Rotor structure, gyroscope mechanism using rotor structure, and rollover-prevention apparatus

Abstract

A rotor structure, a gyroscope mechanism (1) using said rotor structure, and a rollover-prevention apparatus. The rollover-prevention apparatus comprises a gyroscope mechanism (1), and the gyroscope mechanism (1) is mounted on a precession shaft in the rollover-prevention apparatus; the gyroscope mechanism (1) comprises a rotor (12); the rotor (12) comprises a rotating shaft (120), a rotating disc (121), and spokes (122); both the rotating disc (121) and the spokes (122) are annular structures, the rotating shaft (120) vertically penetrates through the center of the rotating disc (121), and the spokes (122) are arranged around the outer edge of the rotating disc (121); the rotating disc (121) has a structure in which a middle part is thick and the edge is thin, so that preset included angles can be formed between two end faces of the rotating disc (121) and the center shaft of the rotating shaft (120); the rotating disc (121) and the spokes (122) are a split mounting structure.

Description

A rotor structure and a gyro mechanism and an anti-rollover device using the rotor structure

[0001] Related applications

[0002] This application claims priority to Chinese patent application No. 202321615105.9 filed on June 25, 2023, entitled “A rotor structure and a gyroscopic mechanism and anti-rollover device using the rotor structure”. Technical Field

[0003] The present application belongs to the technical field of anti-rollover, and in particular relates to a rotor structure and a gyro mechanism and an anti-rollover device using the rotor structure. Background Art

[0004] During a vehicle's airdrop, the entire process from exiting the aircraft to landing is very short. After this period, the vehicle descends steadily in the vertical direction, without swaying or tilting, driven by its own gravity and the pull provided by the parachute above. If there is no horizontal wind speed, the vehicle will land vertically and will not roll over after landing. If there is a horizontal wind speed, the vehicle will generate horizontal velocity during the descent (by default, equal to the wind speed), and the vehicle will also rotate horizontally in the air, with uncontrolled attitude. If the vehicle rotates to the point where its length is inconsistent with the wind direction before landing, and the wind speed is relatively high at this time, the vehicle is very likely to roll over.

[0005] Conventional technology typically involves installing a gyro device on a vehicle. When the vehicle rolls laterally, the vehicle drives the outer frame of the gyro device to generate a roll angular velocity around the vehicle's lateral roll axis. Due to the gyro's characteristics, this roll angular velocity generates a precession torque around the axis, driving the gyro housing and flywheel to precess around the axis, thereby generating a precession angular velocity. Similarly, due to the gyro's characteristics, this precession angular velocity generates a roll-reducing torque around the vehicle's lateral roll axis.

[0006] However, due to the uncertainty of wind speeds encountered during airdrops, the greater the wind speed, the greater the gyro's required moment of inertia to mitigate the roll of vehicles experiencing high angular velocity. Therefore, increasing the moment of inertia is necessary to mitigate roll under uncertain wind speeds. The anti-roll torque generated by the gyro is positively correlated with the rotor's moment of inertia, so achieving a high anti-roll torque requires a sufficient rotor mass. Existing technologies typically increase rotor mass to improve anti-roll torque. This increasing rotor mass also increases the size of the gyro, requiring extremely high installation space for assembly equipment and creating inconveniences in both installation and maintenance. When installation space is limited, even a suitable gyro's anti-roll effect is ineffective. However, if an airdropped vehicle rolls over after landing, its combat effectiveness is compromised. The prior art gyro rotor includes a shaft and a turntable. The shaft extends through the center of the turntable and is integrally formed with the turntable. The shaft's central axis forms a 90-degree angle with the two end faces of the turntable. When the gyro rotor rotates at high speed, the shaft transmits torque to the junction with the turntable. When the torque increases, this junction can cause cracks, requiring the entire rotor to be replaced. This results in high maintenance costs and places extremely high demands on the structural strength of the connection between the shaft and the turntable. For equipment used in airdrop vehicles, due to vehicle space limitations and the importance of the vehicle equipment, the reliability of the anti-rollover gyro is highly demanded. The problem of preventing airdrop vehicles from rolling over in strong winds has become a difficult problem that urgently needs to be solved. Therefore, an anti-rollover device is needed that can not only improve the structural strength of the gyro rotor, but also increase the gyro's moment of inertia within the limited installation space.

[0007] Summary of the Invention

[0008] In response to the defects of the existing technology, this application proposes a new rotor structure and a gyro mechanism and anti-rollover device using this rotor structure. Under the condition that the total mass of the rotor remains unchanged, the rotor's moment of inertia and output torque are increased by adapting a light turntable and heavy spokes, which can achieve a roll reduction effect on vehicles and ships with a larger roll angular velocity. The turntable has a structure with a thick middle and thin edges, which can bear the torque transmitted by the shaft and improve the overall structural strength of the rotor.

[0009] To achieve the above-mentioned object, the present application provides a rotor structure, wherein the rotor includes a rotating shaft, a rotating disk and spokes;

[0010] The turntable and the spokes are both annular structures, the rotating shaft vertically passes through the center of the turntable, and the spokes are arranged around the outer edge of the turntable;

[0011] The turntable has a structure with a thick middle portion and thin edges, so that two end surfaces of the turntable form a preset angle with the central axis of the rotating shaft.

[0012] Furthermore, the rotor has a split structure, and the rotating shaft, the rotating disk and the spokes are assembled and installed together.

[0013] Furthermore, the radial length of the turntable is 1.5 to 4 times the radial length of the spokes.

[0014] Furthermore, the included angle between the two end surfaces of the turntable and the central axis of the rotating shaft is 90-110°.

[0015] Furthermore, the turntable and the rotating shaft are spline-matched, the center of the turntable has an inner spline hole, and the middle outer surface of the rotating shaft has an outer spline that matches the height of the inner spline hole of the turntable.

[0016] Furthermore, an annular mounting plane is provided on one end face of the turntable along the outer side of the edge of its center hole, and a flange matching the annular mounting plane is provided on the outer side of the external spline of the rotating shaft. The flange is used for limiting the installation of the rotating shaft after it passes through the center hole of the turntable.

[0017] Furthermore, a plurality of internal threaded holes are arranged perpendicular to the annular mounting plane, and the flange is provided with through holes matching the internal threaded holes.

[0018] On the other hand, the present application provides a gyro mechanism, the gyro mechanism comprising a rotor, a housing, two housing shafts, two bearings, and a flat motor;

[0019] The rotor is a rotor structure described in any one of the above;

[0020] The housing has a cavity structure inside, the two bearings are fixed inside the housing, and both ends of the rotor shaft are rotatably connected to the housing through the bearings;

[0021] The flat motor is fixedly mounted on one end of the rotating shaft of the rotor;

[0022] The two housing rotating shafts are respectively installed on both sides of the housing and are vertical to the central axis of the rotating shaft of the rotor in space.

[0023] In another aspect, the present application provides an anti-rollover device, the anti-rollover device comprising a gyro mechanism;

[0024] The gyro mechanism is the above-mentioned gyro mechanism; the gyro mechanism is installed on the precession shaft in the anti-rollover device.

[0025] Furthermore, the anti-rollover device further comprises a hydraulic damping mechanism, a mounting bracket, a control mechanism and a sensor;

[0026] The two housing shafts are rotatably connected to the mounting bracket; the hydraulic damping mechanism is fixedly mounted on the mounting bracket and connected to one housing shaft, and is used to drive the gyro mechanism to rotate on the mounting bracket;

[0027] There are multiple sensors, which are respectively mounted on the mounting bracket, the housing shaft and the flat motor, and are used to collect the vehicle posture angle, the rotation speed of the housing shaft and the rotor rotation angle; the control mechanism is mounted on the mounting bracket and connected to the sensors and the hydraulic damping mechanism.

[0028] The beneficial effects of this application are:

[0029] First, the gyro mechanism of the present application includes a rotor, which includes a rotating shaft, a turntable, and spokes. The rotating shaft and turntable are mounted in a separate structure, and the turntable and spokes are mounted in a separate structure. This structure can increase the rotor's moment of inertia and output torque by adapting a lightweight turntable and heavy spokes while keeping the total mass of the rotor unchanged. This can achieve a roll reduction effect on vehicles and ships with higher roll angular velocities. The turntable has a thick center and thin edges structure, which can bear the torque transmitted by the rotating shaft and improve the overall structural strength of the rotor.

[0030] Second, the rotor of the present application is a detachable structure, which facilitates the processing of the rotating shaft, turntable and spokes. By adapting to different turntable and spoke specifications to meet various usage scenarios, the versatility of the rotating shaft is achieved, saving the overall production and maintenance costs of the rotor.

[0031] Third, the present application does not need to increase the total mass of the rotor by increasing the overall size of the rotor. By adjusting the radial length of the turntable and the radial length of the spokes, the requirements for the moment of inertia of the vehicle anti-roll can be met within a limited installation space. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] FIG1 is a schematic diagram of one application scenario of the anti-rollover device in Example 1 of the present application;

[0033] FIG2 is a perspective structural diagram of the anti-rollover device in Example 1 of the present application;

[0034] FIG3 is a bottom view of the anti-rollover device in Example 1 of the present application;

[0035] FIG4 is a cross-sectional view of the gyro mechanism in Example 1 of the present application;

[0036] FIG5 is a cross-sectional view of the rotor in Example 1 of the present application.

[0037] Among them, A-vehicle; 1-gyro mechanism; 10-upper shell; 11-lower shell; 12-rotor; 120-rotating shaft; 121-turntable; 122-spoke; 13-shell rotating shaft; 14-bearing; 15-shell cover; 2-hydraulic damping mechanism; 20-hydraulic cylinder; 3-mounting bracket; 30-gyro mounting seat; 31-hydraulic damping mounting seat; 4-control mechanism. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0039] Example 1:

[0040] As shown in Figures 1, 2, and 3, the anti-rollover device of this embodiment includes a gyro mechanism 1, a hydraulic damping mechanism 2, a mounting bracket 3, a control mechanism 4, and sensors. The gyro mechanism 1 has precession shafts at both ends, both of which are rotatably connected to the mounting bracket 3. The hydraulic damping mechanism 2 is connected to the precession shaft at one end of the gyro mechanism 1 and fixedly mounted on the mounting bracket 3, and is used to input a control torque to drive the rotation of the gyro mechanism 1 on the mounting bracket 3. The gyro mechanism 1 contains a gyro rotor, which is driven by a flat motor and rotates perpendicular to the precession shaft axis of the gyro mechanism 1. Multiple sensors are provided, each mounted on the mounting bracket 3, the precession shaft of the gyro mechanism 1, and the flat motor. These sensors are used to collect vehicle attitude angles, the rotational speed of the precession shaft of the gyro mechanism 1, and the rotation angle of the gyro rotor. The control mechanism 4 is mounted on the mounting bracket 3 and connected to the sensor and the hydraulic damping mechanism 2. It is used to receive data transmitted by the sensor, calculate the precession torque and roll torque of the gyro rotor based on the precession angle of the gyro rotor and the vehicle attitude angle, and control the hydraulic damping mechanism 2 to change the precession speed of the gyro mechanism 1 so that the gyro mechanism 1 generates a torque in the opposite direction to the vehicle's roll angular velocity, thereby achieving anti-rollover of the vehicle.

[0041] As shown in FIG. 4 , the gyro mechanism 1 includes an upper housing 10 , a lower housing 11 , a rotor 12 , a housing shaft 13 , a bearing 14 , and a housing cover 15 .

[0042] The upper and lower housings 10 and 11 are snap-fitted together. After assembly, the upper and lower housings 10 and 11 have a hollow interior. The top of the upper housing 10 and the bottom of the lower housing 11 each have an opening. Two housing covers 15 are fixedly mounted to the openings of the upper and lower housings 10 and 11, respectively. The rotor 12's shaft is rotatably connected to the upper and lower housings 10 and 11 via bearings 14. A flat motor is fixedly mounted on one end of the rotor 12 to drive the rotor 12 in rotation. A sensor is also mounted on the end of the rotor 12 where the flat motor is mounted, which measures the rotor's angular velocity. Two housing shafts 13 are mounted on snap-fitting surfaces at either end of the upper and lower housings 10 and 11, respectively. One end of each shaft has a mounting cover and the other end has a rotating shaft. The end with the mounting cover is fixed to the snap-fitting surfaces of the upper and lower housings 10 and 11, securing the connection. The end with the rotating shaft is rotatably connected to the mounting bracket 3 via a bearing.

[0043] As shown in Figure 5, the rotor 12 comprises a shaft 120, a rotating disc 121, and spokes 122. The shaft 120 is symmetrically mounted on both ends of the rotating disc 121, extending vertically through the center. The spokes 122 are annular and arranged around the outer edge of the rotating disc 121. The rotor 12 is detachable, facilitating the machining of the shaft 120, rotating disc 121, and spokes 122. By adapting to different specifications of the rotating disc 121 and spokes 122 to meet various usage scenarios, the shaft 120 is versatile and reduces the overall manufacturing cost of the rotor 122.

[0044] The annular surfaces at the top and bottom of the turntable 121 extend obliquely downward from the center of the turntable 121 to the edge of the turntable 121, giving the turntable 121 a structure with a thick center and thin edges. The turntable 121 and the rotating shaft 120 are splined together. The center of the turntable 121 has an internal spline hole, and the central outer surface of the rotating shaft 120 has an external spline that matches the height of the internal spline hole of the turntable 121. The external spline of the rotating shaft 120 has an adjacent flange near the end of the rotating shaft 120. The flange is used to limit the installation of the rotating shaft 120 after it passes through the center hole of the turntable 121. Multiple through holes are arranged around the central axis of the flange. One end surface of the turntable 121 has an internal thread that matches the through hole of the flange of the rotating shaft 120. The rotating shaft 120 passes through the center hole of the turntable 121 and is installed by aligning the through hole of the flange with the internal thread of the turntable 121 using bolts.

[0045] The outer annular surface of the spokes 122 has multiple countersunk holes with their central axes coplanar. The outer annular surface of the turntable 121 has internal threads that match the outer annular surface of the spokes 122. Bolts are used to align the countersunk holes of the spokes 122 and the internal threads of the turntable 121. A predetermined gap is provided between the outer edge of the spokes 122 and the cavity formed by the upper and lower shells 10 and 11.

[0046] The center of the turntable 121 is thicker than its edges, allowing it to bear the torque transmitted by the rotating shaft 120 and improve the overall structural strength of the rotor 12. The thin edges of the turntable 121 reduce its weight, ensuring its lightweight design. While the total mass of the rotor 12 remains unchanged, the rotor 12's moment of inertia and output torque are increased by combining the lightweight turntable 121 with the heavier spokes 122, thus reducing the roll of vehicles and vessels with higher rolling angular velocities.

[0047] Preferably, the angle α between the top and bottom surfaces of the turntable 121 and the central axis of the rotating shaft 120 is 90-110°, the radial length s of the turntable 121 is 1.5 to 4 times the radial length h of the spoke 122, and the radial length h of the spoke 122 is 15% to 40% of the inner diameter of the cavity formed by the upper shell 10 and the lower shell 11.

[0048] As shown in FIG. 2 and FIG. 3 , the hydraulic damping mechanism 2 includes a hydraulic cylinder 20 , and the mounting bracket 3 includes a gyro mounting seat 30 and a hydraulic damping mounting seat 31 .

[0049] The gyro mount 30 has symmetrical circular holes at both ends, housing bearings installed within them. One end of the housing shaft 13, which has a rotating axis, is rotatably connected to the bearings within the circular holes of the gyro mount 30. A hydraulic damping mount 31 is bolted to the top end of the gyro mount 30, with the hydraulic cylinder 20 tiltedly secured within it. Two hydraulic cylinders 20 are symmetrically mounted on the housing shaft 13 at one end of the gyro mechanism 1. The two hydraulic cylinders 20 extend and retract in opposite directions. They are connected to the control mechanism 4 via a valve block, hydraulic pipes, and power signal lines.

[0050] This embodiment provides two sets of moment of inertia data, each set of moment of inertia data includes two rotors 12 of the same weight. By comparing the two sets of moment of inertia data, it is shown that the total weight of the rotor remains unchanged. By reducing the radial length of the turntable 121 and increasing the radial length of the spoke 122, the moment of inertia of the rotor can be increased.

[0051] As shown in Table 1, the diameters of the rotating shafts 120 of the first rotor and the second rotor are both 140 mm, the radial length s of the rotating disk 121 of the first rotor is 180, and the radial length h of the spokes 122 is 40 mm, the radial length s of the rotating disk 121 of the second rotor is 150, and the radial length h of the spokes 122 is 70 mm, and the moment of inertia of the second rotor is 3.3 Nms greater than that of the first rotor.

[0052] The diameters of the rotating shafts 120 of the third and fourth rotors are both 120 mm. The radial length s of the rotating disk 121 of the third rotor is 190, and the radial length h of the spokes 122 is 40 mm. The radial length s of the rotating disk 121 of the fourth rotor is 175, and the radial length h of the spokes 122 is 55 mm. The moment of inertia of the fourth rotor is 1.7 Nms greater than that of the third rotor.

[0053] Table 1

[0054] Example 2:

[0055] In this preferred embodiment, other structures are the same as those in Example 1, except that the angle α between the top and bottom surfaces of the turntable 121 and the central axis of the rotating shaft 120 is 90-110°. CAE analysis shows the maximum value of the static stress of the rotor 12 when the angle α is 90°, 100°, and 110°, respectively. As the angle α gradually increases, the maximum value of the static stress gradually decreases. The greater the structural strength of the rotor 12, the less stress it is subjected to during use, which can extend the service life of the rotor 12.

[0056] As shown in Table 2,

[0057] Table 2

[0058] The above is only an embodiment of the present application, and common knowledge such as the specific structure and characteristics of the scheme are not described in detail here. For those skilled in the art, it is obvious that the present application is not limited to the details of the above-mentioned exemplary embodiments, and the present application can be implemented in other specific forms without departing from the spirit or basic characteristics of the present application. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present application is defined by the attached claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the present application. Any figure mark in the claims should not be regarded as limiting the claims involved.

Claims

1. A rotor structure, characterized in that: The rotor comprises a rotating shaft (120), a rotating disk (121) and spokes (122); The rotating disk (121) and the spokes (122) are both annular structures, the rotating shaft (120) vertically passes through the center of the rotating disk (121), and the spokes (122) are arranged around the outer edge of the rotating disk (121); The rotating disk (121) has a structure with a thick middle portion and thin edges, so that two end surfaces of the rotating disk (121) form a preset angle with the central axis of the rotating shaft (120).

2. The rotor structure according to claim 1, characterized in that: The rotor has a split structure, and the rotating shaft (120), the rotating disk (121) and the spokes (122) are assembled and installed together.

3. The rotor structure according to claim 2, characterized in that: The radial length of the rotating disk (121) is 1.5 to 4 times the radial length of the spokes (122).

4. The rotor structure according to claim 2, characterized in that: The included angle between the two end surfaces of the rotating disk (121) and the central axis of the rotating shaft (120) is 90-110°.

5. The rotor structure according to claim 1, characterized in that: The rotating disk (121) and the rotating shaft (120) are spline matched, the center of the rotating disk (121) has an internal spline hole, and the middle outer surface of the rotating shaft (120) has an external spline that matches the height of the internal spline hole of the rotating disk (121).

6. The rotor structure according to claim 5, characterized in that: An annular mounting plane is provided on one end face of the rotating disk (121) along the outer side of the edge of its center hole, and a flange matching the annular mounting plane is provided on the outer side of the external spline of the rotating shaft (120), and the flange is used for limiting the installation of the rotating shaft (120) after it passes through the center hole of the rotating disk (121).

7. The rotor structure according to claim 6, characterized in that: A plurality of internal thread holes are arranged perpendicular to the annular installation plane, and through holes matching the internal thread holes are arranged on the flange.

8. A gyro mechanism, characterized in that: The gyro mechanism comprises a rotor, a housing, two housing shafts, two bearings and a flat motor; The rotor is a rotor structure according to any one of claims 1 to 7; The shell has a cavity structure inside, the two bearings are fixed inside the shell, and the two ends of the rotating shaft of the rotor are rotatably connected to the shell through the bearings; The flat motor is fixedly mounted on one end of the rotating shaft of the rotor; The two housing rotating shafts are respectively installed on two sides of the housing and are vertical to the central axis of the rotating shaft of the rotor in space.

9. An anti-rollover device, characterized in that: The anti-rollover device includes a gyro mechanism; The gyro mechanism is the gyro mechanism described in claim 8; the gyro mechanism is installed on the precession shaft in the anti-rollover device.

10. The anti-rollover device according to claim 9, characterized in that: The anti-rollover device also includes a hydraulic damping mechanism, a mounting bracket, a control mechanism and a sensor; The two housing shafts are rotatably connected to the mounting bracket; the hydraulic damping mechanism is fixedly mounted on the mounting bracket and connected to one housing shaft, and is used to drive the gyro mechanism to rotate on the mounting bracket; There are multiple sensors, which are respectively mounted on the mounting bracket, the housing shaft and the flat motor, and are used to collect the vehicle posture angle, the rotation speed of the housing shaft and the rotor rotation angle; the control mechanism is mounted on the mounting bracket and connected to the sensor and the hydraulic damping mechanism.

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