Man-machine interaction variable-parameter full-electric-control frame gyroscope

Abstract

The invention discloses a human-computer interaction variable-parameter full-electric-control frame gyroscope. The gyroscope comprises a three-axis motion gyroscope unit and an electric control module, the three-axis motion gyroscope unit comprises an outer frame which is fixedly arranged; the middle frame is rotationally connected to the interior of the outer frame; the inner frame is rotationally connected to the interior of the middle frame; the rigid body is rotationally connected to the interior of the inner frame; the driving parts respectively drive the first shaft, the second shaft and the third shaft; the angle sensor is used for detecting the rotating states of the middle frame, the inner frame and the rigid body; the electric control module comprises an electric control box and a man-machine interaction module, and the electric control box is in electric communication connection with the man-machine interaction module. A multi-layer nested structure of the outer frame, the middle frame, the inner frame and the rigid body is adopted, and independent rotation in a three-dimensional space is achieved; each shaft is provided with an independent driving piece and an angle sensor, through precise feedback control, the motion control precision is remarkably improved, and the high-precision attitude control requirement can be met.

Description

Technical Field

[0001] This invention belongs to the field of gyroscopes, and more specifically, relates to a fully electronically controlled frame gyroscope with variable parameters for human-computer interaction. Background Technology

[0002] Traditional gyroscopes are classic inertial sensors based on the law of conservation of angular momentum and centered on a high-speed rotating rigid rotor. They calculate the angular velocity and attitude changes of a carrier by detecting the precession effect of the rotor when subjected to external torque. Based on the support method, they can be divided into frame-type, liquid-floating, air-floating, and electrostatic gyroscopes. Among them, the frame-type structure is complex and has mechanical friction. Liquid-floating and air-floating types use fluid or gas lubrication to reduce friction and improve accuracy. Electrostatic gyroscopes achieve near-frictionless high-precision measurement through electrostatic levitation, but they are expensive.

[0003] Patent document CN110223593A discloses a device including a demonstration stand, a support mounted on the demonstration stand, and a damper, a gyroscope, a signal sensor, and an elastic element mounted on the support. The gyroscope includes a frame and a gyroscope mounted inside the frame via a rotating shaft. One end of the frame is connected to the damper, the other end of the frame is connected to one end of the signal sensor, the other end of the signal sensor is connected to one end of the elastic element, and the other end of the elastic element is connected to the support.

[0004] Patent document CN109410711A discloses a gyroscope effect demonstration and measurement device, including: an inner frame rotor protective cover, a balance adjustment weight, a gyroscope speed sensor, an observation window, an inner frame gyroscope torque sensor, an inner frame angle sensor, an inner frame bearing, an outer frame bearing, a gyroscope support platform, a control computer and display, and a control knob. A gyroscope rotor and a rotor drive motor are installed inside the gyroscope rotor protective cover, and balance adjustment weights and gyroscope speed sensors are installed at both ends of the outer side. The device connects to the inner frame bearing via a second rotating shaft. The outer frame is connected to the inner frame rotor protective cover. On the second rotating shaft connecting the inner frame rotor protective cover and the outer frame, the inner frame gyro torque sensor, the inner frame angle sensor, the inner frame conductive slip ring, the inner frame bearing, and the inner frame bearing locking mechanism are connected in series. The observation window is set on the inner frame rotor protective cover. The rotor drive motor drives the gyro rotor to rotate around the first rotating shaft. The inner frame rotor protective cover can rotate around the second rotating shaft. The outer frame can rotate around the third rotating shaft. The outer frame is connected to the outer frame bearing through the rotating shaft on the third rotating shaft. The outer frame bearing adopts a crossed roller bearing.

[0005] Patent document CN223596886U discloses an inertial positioning gyroscope, including a structural frame, an upper turntable, and a contact. The upper turntable is fixedly connected to the structural frame and located inside the upper part of the structural frame. The contact is fixedly connected to the structural frame and located at the upper center of the structural frame. It also includes an auxiliary power supply positioning component, which includes a rotating column, a lower turntable, a through column, and a transmission rod. The rotating column is rotatably connected to the upper turntable and located below the upper turntable, with the rotating column positioned at the inner center of the structural frame. The upper side of the lower turntable is rotatably connected to the rotating column and located below the rotating column. One end of the through column passes through the structural frame and is detachably connected to the lower turntable, located on the side of the lower turntable away from the rotating column. The other end of the through column is located below the structural frame.

[0006] The existing gyroscopes described above can only perform single-axis measurements, making it difficult to obtain complete three-dimensional spatial attitude information. They lack active control capabilities, rely on mechanical transmission and manual intervention, and cannot achieve dynamic parameter adjustment. Therefore, a fully electronically controlled gyroscope with active parameter adjustment is needed to solve the above problems. Summary of the Invention

[0007] In view of the shortcomings of the prior art, the purpose of this invention is to provide a fully electronically controlled frame gyroscope with variable parameters for human-computer interaction, so as to solve the problems of difficulty in obtaining complete three-dimensional spatial attitude and lack of active control capability in the prior art.

[0008] The objective of this invention is achieved as follows: a fully electronically controlled frame gyroscope with variable parameters for human-computer interaction, comprising: a three-axis motion gyroscope unit and an electronic control module;

[0009] The three-axis motion gyroscope unit includes a fixed outer frame;

[0010] A middle frame is rotatably connected inside the outer frame, and the middle frame rotates relative to the outer frame about a first axis;

[0011] An inner frame is rotatably connected to the inside of the middle frame, and the inner frame rotates relative to the middle frame about a second axis, with the second axis being perpendicular to the first axis;

[0012] A rigid body rotatably connected to the inside of the inner frame rotates about a third axis, and the third axis is perpendicular to the second axis.

[0013] Drive components that drive the first axis, second axis, and third axis respectively;

[0014] An angle sensor that detects the rotational state of the middle frame, the inner frame, and the rigid body;

[0015] The conductive slip rings embedded in the first, second, and third axes are used for power and signal transmission of the rotating components;

[0016] The electronic control module includes an electronic control box and a human-machine interface module. The electronic control box and the human-machine interface module are electrically connected. The electrical signal from the angle sensor is transmitted to the electronic control box through a conductive slip ring. The electronic controller generates drive commands based on the control parameters input from the human-machine interface module to adjust the motion parameters of the three-axis motion gyroscope unit.

[0017] More preferably, the three-axis motion gyroscope unit further includes a base shock-absorbing bracket, the outer frame is vertically arranged, and the base shock-absorbing bracket is fixedly connected to the bottom of the outer frame.

[0018] More preferably, the first axis extends horizontally, the first axis and the second axis are respectively located on the vertical side of the middle frame, and the second axis and the third axis are respectively located on the vertical side of the inner frame.

[0019] More preferably, the outer frame, middle frame, and inner frame are made of aerospace-grade aluminum alloy or chemically resistant alloy material.

[0020] More preferably, the driving component and the angle sensor are both arranged coaxially with their corresponding rotating shafts;

[0021] The driving component is a drive motor. There are three drive motors, which drive the rotation of the middle frame, the inner frame and the rigid body respectively. The drive motor in the inner frame and the rigid body are collectively referred to as a gyroscope motor. The speed adjustment range of the gyroscope motor is 500-1200 RPM.

[0022] A PVDF film is integrated at the connection between the inner frame and the gyroscope motor. The PVDF film is used to capture the vibration displacement and vibration frequency signals during the operation of the gyroscope motor and transmit the signals to the electrical control box via a conductive slip ring.

[0023] More preferably, the electrical control box is equipped with an aviation connector, which is electrically connected to the three-axis motion gyroscope unit via an aviation cable;

[0024] Among the pins of the aviation plug, the positive power supply pin is adapted to 12V-24V power supply, the ground power supply pin is the GND ground terminal, and the RS485 communication pin includes TX+ and TX- serial communication terminals, which are used to transmit the detection signals of the angle sensor and PVDF film and the control commands of the drive unit.

[0025] More preferably, the human-machine interaction module interacts with the electrical control box via a serial communication cable or a wireless communication module;

[0026] The human-computer interaction module includes a computer and demonstration software;

[0027] The demonstration software includes a speed setting control, a zero-position setting control, a power supply control, and a running status display unit;

[0028] The speed setting control is adjustable to a speed range of 500-1200 RPM for gyroscope motors.

[0029] The zero-position setting control is used to calibrate the electrical control zero position of the first axis and the second axis, and the zero-position setting control and the power supply control are interlocked.

[0030] More preferably, the drive unit is equipped with a temperature protection and overcurrent protection module. When the temperature or current of the drive unit exceeds a set threshold, the controller automatically cuts off the drive command output.

[0031] More preferably, the operating status display unit is used to display the real-time rotation speed of the gyroscope motor, the operating current and temperature of the three drive motors, the angular position of the three angle sensors, the vibration signal data of the PVDF film, and the zero-position locking status of each axis in real time.

[0032] More preferably, the electronic controller has a built-in attitude calibration algorithm. The algorithm can receive real-time angle signals of the first axis, the third axis and the first axis collected by the angle sensor, compare and calculate with the pre-stored electronic control zero position parameters, and issue angle compensation commands to the corresponding drive components based on the calculation results.

[0033] Compared with the prior art, the fully electronically controlled frame gyroscope provided by the present invention has the following advantages and advancements:

[0034] (1) It adopts a multi-layer nested structure of outer frame, middle frame, inner frame and rigid body to realize independent rotation in three-dimensional space; each axis is equipped with independent drive components and angle sensors. Through precise feedback control, it can simultaneously measure the entire rotation state in three-dimensional space, effectively avoid multi-axis linkage interference, significantly improve motion control accuracy, and meet the requirements of high-precision attitude control.

[0035] (2) Combined with the human-computer interaction module, users can input control parameters as needed to achieve flexible adjustment of motion parameters, thereby adjusting the motion parameters of the gyroscope in real time. It can adapt to different scenarios without modifying the equipment structure, improving versatility and ease of operation.

[0036] (3) Relying on its core advantages such as high-precision control, stable transmission and flexible adaptation, it can be widely used in industrial automation, scientific research and experimentation and other fields; its stable performance and diverse adaptability make it highly practical and have broad prospects for promotion. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the structure of the present invention;

[0038] Figure 2 This is an enlarged schematic diagram of the structure at point A in this invention;

[0039] Figure 3 This is an interface diagram of the running status display unit in the demonstration software of this invention;

[0040] Figure 4 This is a circuit diagram of the voltage and current acquisition of the PVDF thin film in this invention;

[0041] Figure 5 This is a flowchart demonstrating the fixed axis property in this invention;

[0042] Figure 6 This is a flowchart demonstrating the precession process in this invention;

[0043] The diagram shows: outer frame 1, first axis 101, middle frame 2, second axis 201, inner frame 3, third axis 301, driving component 4, rigid body 5, and counterweight bolt 6. Detailed Implementation

[0044] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0045] First embodiment:

[0046] See Figure 1 As shown, a fully electronically controlled frame gyroscope with variable parameters for human-computer interaction includes a three-axis motion gyroscope unit and an electronic control module.

[0047] The three-axis motion gyroscope unit includes:

[0048] Fixed outer frame 1;

[0049] The middle frame 2, which is rotatably connected to the inside of the outer frame 1, rotates relative to the outer frame 1 around the first axis 101;

[0050] The inner frame 3, which is rotatably connected to the inside of the middle frame 2, rotates relative to the middle frame 2 around the second axis 201, and the second axis 201 is perpendicular to the first axis 101;

[0051] A rigid body 5 is rotatably connected to the inside of the inner frame 3. The rigid body 5 rotates around the third axis 301, and the third axis 301 is perpendicular to the second axis 201.

[0052] The outer frame 1, middle frame 2, and inner frame 3 of the three-axis motion gyroscope unit are all rectangular and are arranged in a nested manner. The rotation of the first axis 101 can drive the middle frame 2 to rotate inside the outer frame 1, that is, to achieve rotation in the X-axis direction. The rotation of the second axis 201 can drive the inner frame 3 to rotate inside the middle frame 2, that is, to achieve rotation in the Y-axis direction. The rotation of the third axis 301 can drive the rigid body 5 to rotate inside the inner frame 3, that is, to achieve rotation in the Z-axis direction. Due to the perpendicular relationship between the first axis 101 and the second axis 201, and the perpendicular spatial relationship between the second axis 201 and the third axis 301, the rigid body 5 can be rotated in the X-axis, Y-axis, and Z-axis, accurately simulating the composite motion of the X-axis, Y-axis, and Z-axis. This can be used for inertial device testing, navigation algorithm verification, etc., to realize the rotation of the rigid body 5. The three sets of motion combine to form three-dimensional motion capability.

[0053] There are 4 driving components 4 that drive the first axis 101, the second axis 201, and the third axis 301 respectively. There are 4 driving components 4, and they correspond to the first axis 101, the second axis 201, and the third axis 301 respectively.

[0054] Angle sensors are used to detect the rotation state of the middle frame 2, inner frame 3, and rigid body 5. There are at least three angle sensors, which correspond to the middle frame 2, inner frame 3, and rigid body 5 respectively. The angle sensors are installed at the X-axis, Y-axis, and Z-axis rotation axes respectively. The angle sensors enable precise closed-loop control of the X-axis, Y-axis, and Z-axis frames, allowing the rotating rigid body 5 to maintain a stable orientation in three-dimensional space.

[0055] The conductive slip rings embedded in the first shaft 101, the second shaft 201, and the third shaft 301 are used for power and signal transmission in rotating parts. A conductive slip ring is an electromechanical device used to transmit power, signals, or data between rotating and stationary parts. It allows the equipment to maintain the stability of the electrical connection while rotating continuously, thereby avoiding cable tangling problems. During installation, the conductive slip rings can be embedded in the first shaft 101 on the outer frame 1, the second shaft 201 on the middle frame 2, and the third shaft 301 on the inner frame 3. When rotation occurs, the contact between the brush of the conductive slip ring and the conductive ring ensures that the connection of the line is not interrupted, thereby realizing the transmission of power and signals.

[0056] The electrical control module includes an electrical control box and a human-machine interface module. The electrical control box is a box-type structure with an internal electrical controller. During use, electrical signals can be transmitted via wiring or wireless signal transmission. The electrical control box and the human-machine interface module are electrically connected. The electrical signals from the angle sensor are transmitted to the electrical control box through a conductive slip ring. The electrical controller, combined with the control parameters input from the human-machine interface module, generates drive commands to adjust the motion parameters of the three-axis motion gyroscope unit. During operation, the electrical signals of each axis collected by the angle sensor are transmitted to the electrical control box through the conductive slip ring. The electrical controller integrated in the electrical control box generates drive commands based on the control parameters input from the human-machine interface module, and then sends the commands to the corresponding drive components 4 through the conductive slip ring, thereby adjusting the motion parameters of the three-axis motion gyroscope unit and achieving precise control of the device's attitude.

[0057] Specifically, the outer dimensions of the outer frame 1 in the device are less than or equal to 312mm × 312mm, and the weight of the main body is less than 10kg.

[0058] Furthermore, the outer frame 1 is vertically arranged and can be a rectangular structure or a "U"-shaped structure with an open top. It is mainly used to assist in the installation and fixation of the middle frame 2 through the first axis 101. Preferably, the three-axis motion gyroscope unit also includes a base shock absorber bracket, which is fixedly connected to the bottom of the outer frame 1. The base shock absorber bracket can buffer the vibration transmitted to the device from the outside, avoid external vibration from interfering with the stability of the rotation of each axis, and ensure the accuracy of gyroscope effect demonstration and attitude control. The base shock absorber bracket is equipped with a damping rod inside to assist in energy absorption and reduce the impact of vibration on the stability of the device.

[0059] The first axis 101 extends horizontally, and the first axis 101 and the second axis 201 are located on the vertical side of the middle frame 2, respectively. The second axis 201 and the third axis 301 are located on the vertical side of the inner frame 3, respectively. Based on this axis system layout, the outer frame 1, the middle frame 2, the inner frame 3 and the rigid body 5 can form a three-axis orthogonal spatial structure.

[0060] To further explain, the drive component 4 and the angle sensor are both arranged coaxially with their corresponding rotating shafts. The coaxial installation method can minimize transmission deviation and ensure the accuracy of the drive component 4 in controlling the rotation of each shaft. At the same time, it allows the angle sensor to directly collect the real-time rotation data of the rotating shaft, improving the accuracy of attitude monitoring.

[0061] See Figure 2 As shown, counterweight bolts 6 are also provided on the outer frame 1, the middle frame 2 and the inner frame 3. The counterweight bolts 6 are used to fix the mounting structure on them, mainly for fixing the first shaft 101, the second shaft 201, the third shaft 301, the driving component, etc.

[0062] The driving component 4 consists of three drive motors, which drive the rotation of the middle frame 2, inner frame 3, and rigid body 5 respectively. This allows for independent control of the rotation of the first axis 101, the second axis 201, and the third axis 301. The drive motor inside the inner frame 3, together with the rigid body 5, forms a gyroscope motor. The gyroscope motor's speed adjustment range is 500-1200 RPM, and the moment of inertia of its central axis is 2049 kg / mm². 2 Each time the speed is adjusted, the power must be turned off and the parameters must be re-entered. The gyroscope motor can drive the rigid body 5 to rotate at high speed, thereby generating stable gyroscope angular momentum.

[0063] The connection between the inner frame 3 and the gyroscope motor is integrated with a PVDF film. The PVDF film has piezoelectric response characteristics and flexible bonding performance. The PVDF film is used to capture the vibration displacement and vibration frequency signals during the operation of the gyroscope motor, and transmit the signals to the control box via a conductive slip ring. The PVDF film can be tightly attached to the gyroscope motor housing to accurately capture the micron-level vibration displacement and vibration frequency signals during the operation of the gyroscope motor, and can accurately convert the vibration physical quantity into an electrical signal, which is then transmitted to the control box via a conductive slip ring, thereby improving the precise control of the gyroscope motor.

[0064] See Figure 4 As shown, the PVDF film captures micron-level vibration displacement and frequency signals during motor operation in real time, accurately converting the vibration physical quantities into electrical signal outputs. The detection resolution reaches 0.01μm, with a response time of less than 10μs, and it can completely reproduce the vibration states at different stages, such as motor startup, stable operation, and load changes. Traditional gyroscopes lack vibration detection components and cannot accurately perceive the core vibration indicators of the gyroscope motor. They can only indirectly judge based on the overall operational deviation of the equipment, which not only has a strong lag but also cannot locate the vibration source, making it difficult to troubleshoot attitude control errors caused by abnormal motor vibration.

[0065] This invention utilizes the vibration detection function of PVDF film to provide early warnings of potential faults such as motor bearing wear and rotor imbalance. Simultaneously, it links vibration data with torque feedback data and zero-state data from the middle frame 2 and outer frame 1, allowing the control system to dynamically optimize electrical control parameters based on vibration amplitude. For example, when excessive vibration is detected, the compensation torque and zero-state frequency of the middle frame 2 and outer frame 1 are automatically adjusted to prevent vibration from being transmitted to the main body of the equipment and affecting control accuracy. This further enhances the stability and reliability of the gyroscope under complex operating conditions, providing more comprehensive underlying data support for high-precision attitude control.

[0066] It should be noted that the outer frame 1, middle frame 2 and inner frame 3 are made of aerospace-grade aluminum alloy or chemical corrosion resistant alloy.

[0067] The second embodiment differs from the first embodiment in that:

[0068] As shown in Table 1, the electrical control box is equipped with an aviation connector, which is electrically connected to the three-axis motion gyroscope unit via an aviation cable. Among the pins of the aviation connector, the positive power supply pin is adapted to 12V-24V power supply, which can meet the power requirements of various drive motors, sensors and other electrical components in the three-axis motion gyroscope unit; the ground power supply pin is the GND grounding terminal, which can realize the grounding protection of the circuit and prevent electrical components from being damaged due to leakage or other faults; the RS485 communication pin includes TX+ and TX- serial communication terminals, which are mainly used to transmit the rotation status signals of each axis collected by the angle sensor and the vibration signals of the gyroscope motor captured by the PVDF film. At the same time, it can also transmit the control commands issued by the electrical control box to the drive unit 4, thus establishing a complete electrical signal interaction link.

[0069] Table 1 Definitions of each interface in the power supply box

[0070]

[0071] When connecting the cables, insert one end of the GX16 aviation cable into the socket on the main body of the mechanism, rotate the cable plug until the connection is secure, and connect the other end of the GX16 aviation cable to the X1 socket of the electrical control box; connect the 220V AC power plug; connect the TX+, TX-, and GND pins of the electrical control box to the TX+, TX-, and GND pins of the serial communication interface; connect the other end of the serial communication cable to the USB port of the computer.

[0072] See Figure 3 As shown, the human-machine interaction module communicates with the electrical control box via a serial communication cable or a wireless communication module. The serial communication cable ensures the stability of data transmission, while the wireless communication module eliminates the constraints of cables and improves the ease of use of the device.

[0073] The human-computer interaction module includes a computer and demonstration software, with the computer serving as the hardware platform to provide the operating environment for the demonstration software.

[0074] The demonstration software includes a speed setting control, a zero-position setting control, a power supply control, and a running status display unit;

[0075] The speed setting control is adapted to the speed range of 500-1200RPM of the gyroscope motor. Operators can use this control to set the working speed of the gyroscope motor according to the demonstration requirements.

[0076] The zero-position setting control is used to calibrate the electrical control zero position of the first axis 101 and the second axis 201. The zero-position setting control and the power supply control are interlocked. When zero-position calibration is performed, the power supply control will be locked and cannot be started, so as to avoid the motor from being accidentally started during the calibration process and affecting the zero-position calibration accuracy. After the zero-position calibration is completed, the device can save the parameter and use it by default on the next power-on.

[0077] In practical operation, functions include communication port settings, X-axis and Y-axis electronic control zero-position settings, gyroscope motor speed settings, and gyroscope motor start-up.

[0078] In actual operation, you need to run the demonstration software and enter the operation interface of the demonstration software. On the first power-on, you need to set the zero position of the X-axis and Y-axis electric control; confirm that the zero position of the X-axis and Y-axis electric lock is in the released state, the zero position electric lock light is not lit, and manually adjust the three frames to be perpendicular to each other.

[0079] Select the software's current zero-position setting control to set the current position as the X-axis and Y-axis electronic control zero position.

[0080] After turning on the power supply control, the drive motor in driver 4 is controlled; select serial port settings to configure the serial port.

[0081] Turn on the XY electric lock zero position control to lock the X-axis and Y-axis zero positions; the zero position indicator light will illuminate when the position is in place; at this time, the locking angles of the outer frame 1, middle frame 2, and inner frame 3 can be set according to the actual situation.

[0082] Enter the speed value in the gyroscope motor speed dialog box. The gyroscope motor speed must be entered after power is turned off each time. For example, the demonstration value is 1000 RPM.

[0083] Turn on the gyroscope motor switch control. The gyroscope motor will start running from 0 and run at the set speed.

[0084] See Figure 5 As shown, the specific operating steps for demonstrating the gyroscope's fixed-axis property are as follows:

[0085] S1. Hardware power supply and communication check: Check that the 220V switch and indicator light are on, check that K1 status is "1", and check that the communication port is correct and can communicate normally.

[0086] Click the power supply control, then click the XY electric lock zero position control lock switch. The X-axis and Y-axis zero position indicator lights will illuminate, and the three axes of inner frame 3, middle frame 2, and outer frame 1 will be perpendicular to each other. If they are not perpendicular, reset the zero position; the power supply control must be disconnected during the reset process.

[0087] S2. Set the gyroscope motor speed: Set the gyroscope motor speed.

[0088] S3, X-axis and Y-axis electric zero-position lock: Click the power supply control, then click the XY electric lock zero-position control lock switch, and the X-axis and Y-axis zero-position indicator lights will illuminate.

[0089] S4, X-axis and Y-axis electric zero-position unlock: Click the XY electric lock zero-position control lock switch. After the control indicator light dims, the zero-position electric control unlocks.

[0090] S5. Fixed-axis demonstration: The X-axis and Y-axis of the rotating mechanism body and the gyroscope axis remain unchanged.

[0091] S6. Exit the presentation: After the presentation is complete, click the "Exit" control to exit the presentation.

[0092] See Figure 6 As shown, the specific operating steps for demonstrating the precession of the gyroscope are as follows:

[0093] S1. Hardware power supply and communication check: Check that the 220V switch and indicator light are on, check that K1 status is "1", and check that the communication port is correct and can communicate normally.

[0094] Click the power supply control, then click the XY electric lock zero position control lock switch. The X-axis and Y-axis zero position indicator lights will illuminate, and the inner frame 3, middle frame 2, and outer frame 1 axes will be perpendicular to each other.

[0095] S2. Set the gyroscope motor speed: Set the gyroscope motor speed. Note that the gyroscope motor speed must be entered after the power is turned off each time.

[0096] S3, X-axis and Y-axis electric zero-position lock: Click the power supply control, then click the XY electric lock zero-position control lock switch, and the X-axis and Y-axis zero-position indicator lights will illuminate.

[0097] S4, X-axis and Y-axis electric zero-position unlock: Click the XY electric lock zero-position control lock switch. After the control indicator light dims, the zero-position electric control unlocks.

[0098] S5. Precession demonstration: The mechanism body has a torque applied to the Y-axis and a corresponding rotational speed on the X-axis.

[0099] S6. Exit the presentation: After the presentation is complete, click the "Exit" control to exit the presentation.

[0100] In the gyroscope spatial speed measurement demonstration, the gyroscope motor speed was set to 500 RPM, the X-axis and Y-axis zero-position electric locks were activated, the indicator lights were on, and the three axes of inner frame 3, middle frame 2 and outer frame 1 were perpendicular to each other.

[0101] Rotating the X-axis causes a corresponding change in the Y-axis motor current, the magnitude of which reflects the transient magnitude of the rotational speed.

[0102] Rotating the X-axis causes a corresponding change in the Y-axis motor current, the magnitude of which reflects the transient magnitude of the rotational speed.

[0103] After completing the operation, first turn off the gyroscope motor and exit the software; then turn off the K1 switch; finally, turn off the 220V power switch.

[0104] The third embodiment differs from the first embodiment in that:

[0105] The drive unit 4 is equipped with a temperature protection and overcurrent protection module. This protection module can monitor the operating temperature and operating current of the drive unit 4 in real time. When the temperature or current of the drive unit 4 exceeds the preset safety threshold, the controller in the control box will automatically cut off the drive command output to avoid the drive motor from burning out due to overheating or overcurrent, thus ensuring the electrical safety and stable operation of the entire three-axis motion gyroscope unit. After the protection mechanism is triggered, a power-off restart is required to restore the drive function.

[0106] The operation status display unit is used to display various core operation data of the device in real time, including the real-time speed of the gyroscope motor, the working current and temperature of the three drive motors, the angular position of each axis collected by the three angle sensors, the vibration signal data captured by the PVDF film, and the zero-position lock status of each axis. Operators can intuitively grasp the overall operating condition of the device through this operation status display unit, which facilitates the timely issuance of new control commands based on the data, and realizes closed-loop monitoring of the device's operating status.

[0107] The electronic controller has a built-in attitude calibration algorithm. This algorithm can receive real-time angle signals from the first axis 101, the second axis 201, and the third axis 301 collected by the angle sensors. It then performs precise comparison and calculation with the pre-stored electronic control zero-position parameters. Based on the calculated angle deviation, it sends angle compensation commands to the corresponding drive components 4 to drive each axis to complete attitude correction, thereby achieving precise attitude calibration of the device. The zero-position parameters in the attitude calibration algorithm can be saved. When the device is powered on and started again, the electronic control box will use the saved zero-position parameters by default, eliminating the need for operators to repeatedly perform zero-position calibration. This simplifies the operation process of the device and ensures the consistency of the device's attitude reference after each start-up, improving the ease of use of the device and the accuracy of the demonstration data.

[0108] 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 fully electrically controlled frame gyroscope with variable parameters for human-computer interaction, characterized in that, include: Three-axis motion gyroscope unit and electronic control module; The three-axis motion gyroscope unit includes a fixed outer frame (1); The middle frame (2) is rotatably connected to the inside of the outer frame (1), and the middle frame (2) rotates relative to the outer frame (1) about the first axis (101); The inner frame (3) is rotatably connected to the inside of the middle frame (2), and the inner frame (3) rotates relative to the middle frame (2) about the second axis (201), and the second axis (201) is perpendicular to the first axis (101); A rigid body (5) is rotatably connected inside the inner frame (3). The rigid body (5) rotates around a third axis (301), and the third axis (301) is perpendicular to the second axis (201). Drive components (4) that drive the first axis (101), the second axis (201), and the third axis (301) respectively. An angle sensor that detects the rotational state of the middle frame (2), the inner frame (3), and the rigid body (5); Conductive slip rings embedded in the first axis (101), the second axis (201), and the third axis (301) are used for power and signal transmission of the rotating components; The electronic control module includes an electronic control box and a human-machine interface module. The electronic control box and the human-machine interface module are electrically connected. The electrical signal from the angle sensor is transmitted to the electronic control box through a conductive slip ring. The electronic controller generates drive commands based on the control parameters input from the human-machine interface module to adjust the motion parameters of the three-axis motion gyroscope unit.

2. The fully electronically controlled frame gyroscope with variable parameters for human-computer interaction according to claim 1, characterized in that: The three-axis motion gyroscope unit also includes a base shock absorber bracket. The outer frame (1) is vertically arranged, and the base shock absorber bracket is fixedly connected to the bottom of the outer frame (1).

3. The fully electronically controlled frame gyroscope with variable parameters for human-computer interaction according to claim 1 or 2, characterized in that: The first axis (101) extends horizontally, and the first axis (101) and the second axis (201) are located on the vertical side of the middle frame (2), respectively. The second axis (201) and the third axis (301) are located on the vertical side of the inner frame (3), respectively.

4. The fully electronically controlled frame gyroscope with variable parameters for human-computer interaction according to claim 3, characterized in that: The drive component (4) and the angle sensor are both arranged coaxially with their corresponding rotating shafts. The driving component (4) is a driving motor. There are three driving motors, which drive the rotation of the middle frame (2), the inner frame (3) and the rigid body (5) respectively. The driving motor in the inner frame (3) and the rigid body (5) are collectively referred to as gyroscope motors. The speed adjustment range of the gyroscope motors is 500-1200 RPM. The inner frame (3) and the connection part of the gyroscope motor are integrated with a PVDF film. The PVDF film is used to capture the vibration displacement and vibration frequency signals during the operation of the gyroscope motor and transmit the signals to the electrical control box through a conductive slip ring.

5. The fully electronically controlled frame gyroscope with variable parameters for human-computer interaction according to claim 4, characterized in that, The electrical control box is equipped with an aviation connector, which is electrically connected to the three-axis motion gyroscope unit via an aviation cable; Among the pins of the aviation plug, the positive power supply pin is adapted to 12V-24V power supply, the ground power supply pin is the GND grounding terminal, and the RS485 communication pin includes TX+ and TX- serial communication terminals, which are used to transmit the detection signals of the angle sensor and PVDF film and the control commands of the driving device (4).

6. The fully electronically controlled frame gyroscope with variable parameters for human-computer interaction according to claim 5, characterized in that, The human-machine interaction module interacts with the electrical control box via a serial communication cable or a wireless communication module. The human-computer interaction module includes a computer and demonstration software; The demonstration software includes a speed setting control, a zero-position setting control, a power supply control, and a running status display unit; The speed setting control is adjustable to a speed range of 500-1200 RPM for gyroscope motors. The zero-position setting control is used to calibrate the electrical control zero position of the first axis (101) and the second axis (201), and the zero-position setting control and the power supply control are interlocked.

7. The fully electronically controlled frame gyroscope with variable parameters for human-computer interaction according to claim 6, characterized in that, The drive unit (4) is equipped with a temperature protection and overcurrent protection module. When the temperature or current of the drive unit (4) exceeds the set threshold, the controller automatically cuts off the drive command output.

8. The fully electronically controlled frame gyroscope with variable parameters for human-computer interaction according to claim 7, characterized in that, The operating status display unit is used to display the real-time rotation speed of the gyroscope motor, the operating current and temperature of the three drive motors, the angular position of the three angle sensors, the vibration signal data of the PVDF film, and the zero-position locking status of each axis.

9. The fully electronically controlled frame gyroscope with variable parameters for human-computer interaction according to claim 1 or 5, characterized in that, The electronic controller has a built-in attitude calibration algorithm. The algorithm can receive the real-time angle signals of the first axis (101), the first axis (101) and the third axis (301) collected by the angle sensor, and compare them with the pre-stored electronic control zero position parameters. Based on the calculation results, it sends an angle compensation command to the corresponding drive unit (4).

10. The fully electronically controlled frame gyroscope with variable parameters for human-computer interaction according to claim 9, characterized in that, The zeroing parameters in the attitude calibration algorithm can be saved, and the electrical control box uses the zeroing parameters by default.

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