Synchronous rotation control moment gyroscope device

Abstract

The utility model discloses a synchronous rotation control moment gyroscope device which comprises a frame, a first control moment gyroscope, a second control moment gyroscope and a driving assembly, a first supporting shaft of the first control moment gyroscope is rotatably connected with the frame, and a second supporting shaft of the second control moment gyroscope is rotatably connected with the frame. A first supporting shaft of the first control moment gyroscope is perpendicular to a flywheel rotation shaft of the first control moment gyroscope, a second supporting shaft of the second control moment gyroscope is rotatably connected with the frame, and a flywheel rotation shaft of the second control moment gyroscope is parallel to the flywheel rotation shaft of the first control moment gyroscope; the driving assembly comprises a driving motor, a first transmission assembly and a second transmission assembly, the first end of the first transmission assembly is fixedly connected with the first supporting shaft, the second end of the first transmission assembly is fixedly connected with an output shaft of the driving motor, and the first end of the second transmission assembly is fixedly connected with the second supporting shaft; the second end of the second transmission assembly is fixedly connected with an output shaft of the driving motor. Interference torque is prevented from being generated in the torque output process of the control moment gyroscope through the driving assembly.

Description

Technical Field

[0001] The utility model relates to the technical field of synchronous control devices of controlled moment gyroscopes, in particular to a synchronously rotating controlled moment gyroscope device. Background Art

[0002] Control moment gyroscopes (CMGs) are a common attitude adjuster that generates the required gyro torque through the precession effect of the gyro to achieve attitude control. Control moment gyroscopes have the characteristics of rapid response, high control accuracy, and large output torque, and can be used in the field of robot attitude control.

[0003] When a single control torque gyro is working, in addition to generating torque in the desired direction, it also generates interference torque perpendicular to the driving torque direction and the desired gyro torque direction, which is not conducive to the posture control of the robot. The applicant believes that by using two CMGs arranged in parallel and rotating in opposite directions, the interference torques generated by the CMGs can cancel each other out, leaving only the gyro torque in the desired direction. However, the two CMGs must work together to strictly ensure that the rotation angles are the same and in opposite directions, otherwise the interference torque cannot be completely eliminated, which also puts certain requirements on the synchronous rotation structure. Utility Model Content

[0004] To solve at least one aspect of the above problems, the utility model provides a synchronously rotating controlled moment gyro device, comprising: a frame, a first controlled moment gyro, a second controlled moment gyro, and a driving assembly, wherein the first support shaft of the first controlled moment gyro is rotatably connected to the frame, the first support shaft of the first controlled moment gyro is perpendicular to the flywheel rotation shaft of the first controlled moment gyro, the second support shaft of the second controlled moment gyro is rotatably connected to the frame, and the flywheel rotation shaft of the second controlled moment gyro is arranged parallel to the flywheel rotation shaft of the first controlled moment gyro; the driving assembly comprises a driving motor and a first transmission assembly and a second transmission assembly, the first end of the first transmission assembly is fixedly connected to the first support shaft, the second end of the first transmission assembly is fixedly connected to the output shaft of the driving motor, the first end of the second transmission assembly is fixedly connected to the second support shaft, and the second end of the second transmission assembly is fixedly connected to the output shaft of the driving motor.

[0005] Preferably, the drive motor adopts a dual-output shaft motor, the output shaft includes a first output shaft and a second output shaft, the first output shaft and the second output shaft are respectively arranged at two ends of the drive motor, the second end of the first transmission assembly is fixedly connected to the first output shaft, and the second end of the second transmission assembly is fixedly connected to the second output shaft.

[0006] Preferably, the first transmission assembly includes a first worm wheel and a first worm, the first worm is fixedly connected to the first output shaft, the first worm wheel is fixedly connected to the first support shaft, and the first worm is meshed with the first worm wheel, and the second transmission assembly includes a second worm wheel and a second worm, the second worm is fixedly connected to the second output shaft, the second worm wheel is fixedly connected to the second support shaft, and the second worm is meshed with the second worm wheel.

[0007] Preferably, a line connecting the first worm and the second worm is parallel to a plane where the first support shaft and the second support shaft are located.

[0008] Preferably, an angle formed by a line connecting the first worm and the second worm and a plane where the first support shaft and the second support shaft are located is greater than zero.

[0009] Preferably, the first transmission assembly includes a first active bevel gear and a first passive bevel gear, the first active bevel gear is fixedly connected to the first output shaft, the first passive bevel gear is fixedly connected to the first support shaft, and the first active bevel gear and the first passive bevel gear are meshed, and the second transmission assembly includes a second active bevel gear and a second passive bevel gear, the second active bevel gear is fixedly connected to the second output shaft, the second passive bevel gear is fixedly connected to the second support shaft, and the second active bevel gear and the second passive bevel gear are meshed.

[0010] Preferably, the flywheel rotation angular velocities of the first control moment gyro and the second control moment gyro are the same and the flywheel rotation directions are opposite.

[0011] Preferably, the driving assembly is arranged outside the frame, the first end of the first support shaft extends out of the frame and is connected to the first transmission assembly, and the first end of the second support shaft extends out of the frame and is connected to the second transmission assembly.

[0012] The synchronous rotation controlled torque gyro device of the embodiment of the utility model has the following beneficial effects: the drive component can realize the synchronous counter-rotation of two CMGs; the synchronous drive component adopts a single motor structure, which reduces the complexity of the system and improves the motion accuracy and synchronization; the self-locking characteristics of the worm gear can lock the CMGs, eliminating the influence of the passive rotation of the CMGs on the active servo system, the worm gear has a high reduction ratio, large output torque, more precise motion control, and reduced requirements for the motor; the bevel gear has high transmission efficiency, simple structure, and space saving, and the bevel gear transmission ratio design is flexible and can be changed according to needs, reducing the selection requirements for the servo motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to better understand the above and other purposes, features, advantages and functions of the present invention, reference may be made to the embodiments shown in the accompanying drawings. The same reference numerals in the accompanying drawings refer to the same components. It should be understood by those skilled in the art that the accompanying drawings are intended to schematically illustrate the preferred embodiments of the present invention and have no limiting effect on the scope of the present invention, and the components in the drawings are not drawn to scale.

[0014] Figure 1 A schematic structural diagram of an embodiment of a synchronous rotation controlled torque gyro device according to the utility model is shown;

[0015] Figure 2 A top view of an embodiment of a synchronous rotation controlled moment gyro device according to the utility model is shown;

[0016] Figure 3 A left view of an embodiment of a synchronous rotation controlled torque gyro device according to the utility model is shown;

[0017] Figure 4 A schematic structural diagram of another embodiment of the synchronous rotation controlled torque gyro device according to the utility model is shown;

[0018] Figure 5 A structural schematic diagram of another embodiment of the synchronous rotation controlled torque gyro device according to the utility model is shown;

[0019] Figure 6 A top view of another embodiment of the synchronous rotation controlled moment gyro device according to the utility model is shown;

[0020] Figure 7 A left side view of another embodiment of a synchronous rotation controlled torque gyro device according to the utility model is shown.

[0021] Reference numerals:

[0022] 1. Frame; 21. First control torque gyro; 22. Second control torque gyro; 311. First worm gear; 411. First worm; 312. Second worm gear; 412. Second worm; 321. First passive bevel gear; 421. First active bevel gear; 322. First passive bevel gear; 422. Second active bevel gear; 5. Driving motor. DETAILED DESCRIPTION

[0023] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0024] As used herein, the term "including" and its variations mean open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "based at least in part on". The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0025] In order to at least partially solve one or more of the above-mentioned problems and other potential problems, an embodiment of the present disclosure proposes a synchronous rotating controlled moment gyro device, comprising: a frame 1, a first controlled moment gyro 21, a second controlled moment gyro 22, and a driving assembly, wherein the first support shaft of the first controlled moment gyro 21 is rotatably connected to the frame 1, the first support shaft of the first controlled moment gyro 21 is perpendicular to the flywheel rotation shaft of the first controlled moment gyro 21, the second support shaft of the second controlled moment gyro 22 is rotatably connected to the frame 1, and the flywheel rotation shaft of the second controlled moment gyro 22 is arranged parallel to the flywheel rotation shaft of the first controlled moment gyro 21; the driving assembly comprises a driving motor 5 and a first transmission assembly and a second transmission assembly, wherein the first end of the first transmission assembly is fixedly connected to the first support shaft, the second end of the first transmission assembly is fixedly connected to the output shaft of the driving motor 5, the first end of the second transmission assembly is fixedly connected to the second support shaft, and the second end of the second transmission assembly is fixedly connected to the output shaft of the driving motor 5.

[0026] Specifically, Figure 1-Figure 7 As shown, the frame 1 adopts a shell structure, or the frame 1 adopts a rigid body structure composed of multiple links fixedly connected, so that the frame 1 has a storage space for the first control moment gyro 21 and the second control moment gyro 22, and provides stable support for the first control moment gyro 21 and the second control moment gyro 22.

[0027] The first control torque gyro 21 adopts a control torque gyro, which includes a main body and a first support shaft. The main body includes a circular shell, a high-speed motor, and a flywheel. The high-speed motor is used to drive the flywheel to rotate. The high-speed motor and the flywheel are arranged in the circular shell. The first support shaft is an extended shaft fixedly arranged at both ends of the circular shell, and the first support shaft is perpendicular to the direction of the flywheel rotation axis.

[0028] The first control moment gyro 21 and the second control moment gyro 22 use the same control moment gyro. The second control moment gyro 22 includes a main body and a second support shaft. The main body includes a circular shell, a high-speed motor, and a flywheel. The high-speed motor is used to drive the flywheel to rotate. The high-speed motor and the flywheel are arranged in the circular shell. The second support shaft is an extended shaft fixedly arranged at both ends of the circular shell. The second support shaft is perpendicular to the direction of the flywheel rotation axis.

[0029] The first transmission assembly and the second transmission assembly are respectively fixedly connected to the output shaft of the drive motor 5, so that the drive motor 5 can drive the first transmission assembly and the second transmission assembly at the same time, and further, the first support shaft and the second support shaft rotate synchronously when the drive motor 5 outputs power through the output shaft.

[0030] In some embodiments, the drive motor 5 adopts a dual output shaft motor, and the output shaft includes a first output shaft and a second output shaft. The first output shaft and the second output shaft are respectively arranged at two ends of the drive motor 5, and the second end of the first transmission assembly is fixedly connected to the first output shaft, and the second end of the second transmission assembly is fixedly connected to the second output shaft.

[0031] Specifically, Figure 1-Figure 7 As shown, the first output shaft and the second output shaft of the driving motor 5 are respectively fixedly connected to the rotor of the driving motor 5 , so that the first output shaft and the second output shaft rotate synchronously when the driving motor 5 rotates.

[0032] In another embodiment, the drive motor 5 adopts a single output shaft motor, the first transmission assembly and the second transmission assembly are respectively connected to different positions of the output shaft, the output shaft of the drive motor 5 is arranged parallel to the first support shaft and the second support shaft, the first transmission assembly includes a first driving gear and a first passive gear, the first driving gear is fixedly sleeved on the output shaft of the drive motor 5, the first passive gear is meshed with the first driving gear, the first transmission assembly includes the first driving gear and the first passive gear, the second transmission assembly includes the second driving gear and the second passive gear, the second driving gear is fixedly sleeved on the output shaft of the drive motor 5, the second passive gear is meshed with the second driving gear, and the first transmission assembly includes the second driving gear and the second passive gear.

[0033] In some embodiments, the first transmission assembly includes a first worm wheel 311 and a first worm 411, the first worm 411 is fixedly connected to the first output shaft, the first worm wheel 311 is fixedly connected to the first support shaft, and the first worm 411 and the first worm wheel 311 are meshed, and the second transmission assembly includes a second worm wheel 312 and a second worm 412, the second worm 412 is fixedly connected to the second output shaft, the second worm wheel 312 is fixedly connected to the second support shaft, and the second worm 412 and the second worm wheel 312 are meshed.

[0034] Specifically, the first worm wheel 311 and the first worm 411 respectively adopt the same model as the second worm wheel 312 and the second worm 412, and the first transmission assembly and the second transmission assembly are arranged at the same end of the first support shaft and the second support shaft, that is, the line connecting the centers of the first worm wheel 311 and the second worm wheel 312 is perpendicular to the first support shaft and the second support shaft, and the first worm 411 and the second worm 412 are fixedly connected to the output shaft so that the first worm 411 and the second worm 412 are synchronously driven to rotate when the drive motor 5 is running.

[0035] Those skilled in the art can understand that the control torque gyro has two working modes: active and passive. In the active working mode, the dual-axis drive motor 5 drives the control torque gyro to rotate and generate the required gyro torque. In the passive working mode, the control torque gyro will still maintain the original angular momentum direction unchanged due to the gyro effect. When the frame 1 shakes, it will cause the control torque gyro to rotate passively, which will have an adverse effect on the control and should be avoided as much as possible. The worm wheel and worm in this embodiment have self-locking characteristics. When the active mode is not working, the worm wheel and worm are self-locking, so that the control torque gyro is not affected by the passive mode.

[0036] In some embodiments, a line connecting the first worm 411 and the second worm 412 is parallel to a plane where the first support axis and the second support axis are located.

[0037] Specifically, Figure 1-Figure 3 As shown, the first control moment gyro 21 is rotatably connected to the frame 1 through a first support shaft, the second control moment gyro 22 is rotatably connected to the frame 1 through a second support shaft, the first support shaft is parallel to the second support shaft, the flywheel rotation axis of the first control moment gyro 21 is perpendicular to the first support shaft, and the flywheel rotation axis of the second control moment gyro 22 is perpendicular to the second support shaft.

[0038] The first end of the driving motor 5 is fixedly connected to the first worm 411 through the first output shaft, the second end of the driving motor 5 is fixedly connected to the second worm 412 through the second output shaft, the first worm wheel 311 is fixedly connected to the first end of the first support shaft, the second worm wheel 312 is fixedly connected to the first end of the second support shaft, and the center line of the first worm wheel 311 and the second worm wheel 312 is perpendicular to the first support shaft and the second support shaft, that is, the first worm wheel 311 and the second worm wheel 312 are arranged at the same end of the first support shaft and the second support shaft. The first worm 411 and the second worm 412 are collinear, and the first worm 411 and the second worm 412 are parallel to the plane where the first support shaft and the second support shaft are located, that is, the first worm 411 and the second worm 412 are arranged on the same side of the first control moment gyro 21 and the second control moment gyro 22. The thread rotation directions of the first worm wheel 311 and the first worm 411 are opposite to those of the second worm wheel 312 and the second worm 412. The first worm wheel 311 and the first worm 411 are processed with left-handed threads, and the second worm wheel 312 and the second worm 412 are processed with right-handed threads. The worms engage with the worm wheel from the same side. When the drive motor 5 rotates, since the two pairs of worm wheels and worms rotate in opposite directions, the worm wheel can drive the first support shaft and the second support shaft to rotate synchronously in opposite directions.

[0039] In some embodiments, the angle between the line connecting the first worm 411 and the second worm 412 and the plane where the first support axis and the second support axis are located is greater than zero.

[0040] Specifically, Figure 4 As shown, the first control moment gyro 21 is rotatably connected to the frame 1 through a first support shaft, the second control moment gyro 22 is rotatably connected to the frame 1 through a second support shaft, the first support shaft is parallel to the second support shaft, the flywheel rotation axis of the first control moment gyro 21 is perpendicular to the first support shaft, and the flywheel rotation axis of the second control moment gyro 22 is perpendicular to the second support shaft.

[0041] The first end of the driving motor 5 is fixedly connected to the first worm 411 through the first output shaft, the second end of the driving motor 5 is fixedly connected to the second worm 412 through the second output shaft, the first worm wheel 311 is fixedly connected to the first end of the first support shaft, the second worm wheel 312 is fixedly connected to the first end of the second support shaft, and the center line of the first worm wheel 311 and the second worm wheel 312 is perpendicular to the first support shaft and the second support shaft, that is, the first worm wheel 311 and the second worm wheel 312 are arranged at the same end of the first support shaft and the second support shaft. The first worm 411 and the second worm 412 are collinear, and the angle between the first worm 411 and the second worm 412 and the plane where the first support shaft and the second support shaft are located is greater than zero, that is, the first worm 411 and the second worm 412 are arranged on the opposite sides of the first control moment gyro 21 and the second control moment gyro 22. The first worm wheel 311 and the first worm 411 have the same thread rotation direction as the second worm wheel 312 and the second worm 412. The first worm wheel 311 and the first worm 411 are processed with left-handed threads, and the second worm wheel 312 and the second worm 412 are processed with left-handed threads (or, the first worm wheel 311 and the first worm 411 are processed with right-handed threads, and the second worm wheel 312 and the second worm 412 are processed with right-handed threads). The worms mesh with the worm wheels from opposite sides. When the drive motor 5 rotates, since the two pairs of worm wheels have the same rotation direction and opposite meshing positions, the worm wheels can drive the first support shaft and the second support shaft to rotate synchronously in opposite directions.

[0042] In some embodiments, the first transmission assembly includes a first active bevel gear 421 and a first passive bevel gear 321, the first active bevel gear 421 is fixedly connected to the first output shaft, the first passive bevel gear 321 is fixedly connected to the first support shaft, and the first active bevel gear 421 and the first passive bevel gear 321 are meshed, and the second transmission assembly includes a second active bevel gear 422 and a second passive bevel gear 322, the second active bevel gear 422 is fixedly connected to the second output shaft, the second passive bevel gear 322 is fixedly connected to the second support shaft, and the second active bevel gear 422 and the second passive bevel gear 322 are meshed.

[0043] Specifically, Figure 5-Figure 7 As shown, the first control moment gyro 21 is rotatably connected to the frame 1 through a first support shaft, the second control moment gyro 22 is rotatably connected to the frame 1 through a second support shaft, the first support shaft is parallel to the second support shaft, the flywheel rotation axis of the first control moment gyro 21 is perpendicular to the first support shaft, and the flywheel rotation axis of the second control moment gyro 22 is perpendicular to the second support shaft.

[0044] The first end of the driving motor 5 is fixedly connected to the first active bevel gear 421 through the first output shaft, the first active bevel gear 421 is sleeved on the first output shaft, the first passive bevel gear 321 is fixedly sleeved on the first end of the first support shaft, the second end of the driving motor 5 is fixedly connected to the second active bevel gear 422 through the second output shaft, the second active bevel gear 422 is sleeved on the second output shaft, the second passive bevel gear 322 is fixedly sleeved on the first end of the second support shaft, the center line of the first active bevel gear 421 and the second active bevel gear 422 is perpendicular to the first support shaft and the second support shaft, that is, the first transmission assembly and the second transmission assembly are arranged at the same end of the first support shaft and the second support shaft. The two active bevel gears are respectively meshed with the driven bevel gears to complete 90° reversing while transmitting power.

[0045] like Figure 6 As shown, the first control torque gyro 21 and the second control torque gyro 22 are arranged symmetrically on the left and right, the flywheels rotate in opposite directions, the two driven bevel gears have the same speed and opposite directions, and the two driving bevel gears have the same direction. It can be seen from the gear meshing relationship that when the drive motor 5 outputs torque, the bevel gears rotate to achieve synchronous reverse rotation of the first control torque gyro 21 and the second control torque gyro 22.

[0046] In some embodiments, the flywheel rotation angular velocities of the first control moment gyro 21 and the second control moment gyro 22 are the same and the flywheel rotation directions are opposite.

[0047] Specifically, Figure 2 and Figure 6 As shown, the directions of the flywheel rotation angular velocities of the first control moment gyro 21 and the second control moment gyro 22 are opposite. When the flywheel rotation angular velocities of the first control moment gyro 21 and the second control moment gyro 22 are the same in magnitude and are synchronously flipped in opposite directions around the first support axis and the second support axis at the same angle, the interference torque can be eliminated. In other embodiments, the flywheel rotation angle and the flywheel rotation direction of the first control moment gyro 21 and the second control moment gyro 22 can be configured according to actual scene requirements.

[0048] In some embodiments, the driving assembly is disposed outside the frame 1, the first end of the first support shaft extends out of the frame 1 and is connected to the first transmission assembly, and the first end of the second support shaft extends out of the frame 1 and is connected to the second transmission assembly.

[0049] Specifically, Figure 1-Figure 7 As shown, the drive assembly is arranged outside the frame 1, which is convenient for replacing or repairing the drive assembly. In other embodiments, the drive assembly can be arranged inside the frame 1 according to actual needs.

[0050] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the present invention.

Claims

1. A synchronously rotating controlled moment gyro device, characterized in that: include: frame; A first control moment gyro, wherein a first support shaft of the first control moment gyro is rotatably connected to the frame, and the first support shaft of the first control moment gyro is perpendicular to a flywheel rotation shaft of the first control moment gyro; a second control moment gyro, wherein a second support shaft of the second control moment gyro is rotatably connected to the frame, and a flywheel rotation shaft of the second control moment gyro is arranged in parallel with the flywheel rotation shaft of the first control moment gyro; A drive assembly, the drive assembly includes a drive motor and a first transmission assembly and a second transmission assembly, the first end of the first transmission assembly is fixedly connected to the first support shaft, the second end of the first transmission assembly is fixedly connected to the output shaft of the drive motor, the first end of the second transmission assembly is fixedly connected to the second support shaft, and the second end of the second transmission assembly is fixedly connected to the output shaft of the drive motor.

2. The device according to claim 1, characterized in that The drive motor adopts a dual-output shaft motor, the output shaft includes a first output shaft and a second output shaft, the first output shaft and the second output shaft are respectively arranged at two ends of the drive motor, the second end of the first transmission assembly is fixedly connected to the first output shaft, and the second end of the second transmission assembly is fixedly connected to the second output shaft.

3. The device according to claim 2, characterized in that The first transmission assembly includes a first worm wheel and a first worm, the first worm is fixedly connected to the first output shaft, the first worm wheel is fixedly connected to the first support shaft, and the first worm is meshed with the first worm wheel. The second transmission assembly includes a second worm wheel and a second worm, the second worm is fixedly connected to the second output shaft, the second worm wheel is fixedly connected to the second support shaft, and the second worm is meshed with the second worm wheel.

4. The device according to claim 3, characterized in that A connecting line between the first worm and the second worm is parallel to a plane where the first support shaft and the second support shaft are located.

5. The device according to claim 3, characterized in that An angle formed by a line connecting the first worm and the second worm and a plane where the first support shaft and the second support shaft are located is greater than zero.

6. The device according to claim 2, characterized in that The first transmission assembly includes a first active bevel gear and a first passive bevel gear, the first active bevel gear is fixedly connected to the first output shaft, the first passive bevel gear is fixedly connected to the first support shaft, and the first active bevel gear and the first passive bevel gear are meshed, the second transmission assembly includes a second active bevel gear and a second passive bevel gear, the second active bevel gear is fixedly connected to the second output shaft, the second passive bevel gear is fixedly connected to the second support shaft, and the second active bevel gear and the second passive bevel gear are meshed.

7. The device according to claim 1, characterized in that The flywheel rotation angular velocities of the first control moment gyro and the second control moment gyro are the same in magnitude and the flywheel rotation directions are opposite.

8. The device according to claim 1, characterized in that The driving assembly is arranged outside the frame, the first end of the first supporting shaft extends out of the frame and is connected to the first transmission assembly, and the first end of the second supporting shaft extends out of the frame and is connected to the second transmission assembly.

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