Multi-degree-of-freedom anti-rolling gyroscope with variable rotational inertia and application method thereof

Abstract

The invention relates to the technical field of gyroscopes, and provides a variable-rotational-inertia multi-degree-of-freedom anti-rolling gyroscope and an application method thereof.The variable-rotational-inertia multi-degree-of-freedom anti-rolling gyroscope comprises a first driving part, a base, a second driving part, a stator and a balancing weight, the base is arranged at the movable end of the first driving part, and the first driving part is used for driving the base to rotate; the second driving piece is arranged on the base; the stator is arranged at the movable end of the second driving piece, the second driving piece is used for driving the stator to swing, and the swing axis of the stator is perpendicular to the rotation axis of the base; the balancing weights are arranged in the stator, the multiple balancing weights are arranged around the axis of the stator, the distance between the balancing weights and the axis of the stator is adjustable, and the multiple balancing weights form a rotor. Adjustment of restoring torque can be achieved by changing the position of the balancing weight, so that the service life of the driving motor can be effectively prolonged, and fine adjustment of the restoring torque can be achieved.

Description

Technical Field

[0001] This invention relates to the field of gyroscope technology, and in particular to a variable moment of inertia multi-degree-of-freedom anti-roll gyroscope and its application method. Background Technology

[0002] With the continuous development of the yacht industry, modern yachts are gradually moving towards luxury and comfort. Yachts are relatively small in tonnage and have weaker resistance to wind and waves. Under certain sea conditions, they are prone to significant rolling and pitching, which has a significant impact on the comfort of the yacht. Therefore, anti-roll gyroscopes were developed to provide greater stability for small-tonnage yachts.

[0003] An existing invention patent application with publication number CN113978639A discloses a roll-damping gyroscope, relating to the field of ship roll-damping technology. This roll-damping gyroscope includes a base, a flywheel system, a flexible mounting component, and a winding harness. The flexible mounting component is elongated, with one end fixed to the outer wall of the flywheel frame near the first side section. The flexible mounting component extends towards the second side section above the flywheel system, with its other end suspended. The winding harness includes a motor connection cable and sequentially has a first slack section, a first binding section, a second slack section, and a second binding section. The end of the first slack section is electrically connected to the motor. The first binding section is disposed on the flexible mounting component along its length. The second slack section is suspended, and the second binding section is disposed on the base. The first binding section and the second slack section can oscillate with the precession of the flywheel system.

[0004] As described in the above technical solution, the anti-roll gyroscope rotates by a motor driving a flywheel. This means that the restoring torque can only be adjusted by controlling the motor speed. Frequent adjustments require the motor to constantly change its speed, which can affect the motor's lifespan and makes it difficult to achieve fine torque adjustment. Therefore, it has certain shortcomings in application. Summary of the Invention

[0005] In view of this, the present invention proposes a variable moment of inertia multi-degree-of-freedom anti-roll gyroscope with long service life and easy torque fine adjustment, and its application method, thereby solving the problem that existing anti-roll gyroscopes can only rely on motor rotation to adjust the restoring torque, which affects the service life of the motor.

[0006] The technical solution of this invention is implemented as follows: On one hand, the present invention provides a variable moment of inertia multi-degree-of-freedom roll-damping gyroscope, comprising a first driving element, a base, a second driving element, a stator, and a counterweight, wherein, The movable end of the first driving member is provided with a base, and the first driving member is used to drive the base to rotate; The second driving component is mounted on the base; The stator is located at the movable end of the second driving member, which is used to drive the stator to swing. The swing axis of the stator is perpendicular to the rotation axis of the base. The counterweights are located inside the stator. Multiple counterweights are arranged around the axis of the stator, and the distance between the counterweights and the axis of the stator is adjustable. The multiple counterweights constitute the rotor.

[0007] Based on the above technical solutions, preferably, the first driving component includes a first motor, a driving gear, a first driven gear, and a second driven gear, wherein, The first motor is fixed in place; The drive gear is mounted on the main shaft of the first motor; The first driven gear meshes with the driving gear; The second driven gear meshes with the first driven gear, and the base is fixed to the end face of the second driven gear.

[0008] Based on the above technical solution, preferably, two second driving components are arranged opposite each other. Each second driving component includes a bracket, an electric push rod, a connecting frame, and a rotating shaft. The bracket is mounted on the base; The electric actuator is mounted on the bracket, and there are two electric actuators arranged opposite each other; One connecting bracket is provided on each of the movable ends of the two electric push rods; The rotating shaft passes through the bracket, with one end connected to the stator and the other end hinged to the connecting frame.

[0009] Based on the above technical solutions, preferably, the stator includes a shaft cylinder and a third driving component, wherein, The cylinder is connected to the rotating shaft; The third driving component is located inside the shaft cylinder and is used to adjust the distance between the counterweight and the stator axis.

[0010] Based on the above technical solutions, preferably, the third driving component includes a spindle, a power module, a connecting plate, and a second motor, wherein... The mandrel is rotatably mounted inside the shaft sleeve, and the mandrel is positioned corresponding to the axis of the stator; The second motor is installed inside the shaft sleeve, and the main shaft of the second motor is connected to the spindle; The power module has two units mounted on the spindle; Multiple connecting plates are provided for a single power module. One end of the connecting plate is hinged to the power module, and the other end of the connecting plate is hinged to the counterweight. Multiple counterweights are arranged around the spindle, and each counterweight is connected to two power modules through a connecting plate.

[0011] Based on the above technical solutions, preferably, the power module includes multiple power components, each power component including a transmission box, a third motor, a first-stage bevel gear, a second-stage bevel gear, a third-stage bevel gear, a fourth-stage bevel gear, and multi-stage transmission gears, wherein... A rack is provided on the outer surface of the mandrel; The transmission box is located on one side of the spindle; The third motor is installed inside the transmission box; The primary bevel gear is mounted on the main shaft of the third motor; The second-stage bevel gear meshes with the first-stage bevel gear; The third-stage bevel gear and the second-stage bevel gear are connected in series by a rotating shaft, and the rotating shaft is rotatably connected to the transmission box; The fourth-stage bevel gear meshes with the third-stage bevel gear, and the fourth-stage bevel gear is rotatably connected to the transmission box via a rotating shaft; The multi-stage transmission gear has multiple meshing transmission gears. One of the transmission gears is coaxially arranged with the fourth-stage bevel gear, and the remaining transmission gears are rotatably connected to the transmission box through a rotating shaft. The last transmission gear meshes with the rack on the outer surface of the spindle.

[0012] Based on the above technical solutions, preferably, the power module also includes a fixed plate, and the transmission box is mounted on the fixed plate; One end of the connecting plate is hinged to the fixed plate.

[0013] Based on the above technical solutions, the first motor, the second motor, and the third motor are preferably servo motors.

[0014] Based on the above technical solutions, preferably, the bottom of the shaft cylinder is provided with a tapered part, and the second motor is disposed inside the tapered part.

[0015] On the other hand, the present invention provides a method for applying the above-mentioned variable moment of inertia multi-degree-of-freedom anti-roll gyroscope, comprising the following steps: S1. The first driving component drives the base, stator and counterweight to rotate, the second driving component drives the stator and counterweight to swing, and the third motor drives the counterweight to rotate, thereby stabilizing the equipment. In this system, the counterweight is moved in real time via a power module to adjust the distance between the counterweight and the stator axis, thereby changing the moment of inertia of the stator.

[0016] The variable moment of inertia multi-degree-of-freedom anti-roll gyroscope and its application method of the present invention have the following advantages over the prior art:

[0017] (1) By setting multiple counterweights, the rotor is a split structure, which makes it easy to adjust the distance between the counterweight and the stator axis. Thus, the restoring torque can be adjusted by changing the rotor speed, and the restoring torque can also be adjusted by changing the position of the counterweight. This can effectively extend the service life of the drive motor and also achieve fine adjustment of the restoring torque.

[0018] (2) By setting the first driving component, the stator can be rotated. By setting the second driving component, the stator can be rotated by the action of the two electric push rods, thereby realizing the adjustment of the precession angle and thus realizing the anti-rolling operation.

[0019] (3) By setting a third driving component, the power module can move on the spindle to drive the connecting plate to rotate, thereby realizing the distance between the counterweight and the stator axis, thus completing the adjustment of the restoring torque. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a perspective view of the variable moment of inertia multi-degree-of-freedom anti-roll gyroscope of the present invention; Figure 2 For the present invention Figure 1 Enlarged view of the structure at point A in the middle; Figure 3 This is a side view of the variable moment of inertia multi-degree-of-freedom anti-roll gyroscope of the present invention; Figure 4 This is a cross-sectional view of the variable moment of inertia multi-degree-of-freedom anti-roll gyroscope of the present invention; Figure 5 For the present invention Figure 4 Enlarged view of the structure at point B; Figure 6 This is a perspective view of the power module of the variable moment of inertia multi-degree-of-freedom anti-roll gyroscope of the present invention. Figure 7 This is a perspective view of the counterweight mounting structure of the variable moment of inertia multi-degree-of-freedom anti-roll gyroscope of the present invention. Figure 8 This is a control flowchart of the second drive component of the variable moment of inertia multi-degree-of-freedom anti-roll gyroscope of the present invention; Figure 9 This is a flowchart of the third motor control for the variable moment of inertia multi-degree-of-freedom anti-roll gyroscope of the present invention. Figure 10 This is a flowchart illustrating the counterweight adjustment process of the variable moment of inertia multi-degree-of-freedom anti-roll gyroscope of the present invention. In the diagram: 1. First driving component; 11. First motor; 12. Driving gear; 13. First driven gear; 14. Second driven gear; 2. Base; 3. Second driving component; 31. Bracket; 32. Electric push rod; 33. Connecting frame; 34. Rotating shaft; 4. Stator; 41. Shaft cylinder; 411. Tapered part; 42. Third driving component; 421. Spindle; 422. Power module; 4221. Transmission box; 4222. Third motor; 4223. First-stage bevel gear; 4224. Second-stage bevel gear; 4225. Third-stage bevel gear; 4226. Fourth-stage bevel gear; 4227. Multi-stage transmission gear; 4228. Fixed plate; 423. Connecting plate; 424. Second motor; 5. Counterweight. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0023] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0024] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention.

[0025] 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0026] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0027] The following disclosure provides numerous different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. Additionally, examples of various specific processes and materials are provided in this invention; however, those skilled in the art will recognize the applicability of other processes and / or the use of other materials.

[0028] like Figures 1-9 As shown, the variable moment of inertia multi-degree-of-freedom anti-roll gyroscope of the present invention includes a first driving member 1, a base 2, a second driving member 3, a stator 4, and a counterweight 5.

[0029] like Figures 1-4 As shown, the movable end of the first driving member 1 is provided with a base 2, and the first driving member 1 is used to drive the base 2 to rotate; the second driving member 3 is provided on the base 2; the stator 4 is provided on the movable end of the second driving member 3, and the second driving member 3 is used to drive the stator 4 to swing, and the swing axis of the stator 4 is perpendicular to the rotation axis of the base 2; the counterweight 5 is provided inside the stator 4, and multiple counterweights 5 are arranged around the axis of the stator 4, and the distance between the counterweight 5 and the axis of the stator 4 is adjustable, and multiple counterweights 5 constitute a rotor; As described above, when the gyroscope is working, the first driving component 1 is installed on the ship, which drives the base 2, the second driving component 3, the stator 4 and the counterweight 5 to rotate synchronously along an axis. The second driving component 3 is used to drive the stator 4 to swing along another axis, thereby adjusting the precession angle; The counterweight 5 is provided in multiple parts, which together form a split rotor. This allows each counterweight 5 to adjust its distance from the rotating shaft of the stator 4. In the event of inconvenient rotor rotation speed, the restoring torque can also be adjusted, which can avoid frequent changes in the speed of the rotor drive motor, thereby extending its service life. It can also achieve fine adjustment of the restoring torque, improving the convenience of application.

[0030] like Figure 4 As shown, the first driving component 1 includes a first motor 11, a driving gear 12, a first driven gear 13, and a second driven gear 14. The first motor 11 is fixedly mounted; the driving gear 12 is mounted on the main shaft of the first motor 11; the first driven gear 13 meshes with the driving gear 12; the second driven gear 14 meshes with the first driven gear 13; and the base 2 is fixed to the end face of the second driven gear 14. As described above, in the first driving component 1, the first motor 11 is fixed to the ship via a bracket. The driving gear 12, the first driven gear 13, and the second driven gear 14 all rotate with the ship via a rotating shaft. Thus, when the first motor 11 is working, it can drive the base 2 to rotate via the driving gear 12, the first driven gear 13, and the second driven gear 14. In turn, the base 2 drives the stator 4 to rotate at an angle. The second driving component 3 is mounted on the base 2 and is connected to the stator 4. Thus, the second driving component 3 can rotate synchronously with the stator 4 and can also drive the stator 4 to swing, thereby adjusting the precession angle.

[0031] like Figures 1-3 As shown, there are two second driving components 3 arranged opposite each other. The second driving component 3 includes a bracket 31, an electric push rod 32, a connecting frame 33, and a rotating shaft 34. The bracket 31 is mounted on the base 2; the electric push rod 32 is mounted on the bracket 31, and there are two electric push rods 32 arranged opposite each other; the connecting frame 33 is provided on the movable end of each of the two electric push rods 32; the rotating shaft 34 passes through the bracket 31, one end of the rotating shaft 34 is connected to the stator 4, and the other end of the rotating shaft 34 is hinged to the connecting frame 33. As shown in the above structure, when the second drive unit 3 is adjusting the precession angle, the electric push rod 32 drives the connecting frame 33 to move. Since the connecting frame 33 is connected to the end of the rotating shaft 34, the rotating shaft 34 can rotate when the two electric push rods 32 move relative to each other, which in turn drives the stator 4 to swing, thereby realizing the adjustment of the precession angle.

[0032] like Figure 4 As shown, the stator 4 includes a shaft cylinder 41 and a third drive member 42, wherein the shaft cylinder 41 is connected to the rotating shaft 34; the third drive member 42 is disposed inside the shaft cylinder 41 and is used to adjust the distance between the counterweight block 5 and the axis of the stator 4. As described above, the stator 4 is provided with a shaft cylinder 41 connected to the rotating shaft 34. The inside of the shaft cylinder 41 is used to accommodate the rotor composed of the counterweight block 5. At the same time, the stator 4 is provided with a third driving member 42 to drive the counterweight block 5 to move, thereby realizing the adjustment of the distance between the counterweight block 5 and the axis of the stator 4.

[0033] like Figure 4 As shown, the third drive component 42 includes a spindle 421, a power module 422, a connecting plate 423, and a second motor 424. The spindle 421 is rotatably mounted inside the shaft sleeve 41 and is positioned corresponding to the axis of the stator 4. The second motor 424 is mounted inside the shaft sleeve 41, and its main shaft is connected to the spindle 421. Two power modules 422 are sleeved on the spindle 421. Multiple connecting plates 423 are provided for each power module 422. One end of the connecting plate 423 is hinged to the power module 422, and the other end is hinged to a counterweight 5. Multiple counterweights 5 are arranged around the spindle 421, and each counterweight 5 is connected to two power modules 422 through the connecting plate 423. As described above, the third drive unit 42 is provided with a spindle 421, and a power module 422 is provided on the spindle 421. Each counterweight 5 is connected to two third drive units 42 through two connecting plates 423, and the connection method is hinged. In this way, when the two power modules 422 move relative to each other, the connecting plates 423 will swing synchronously, and the counterweight 5 located between the two connecting plates 423 will move in a straight line, thereby realizing the adjustment of the distance between the counterweight 5 and the axis of the stator 4. Specifically, the power module 422 is circumferentially positioned relative to the spindle 421, so that when the second motor 424 drives the spindle 421 to rotate, the counterweight 5 will rotate synchronously. Specifically, the second motor 424 can maintain a constant speed, and the restoring torque adjustment is achieved solely by the movement of the counterweight 5.

[0034] like Figure 5 and Figure 6As shown, the power module 422 includes multiple power components. Each power component includes a transmission box 4221, a third motor 4222, a first-stage bevel gear 4223, a second-stage bevel gear 4224, a third-stage bevel gear 4225, a fourth-stage bevel gear 4226, and a multi-stage transmission gear 4227. A rack is provided on the outer surface of the spindle 421. The transmission box 4221 is located on one side of the spindle 421. The third motor 4222 is located inside the transmission box 4221. The first-stage bevel gear 4223 is mounted on the main shaft of the third motor 4222. The second-stage bevel gear 4224 is connected to the first-stage bevel gear 4223. The gears are meshed; the third-stage bevel gear 4225 and the second-stage bevel gear 4224 are connected in series by a rotating shaft, and the rotating shaft is rotatably connected to the transmission box 4221; the fourth-stage bevel gear 4226 meshes with the third-stage bevel gear 4225, and the fourth-stage bevel gear 4226 is rotatably connected to the transmission box 4221 by a rotating shaft; the multi-stage transmission gear 4227 has multiple meshing transmission gears, one of which is coaxially arranged with the fourth-stage bevel gear 4226, and the remaining transmission gears are each rotatably connected to the transmission box 4221 by a rotating shaft, and the last transmission gear meshes with the rack on the outer surface of the spindle 421; As described above, the power module 422 moves along the axial direction of the spindle 421, thereby adjusting the counterweight 5; The outer surface of the spindle 421 is provided with a rack. When the power module 422 is activated, the third motor 4222 is used as the driving component. The multi-stage transmission gear 4227 is driven to rotate through the first-stage bevel gear 4223, the second-stage bevel gear 4224, the third-stage bevel gear 4225 and the fourth-stage bevel gear 4226. The power module 422 moves along the axial direction of the spindle 421 by meshing with the rack at the end of the multi-stage transmission gear 4227, thereby adjusting the position of the counterweight 5. The transmission box 4221 is provided as a carrier. The first-stage bevel gear 4223, the second-stage bevel gear 4224, the third-stage bevel gear 4225, the fourth-stage bevel gear 4226 and the multi-stage transmission gear 4227 are all connected to the transmission box 4221 through rotating shafts to ensure structural stability.

[0035] like Figure 7 As shown, the power module 422 also includes a fixed disk 4228, and the transmission box 4221 is mounted on the fixed disk 4228; one end of the connecting plate 423 is hinged to the fixed disk 4228. As described above, the fixed disk 4228 serves as a connecting carrier to integrate multiple transmission boxes 4221 into one unit, thereby ensuring structural stability. Specifically, the connecting plate 423 is hinged to the fixed plate 4228.

[0036] Specifically, the first motor 11, the second motor 424, and the third motor 4222 are servo motors; In this way, the motor can work with the encoder to achieve precise rotation angle control, thereby ensuring the accuracy of the restoring torque.

[0037] like Figure 4 As shown, a tapered portion 411 is provided at the bottom of the shaft cylinder 41, and the second motor 424 is disposed inside the tapered portion 411; As described above, the tapered portion 411 is used to accommodate the second motor 424.

[0038] The application method of the variable moment of inertia multi-degree-of-freedom anti-roll gyroscope of the present invention includes the following steps: S1. The first driving component 1 drives the base 2, stator 4 and counterweight 5 to rotate, the second driving component 3 drives the stator 4 and counterweight 5 to swing, and the third motor 4222 drives the counterweight 5 to rotate, thereby stabilizing the equipment. In this process, the counterweight 5 is moved in real time by the power module 422 to adjust the distance between the counterweight 5 and the axis of the stator 4, thereby changing the moment of inertia of the stator 4.

[0039] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A variable moment of inertia multi-degree-of-freedom anti-roll gyroscope, characterized in that: It includes a first drive component (1), a base (2), a second drive component (3), a stator (4), and a counterweight (5), wherein, The first driving member (1) has a base (2) at its movable end, and the first driving member (1) is used to drive the base (2) to rotate. The second driving member (3) is disposed on the base (2); The stator (4) is disposed at the movable end of the second driving member (3), and the second driving member (3) is used to drive the stator (4) to swing. The swing axis of the stator (4) is perpendicular to the rotation axis of the base (2). The counterweight (5) is disposed inside the stator (4). Multiple counterweights (5) are arranged around the axis of the stator (4), and the distance between the counterweights (5) and the axis of the stator (4) is adjustable. Multiple counterweights (5) constitute a rotor.

2. The variable moment of inertia multi-degree-of-freedom anti-roll gyroscope as described in claim 1, characterized in that: The first driving component (1) includes a first motor (11), a driving gear (12), a first driven gear (13), and a second driven gear (14), wherein, The first motor (11) is fixed; The drive gear (12) is mounted on the main shaft of the first motor (11); The first driven gear (13) meshes with the driving gear (12); The second driven gear (14) meshes with the first driven gear (13), and the base (2) is fixed on the end face of the second driven gear (14).

3. The variable moment of inertia multi-degree-of-freedom anti-roll gyroscope as described in claim 2, characterized in that: There are two second driving components (3) arranged opposite each other. The second driving component (3) includes a bracket (31), an electric push rod (32), a connecting frame (33), and a rotating shaft (34). The bracket (31) is mounted on the base (2); The electric push rod (32) is mounted on the bracket (31), and there are two electric push rods (32) arranged opposite each other; The connecting frame (33) is provided on the movable end of each of the two electric push rods (32); The rotating shaft (34) passes through the bracket (31), one end of the rotating shaft (34) is connected to the stator (4), and the other end of the rotating shaft (34) is hinged to the connecting frame (33).

4. The variable moment of inertia multi-degree-of-freedom anti-roll gyroscope as described in claim 3, characterized in that: The stator (4) includes a shaft cylinder (41) and a third drive member (42), wherein, The shaft sleeve (41) is connected to the rotating shaft (34); The third driving member (42) is disposed inside the shaft cylinder (41), and the third driving member (42) is used to adjust the distance between the counterweight (5) and the axis of the stator (4).

5. The variable moment of inertia multi-degree-of-freedom anti-roll gyroscope as described in claim 4, characterized in that: The third driving component (42) includes a spindle (421), a power module (422), a connecting plate (423), and a second motor (424), wherein, The mandrel (421) is rotatably disposed inside the shaft cylinder (41), and the mandrel (421) is disposed corresponding to the axis of the stator (4); The second motor (424) is disposed inside the shaft sleeve (41), and the main shaft of the second motor (424) is connected to the spindle (421); Two power modules (422) are sleeved on the spindle (421), and the power modules (422) are used to adjust the distance between the counterweight (5) and the axis of the stator (4); Multiple connecting plates (423) are provided for each power module (422). One end of the connecting plate (423) is hinged to the power module (422), and the other end of the connecting plate (423) is hinged to the counterweight (5). Multiple counterweights (5) are arranged around the spindle (421), and each counterweight (5) is connected to two power modules (422) through the connecting plate (423).

6. The variable moment of inertia multi-degree-of-freedom anti-roll gyroscope as described in claim 5, characterized in that: The power module (422) includes multiple power components, each of which includes a transmission box (4221), a third motor (4222), a first-stage bevel gear (4223), a second-stage bevel gear (4224), a third-stage bevel gear (4225), a fourth-stage bevel gear (4226), and a multi-stage transmission gear (4227). The outer surface of the mandrel (421) is provided with a toothed rack; The transmission box (4221) is located on one side of the spindle (421); The third motor (4222) is installed inside the transmission box (4221); The first-stage bevel gear (4223) is mounted on the main shaft of the third motor (4222); The secondary bevel gear (4224) meshes with the primary bevel gear (4223); The third-stage bevel gear (4225) and the second-stage bevel gear (4224) are connected in series by a rotating shaft, and the rotating shaft is rotatably connected to the transmission box (4221); The fourth-stage bevel gear (4226) meshes with the third-stage bevel gear (4225), and the fourth-stage bevel gear (4226) is rotatably connected to the transmission box (4221) via a rotating shaft; The multi-stage transmission gear (4227) has multiple meshing transmission gears, one of which is coaxially arranged with the fourth-stage bevel gear (4226), and the remaining transmission gears are rotatably connected to the transmission box (4221) through a rotating shaft, and the end of the transmission gear meshes with the rack on the outer surface of the spindle (421).

7. The variable moment of inertia multi-degree-of-freedom anti-roll gyroscope as described in claim 6, characterized in that: The power module (422) also includes a fixed disk (4228), and the transmission box (4221) is disposed on the fixed disk (4228); One end of the connecting plate (423) is hinged to the fixed disk (4228).

8. The variable moment of inertia multi-degree-of-freedom anti-roll gyroscope as described in claim 7, characterized in that: The first motor (11), the second motor (424) and the third motor (4222) are servo motors.

9. The variable moment of inertia multi-degree-of-freedom anti-roll gyroscope as described in claim 7, characterized in that: The bottom of the shaft cylinder (41) is provided with a tapered part (411), and the second motor (424) is disposed inside the tapered part (411).

10. A method for applying a variable moment of inertia multi-degree-of-freedom anti-roll gyroscope as described in any one of claims 7 to 9, characterized in that, Includes the following steps: S1. The first driving member (1) drives the base (2), the stator (4) and the counterweight (5) to rotate, the second driving member (3) drives the stator (4) and the counterweight (5) to swing, and the third motor (422) drives the counterweight (5) to rotate, thereby stabilizing the equipment. In this process, the counterweight (5) is moved in real time by the power module (422) to adjust the distance between the counterweight (5) and the axis of the stator (4), thereby changing the moment of inertia of the stator (4).

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