechanism during actual use.

[0077] According to the torque balancing device 10 of the embodiment of the present invention, the first harmonic driver 3 and the second harmonic driver 4 can realize acceleration and reversing functions between the stator 11 and the balance flywheel 5, and can better balance and offset the interference torque. In addition, the torque balancing device 10 has a compact structure, small size, light weight, simple and convenient assembly, and has good application prospects.

[0078] Reference Figures 1-4 As shown, the turntable 100 according to another embodiment of the present invention includes: a mounting bracket 20 and the torque balancing device 10 of the above embodiment, the torque balancing device 10 is installed on the mounting bracket 20, and the output shaft 2 is suitable for driving the load member 30 to rotate relative to the mounting bracket 20.

[0079] Specifically, the mounting bracket 20 may be a U-shaped bracket, the torque balancing device 10 may be mounted on the mounting bracket 20, and the load member 30 may be disposed within the U-shaped groove of the mounting bracket 20. The output shaft 2 of the torque balancing device 10 is connected to the back plate 301 of the load member 30. When the output shaft 2 drives the load member 30 to rotate relative to the mounting bracket 20, the torque balancing device 10 utilizes the counter-rotation of its internal balancing flywheel 5 relative to the output shaft 2 to achieve torque balance, thereby reducing the torque and vibration transmitted to the mounting bracket 20 by the torque balancing device, thereby improving the stability of the turntable 100. The load member 30 may be a camera, and the turntable 100 can stably support the camera, ensuring better imaging quality.

[0080] According to the turntable 100 of the embodiment of the present invention, while the rotor 12 of the torque balancing device 10 drives the load member 30 to rotate via the output shaft 2, the stator 11 drives the balancing flywheel 5 to rotate via the first harmonic driver 3 and the second harmonic driver 4. The rotation direction of the balancing flywheel 5 is opposite to that of the output shaft 2. The rapid rotation of the balancing flywheel 5 can be used to balance the interference torque generated by the output shaft 2 and the load member 30, thereby improving the stability of the turntable 100. At the same time, the first harmonic driver 3 and the second harmonic driver 4 have a compact structure and light weight, which can reduce the volume and weight of the turntable 100.

[0081] Reference Figure 1 、 Figure 2 、 Figure 3 and Figure 5 As shown, an aircraft 1000 according to another embodiment of the present invention includes: a fuselage 40, a mounting bracket 20, a load member 30 and the torque balancing device 10 of the above embodiment, wherein a torque balancing device 10 is correspondingly installed on the fuselage 40, the mounting bracket 20 is connected to the output shaft 2 of the torque balancing device 10 on the fuselage 40, another torque balancing device 10 is correspondingly installed on the mounting bracket 20, and the load member 30 is connected to the output shaft 2 of the torque balancing device 10 on the mounting bracket 20.

[0082] Specifically, the aircraft 1000 can be an aircraft, a spacecraft, a rocket, a missile, etc. For example, the aircraft 1000 is a drone, the mounting bracket 20 is connected to the output shaft 2 of the torque balancing device 10 on the fuselage 40, and when the torque balancing device 10 on the fuselage 40 drives the mounting bracket 20 to rotate relative to the fuselage 40, the torque balancing device 10 on the fuselage 40 can achieve torque balance, and the load member 30 is connected to the output shaft 2 of the torque balancing device 10 on the mounting bracket 20, and when the torque balancing device 10 on the mounting bracket 20 drives the load member 30 to rotate relative to the mounting bracket 20, the torque balancing device 10 on the mounting bracket 20 can achieve torque balance, thereby reducing the influence of the rotational torque on the fuselage 40 of the aircraft 1000, keeping the fuselage 40 stable, and reducing the shaking and attitude changes of the fuselage 40.

[0083] According to the aircraft 1000 of the embodiment of the present invention, while the rotor 12 of its torque balancing device 10 drives the load member 30 and the mounting bracket 20 to rotate via the output shaft 2, the stator 11 drives the balancing flywheel 5 to rotate via the first harmonic driver 3 and the second harmonic driver 4. The rotation direction of the balancing flywheel 5 is opposite to that of the output shaft 2. The rapid rotation of the balancing flywheel 5 can be used to balance the interference torque generated by the output shaft 2 driving the load member 30 and the mounting bracket 20, thereby improving the stability of the fuselage 40. At the same time, the first harmonic driver 3 and the second harmonic driver 4 have a compact structure and light weight, which can reduce the volume and weight of the aircraft 1000.

[0084] In some embodiments of the present invention, reference Figure 5 As shown, the axial direction of the output shaft 2 of the torque balancing device 10 on the fuselage 40 is the azimuth axis a1, the axial direction of the output shaft 2 of the torque balancing device 10 on the mounting bracket 20 is the pitch axis a2, the load member 30 is a camera, the direction of the camera lens is the visual axis a3, and the visual axis a3 and the azimuth axis a1 are both perpendicular to the pitch axis a2.

[0085] Specifically, when the visual axis a3 and the azimuth axis a1 are both perpendicular to the pitch axis a2, the torque balancing device 10 on the fuselage 40 can drive the mounting bracket 20 to rotate around the azimuth axis a1 to adjust the azimuth of the pitch axis a2 and the visual axis a3. The torque balancing device 10 on the mounting bracket 20 can drive the camera to rotate around the pitch axis a2 to adjust the pitch angle of the visual axis a3. The adjustable angle of the visual axis a3 is large and easy to adjust.

[0086] According to the aircraft 1000 according to the embodiment of the present invention, its torque balancing device 10 can be used for the turntable 100 of the high-precision pointing adjustment of the drone, which can reduce the impact of the camera rotation on the fuselage 40 of the aircraft 1000, ensure the stability of the aircraft 1000, and thus help reduce the shaking of the camera and improve the imaging quality of the camera. The torque balancing device 10 has good application prospects in the field of drones and drone countermeasures.

[0087] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification.

[0088] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention. All other embodiments obtained by a person skilled in the art based on the embodiments of the present invention without creative work shall fall within the scope of protection of the present invention.

Claims

1. A torque balancing device, characterized in that: include: A motor (1), comprising a stator (11) and a rotor (12); an output shaft (2), the output shaft (2) being connected to the rotor (12); A first harmonic transmission (3), comprising a first wave generator (31), a first flexible wheel (32) and a first rigid wheel (33), wherein the first wave generator (31) is rotationally connected to the first flexible wheel (32) and causes the first flexible wheel (32) to generate elliptical deformation, wherein the outer teeth of the first flexible wheel (32) in the long axis direction are meshed with the inner teeth of the first rigid wheel (33), and the outer teeth of the first flexible wheel (32) in the short axis direction are disengaged from the inner teeth of the first rigid wheel (33), and the first flexible wheel (32) is connected to the stator (11); A second harmonic drive (4), the second harmonic drive (4) comprising a second wave generator (41), a second flexible wheel (42) and a second rigid wheel (43), the second wave generator (41) being rotationally connected to the second flexible wheel (42) and causing the second flexible wheel (42) to generate elliptical deformation, the outer teeth of the second flexible wheel (42) in the long axis direction meshing with the inner teeth of the second rigid wheel (43), the outer teeth of the second flexible wheel (42) in the short axis direction disengaging from the inner teeth of the second rigid wheel (43), and the second flexible wheel (42) being connected to the first wave generator (31); A balancing flywheel (5), wherein the balancing flywheel (5) is connected to the second wave generator (41).

2. The torque balancing device according to claim 1, characterized in that: The output shaft (2), the motor (1), the first harmonic drive (3), the second harmonic drive (4) and the balancing flywheel (5) are coaxially arranged along a first axis.

3. The torque balancing device according to claim 2, characterized in that: The torque balancing device further comprises a housing (6), the housing (6) having a mounting groove (64), the motor (1), the output shaft (2), the first harmonic drive (3) and the second harmonic drive (4) are all mounted in the mounting groove (64); The output shaft (2) and the balancing flywheel (5) are both rotatably connected to the housing (6) around the first axis, and the first rigid wheel (33) and the second rigid wheel (43) are fixedly connected to the inner wall of the mounting groove (64).

4. The torque balancing device according to claim 3, characterized in that: A communicating hole (65) is also provided on the housing (6), the communicating hole (65) is communicated with the mounting groove (64), and at least a portion of the communicating hole (65) is opposite to the balancing flywheel (5).

5. The torque balancing device according to claim 3, characterized in that: The housing (6) comprises: a first sub-housing (61), a second sub-housing (62) and a third sub-housing (63) connected in sequence along the first axis; the balance flywheel (5) is rotationally connected to the first sub-housing (61) via a first bearing (71); the second rigid wheel (43) is fixedly connected to a side of the second sub-housing (62) close to the first sub-housing (61); the first rigid wheel (33) is fixedly connected to a side of the second sub-housing (62) close to the third sub-housing (63); and the output shaft (2) is rotationally connected to the third sub-housing (63) via a second bearing (72).

6. The torque balancing device according to claim 5, characterized in that: The first bearing (71) is a deep groove ball bearing, and the second bearing (72) is a cross roller bearing.

7. The torque balancing device according to any one of claims 1 to 6, characterized in that: The torque balancing device further includes: a transmission connecting member (8), wherein the first flexible wheel (32) is connected to the stator (11) via the transmission connecting member (8), and the transmission connecting member (8) includes: an outer ring portion (81), a connecting ring portion (82) and an inner ring portion (83), wherein the outer ring portion (81) is connected to the radial outer side of the connecting ring portion (82) and is connected to the stator (11), and the inner ring portion (83) is connected to the radial inner side of the connecting ring portion (82) and is connected to the first flexible wheel (32).

8. A turntable, characterized in that: include: A mounting bracket (20) and a torque balancing device according to any one of claims 1 to 7, wherein the torque balancing device is mounted on the mounting bracket (20), and the output shaft (2) is suitable for driving a load member (30) to rotate relative to the mounting bracket (20).

9. An aircraft, characterized in that: include: A fuselage (40), a mounting bracket (20), a load member (30), and a torque balancing device according to any one of claims 1 to 7; A torque balancing device is correspondingly mounted on the fuselage (40), and the mounting bracket (20) is connected to the output shaft (2) of the torque balancing device on the fuselage (40); Another torque balancing device is correspondingly mounted on the mounting bracket (20), and the load member (30) is connected to the output shaft (2) of the torque balancing device on the mounting bracket (20).

10. The aircraft according to claim 9, characterized in that The axial direction of the output shaft (2) of the torque balancing device on the fuselage (40) is the azimuth axis, the axial direction of the output shaft (2) of the torque balancing device on the mounting bracket (20) is the pitch axis, the load member (30) is a camera, the direction of the lens of the camera is the visual axis, and the visual axis and the azimuth axis are both perpendicular to the pitch axis.

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