CN220391366U - A rotor structure and a gyro mechanism and anti-rollover device using the rotor structure - Google Patents

Abstract

The application belongs to the technical field of anti-rolling, and particularly relates to a rotor structure, a gyro mechanism adopting the rotor structure and an anti-rollover device, wherein the anti-rollover device comprises the gyro mechanism, and the gyro mechanism is arranged on an advancing shaft in the anti-rollover device; the gyro mechanism comprises a rotor; the rotor comprises a rotating shaft, a turntable and spokes; the rotary table and the spokes are of annular structures, the rotary shaft vertically penetrates through the center of the rotary table, and the spokes are arranged on the periphery of the rotary table; the turntable has a structure with a thick middle edge and a thin middle edge, so that two end surfaces of the turntable and the central shaft of the rotating shaft form a preset included angle; the turntable and the spoke adopt split type mounting structures, and the turntable and the spoke adopt split type mounting structures; according to the anti-rolling device, the total mass of the rotor is unchanged, the rotational inertia and the output torque of the rotor are improved through the rotary disc with small suitable weight and the spoke with large weight, the anti-rolling effect can be achieved on vehicles and ships with larger rolling angular velocity, the rotary disc has a structure with a thick middle part and a thin edge, the torque transmitted by the rotary shaft can be borne, and the overall structural strength of the rotor is improved.

Description

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

Technical field

The utility model belongs to the technical field of anti-rolling, and specifically relates to a rotor structure, a gyro mechanism and an anti-rollover device using the rotor structure.

Background technique

During the airdrop process of the vehicle, the entire process from the vehicle exiting the aircraft to landing lasts very short. After this period, under the action of its own gravity and the pulling force provided by the parachute above, the vehicle body descends steadily in the vertical direction, and the attitude will not change. Swinging and tilting occurs. If there is no influence of horizontal wind speed, the vehicle will land vertically and will not roll over after landing; if there is the influence of horizontal wind speed, the vehicle will also generate horizontal speed during the descent process (the default is equal to the wind speed), and the vehicle body will be in the air Horizontal rotation without controlled attitude may also occur. Before landing, if the attitude of the vehicle body is rotated to a point where the length direction of the vehicle body is inconsistent with the direction of the wind, and if the wind speed is relatively high at this time, the vehicle will easily roll over.

In the prior art, a gyro device is usually installed on the vehicle. When the vehicle shakes laterally, the vehicle drives the outer frame of the gyro device to generate a rolling angular velocity around the vehicle's lateral shaking axis. Due to the characteristics of the gyro, the rolling angular velocity will be in the direction around the axis. It generates a precession torque and drives the gyro housing and flywheel to precess around the axis, and then forms a precession angular velocity. Also due to the characteristics of the gyro, this precession angular velocity will produce an anti-rolling moment around the vehicle's lateral rocking axis. .

However, due to the uncertainty of the wind speed encountered when the vehicle is airdropped, the greater the wind speed, the greater the rotational inertia required by the gyro in order to reduce the roll of the vehicle with a large rolling angular velocity. Therefore, it is necessary to increase the rotational inertia to cope with the unknown. The anti-rolling effect under wind speed, and the anti-rolling torque generated by the gyro is positively related to the rotational inertia of the rotor, so to obtain a larger anti-rolling torque, the rotor must have sufficient mass. In order to improve the anti-rolling torque in the existing technology, the mass of the rotor is usually increased, and the mass of the rotor is getting larger and larger, which also results in the size of the gyroscope becoming larger and larger. The requirements for the installation space of the assembly equipment are extremely high, which requires installation and maintenance. This brings inconvenience. When the installation space is limited, the anti-roll effect of the matching gyro is also effective. Once the airdrop vehicle rolls over after landing, the combat effectiveness cannot be exerted. The existing gyro rotor includes a rotating shaft and a rotating disk. The rotating shaft runs through the center of the rotating disk and is integrally formed with the rotating disk. The central axis of the rotating shaft and the two end faces of the rotating disk are at 90°. When the gyro rotor rotates at high speed, the rotating shaft transmits torque to the joint with the rotating disk. , when the torque increases, cracking will occur here, and the rotor needs to be replaced as a whole. The maintenance cost is high, and the structural strength of the connection between the rotating shaft and the turntable is extremely high. For equipment used in airdrop vehicles, due to vehicle space limitations and the importance of vehicle equipment, there are high requirements for the reliability of anti-rollover gyros. The anti-rollover problem of airdrop vehicles under strong wind conditions has become an urgent problem to be solved, so a This anti-rollover device can not only improve the structural strength of the gyro rotor, but also increase the rotational inertia of the gyro in a limited installation space.

Utility model content

In view of the shortcomings of the existing technology, the utility model proposes a new type of rotor structure and a gyro mechanism and an anti-rollover device using the rotor structure. Under the condition that the total mass of the rotor remains unchanged, by adapting a small-weight turntable and a large-weight The spokes increase the rotational inertia and output torque of the rotor, which can reduce the roll of vehicles and ships with larger roll angular speeds. The turntable has a thick middle structure with thin edges, which can carry the torque transmitted by the rotating shaft and improve the overall structural strength of the rotor.

In order to achieve the above purpose, the technical solution adopted by the present invention provides a rotor structure, the rotor includes a rotating shaft, a rotating disk and a wheel spoke;

The turntable and the spokes are annular structures, the rotating shaft runs vertically through the center of the turntable, and the spokes are arranged around the outer edge of the turntable;

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

Further, the rotor has a split structure, and the rotating shaft, the rotating disk and the spokes are installed together.

Further, the radial length of the turntable is 1.5 to 4 times the radial length of the spokes.

Further, the angle between the two end surfaces of the turntable and the central axis of the rotating shaft is 90° to 110°.

Further, the turntable and the rotating shaft adopt a spline fit. The center of the turntable has an internal spline hole, and the middle outer surface of the rotating shaft has an external spline that matches the height of the internal spline hole of the turntable. .

Further, one end surface of the turntable is provided with an annular mounting plane along the outer edge of its central hole, and the outer spline of the rotating shaft is provided with a flange that matches the annular mounting plane, and the flange is used for the The rotating shaft penetrates into the center hole of the turntable and is installed with a limit.

Further, a plurality of internal threaded holes are arranged perpendicular to the annular mounting plane, and the flange plate is provided with through holes matching the internal threaded holes.

A gyro mechanism, which includes a rotor, a housing, two housing shafts, two bearings and a flat motor;

The rotor is the rotor structure described in any one of the above;

The housing has a cavity structure inside, and two bearings are fixed inside the housing. Both ends of the rotating shaft of the rotor are rotationally connected to the housing through the bearings;

The flat motor is fixedly installed on one end of the rotating shaft of the rotor;

The two housing rotating shafts are respectively installed on both sides of the housing and are spatially perpendicular to the central axis of the rotating shaft of the rotor.

An anti-rollover device, the anti-rollover device includes a gyro mechanism;

The gyro mechanism is the above-mentioned gyro mechanism; the gyro mechanism is installed on the precession axis in the anti-rollover device.

Further, the anti-rollover device also includes a hydraulic damping mechanism, a mounting bracket, a control mechanism and a sensor;

Two of the housing rotating shafts are rotationally connected to the mounting bracket; the hydraulic damping mechanism is fixedly installed on the mounting bracket and connected to one of the housing rotating shafts for driving the gyro mechanism in the mounting bracket. Rotate on the stand;

There are multiple sensors, and the multiple sensors are respectively installed on the mounting bracket, the housing rotating shaft and the flat motor, and are used to collect the vehicle attitude angle, the rotation speed of the housing rotating shaft and the rotor autotransmission angle; The control mechanism is installed on the mounting bracket and connected with the sensor and the hydraulic damping mechanism.

The beneficial effects of this utility model are:

First, the gyro mechanism of the present utility model includes a rotor. The rotor includes a rotating shaft, a turntable and a spoke. The rotating shaft and the turntable adopt a split installation structure. The turntable and the spokes adopt a split installation structure. The total mass of the rotor remains unchanged. By adapting the weight The small turntable and heavy-weight spokes increase the rotor's moment of inertia and output torque, and can achieve anti-rolling effect on vehicles and ships with larger rolling angular speeds. The turntable has a thick middle structure with thin edges, which can carry the torque transmitted by the rotating shaft and improve the rotor's stability. overall structural strength;

Second, the rotor of the present utility model has a detachable structure, which facilitates the processing of the rotating shaft, turntable and spokes. It can also adapt to different specifications of the turntable and spokes to meet various usage scenarios, realize the versatility of the rotating shaft, and save the overall production of the rotor. manufacturing and maintenance costs;

Third, the utility model does not need to increase the overall 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 utility model can meet the requirements of vehicle roll stabilization for rotational inertia in a limited installation space. .

Description of the drawings

Figure 1 is a schematic diagram of one of the application scenarios of the anti-rollover device of the present invention;

Figure 2 is a three-dimensional structural view of the anti-rollover device of the present invention;

Figure 3 is a bottom view of the anti-rollover device of the present invention;

Figure 4 is a cross-sectional view of the gyro mechanism of the present invention;

Figure 5 is a cross-sectional view of the rotor of the present invention.

Among them, A-vehicle; 1-gyro mechanism; 10-upper housing; 11-lower housing; 12-rotor; 120-shaft; 121-turntable; 122-spokes; 13-casing shaft; 14-bearing; 15 - Shell cover; 2-Hydraulic damping mechanism; 20-Hydraulic cylinder; 3-Mounting bracket; 30-Gyro mounting base; 31-Hydraulic damping mounting base; 4-Control mechanism.

Detailed ways

The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only part of the embodiments of the present utility model, not all implementations. example. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present utility model.

As shown in Figures 1, 2, and 3, the utility model provides a rotor structure, a gyro mechanism and an anti-rollover device using the rotor structure. The anti-rollover device includes a gyro mechanism 1, a hydraulic damping mechanism 2, Install bracket 3, control mechanism 4 and sensor. The two ends of the gyro mechanism 1 have precession axes, and the precession axes at both ends are rotationally connected to the mounting bracket 3; the hydraulic damping mechanism 2 is connected to the precession axis at one end of the gyro mechanism 1 and is fixedly installed on the mounting bracket 3 for The control torque is input to drive the rotation of the gyro mechanism 1 on the mounting bracket 3; the gyro mechanism 1 has a gyro rotor inside, which is driven by a flat motor and along the precession axis perpendicular to the gyro mechanism 1 inside the gyro mechanism 1 direction of rotation; there are multiple sensors, which are respectively installed on the mounting bracket 3, the precession axis of the gyro mechanism 1 and the flat motor, and are used to collect the vehicle attitude angle, the rotation speed of the precession axis of the gyro mechanism 1 and the gyro rotor. Autobiographical angle. The control mechanism 4 is installed on the mounting bracket 3 and is connected to the sensor and the hydraulic damping mechanism 2. It is used to receive the data transmitted by the sensor and calculate the precession moment and rolling moment of the gyro rotor according to the precession angle of the gyro rotor and the vehicle attitude angle. , and controls the hydraulic damping mechanism 2 to change the precession speed of the gyro mechanism 1, so that the gyro mechanism 1 generates a couple moment in the opposite direction to the roll angular velocity of the vehicle, thereby achieving the anti-rollover of the vehicle.

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 .

The upper housing 10 and the lower housing 11 are snap-fitted and installed. The installed upper housing 10 and the lower housing 11 have a cavity structure inside. The top of the upper housing 10 and the bottom of the lower housing 11 have openings. The housing cover There are two 15, and they are fixedly installed at the openings of the upper casing 10 and the lower casing 11 respectively. Both ends of the rotating shaft of the rotor 12 are rotationally connected to the upper housing 10 and the lower housing 11 through bearings 14. The flat motor is fixedly installed on one end of the rotor 12 for driving the rotation of the rotor 12. One end of the rotor 12 is equipped with a flat motor and a sensor is installed at the same time. This sensor is used to collect the autotransmission angular velocity of the rotor. There are two housing rotating shafts 13. The two housing rotating shafts 13 are respectively installed on the buckling connection surfaces at both ends of the upper housing 10 and the lower housing 11. One end of the housing rotating shaft 13 has a mounting cover, and the other end has a rotating shaft. , one end with the installation cover is fixed to the snap connection surface of the upper housing 10 and the lower housing 11, and is used to tightly connect the upper housing 10 and the lower housing 11, and one end with the rotation shaft is connected to the mounting bracket 3 through a bearing. Turn the connection.

As shown in FIG. 5 , the rotor 12 includes a rotating shaft 120 , a rotating disk 121 and spokes 122 . The rotating shaft 120 is symmetrically installed on both end surfaces of the turntable 121. The rotating shaft 120 vertically passes through the center of the turntable 121. The spokes 122 are annular structures and are arranged around the outer edge of the turntable 121. The rotor 12 has a detachable structure, which facilitates the processing of the rotating shaft 120, the turntable 121 and the spokes 122. By adapting different specifications of the turntable 121 and the spokes 122 to meet various usage scenarios, the versatility of the rotating shaft 120 is achieved and the overall cost of the rotor 12 is saved. Manufacturing costs.

The annular surfaces of the top and bottom of the turntable 121 extend from the middle of the turntable 121 from top to bottom to the edge of the turntable 121 , so that the turntable 121 forms a structure with a thick middle and a thin edge. The rotating disc 121 and the rotating shaft 120 adopt a spline fit. The center of the rotating disc 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 disc 121 . The side of the external spline of the rotating shaft 120 close to the end of the rotating shaft 120 has an adjacent flange. The flange is used for limiting installation after the rotating shaft 120 penetrates into the center hole of the rotating disk 121. Multiple through holes are provided along the flange. The central axis is arranged around 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 penetrates the central hole of the turntable 121, and the flange is screwed through the bolt. The through hole is aligned with the internal thread of the turntable 121 and installed.

The outer ring surface of the spoke 122 has a plurality of countersunk holes with central axes in the same plane. The outer ring surface of the turntable 121 has internal threads that match the outer ring surface of the spoke 122. The countersunk holes of the spoke 122 are secured with bolts. The hole and the internal thread of the turntable 121 are aligned and installed. There is a preset gap between the outer edge of the spoke 122 and the cavity formed by the upper housing 10 and the lower housing 11 .

The middle part of the turntable 121 is thicker than the edge, which can carry the torque transmitted by the rotating shaft 120 and improve the overall structural strength of the rotor 12; the thin edge of the turntable 121 can reduce the weight of the turntable 121 and meet the lightweight design of the turntable 121. The total mass of the rotor 12 remains unchanged. By adapting the small-weight turntable 121 and the heavy-weight spokes 122 to increase the rotational inertia and output torque of the rotor 12, it is possible to achieve anti-rolling effect on vehicles and ships with larger rolling angular speeds.

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

As shown in Figures 2 and 3, the hydraulic damping mechanism 2 includes a hydraulic cylinder 20, and the mounting bracket 3 includes a gyro mounting base 30 and a hydraulic damping mounting base 31.

The two ends of the gyro mounting base 30 have symmetrical circular holes, and bearings are installed in the circular holes. One end of the housing rotating shaft 13 has a rotation axis and is rotationally connected to the bearings in the circular holes of the gyro mounting base 30 . The hydraulic damping mounting base 31 is fixedly installed on the top end of the gyro mounting base 30 through bolts, and the hydraulic cylinder 20 is tilted and fixed in the hydraulic damping mounting base 31 . There are two hydraulic cylinders 20. The two hydraulic cylinders 20 are symmetrically installed on the housing shaft 13 at one end of the gyro mechanism 1. The telescopic movements of the two hydraulic cylinders 20 are opposite. The hydraulic cylinders 20 pass through the valve group, hydraulic pipes and power signal lines. Connected to control mechanism 4.

Example 1:

The utility model provides two sets of rotational inertia data. Each set of rotational inertia data includes two rotors 12 with the same weight. By comparing the two sets of rotational 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 The large radial length of the spokes 122 can increase the moment of inertia of the rotor.

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

The diameters of the rotating shafts 120 of the third rotor and the fourth rotor are both 120mm, the radial length s of the turntable 121 of the third rotor is 190, the radial length h of the spokes 122 is 40mm, and the radial length s of the turntable 121 of the fourth rotor is 175 , the radial length h of the spoke 122 is 55mm, and the rotational inertia of the fourth rotor is 1.7Nms greater than the rotational inertia of the third rotor.

Table 1

Example 2:

The angle α between the top and bottom surfaces of the turntable 121 of the present invention and the central axis of the rotating shaft 120 is 90-110°. The static stress of the rotor 12 is analyzed by CAE when the included angle α is 90°, 100° and 110° respectively. The maximum value of the static stress gradually decreases as the included angle α gradually increases. The greater the structural strength of the rotor 12, the smaller the stress during use, which can increase the service life of the rotor 12.

As shown in table 2,

Table 2

The above are only embodiments of the present invention, and common knowledge such as the well-known specific structures and characteristics of the solutions are not described in detail here. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description, and it is therefore intended that all claims falling within the rights All changes within the meaning and scope of the required equivalent elements are included in the present invention. Any reference signs in the claims shall not be construed as limiting the claim in question.

Claims (10)

1. A rotor structure, characterized in that the rotor comprises a rotating shaft (120), a turntable (121) and spokes (122);

the rotary table (121) and the spokes (122) are of annular structures, the rotary shaft (120) vertically penetrates through the center of the rotary table (121), and the spokes (122) are arranged on the periphery of the rotary table (121);

the rotary table (121) has a structure with a thick middle and a thin edge, so that two end surfaces of the rotary table (121) and the central shaft of the rotary shaft (120) form a preset included angle.

2. The rotor structure according to claim 1, characterized in that the rotor has a split structure, the shaft (120), the turntable (121) and the spokes (122) being mounted in combination.

3. A rotor structure according to claim 2, characterized in that the radial length of the turntable (121) is 1.5-4 times the radial length of the spokes (122).

4. The rotor structure according to claim 2, characterized in that the angle between the two end faces of the turntable (121) and the central axis of the spindle (120) is 90-110 °.

5. The rotor structure according to claim 1, wherein the turntable (121) and the rotating shaft (120) are in spline fit, an inner spline hole is formed in the center of the turntable (121), and an outer spline matched with the inner spline hole of the turntable (121) in height is formed on the outer surface of the middle of the rotating shaft (120).

6. The rotor structure according to claim 5, wherein an end face of the turntable (121) is provided with an annular mounting plane along an outer side of an edge of a central hole thereof, and an outer spline of the rotating shaft (120) is provided with a flange plate matched with the annular mounting plane, and the flange plate is used for limiting mounting after the rotating shaft (120) penetrates into the central hole of the turntable (121).

7. The rotor structure of claim 6, wherein the plurality of internally threaded holes are disposed perpendicular to the annular mounting plane, and the flange has through holes matching the internally threaded holes.

8. The gyro mechanism is characterized by comprising a rotor, a shell, two shell rotating shafts, two bearings and a flat motor;

the rotor is the rotor structure of any one of claims 1-7;

the inside of the shell is provided with a cavity structure, the two bearings are fixed in the shell, and two ends of a rotating shaft of the rotor are rotationally connected with the shell through the bearings;

the flat motor is fixedly arranged at one end of a rotating shaft of the rotor;

the two shell rotating shafts are respectively arranged at two sides of the shell and are vertical to the central shaft of the rotating shaft of the rotor in space.

9. An anti-rollover device, characterized in that the anti-rollover device comprises a gyroscopic mechanism;

the gyro mechanism according to claim 8; the gyro mechanism is arranged on a precession shaft in the rollover resistant device.

10. The anti-rollover device of claim 9, further comprising a hydraulic damping mechanism, a mounting bracket, a control mechanism, and a sensor;

the two shell rotating shafts are rotationally connected with the mounting bracket; the hydraulic damping mechanism is fixedly arranged on the mounting bracket and connected with one shell rotating shaft for driving the gyro mechanism to rotate on the mounting bracket;

the sensors are respectively arranged on the mounting bracket, the shell rotating shaft and the flat motor and used for collecting the attitude angle of the vehicle, the rotating speed of the shell rotating shaft and the self-transmission angle of the rotor; the control mechanism is installed on the installation support and is connected with the sensor and the hydraulic damping mechanism.