Control moment gyroscope device driven by gear motor
By adopting the reduction motor drive technology in the control torque gyro device, the problem of high accuracy and response speed requirements in attitude control of existing CMGs is solved, and a more efficient and accurate attitude control effect is achieved.
Patent Information
- Application Number
- CN202421847020.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-01
- Publication Date
- 2025-04-22
- Estimated Expiration
- 2034-08-01
AI Technical Summary
The existing control torque gyros (CMGs) have high requirements for accuracy and response speed in attitude control, and the design requires comprehensive consideration of mechanical structure, hardware and control algorithms, making it difficult to fully utilize its performance advantages.
The control torque gyro device driven by a reducer motor is adopted. Through the combination of the frame, control torque gyro and reducer motor, the high reduction ratio and high output torque of the reducer motor are used to achieve fast, smooth and precise control of the control torque gyro position and speed.
Faster, smoother and precise attitude control is achieved, reducing the energy consumption of the system, and improving the system's substitutability and low maintenance costs.
Smart Images
Figure CN222784805U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of a driving connection mechanism of a controlled moment gyroscope, in particular to a controlled moment gyroscope device driven by a reduction motor. Background Art
[0002] Control Moment Gyroscopes (CMGs) are a type of attitude adjuster commonly used in aerospace. They generate the required gyro torque through the precession effect of the gyro to achieve attitude control of spacecraft or aircraft. Due to the characteristics of rapid response, high control accuracy, and large output torque, CMGs are also used in the field of robot attitude control. However, CMGs have high requirements for control accuracy and response speed. Its design needs to comprehensively consider the mechanical structure, hardware, and control algorithm to give full play to the performance advantages of CMGs. Utility Model Content
[0003] To solve at least one aspect of the above problems, the utility model provides a control moment gyro device driven by a reduction motor, comprising: a frame, at least one control moment gyro and at least one reduction motor, wherein the frame comprises a containing cavity; the control moment gyro comprises a body and a support shaft, wherein the support shaft is perpendicular to the flywheel rotation axis of the control moment gyro, and the control moment gyro is rotatably arranged in the containing cavity through the support shaft; at least one reduction motor corresponds to at least one control moment gyro in a one-to-one manner, the reduction motor is fixedly connected to the support shaft through an output shaft, and the reduction motor is fixedly connected to the frame.
[0004] Preferably, the frame further comprises a motor bracket, and a first interface and a second interface are respectively provided at two ends of the motor bracket, wherein the first interface is used to clamp the reduction motor, and the output shaft of the reduction motor extends from the second interface.
[0005] Preferably, it also includes multiple fasteners, the motor bracket is provided with multiple threaded holes, the frame is provided with multiple connecting holes, the multiple threaded holes correspond to the multiple connecting holes one by one, and the multiple fasteners fix the frame and the motor bracket through the multiple threaded holes and the multiple connecting holes respectively.
[0006] Preferably, the motor bracket and the motor are arranged outside the frame.
[0007] Preferably, the frame comprises a bearing, and the support shaft is rotatably connected to the frame via the bearing.
[0008] Preferably, a clamping groove is provided on the frame, and the bearing is clamped in the clamping groove.
[0009] Preferably, it also includes a round nut, the support shaft adopts a stepped shaft structure, the round nut is fixedly sleeved with the support shaft, the first end of the bearing abuts against the round nut, and the second end of the bearing abuts against the clamping groove on the frame.
[0010] Preferably, the support shaft adopts a hollow structure, a flat key is arranged on the inner wall of the support shaft, a key slot is arranged on the output shaft of the reduction motor, and the support shaft and the output shaft of the reduction motor are fixedly connected via the key slot and the flat key.
[0011] Preferably, the reduction motor comprises a servo motor and a reducer, and the reducer is any one of a harmonic gear reducer, a planetary gear reducer, and an RV reducer.
[0012] The control torque gyro device driven by the reduction motor of the embodiment of the utility model has the following beneficial effects: the control torque gyro is flipped by driving the harmonic gear motor, planetary gear motor, RV reduction motor, etc., with a large reduction ratio and high output torque, and can achieve faster, smoother and more accurate control of the position and speed of the control torque gyro; the motor and reducer are both of standard size, with strong substitutability and low maintenance cost; the reduction motor has high transmission efficiency, less vibration and noise, and reduces the energy consumption of the system. 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 a control torque gyro device driven by a reduction motor according to an embodiment of the utility model is shown;
[0015] Figure 2 A left side view of a control torque gyro device driven by a reduction motor according to an embodiment of the utility model is shown.
[0016] Reference numerals:
[0017] 1. Frame body; 2. Control torque gyro; 3. Servo motor; 4. Reducer; 5. Round nut; 6. Motor bracket; 7. Bearing; 8. Support shaft; 9. Flat key. DETAILED DESCRIPTION
[0018] 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.
[0019] 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.
[0020] In order to at least partially solve the above-mentioned problems and one or more of other potential problems, an embodiment of the present disclosure proposes a control torque gyroscope device driven by a reduction motor, comprising: a frame, at least one control torque gyroscope 2 and at least one reduction motor, the frame comprising a accommodating cavity; the control torque gyroscope 2 comprising a main body and a support shaft 8, the support shaft 8 and the flywheel rotation axis of the control torque gyroscope 2 are perpendicular to each other, and the control torque gyroscope 2 is rotatably arranged in the accommodating cavity through the support shaft 8; at least one reduction motor corresponds to at least one control torque gyroscope 2, the reduction motor is fixedly connected to the support shaft 8 through an output shaft, and the reduction motor is fixedly connected to the frame.
[0021] Specifically, Figure 1 and Figure 2 As shown, the frame adopts a shell structure, in which a housing cavity for accommodating the control moment gyro 2 is provided. At least one control moment gyro 2 is arranged in the housing cavity, and the support shaft 8 of at least one control moment gyro 2 is respectively arranged at both ends of the control moment gyro 2, and the flywheel rotation axis of the control moment gyro 2 and the support shaft 8 are perpendicular to each other. At least one reduction motor has a working machine and a reducer 4, the working machine is connected to the reducer 4 in a transmission manner, and the reducer 4 is fixedly connected to the support shaft 8 through an output shaft, and the reducer 4 is used to reduce the driving force output by the working machine and then output it to the support shaft 8.
[0022] At least one reduction motor corresponds to at least one control moment gyro 2. For example, the control moment gyro device driven by the reduction motor includes a control moment gyro 2 and a reduction motor, the control moment gyro 2 is rotatably arranged in the frame through the support shaft 8, and the output shaft of the reduction motor is fixedly connected to the support shaft 8. In another embodiment, the control moment gyro device driven by the reduction motor includes a first control moment gyro and a second control moment gyro, and a first reduction motor and a second reduction motor, the first control moment gyro and the second control moment gyro are symmetrically arranged in the accommodating cavity of the frame, the first support shaft 8 of the first control moment gyro and the second support shaft 8 of the second control moment gyro are parallel to each other, the output shaft of the first reduction motor is fixedly connected to the first support shaft 8, and the output shaft of the second reduction motor is fixedly connected to the second support shaft 8. In other embodiments, the control torque gyro device driven by the reduction motor includes a plurality of control torque gyro 2 and a plurality of control torque gyro 2, the plurality of control torque gyro 2 are rotatably arranged in the accommodating cavity of the frame through their respective support shafts 8, the plurality of control torque gyro 2 are distributed in the accommodating cavity of the frame according to preset positions, the plurality of reduction motors correspond one by one to the plurality of control torque gyro 2, and the plurality of reduction motors are fixedly connected to the support shafts 8 of the corresponding control torque gyro 2 through their respective output shafts.
[0023] In some embodiments, the frame further includes a motor bracket 6, and a first interface and a second interface are respectively provided at both ends of the motor bracket 6, wherein the first interface is used to clamp the reduction motor, and the output shaft of the reduction motor extends from the second interface.
[0024] Specifically, Figure 1 As shown, the frame includes a body and at least one motor bracket 6, at least one motor bracket 6 is fixedly connected to the body of the frame, and the number of the motor brackets 6 corresponds to the number of the reduction motors.
[0025] The motor bracket 6 has a first interface and a second interface at both ends, and the first interface is communicated with the second interface, so that the body of the reduction motor is fixedly clamped with the first interface, and the output shaft of the reduction motor extends out of the motor bracket 6 from the second interface.
[0026] In some embodiments, multiple fasteners are also included, multiple threaded holes are opened on the motor bracket 6, and multiple connecting holes are opened on the frame. The multiple threaded holes correspond to the multiple connecting holes one by one, and the multiple fasteners fix the main body of the frame and the motor bracket 6 through the multiple threaded holes and the multiple connecting holes respectively.
[0027] Specifically, Figure 1As shown, the fastener adopts a screw corresponding to the threaded hole, and the screw is sequentially connected to the motor bracket 6 and the frame body 1 through the threaded hole and the connecting hole. Multiple groups of one-to-one corresponding threaded holes and connecting holes are respectively arranged at preset positions of the motor bracket 6 and the frame body 1. In other embodiments, the motor bracket 6 is fixedly connected to the body of the frame through multiple clamps. Alternatively, in other embodiments, the motor bracket 6 is fixedly connected to the body of the frame through multiple locating pins and multiple bolts. In other embodiments, the motor bracket 6 is fixedly connected to the body of the frame through multiple preset connecting members, and the multiple preset connecting members are arranged in a preset manner to achieve a detachable connection between the frame body 1 and the motor bracket 6.
[0028] In some embodiments, the motor bracket 6 and the motor are arranged outside the frame.
[0029] Specifically, Figure 1 and Figure 2 As shown, the motor bracket 6 is fixedly arranged outside the body of the frame, a first interface is provided at the first end of the motor bracket 6, and a second interface is provided at the second end of the motor bracket 6. The first interface of the motor bracket 6 is connected to the reduction motor, the second end of the motor bracket 6 abuts against the body of the frame, and the output shaft of the reduction motor extends out of the motor bracket 6 from the second interface.
[0030] In another embodiment, the reduction motor and the motor bracket 6 are arranged in the frame storage cavity, the first end of the motor bracket 6 is fixedly connected to the inner wall of the frame, the motor bracket 6 includes a first opening for holding the reduction motor, and the second opening of the motor bracket 6 is used for the output shaft of the reduction motor to extend out of the motor bracket 6.
[0031] In some embodiments, the frame includes a bearing 7 , and the support shaft 8 is rotatably connected to the frame via the bearing 7 .
[0032] Specifically, the bearing 7 adopts a ball bearing, a bearing interface is opened on the frame, the outer ring of the bearing 7 is clamped with the bearing interface, the inner ring of the bearing 7 is fixedly sleeved on the outer wall of the support shaft 8, and the support shaft 8 is rotatably connected to the frame through the bearing 7.
[0033] In some embodiments, a snap-in groove is provided on the frame, and the bearing 7 is snap-fitted into the snap-in groove.
[0034] Specifically, Figure 2 As shown, a clamping groove is provided at the bearing interface of the frame, and one end of the outer ring of the bearing 7 abuts against the clamping groove to achieve relative fixation of the bearing 7 and the frame.
[0035] In some embodiments, a round nut 5 is also included, the support shaft 8 adopts a stepped shaft structure, the round nut 5 is fixedly sleeved with the support shaft 8, the first end of the bearing 7 abuts against the round nut 5, and the second end of the bearing 7 abuts against the clamping groove on the frame.
[0036] Specifically, Figure 2 As shown, the support shaft 8 adopts a stepped shaft structure. The first step of the support shaft 8 is provided with a connecting hole for fixing the support shaft 8 and the flywheel housing. The second step of the support shaft 8 is used to fix the second end of the bearing 7. The third step of the support shaft 8 is fixedly sleeved with the inner ring of the bearing 7. The fourth step of the support shaft 8 is fixedly sleeved with a round nut 5, which is used to abut against the first end of the bearing 7. The inner ring of the bearing is clamped by the shoulder of the second step of the support shaft 8 and the round nut 5, so that the inner ring of the bearing and the support shaft 8 rotate synchronously.
[0037] In some embodiments, the support shaft 8 adopts a hollow structure, a flat key 9 is set on the inner wall of the support shaft 8, a key slot is opened on the output shaft of the reduction motor, and the support shaft 8 and the output shaft of the reduction motor are fixedly connected through the key slot and the flat key 9.
[0038] Specifically, the connecting end of the support shaft 8 and the reduction motor adopts a hollow structure, so that the output shaft of the reduction motor is sleeved with the support shaft 8. The flat key 9 on the inner wall of the support shaft 8 is connected with the keyway on the output shaft of the reduction motor to achieve fixed connection between the support shaft 8 and the output shaft of the reduction motor.
[0039] In another embodiment, a plurality of positioning pins are provided on the inner wall of the support shaft 8, and a plurality of through holes corresponding to the plurality of positioning pins are opened on the outer wall of the output shaft of the reduction motor. The plurality of positioning pins cooperate with the plurality of through holes to realize a fixed connection between the output shaft of the reduction motor and the support shaft 8.
[0040] In some embodiments, the reduction motor includes a servo motor 3 and a reducer 4, and the reducer 4 is any one of a harmonic gear reducer, a planetary gear reducer, and an RV reducer.
[0041] Specifically, the working machine adopts a servo motor 3, and the reducer 4 adopts a harmonic gear reducer. Alternatively, the working machine adopts a servo motor 3, and the reducer 4 adopts a planetary gear reducer. Alternatively, the working machine adopts a servo motor 3, and the reducer 4 adopts an RV reducer.
[0042] 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 control torque gyro device driven by a reduction motor, characterized in that: include: A frame, the frame comprising a receiving cavity; at least one control moment gyroscope, the control moment gyroscope comprising a body and a support shaft, the support shaft and the flywheel rotation axis of the control moment gyroscope being perpendicular to each other, the control moment gyroscope being rotatably disposed in the accommodating cavity via the support shaft; At least one reduction motor, at least one reduction motor corresponds to at least one control torque gyro, the reduction motor is fixedly connected to the support shaft through an output shaft, and the reduction motor is fixedly connected to the frame.
2. The device according to claim 1, characterized in that The frame also includes a motor bracket, and a first interface and a second interface are respectively opened at two ends of the motor bracket. The first interface is used to clamp the reduction motor, and the output shaft of the reduction motor extends from the second interface.
3. The device according to claim 2, characterized in that It also includes multiple fasteners, the motor bracket is provided with multiple threaded holes, the frame is provided with multiple connecting holes, the multiple threaded holes correspond to the multiple connecting holes one by one, and the multiple fasteners are respectively fixedly connected to the frame and the motor bracket through the multiple threaded holes and the multiple connecting holes.
4. The device according to claim 3, characterized in that The motor bracket and the motor are arranged outside the frame.
5. The device according to claim 4, characterized in that The frame includes a bearing, and the support shaft is rotatably connected to the frame through the bearing.
6. The device according to claim 5, characterized in that The frame is provided with a clamping groove, and the bearing is clamped in the clamping groove.
7. The device according to claim 6, characterized in that It also includes a round nut, the support shaft adopts a stepped shaft structure, the round nut is fixedly sleeved with the support shaft, the first end of the bearing abuts against the round nut, and the second end of the bearing abuts against the clamping groove on the frame.
8. The device according to claim 7, characterized in that The support shaft adopts a hollow structure, a flat key is arranged on the inner wall of the support shaft, a key slot is arranged on the output shaft of the reduction motor, and the support shaft is fixedly connected with the output shaft of the reduction motor through the key slot and the flat key.
9. The device according to claim 1, characterized in that The reduction motor comprises a servo motor and a reducer, and the reducer is any one of a harmonic gear reducer, a planetary gear reducer and an RV reducer.