CN109245467B - Nested double-rotor gyro mechanism - Google Patents
Nested double-rotor gyro mechanism Download PDFInfo
- Publication number
- CN109245467B CN109245467B CN201811240517.2A CN201811240517A CN109245467B CN 109245467 B CN109245467 B CN 109245467B CN 201811240517 A CN201811240517 A CN 201811240517A CN 109245467 B CN109245467 B CN 109245467B
- Authority
- CN
- China
- Prior art keywords
- rotor
- ring
- ball rolling
- support plate
- outer rotor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K16/00—Machines with more than one rotor or stator
- H02K16/005—Machines with only rotors, e.g. counter-rotating rotors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Toys (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention discloses a nested double-rotor gyro mechanism, wherein a rotor assembly comprises an inner rotor and an outer rotor which are arranged based on a supporting assembly, the inner rotor is arranged in the outer rotor, and the inner rotor is a rotator which is driven by an internal model motor and can rotate at a high speed; the support assembly comprises an upper support plate, a lower support plate, a left ring sleeve and a right ring sleeve which are arranged in the outer rotor, and the inner rotor is arranged between the upper support plate and the lower support plate; the left ring sleeve and the right ring sleeve are respectively sleeved on the left ring body and the right ring body of the outer rotor, and the left ring sleeve and the right ring sleeve are rotatably arranged on the left fixing disc and the right fixing disc; an inner ball rolling groove and an outer ball rolling groove are respectively formed in the outer rotor, and an upper group of ball assemblies, a lower group of ball assemblies, a left group of ball assemblies and a right group of ball assemblies are arranged in the ball rolling grooves; the front and the back of the outer rotor are respectively provided with a front inner gear ring and a back inner gear ring, the front inner gear ring and the back inner gear ring are respectively meshed with an upper gear and a lower gear, and the upper gear and the lower gear are respectively driven to rotate by a front motor and a back motor which are arranged on an upper support plate and a lower support plate. The invention can realize that at least one rotor generates the gyro moment for adjusting balance and the occupied space of the gyro mechanism is small.
Description
Technical Field
The invention relates to a mechanical gyro balance technology, in particular to a nested double-rotor gyro mechanism.
Background
The mechanical gyro is a device capable of generating larger gyro moment under the condition that the high-speed revolving body moves around the direction orthogonal to the rotation shaft relative to the inertia space.
At present, the mechanical gyro is mainly applied to the aspect of attitude balance control by utilizing the characteristics of the mechanical gyro. For example, the self-balancing vehicle C-1 produced by Lit Motors company, which uses a high-speed gyroscopic balance technique, prevents the vehicle from turning over in any situation.
The existing mechanical gyroscopes comprise a single shaft, a double shaft and a triaxial, and are usually nested inside and outside to realize various operations. However, this mechanical top has a problem that the rotor of the mechanical top is rotated 90 degrees around the precession axis, and no gyro moment is generated. Although this problem can be solved by vertically installing two mechanical gyroscopes, they occupy a large space.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to solve the technical problem of providing a nested double-rotor gyro mechanism with small occupied space.
Can solve the nested birotor gyro mechanism of above-mentioned technical problem, its technical scheme includes rotor subassembly, the difference is rotor subassembly includes the interior, the external rotor that set up based on supporting component, wherein:
1. the horizontal inner rotor is arranged in the vertical annular outer rotor, the rotation axes of the inner rotor and the outer rotor are orthogonal, and the inner rotor is a rotator driven by an internal model airplane motor to rotate at a high speed.
2. The support assembly comprises an upper support plate, a lower support plate, a left ring sleeve and a right ring sleeve which are of an integrated structure, the upper support plate and the lower support plate are arranged in the outer rotor, and the inner rotor is arranged between the upper support plate and the lower support plate and is arranged on the upper support plate and the lower support plate through an upper rotating shaft and a lower rotating shaft; the left and right ring sleeves are respectively sleeved on the left and right ring bodies of the outer rotor, and are respectively arranged on the left and right fixed discs through the left and right rotating shafts.
3. The inner ring surface and the outer ring surface of the outer rotor are respectively provided with a coaxial inner ball rolling groove and a coaxial outer ball rolling groove, an upper ball rolling groove, a lower ball rolling groove, a left ball rolling groove and a right ball rolling groove are respectively provided with an inner ball and an outer ball which are respectively in rolling fit with the inner ball rolling groove and the outer ball rolling groove, the inner ball and the outer ball are respectively arranged on an inner horizontal supporting rod and an outer horizontal supporting rod, the inner horizontal supporting rod and the outer horizontal supporting rod are respectively arranged at the left end and the right end of an inner ring of a corresponding ring sleeve, the upper ball rolling groove and the lower ball rolling groove respectively comprise at least three balls which are respectively in rolling fit with the arc section of the corresponding inner ball rolling groove, the three balls are respectively arranged on corresponding radial supporting rods, and the three radial supporting rods are uniformly arranged on corresponding supporting plates.
4. And the front side surface and the rear side surface of the ring body of the outer rotor are respectively fixedly provided with a coaxial front inner gear ring and a coaxial rear inner gear ring, the front inner gear ring and the rear inner gear ring are respectively meshed with an upper gear and a lower gear, and the upper gear and the lower gear are respectively driven to rotate by an upper motor and a lower motor which are respectively arranged on an upper supporting plate and a lower supporting plate so as to jointly drive the outer rotor to rotate at a high speed.
Further, the outer rotor comprises two semi-ring bodies, each inner gear ring comprises two semi-ring bodies, and the joint of the front and rear semi-ring bodies and the joint of the two semi-ring bodies are installed in a staggered mode.
Conventionally, left and right fixed disks are mounted on a balance car.
The invention has the beneficial effects that:
1. in the structure of the nested double-rotor gyroscope, the outer rotor and the inner rotor have the same precession axis, and the rotation axes are mutually perpendicular, so that the gyroscope has at least one rotor at any position to generate a gyroscope moment for adjusting balance.
2. In the structure of the invention, the outer rotor and the inner rotor are nested and installed, thereby saving the occupied space of the gyroscope.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
Fig. 2 is a front view of the embodiment of fig. 1.
Fig. 3 is a side view of fig. 2.
Fig. 4 is a schematic structural view of the support assembly in the embodiment of fig. 1.
Fig. 5 (a) is a state diagram when the gyro mechanism is in the initial state α=0°.
Fig. 5 (b) is a state diagram of the gyro mechanism rotated by α <90 ° around the precession axis during adjustment.
Fig. 6 (a) is a state diagram when the gyro mechanism rotates by α=90° about the precession axis during adjustment.
Fig. 6 (b) is a state diagram of the gyro mechanism rotated by an angle of >90 ° around the precession axis during adjustment.
Drawing number identification: 1. an inner rotor; 2. an outer rotor; 3. an upper support plate; 4. a lower support plate; 5. a left ring sleeve; 6. a right ring sleeve; 7. a left fixed disk; 8. a right fixed disk; 9. an inner ball rolling groove; 10. an outer ball rolling groove; 11. a ball; 12. a horizontal support bar; 13. a front ring gear; 14. a rear ring gear; 15. a top gear; 16. a lower gear; 17. a front motor; 18. a rear motor; 19. radial support bars.
Detailed Description
The technical scheme of the invention is further described below with reference to the embodiment shown in the drawings.
The invention relates to a nested double-rotor gyro mechanism, which comprises inner and outer rotors 1 and 2 arranged based on a supporting component.
The support assembly comprises symmetrical upper and lower support plates 3 and 4 and symmetrical left and right annular sleeves 5 and 6, the upper and lower support plates 3 and 4 are vertically arranged, the top of the upper support plate 3 and the bottom of the lower support plate 4 are arc-shaped, the left and right annular sleeves 5 and 6 are horizontally arranged, and the upper and lower support plates 3 and 4 and the left and right annular sleeves 5 and 6 are connected with each other to form an integral frame, as shown in fig. 1, 2 and 4.
The outer rotor 2 is a ring body (formed by butting two semi-ring bodies) which is vertically arranged, coaxial inner and outer ball rolling grooves 9 and 10 are respectively formed on the inner ring surface and the outer ring surface of the outer rotor 2 inwards, front and rear inner gear rings 13 and 14 with the same size are attached to the front and rear end surfaces of the outer rotor 2, the front and rear inner gear rings 13 and 14 are in a structure form of butting two semi-ring bodies, and the joint of the front and rear semi-ring bodies and the joint of the two semi-ring bodies are installed in a staggered manner, so that the outer rotor 2, the front and rear inner gear rings 13 and 14 are connected into an outer rotor integral ring; the supporting component is arranged in the whole ring of the outer rotor, the inner rotor 1 which is horizontally arranged is arranged between the upper supporting plate 3 and the lower supporting plate 4, the rotation axes of the inner rotor 1 and the outer rotor 2 are orthogonal, and the inner rotor 1 is arranged on the upper supporting plate 3 and the lower supporting plate 4 through an upper rotating shaft and a lower rotating shaft, as shown in fig. 1 and 2.
The left and right ring bodies of the outer rotor integral ring are arranged in the left and right ring sleeves 5 and 6 in a penetrating way, and four groups of upper, lower, left and right ball assemblies are arranged in the ball rolling groove of the outer rotor 2 to position the outer rotor 2 on the supporting assembly, specifically:
the upper ball assembly comprises three balls 11 (left, middle and right positions) which are in rolling fit in an arc section groove at the upper part of the inner ball rolling groove 9, the three balls 11 are respectively arranged at the tops of corresponding radial support rods 19 (in a vertical plane), and the bottoms of the three radial support rods 19 are arranged at the arc top of the upper support plate 3; the lower ball assembly comprises three balls 11 (left, middle and right positions) which are in rolling fit in an arc section groove at the lower part of the inner ball rolling groove 9, the three balls 11 are respectively arranged at the bottoms of corresponding radial support rods 19 (in a vertical plane), and the tops of the three radial support rods 19 are arranged on the arc bottom of the lower support plate 4; the left ball assembly comprises an inner ball 11 and an outer ball 11 which are respectively in rolling fit in corresponding groove positions of the inner ball rolling groove 9 and the outer ball rolling groove 10 of the outer rotor 2, the inner ball 11 and the outer ball 11 are respectively arranged on an inner horizontal support rod 12 and an outer horizontal support rod 12, and the inner horizontal support rod 12 and the outer horizontal support rod 12 are respectively arranged on the left end and the right end of an inner ring of the left ring sleeve 5; the right ball assembly comprises an inner ball 11 and an outer ball 11 which are respectively in rolling fit in corresponding groove positions of the inner ball rolling groove 9 and the outer ball rolling groove 10 of the outer rotor 2, the inner ball 11 and the outer ball 11 are respectively arranged on an inner horizontal support rod 12 and an outer horizontal support rod 12, and the inner horizontal support rod 12 and the outer horizontal support rod 12 are respectively arranged on the left end and the right end of an inner ring of the right ring sleeve 5, as shown in figures 1 and 2.
A front motor 17 is arranged on the lower support plate 4, an output shaft of the front motor 17 penetrates through the lower support plate 4 to be connected with a lower gear 16 arranged at the rear side of the lower support plate 4, and the lower gear 16 is meshed with the rear annular gear 14; the upper support plate 4 is provided with a rear motor 18, an output shaft of the rear motor 18 penetrates through the upper support plate 4 to be connected with an upper gear 15 arranged on the front side of the upper support plate 4, and the upper gear 15 is meshed with the front annular gear 13, as shown in fig. 1, 2 and 3.
The outer ring left end of left ring cover 5 is installed on left fixed disk 7 through left end pivot, and the outer ring right-hand member of right ring cover 6 is installed on right fixed disk 8 through right-hand member pivot, and left and right fixed disk 7, 8 are installed on the balance car, and the left end pivot of left ring cover 5 and the right-hand member pivot of right ring cover 6 are mechanical gyro's precession axis, as shown in fig. 1, 2.
The working state of the invention is as follows:
as shown in fig. 5 (a), which shows the initial state of the gyro mechanism, the inner rotor 1 rotates at high speed, the outer rotor 2 rotates or does not rotate, and at this time, the mechanical gyro generates gyro moment t horizontally to the right 1 。
As shown in fig. 5 (b), the gyro mechanism rotates around the precession axis a during adjustment<In the state of 90 DEG, both the outer rotor 2 and the inner rotor 1 rotate at high speed, and the inner rotor 1 generates gyro moment t 1 The outer rotor 2 generates gyro moment t 2 Moment t of gyro 1 ，t 2 The component moment is arranged in the horizontal right direction, so that the horizontal gyro moment of the mechanical gyro is maximized.
As shown in fig. 6 (a), the gyro mechanism rotates around the precession axis by α=90° during adjustment, the inner rotor 1 rotates or stops, the outer rotor 2 rotates at high speed, and the mechanical gyro generates a gyro moment t horizontally to the right 2 。
As shown in fig. 6 (b), the gyro mechanism rotates around the precession axis a during adjustment>In the state of 90 ° both the outer rotor 2 and the inner rotor 1 rotate at high speed, but the rotation direction of the inner rotor 1 is opposite to that of the inner rotor 1 in fig. 5 (b), the rotation direction of the outer rotor 2 is still the same, and the gyro moment t is generated by the inner rotor 1 1 The outer rotor 2 generates gyro moment t 2 Moment t of gyro 1 、t 2 The component moment is arranged in the horizontal right direction, so that the horizontal gyro moment of the mechanical gyro is maximized.
Claims (2)
1. Nested birotor gyro mechanism, including the rotor subassembly, characterized by the rotor subassembly includes the inside and outside rotor (1, 2) that set up based on supporting component, wherein:
the horizontal inner rotor (1) is arranged in the vertical annular outer rotor (2) and the rotation axes of the inner rotor and the outer rotor (1, 2) are orthogonal, and the inner rotor (1) is a rotator driven by an internal model airplane motor to rotate at a high speed;
the support assembly comprises an upper support plate (3) and a lower support plate (4) of an integrated structure, a left ring sleeve (5) and a right ring sleeve (6), wherein the upper support plate (3) and the lower support plate (4) are arranged in the outer rotor (2), and the inner rotor (1) is arranged between the upper support plate (3) and the lower support plate (4) and is arranged on the upper support plate (3) and the lower support plate (4) through an upper rotating shaft and a lower rotating shaft; the left and right ring sleeves (5, 6) are respectively sleeved on the left and right ring bodies of the outer rotor (2), and the left and right ring sleeves (5, 6) are respectively arranged on the left and right fixed discs (7, 8) through left and right rotating shafts;
coaxial inner and outer ball rolling grooves (9, 10) are respectively formed in the inner and outer ring surfaces of the outer rotor (2), an upper ball rolling assembly, a lower ball rolling assembly, a left ball rolling assembly and a right ball rolling assembly are respectively arranged in the ball rolling grooves, the left ball rolling assembly and the right ball rolling assembly respectively comprise inner balls (11) and outer balls (11) respectively in the inner ball rolling grooves (9) and the outer ball rolling grooves (10), the inner balls (11) and the outer balls (11) are respectively arranged on inner horizontal support rods (12) and outer horizontal support rods (12), the inner horizontal support rods (12) are respectively arranged on the left end and the right end of the inner ring of the corresponding ring sleeve, the upper ball rolling assembly and the lower ball rolling assembly respectively comprise at least three balls (11) in arc sections of the corresponding inner ball rolling grooves (9), the three balls (11) are respectively arranged on corresponding radial support rods (19), and the three radial support rods (19) are uniformly arranged on corresponding support plates;
front and rear inner gear rings (13, 14) which are coaxial and have the same size are respectively fixedly arranged on the front and rear side surfaces of the ring body of the outer rotor (2), upper and lower gears (15, 16) are respectively meshed with the front and rear inner gear rings (13, 14), and the upper and lower gears (15, 16) are respectively driven to rotate by front and rear motors (17, 18) respectively arranged on upper and lower support plates (3, 4) so as to jointly drive the outer rotor (2) to rotate at high speed;
the outer rotor (2) comprises two semi-ring bodies, each inner gear ring comprises two semi-ring bodies, and the joint of the front semi-ring body and the rear semi-ring body is installed in a staggered manner with the joint of the two semi-ring bodies.
2. The nested dual rotor gyroscopic mechanism of claim 1, in which: the left and right fixed discs (7, 8) are arranged on the balance car.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811240517.2A CN109245467B (en) | 2018-10-23 | 2018-10-23 | Nested double-rotor gyro mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811240517.2A CN109245467B (en) | 2018-10-23 | 2018-10-23 | Nested double-rotor gyro mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109245467A CN109245467A (en) | 2019-01-18 |
| CN109245467B true CN109245467B (en) | 2023-10-17 |
Family
ID=65081446
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811240517.2A Active CN109245467B (en) | 2018-10-23 | 2018-10-23 | Nested double-rotor gyro mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109245467B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3354727A (en) * | 1964-11-17 | 1967-11-28 | Eichweber Kurt | Gyroscopic apparatus |
| CN101049860A (en) * | 2007-04-16 | 2007-10-10 | 北京航空航天大学 | Single end support type magnetic suspension control moment gyro of single framework |
| CN101219714A (en) * | 2007-12-26 | 2008-07-16 | 北京航空航天大学 | Double-frame magnetic suspension control moment gyro |
| CN105136132A (en) * | 2015-09-02 | 2015-12-09 | 中国人民解放军装备学院 | High-torque magnetic levitation control sensitive spinning top |
| CN105896819A (en) * | 2014-12-12 | 2016-08-24 | 冯沛恒 | Device and method for driving motor to generate electrical energy |
| CN107131874A (en) * | 2017-06-23 | 2017-09-05 | 桂林电子科技大学 | The spherical omnidirectional's gyro mechanism of totally enclosed type and its operation method |
| CN108036782A (en) * | 2017-12-13 | 2018-05-15 | 陕西宝成航空仪表有限责任公司 | Spherical symmetric gyro |
-
2018
- 2018-10-23 CN CN201811240517.2A patent/CN109245467B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3354727A (en) * | 1964-11-17 | 1967-11-28 | Eichweber Kurt | Gyroscopic apparatus |
| CN101049860A (en) * | 2007-04-16 | 2007-10-10 | 北京航空航天大学 | Single end support type magnetic suspension control moment gyro of single framework |
| CN101219714A (en) * | 2007-12-26 | 2008-07-16 | 北京航空航天大学 | Double-frame magnetic suspension control moment gyro |
| CN105896819A (en) * | 2014-12-12 | 2016-08-24 | 冯沛恒 | Device and method for driving motor to generate electrical energy |
| CN105136132A (en) * | 2015-09-02 | 2015-12-09 | 中国人民解放军装备学院 | High-torque magnetic levitation control sensitive spinning top |
| CN107131874A (en) * | 2017-06-23 | 2017-09-05 | 桂林电子科技大学 | The spherical omnidirectional's gyro mechanism of totally enclosed type and its operation method |
| CN108036782A (en) * | 2017-12-13 | 2018-05-15 | 陕西宝成航空仪表有限责任公司 | Spherical symmetric gyro |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109245467A (en) | 2019-01-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101636317B (en) | De-rotation system for counter-rotating, coaxial rotor hub shaft fairing | |
| JP4003082B2 (en) | Omni-directional wheel and omni-directional moving device | |
| JP4724075B2 (en) | Wheel rotation device | |
| CN102666171A (en) | In-wheel motor driving device | |
| CN107757912A (en) | Power set, aircraft and flying vehicles control method | |
| CN106470899A (en) | The elimination torque of propeller type VTOL flying object and compatible device of keeping in balance | |
| CN106005389A (en) | Helicopter rotor wing compound motion parallel driving device | |
| CN106114844A (en) | Helicopter swing wing 4PSS+SP type many driving means in parallel | |
| CN102910285B (en) | A kind of rotor craft | |
| CN111307175B (en) | High-dynamic three-axis simulation turntable | |
| JP2020148226A (en) | Rotation device and aircraft | |
| US20190092386A1 (en) | Synchronous steering vehicle body | |
| US20100307290A1 (en) | Apparatus, system and method for gyroscopic propulsion and/or steering | |
| CN109245467B (en) | Nested double-rotor gyro mechanism | |
| CN103786888A (en) | Variable-pitch aircraft | |
| CN104192324A (en) | Swing-arm-type rotating synchronous space three-dimensional simulator | |
| CN105108746A (en) | Multi-degree-of-freedom joint robot arm | |
| US3327538A (en) | Two-axis case rotating gyroscope | |
| CN207487688U (en) | A kind of certainly used group twin shaft indexing mechanism of aircraft three | |
| CN107499078B (en) | A kind of wheel rotor | |
| CN207134939U (en) | Coaxial motor and unmanned vehicle | |
| GB2207753A (en) | Force generating apparatus | |
| CN113306713A (en) | Coaxial dual-rotor unmanned aerial vehicle based on parallelogram control rotor shaft | |
| CN102730201A (en) | Vibration-free rotary centrifugal cabin | |
| CN208057877U (en) | A kind of differential mechanism for small-sized gyroplane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |