Control moment gyro synchronization device

Abstract

The utility model discloses a control moment gyroscope synchronizing device which comprises a frame, a first control moment gyroscope, a second control moment gyroscope, a first motor, a second motor and a synchronous transmission assembly, the first control moment gyroscope comprises a first supporting shaft, and the first supporting shaft is perpendicular to a flywheel rotation shaft of the first control moment gyroscope. The first supporting shaft is rotatably connected with the frame; the second control moment gyroscope comprises a second supporting shaft, the second supporting shaft is perpendicular to a flywheel rotation shaft of the second control moment gyroscope, the second supporting shaft is rotatably connected with the frame, and the first supporting shaft and the second supporting shaft are arranged in parallel; the first motor is fixedly connected with the frame and is in driving connection with the first supporting shaft; the first motor is fixedly connected with the frame. The second motor is in driving connection with the second supporting shaft. The two ends of the synchronous transmission assembly are fixedly connected with the first supporting shaft and the second supporting shaft correspondingly. The two control moment gyroscopes rotate through the synchronous transmission assembly, and cooperative control is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of synchronous precession devices of control moment gyros, and particularly to a synchronous device of control moment gyros. Background Art

[0002] When a single CMG (Control Moment Gyroscopes) works, in addition to generating the torque in the desired direction, it will also generate an interference torque perpendicular to the directions of the driving torque and the desired gyro torque. When the control moment gyro is applied to the field of robots, the interference torque is not conducive to the attitude control of the robot. In the field of robots, two CMGs arranged in parallel and rotating in opposite directions can be used to cancel out the interference torques generated by the CMGs, and only the gyro torque in the desired direction is retained. However, for the two CMGs to work together, it is necessary to strictly ensure that the rotation angles are the same in magnitude and opposite in direction, otherwise the interference torque cannot be completely eliminated. For example, when two servo motors are used to output reverse torques to make the two CMGs rotate in opposite directions, due to system delay and inconsistent response times of the servo motors, there will be a slight error in the rotation angles of the CMGs. Summary of the Utility Model

[0003] To solve at least one aspect of the above problems, the utility model provides a synchronous device of control moment gyros, including: a frame, a first control moment gyro, a second control moment gyro, a first motor, a second motor and a synchronous transmission component. The first control moment gyro includes a first support shaft, the first support shaft is perpendicular to the flywheel self-rotation axis of the first control moment gyro, and the first support shaft is rotatably connected to the frame; the second control moment gyro includes a second support shaft, the second support shaft is perpendicular to the flywheel self-rotation axis of the second control moment gyro, and the second support shaft is rotatably connected to the frame. The first support shaft and the second support shaft are arranged in parallel; the first motor is fixedly connected to the frame, and the first motor is drivingly connected to the first support shaft; the second motor is fixedly connected to the frame, and the second motor is drivingly connected to the second support shaft; both ends of the synchronous transmission component are fixedly connected to the first support shaft and the second support shaft respectively.

[0004] Preferably, the first motor and the second motor are arranged on the same side of the frame.

[0005] Preferably, the synchronous transmission component includes a synchronous belt, a first driving wheel, a second driving wheel and a reversing wheel. The first driving wheel is fixedly connected to the first support shaft, the second driving wheel is fixedly connected to the second support shaft, the reversing wheel is rotatably connected to the frame, the inner teeth of the synchronous belt are meshed with the first driving wheel and the reversing wheel, and the outer teeth of the synchronous belt are meshed with the second driving wheel.

[0006] Preferably, the reversing wheel includes a first driven wheel and a second driven wheel. The first driven wheel is arranged above the second driving wheel, and the second driven wheel is arranged below the second driving wheel. The first driven wheel and the second driven wheel are respectively engaged with the inner teeth of the synchronous belt.

[0007] Preferably, the frame further includes a synchronous belt bracket which is fixedly arranged on the body of the frame. The first driven wheel and the second driven wheel are rotatably connected to the synchronous belt bracket.

[0008] Preferably, the synchronous belt bracket adopts a triangular flat plate structure.

[0009] Preferably, the flywheel self-rotation angular velocities of the first control moment gyro and the second control moment gyro are the same in magnitude and opposite in the flywheel self-rotation direction.

[0010] Preferably, the first motor and the second motor are arranged outside the frame. The first end of the first support shaft extends out of the frame and is connected to the first motor, and the first end of the second support shaft extends out of the frame and is connected to the second motor.

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

[0012] The control moment gyro synchronous device according to the embodiment of the present invention has the following beneficial effects: By connecting the synchronous transmission assembly with the first support shaft and the second support shaft, the two CMGs can rotate synchronously in opposite directions, realizing the coordinated control of the CMGs; Using a synchronous belt to achieve the transmission connection has the advantages of high transmission efficiency, simple structure and convenient maintenance; On the other hand, the synchronous belt has a buffering effect, which can reduce the impact and vibration on the servo motor and the CMGs and extend the service life. Description of the Drawings

[0013] In order to better understand the above and other objects, features, advantages and functions of the present invention, reference may be made to the embodiments shown in the drawings. The same reference numerals in the drawings refer to the same components. Those skilled in the art should understand that the 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. The components in the drawings are not drawn to scale.

[0014] Figure 1 Shows a schematic structural diagram of a control moment gyro synchronous device according to an embodiment of the present invention;

[0015] Figure 2Shows a top view of a control moment gyro synchronous device according to an embodiment of the present utility model;

[0016] Figure 3 Shows a left view of a control moment gyro synchronous device according to an embodiment of the present utility model.

[0017] Reference numerals:

[0018] 1. Frame; 21. First control moment gyro; 22. Second control moment gyro; 3. Synchronous belt; 41. First driving wheel; 42. Second driving wheel; 51. First driven wheel; 52. Second driven wheel; 6. Synchronous belt bracket; 71. First motor; 72. Second motor. Detailed implementation manners

[0019] The following describes exemplary embodiments of the present disclosure with reference to the accompanying drawings. Various details of the embodiments of the present disclosure are included to assist understanding, and they should be considered merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can 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.

[0020] As used herein, the term "including" and its variants mean open inclusion, that is, "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "at least partially based on". The terms "an exemplary embodiment" and "an embodiment" mean "at least one exemplary embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc. may refer to different or the same objects. There may also be other explicit and implicit definitions hereinafter.

[0021] To at least partially solve one or more of the above problems and other potential problems, embodiments of the present disclosure propose a control moment gyro synchronous device, including: a frame 1, a first control moment gyro 21, a second control moment gyro 22, a first motor 71, a second motor 72, and a synchronous transmission assembly. The first control moment gyro 21 includes a first support shaft, the first support shaft is perpendicular to the flywheel self-rotation axis of the first control moment gyro 21, and the first support shaft is rotatably connected to the frame 1; the second control moment gyro 22 includes a second support shaft, the second support shaft is perpendicular to the flywheel self-rotation axis of the second control moment gyro 22, and the second support shaft is rotatably connected to the frame 1. The first support shaft and the second support shaft are arranged in parallel; the first motor 71 is fixedly connected to the frame 1, and the first motor 71 is drivingly connected to the first support shaft; the second motor 72 is fixedly connected to the frame 1, and the second motor 72 is drivingly connected to the second support shaft; both ends of the synchronous transmission assembly are fixedly connected to the first support shaft and the second support shaft respectively.

[0022] Specifically, the frame 1 adopts a stable rigid structure, which can stably support the first control moment gyro 21 and the second control moment gyro 22. For example, the frame 1 adopts a housing structure with an accommodation cavity inside for accommodating the first control moment gyro 21 and the second control moment gyro 22. Or, the frame 1 adopts a multi-link frame 1 structure as shown in Figures 1 - 3 Figure, where the multi-links form the prisms of the cubic frame 1 and are fixedly connected to each other.

[0023] The first control moment gyro 21 and the second control moment gyro 22 adopt control moment gyros with the same structure. The control moment gyro includes a circular housing, a high-speed motor, a flywheel and its shafting. During operation, the high-speed motor drives the flywheel to rotate at high speed. The first support shaft is composed of collinear protruding shafts fixedly arranged at both ends of the circular housing of the first control moment gyro 21, and the line where the first support shaft is located is perpendicular to the self-rotation axis of the flywheel of the first control moment gyro 21. The second support shaft is composed of collinear protruding shafts fixedly arranged at both ends of the circular housing of the second control moment gyro 22, and the line where the second support shaft is located is perpendicular to the self-rotation axis of the flywheel of the second control moment gyro 22. The first control moment gyro 21 and the second control moment gyro 22 are symmetrically arranged in the frame 1, and the connection line between the flywheel centers of the first control moment gyro 21 and the second control moment gyro 22 is perpendicular to the first support shaft and the second support shaft.

[0024] The first motor 71 and the second motor 72 adopt servo motors. The first motor 71 is fixed on the frame, and the first motor 71 is drivingly connected to the first support shaft through an output shaft. The first motor 71 is used to drive the first support shaft to rotate. The second motor 72 is fixed on the frame, and the second motor 72 is drivingly connected to the second support shaft through an output shaft. The second motor 72 is used to drive the second support shaft to rotate.

[0025] The synchronous transmission component enables the first support shaft and the second support shaft to rotate synchronously by being fixedly connected to the first support shaft and the second support shaft at both ends respectively. In some embodiments, the synchronous transmission component includes a first gear and a second gear. The first gear is fixedly sleeved on the first support shaft, the second gear is fixedly sleeved on the second support shaft, and the first gear and the second gear are engaged. In other embodiments, the synchronous transmission component includes a plurality of gears and / or at least one rotating shaft, and the plurality of gears and the at least one rotating shaft are sequentially drivingly connected to achieve the synchronous rotation of the first support shaft and the second support shaft.

[0026] When the angular velocities of the flywheels of the first control moment gyro 21 and the second control moment gyro 22 are the same in magnitude and opposite in the direction of flywheel rotation, the first motor 71 and the second motor 72 drive the first support shaft and the second support shaft to rotate. Through the synchronous transmission assembly, the response delay errors of the first motor 71 and the second motor 72 can be overcome, and the synchronous rotation of the first support shaft and the second support shaft can be achieved.

[0027] In some embodiments, the first motor 71 and the second motor 72 are arranged on the same side of the frame 1.

[0028] Specifically, as Figure 1 and Figure 2 shown, the frame 1 adopts a quadrangular prism frame 1 structure. The first control moment gyro 21 and the second control moment gyro 22 are symmetrically distributed in its width direction. The first support shaft and the second support shaft are parallel to the width direction of the frame. The flywheel self-rotation axes of the first control moment gyro 21 and the second control moment gyro 22 are parallel to the height direction of the frame. The first motor 71 and the second motor 72 are respectively arranged at the tops of the first support shaft and the second support shaft. The output shaft of the first motor 71 is fixedly connected to the top of the first support shaft, and the output shaft of the second motor 72 is fixedly connected to the top of the second support shaft. The synchronous transmission assembly and the first motor 71 and the second motor 72 are arranged on the same side of the frame 1, or the synchronous transmission assembly is arranged on the other side of the frame 1, that is, the synchronous transmission assembly is arranged on the opposite side of the frame 1 from the first motor 71 and the second motor 72.

[0029] In another embodiment, the first motor 71 is arranged at the top of the first support shaft, and the second motor 72 is arranged at the bottom of the second support shaft, that is, the first motor 71 and the second motor 72 are respectively arranged on both sides of the frame 1. The synchronous transmission assembly and the first motor 71 are arranged on the same side of the frame 1, or the synchronous transmission assembly and the second motor 72 are arranged on the same side of the frame 1.

[0030] In some embodiments, the synchronous transmission assembly includes a synchronous belt 3, a first driving wheel 41, a second driving wheel 42, and a reversing wheel. The first driving wheel 41 is fixedly connected to the first support shaft, the second driving wheel 42 is fixedly connected to the second support shaft, the reversing wheel is rotatably connected to the frame 1, the inner teeth of the synchronous belt 3 are engaged with the first driving wheel 41 and the reversing wheel, and the outer teeth of the synchronous belt 3 are engaged with the second driving wheel 42.

[0031] Specifically, tooth-shaped structures are provided on both the inner and outer sides of the synchronous belt 3. The first driving gear is coaxially arranged with the first support shaft, so that the first driving wheel 41 rotates synchronously with the first support shaft. The second driving wheel 42 is coaxially arranged with the second support shaft, so that the second driving wheel 42 rotates synchronously with the second support shaft. The reversing wheel is rotatably connected to the frame 1. For example, the frame 1 includes a fixedly arranged connecting shaft, and the connecting shaft is arranged parallel to the first support shaft and the second support shaft. The axis of the reversing wheel is coaxial with the connecting shaft, and the reversing wheel is rotatably sleeved on the connecting shaft. The inner teeth of the synchronous belt 3 mesh with the first driving wheel 41 and the reversing wheel, so that the first driving wheel 41 and the reversing wheel rotate in the same direction. The second driving wheel 42 meshes with the outer teeth of the synchronous belt 3, so that the second driving wheel 42 rotates in the opposite direction to the first driving wheel 41.

[0032] In some embodiments, the reversing wheel includes a first driven wheel 51 and a second driven wheel 52. The first driven wheel 51 is arranged above the second driving wheel 42, and the second driven wheel 52 is arranged below the second driving wheel 42. The first driven wheel 51 and the second driven wheel 52 respectively mesh with the inner teeth of the synchronous belt 3.

[0033] Specifically, as Figure 1 and Figure 3 shown, the frame 1 includes a fixedly arranged first connecting shaft and a second connecting shaft. The first connecting shaft and the second connecting shaft are arranged parallel to the first support shaft and the second support shaft. The axis of the first driven wheel 51 is coaxial with the first connecting shaft, and the first driven wheel 51 is rotatably sleeved on the first connecting shaft. The axis of the second driven wheel 52 is coaxial with the second connecting shaft, and the second driven wheel 52 is rotatably sleeved on the second connecting shaft. The first driven wheel 51 and the second driven wheel 52 mesh with the inner teeth of the synchronous belt 3, so that the first driven wheel 51, the second driven wheel 52 and the first driving wheel 41 rotate in the same direction. The second driving wheel 42 meshes with the outer teeth of the synchronous belt 3, so that the second driving wheel 42 rotates in the opposite direction to the first driving wheel 41. In some embodiments, the first driven wheel 51 and the second driven wheel 52 adopt gears of the same model, and the first driven wheel 51 and the second driven wheel 52 are symmetrically arranged with respect to the axis connection line of the first driving wheel 41 and the second driving wheel 42.

[0034] In some embodiments, the frame 1 further includes a synchronous belt bracket 6. The synchronous belt bracket 6 is fixedly arranged on the body of the frame 1, and the first driven wheel 51 and the second driven wheel 52 are rotatably connected to the synchronous belt bracket 6.

[0035] Specifically, as Figure 1As shown, the synchronous belt bracket 6 is provided with fixing holes, and the fasteners connect the synchronous belt bracket 6 and the body of the frame 1 through the fixing holes to achieve the fixed connection between the synchronous belt bracket 6 and the body of the frame 1. A first connecting shaft and a second connecting shaft are fixedly arranged on the synchronous belt bracket 6, and the first driven wheel 51 and the second driven wheel 52 are respectively rotatably connected to the synchronous belt bracket 6 through the first connecting shaft and the second connecting shaft. Alternatively, in another embodiment, the first side surface of the synchronous belt bracket 6 is fixedly connected to the body of the frame 1, and the first driven wheel 51 and the second driven wheel 52 are rotatably connected to the second side surface of the synchronous belt bracket 6.

[0036] In some embodiments, the synchronous belt bracket 6 adopts a triangular flat plate structure.

[0037] Specifically, as Figure 1 shown, the synchronous belt bracket 6 adopts a symmetric triangular structure with a symmetric structure, the second driving wheel 42 is arranged on the center line of the synchronous belt bracket 6, and the first driven wheel 51 and the second driven wheel 52 are symmetrically arranged at both ends of the synchronous belt bracket 6 with respect to the center line of the synchronous belt bracket 6.

[0038] In some embodiments, the flywheel self-rotation angular velocities of the first control moment gyro 21 and the second control moment gyro 22 are the same and the flywheel self-rotation directions are opposite.

[0039] Specifically, the first control moment gyro 21 and the second control moment gyro 22 adopt control moment gyros of the same model, and the first control moment gyro 21 and the second control moment gyro 22 are configured such that the flywheel self-rotation angular velocities are the same and the flywheel self-rotation directions are opposite. Then, when the first support shaft and the second support shaft rotate synchronously and in opposite directions under the action of the synchronous transmission assembly, the interference torques generated by the first control moment gyro 21 and the second control moment gyro 22 cancel each other out.

[0040] In some embodiments, the first motor 71 and the second motor 72 are arranged outside the frame 1. The first end of the first support shaft extends out of the frame 1 and is connected to the first motor 71, and the first end of the second support shaft extends out of the frame 1 and is connected to the second motor 72.

[0041] Specifically, as Figures 1 - 3 shown, the first control moment gyro 21 and the second control moment gyro 22 are arranged inside the frame 1. The first end of the first support shaft extends out of the frame 1 and is connected to the output shaft of the first motor 71 arranged outside the frame 1, the second end of the first support shaft is rotatably connected to the frame 1, the first end of the second support shaft extends out of the frame 1 and is connected to the output shaft of the second motor 72 arranged outside the frame 1, and the second end of the second support shaft is rotatably connected to the frame 1.

[0042] In some embodiments, the synchronous transmission assembly is arranged outside the frame 1. The second end of the first support shaft extends out of the frame 1 and is connected to the synchronous transmission assembly, and the second end of the second support shaft extends out of the frame 1 and is connected to the synchronous transmission assembly.

[0043] Specifically, as Figures 1 - 3 shown, the first motor 71 and the second motor 72 are arranged on the first side of the frame 1. The first end of the first support shaft is connected to the output shaft of the first motor 71, and the first end of the second support shaft is connected to the second motor 72. The synchronous transmission assembly is arranged on the second side of the frame 1. The second end of the first support shaft extends out of the frame 1 and is fixedly connected to the first driving wheel 41 of the synchronous transmission assembly, and the second end of the second support shaft extends out of the frame 1 and is fixedly connected to the second driving wheel 42 of the synchronous transmission assembly. A support shaft through hole may be provided on the synchronous belt bracket 6 for the second end of the second support shaft to pass through the synchronous belt bracket 6 and be fixedly connected to the second driving wheel 42. In other embodiments, the synchronous transmission assembly is arranged inside the frame 1, and the second ends of the first support shaft and the second support shaft are respectively connected to the synchronous rotation assembly.

[0044] The embodiments of the present disclosure have been described above. The above description is exemplary and not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations are obvious to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to technologies in the market, or to enable other ordinary skill in the art to understand the present disclosure.

Claims

1. A control torque gyro synchronization device, characterized in that: include: frame; A first control moment gyro, wherein the first control moment gyro comprises a first support shaft, the first support shaft is perpendicular to a flywheel rotation axis of the first control moment gyro, and the first support shaft is rotatably connected to the frame; A second control moment gyro, wherein the second control moment gyro comprises a second support shaft, the second support shaft is perpendicular to the flywheel rotation axis of the second control moment gyro, the second support shaft is rotatably connected to the frame, and the first support shaft and the second support shaft are arranged in parallel; A first motor, the first motor is fixedly connected to the frame, and the first motor is drivingly connected to the first support shaft; A second motor, the second motor is fixedly connected to the frame, and the second motor is drivingly connected to the second support shaft; A synchronous transmission assembly, wherein two ends of the synchronous transmission assembly are fixedly connected to the first support shaft and the second support shaft respectively.

2. The device according to claim 1, characterized in that The first motor and the second motor are disposed on the same side of the frame.

3. The device according to claim 2, characterized in that The synchronous transmission assembly includes a synchronous belt, a first driving wheel, a second driving wheel, and a reversing wheel. The first driving wheel is fixedly connected to the first support shaft, the second driving wheel is fixedly connected to the second support shaft, the reversing wheel is rotatably connected to the frame, the inner teeth of the synchronous belt are meshed with the first driving wheel and the reversing wheel, and the outer teeth of the synchronous belt are meshed with the second driving wheel.

4. The device according to claim 3, characterized in that The reversing wheel includes a first driven wheel and a second driven wheel, wherein the first driven wheel is arranged above the second driving wheel, and the second driven wheel is arranged below the second driving wheel, and the first driven wheel and the second driven wheel are respectively meshed with the inner teeth of the synchronous belt.

5. The device according to claim 4, characterized in that The frame further comprises a synchronous belt bracket, which is fixedly arranged on the body of the frame, and the first driven wheel and the second driven wheel are rotatably connected to the synchronous belt bracket.

6. The device according to claim 5, characterized in that The synchronous belt bracket adopts a triangular flat plate structure.

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 2, characterized in that The first motor and the second motor are arranged outside the frame, the first end of the first support shaft extends out of the frame and is connected to the first motor, and the first end of the second support shaft extends out of the frame and is connected to the second motor.

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

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