83 results about "Gyroscopic moment" patented technology

A system for increasing the thrust and power capabilities of a side by side vertical takeoff and landing vehicle and to optimize the coaxial rotor performance. The system including a first coaxial rotor spaced from an aircraft body and a second coaxial rotor spaced from the aircraft body and opposite the first coaxial rotor. The first coaxial rotor having a first top propeller aligned with a first bottom propeller along a first rotational axis. The second coaxial rotor having a second top propeller aligned with a second bottom propeller along a second rotational axis. A gyroscopic moment to maintain pitch stability is controlled by modulating the first and second top propellers having a different angular speed or different torque from the first and second bottom propellers and tilting the first and second coaxial rotors towards the central axis with a common tilt angle and a common tilt rate.

The invention discloses a gyroscopic-effect-based transverse self-balancing device and method. A left set of flywheel rotation unit and a right set of flywheel rotation unit which are distributed in a manner of being axially symmetric about the center of a bottom plate are fixedly arranged at the upper part of the bottom plate, wherein each set of flywheel rotation unit comprises a flywheel, a flywheel bracket, a steering engine and a steering wheel; each flywheel comprises a metal hollow cylinder with a central axis vertical to the bottom plate and a brushless motor which is coaxially sheathed in the metal hollow cylinder; when the bottom plate is transversely inclined from front to back under the action of an outer moment, the brushless motors on the left side and the right side are equal in rotation speed and rotate in reverse rotation directions; the two steering engines rotate along reverse rotation directions at the same angular speed, so that the left flywheel and the right flywheel respectively apply two gyroscopic moments reverse to the direction of the outer moment to the flywheel brackets. Through the gyroscopic-effect-based transverse self-balancing device and method, the transverse action force is supplied by the gyroscopic effect; the transverse stability of the device is improved; the influence of the transverse disturbance on the device is reduced; the balance in the transverse direction is achieved.

A system for increasing the thrust and power capabilities of a side-by-side vertical takeoff and landing vehicle to optimize the coaxial rotor performance. The system includes a first coaxial rotor spaced from an aircraft body and a second coaxial rotor spaced from the aircraft body and opposite the first coaxial rotor. The first coaxial rotor has a first top propeller aligned with a first bottom propeller along a first rotational axis. The second coaxial rotor having a second top propeller aligned with a second bottom propeller along a second rotational axis. A gyroscopic moment to maintain pitch stability is controlled by modulating the first and second top propellers, which have a different angular speed or different torque from the first and second bottom propellers, and tilting the first and second coaxial rotors towards the central axis with a common tilt angle and a common tilt rate.

The invention relates to a gyro moment measuring device, which mainly comprises a force transducer, a gyro rotor, a gyro stator shaft component, a ball bearing, a gyro power supply slip ring, a gyro bracket, a gyro power supply battery, a signal slip ring of the force transducer, a frame rotating motor, a bracket for the frame rotating motor, a revolution stepping switch for the frame rotating motor, a transmission device, a display device, a base and a deep groove ball bearing. The gyro stator shaft component is connected with the gyro rotor through the ball bearing and is fixedly connected with the force transducer, the force transducer is fixedly connected with the gyro bracket which is connected with the base through a rotating shaft, an output rotating shaft of the frame rotating motor is connected with the transmission device which is engaged with a gear on the gyro bracket, and the bracket for the frame rotating motor and the display device are fixedly connected with the base. The gyro moment measuring device uses the force transducer to measure pressure, calculate gyro moment and display the gyro moment in the display device, and can intuitively learn gyro moment effect.

The invention relates to a liquid circuit based gyroscopic moment generating device and a satellite attitude control method, relating to a liquid control moment gyroscope device and the satellite attitude control method and solving the problems of poor safety and short service life of the traditional method and poor integral satellite attitude control effect caused in such a way that the traditional method is easy to influence by cosmic radiation. A device 1 and an annular rigid pipeline surround the outer side of a satellite body, and the annular rigid pipeline rotates along an OY axis and an OZ axis through two motors. The satellite attitude control method comprises the following steps of: generating gyroscopic moments along the directions of the OY axis, the OZ axis, a -OY axis and a -OZ axis by controlling the two motors; and generating the gyroscopic moments along the directions of an OX axis and a -OX axis by controlling fluid pumps, therefore the control of satellite three-axisattitudes is realized. A device 2 and two annular rigid pipelines surround the outer side of a satellite body, and the two annular rigid pipelines respectively rotate along the OY axis and the OZ axis through the two motors. The invention is suitable for the control of moment gyroscopes and the satellite three-axis attitudes.

The invention discloses a double-permanent magnet outer rotor permanent magnet-biased spherical radial magnetic bearing which comprises two parts, namely a stator system and a rotor system, wherein the stator system mainly comprises a stator upper spherical iron core, a stator lower spherical iron core, an exciting coil, a stator magnetic insulating ring, a stator upper magnetic conducting ring, a stator lower magnetic conducting ring, a stator permanent magnet, a stator sleeve and a stator locking ring; the rotor system mainly comprises a rotor upper spherical iron core, a rotor lower spherical iron core, a rotor magnetic insulating ring, a rotor upper magnetic conducting ring, a rotor lower magnetic conducting ring, a rotor permanent magnet, a rotor sleeve and a rotor locking ring. The double-permanent magnet outer rotor permanent magnet-biased spherical radial magnetic bearing disclosed by the invention can be used for overcoming the defect that moment is disturbed by radial twisting generated when the electromagnetic force of various magnetic poles is unequal, enhancing the accuracy of the gyroscopic moment of a magnetic suspension universal momentum wheel and reducing the remnant magnetic moment generated by a radial magnetic bearing.

The invention discloses a measuring method for an axial centroid of a two-degree-of-freedom gyroscope rotor assembly, and belongs to the technical field of angular rate sensors. The measuring method is characterized by comprising the following steps of S1, putting a gyroscope under an open circuit into a horizontal attitude at which point a gyroaxis is parallel to a plumb line of the ground, and adjusting a zero position of a gyro sensor to a minimum value; S2, putting the gyroscope under the open circuit into an azimuth attitude at which point the gyroaxis is perpendicular to the plumb line of the ground, adjusting the zero position of the gyro sensor to a minimum value by inputting current to a gyrotorquer and recording the current value at this moment as IX; S3, measuring an axial unbalance of the gyroscope D(y)y for the gyroscope under a close circuit; S4, establishing a linear relation between the current value IX and the unbalance D(y)y; S5, utilizing the linear relation to calculate the unbalance D(y)y through the measured current value IX. According to the invention, a gyroscope rotor centroid measurement system is built by using a gyroscope test system of a force feedbackrebalance circuit, thereby mainly solving accurate measurement of an axial centroid position of the gyroscope rotor assembly.

The invention discloses a twisting and measuring machine for a main cone nut of a drive axle assembly. The twisting and measuring machine comprises a main cone nut twisting mechanism, a gyroscopic moment measuring mechanism and a rotation stopping mechanism. The main cone nut twisting mechanism comprises a sliding table drive air cylinder, a sliding table, a twisting shaft and a common shaft, all of which are sequentially connected from top to bottom. The main cone nut is sleeved with the bottom of the common shaft. The gyroscopic moment measuring mechanism comprises a servo motor, a clutch, a torque sensor, a transmission bearing, a first synchronous pulley and a second synchronous pulley, all of which are sequentially connected from top to bottom. The first synchronous pulley is connected to the bottom end of the transmission bearing, and the second synchronous pulley is connected to the top end of the common shaft and is in transmission connection with the first synchronous pulley. The rotation stopping mechanism comprises an ascent and descent lifting air cylinder and a rotation stopping part connected to the ascent and descent lifting air cylinder. The rotation stopping part is used for being connected with a main reducer flange. The twisting shaft is used for twisting the main cone nut, the torque sensor is used for directly measuring the gyroscopic moment of a main cone, and the two mechanisms share one common shaft; and the measuring accuracy of the gyroscopic moment of the main cone is improved, and cost is reduced.

The invention relates to a new energy automobile high-rotating-speed bearing kinetic parameter obtaining method, comprising the following steps: S1, setting bearing parameters and bearing working conditions; S2, only considering the axial load of the bearing, and iteratively solving a contact angle convergence value through a load-contact angle change formula when only the axial force is applied;S3, simultaneously considering the radial load and the axial load; S4, solving to obtain a radial displacement delta r and an axial displacement delta a; S5, performing static analysis on the bearing,and establishing a bearing static balance equation; and S6, establishing a bearing quasi-static model by considering the centrifugal force of the bearing, the gyroscopic moment and the Hertz contact,and obtaining bearing dynamic parameters. According to the new energy automobile high-rotating-speed bearing kinetic parameter obtaining method, the dynamic parameters of the bearing can be rapidly obtained, and the working efficiency is greatly improved, and the new energy automobile high-rotating-speed bearing kinetic parameter obtaining method plays an important role in optimization design ofthe high-rotating-speed bearing and analysis design of dynamic characteristics of a high-speed rotor-bearing system.

The invention discloses a support leg disc, which comprises a bottom plate (10), a ball head concave seat (20) and a support plate, wherein the center of the bottom plate (10) is provided with a center hole (11), the lower side edge of the support plate is fixedly arranged on the bottom plate (10) in the radial direction, and the ball head concave seat (20) is fixedly arranged on the upper side edge of the support plate. Through the technical scheme, the center hole is arranged in the bottom plate of the support leg disc, so a born vertical load is transmitted to the bottom plate in an inclined way. Through the structure, the effective carrying area is enlarged, in addition, the profit distribution is uniform, and simultaneously, the gyroscopic moment transmitting capability is improved.

The invention relates to an unmanned aerial vehicle and a tilting mechanism thereof. The tilting mechanism comprises a tilting steering engine (10), a steering engine stand (20) and a motor stand (30), wherein the steering engine stand (20) is used for mounting the tilting steering engine (10); the motor stand (30) is used for mounting motors (50) for driving rotors (40); the motor stand (30) is connected to the steering engine stand (20) through a first rotating shaft (31) in a rotatable manner; the tilting steering engine (10) is used for driving the motor stand (30) to rotate; and moreover,an output shaft of the tilting steering engine (10) is coaxial with the first rotating shaft (31). Through adoption of the technical scheme, vibrating loads of the rotors and the motors during working and gyroscopic moments generated during tilting can not only act upon the output shaft of the tilting steering engine through the motor stand but also can act upon the steering engine stand; and that is to say that the steering engine stand can bear partial vibrating load and gyroscopic moment so that the service life of the tilting steering engine can be prolonged, and the control and output accuracy can be improved.

The invention provides an electric steering power-driven traction trolley steering support assembly. The electric steering power-driven traction trolley steering support assembly comprises a steering column, a bearing base and a support installation plate fixedly connected to the bearing base; a steering arm installation base is coaxially connected to the upper end of the steering column, a pair of corner stopping blocks are symmetrically arranged on the circumferential lateral wall of the steering arm installation base, and a step cylinder used for fixing the output end of a corner potentiometer is arranged at the lower end of the steering column; a protruding ring is arranged in the bearing base in the circumferential direction, an upper bearing and a lower bearing are arranged at the upper end and the lower end of the protruding ring respectively, a damping ring is arranged between the upper bearing and the lower bearing, and the steering column is sequentially sleeved with the upper bearing, the damping ring and the lower bearing; a corner limiting block is arranged on the top face of the support installation plate, and a connecting piece for fixing a support of the corner potentiometer is arranged on the bottom face of the support installation plate. According to the electric steering power-driven traction trolley steering support assembly, the force of friction of the damping ring and the steering column is changed by adjusting the compression force of a fastening bolt on the damping ring, the gyroscopic moment of the steering column is accordingly changed, operation is convenient, and the abrasion strength is lower.

The invention belongs to a flexible top assembly technology, and relates to a bonding fixture of a flexible gyroscopic moment skeleton coil. The bonding fixture is characterized by consisting of a base (3), an upper clamping plate (4), a lower clamping plate (5) and two clamping bolt pairs. The bonding fixture of the flexible gyroscopic moment skeleton coil largely reduces the bonding difficulty, shortens the machining period, and improves the product pass percent.

The invention discloses a gyroscopic moment limiting device of a hydraulic excavator. The gyroscopic moment limiting device comprises a two-position four-way hydraulically-controlled reversing valve, an overloading overflow valve, a shuttle valve and two one-way valves. Two oil inlet ports of the shuttle valve are connected onto two outlet ports of a pilot control valve of a gyration hydraulic system respectively. An oil outlet port of the shuttle valve is connected onto a liquid control port of the two-position four-way hydraulically-controlled reversing valve. Outlets of the one-way valves are mutually connected with an inlet of the overloading overflow valve. An oil port P and an oil port O of the two-position four-way hydraulically-controlled reversing valve are connected with an oil inlet and outlet way of a hydraulic motor. An oil port A and an oil port B of the two-position four-way hydraulically-controlled reversing valve are connected with inlet-end oil ways of the one-way valves respectively. An oil tank is connected at the outlet end of the overloading overflow valve. The pressure of the overloading overflow valve is set according to requirements on limitation of braking moment; the technological means of the gyroscopic moment limiting device is simple and convenient to carry out, starting moment can be equal to the braking moment during gyration, gyration braking pressure is reduced during excavation, and horizontal working load is reduced.

The invention discloses an automatic measuring device for a gyroscopic moment of a crankshaft and a roundness of a rotation shaft in an engine. The automatic measuring device comprises a driving motor, a gearbox, a gearbox support, a rotation shaft connector, a torque sensor, rolling bearings, a rolling bearing support, the rotation shaft, a connecting sleeve, and a roundness detection assembly. The roundness detection assembly comprises a detection support, a detection rod, a detection rod spring, a varistor, and a pressure display recorder. The detection support is distributed around the periphery of the rotation shaft. According to the automatic measuring device for the gyroscopic moment of the crankshaft and the roundness of the rotation shaft in the engine, the gyroscopic moment of the crankshaft and the roundness of the rotation shaft are accurately detected, and the using effect is good.

The invention discloses a built-in line system of an engine piston connecting rod assembly. The built-in line system comprises a first rotary table and a second rotary table which are connected by a shared conveyor line, and the left side of the second rotary table is connected to the left side of the first rotary table through a second circulation conveyor line; the right side of the second rotary table is connected to the front end of the first rotary table through a first circulation conveyor line; the part, close to the first rotary table, of the second circulation conveyor line is provided with a station for installing a piston connecting rod assembly, and the part, close to the first rotary table, of the first circulation conveyor line is provided with a built-in online station; andthe part, close to the second rotary table, of the first circulation conveyor line is provided with stations for tightening a connecting rod cover and measuring a gyroscopic moment, and a built-in offline station in the conveying direction of the first circulation conveyor line in sequence. According to the built-in line system disclosed by the invention, the original special station tray can be replaced with two station trays, and the manufacturing difficulty is reduced; and the cost is saved, and the technical difficulty of collinear production of multiple varieties is reduced.

The invention discloses a high-precision orbit control attitude maintaining method and system based on CMG and a medium, and belongs to the technical field of spacecraft attitude control. The method comprises the following steps of according to each working period of a rail-controlled engine, firstly, calculating the disturbance torque innovation according to the angular velocity acquisition information in the current period and a control signal in the last period, then carrying out filtering correction on the disturbance torque estimation, orderly calculating the star gyro torque and the feedback control torque based on attitude angle and angular velocity collection information, and combining with a disturbance torque estimation to calculate the CMG instruction torque, and then real-timely resolving a pseudo-inverse control law to convert the instruction torque into a frame angular velocity maneuvering instruction according to the CMG configuration. By adopting the method, the problemof high-precision orbit control attitude maintenance is well solved.

The invention provides an engine crankshaft gyroscopic moment testing device and method, the testing device comprises a rack, a moment detection device and a control system, and the moment detection device is slidably arranged on the rack along the butt joint direction of an engine; the torque detection device comprises a driving motor, a torque detection device, a rotating speed detection device, a transmission shaft and a crankshaft butt joint mechanism which are sequentially in transmission connection in the butt joint direction of the engine, and the crankshaft butt joint mechanism is telescopically arranged at the butt joint end of the transmission shaft and used for being in butt joint with an engine crankshaft to transmit torque; the driving motor, the torque detection device and the rotating speed detection device are electrically connected with the control system. According to the testing method, after the testing device is in butt joint with the engine, the torque detection device is started, the running torque information and the rotating speed information of the engine can be detected, whether the engine is abnormal or not is judged according to the torque information, if the engine is abnormal, maintenance is conducted, reworking at a follow-up station is avoided, and therefore the maintenance cost of products is reduced.

The invention discloses a driving head online changing device. The driving head online changing device comprises a first driving head driven by a servo motor to rotate and is characterized by further comprising a second driving head arranged outside the first driving head in a sleeving manner and a driving head movement mechanism, wherein the front end of the second driving head projects out of the first driving head; and the second driving head, driven by the driving head movement mechanism, moves so as to expose the first driving head. The invention further discloses an engine crankshaft gyroscopic moment measurement system adopting the driving head online changing device. Compared with the prior art, the engine crankshaft gyroscopic moment measurement system has the advantages that when measurement is carried out on the gyroscopic moment of two and even a plurality of different crankshafts, the automatic change of the driving head is realized without stopping the production line; and the production efficiency is greatly improved, and at the same time, the labor intensity is reduced.

The invention discloses a method and a system for estimating disturbance torque caused by an asymmetric rotational scanning load. The method comprises the following steps of: calculating according to coordinate conversion to obtain a rotational inertia matrix of a rotating body formed by a load cabin and a magnetic suspension joint rotor in an orbital coordinate system; calculating to obtain the angular velocity vector of the rotating body in the inertial coordinate system; calculating the angular momentum of the load cabin according to the rotational inertia matrix and the angular velocity vector of the rotating body; establishing the attitude dynamic model of the rotating body according to an Euler equation; classifying nominal rotating speeds in the attitude dynamical model to obtain a variable inertia reaction torque and gyroscopic torque interference model caused by an orbital angular velocity and a rotating body angular velocity; and substituting the rotational inertia of the rotating body in the satellite and the nominal rotating speed of the rotating body into the interference model, and estimating constant value, first frequency multiplication and second frequency multiplication interference torques caused by the rotating body. According to the invention, a basis for applying interference is provided for control, ground simulation and test verification of the magnetic suspension rotary joint and the satellite.

The invention relates to a method for optimizing parameters of a ship stabilization gyroscope. The method comprises the steps of firstly, establishing a rolling motion mathematical model according tobasic parameters of a ship structure and rolling motion, establishing a mathematical model of combined motion of the gyroscope and a ship according to a moment balance equation of a single-frame control moment gyroscope, separately calculating standard deviation values of the rolling angles of the ship during break and work of the stabilization gyroscope, and establishing an expression of the stabilization rate of the ship stabilization gyroscope; secondly, comprehensively considering the stabilization rate, occupied area, overall quality and motor driving energy consumption of the stabilization gyroscope to select an objective function, and constructing a parameter optimization model of the ship stabilization gyroscope according to the size of an installation space of a ship cabin, the supply power of a power system and the constraint conditions of parameters given by the machining process difficulty of a damper; thirdly, taking the original parameters of the stabilization gyroscope as initial values, and solving the parameter optimization model of the ship stabilization gyroscope through an extreme value solution optimization algorithm to obtain the optimal parameter values of the stabilization gyroscope. The method can effectively improve the stabilization effect of the stabilization gyroscope.

The invention discloses a toy launching device. The toy launching device comprises a side open shell throwing window and a barrel, wherein shell throwing plates are arranged in the opposite sides of the barrel, a spring and a spring guide part are arranged in the tail end of the barrel, a piston is provided with a cavity, the front end of the piston is closed, the rear end of the piston is opened,the outer wall of the rear end is provided with a bulge, the piston is attached to the inner wall of an air pump barrel and can slide in the air pump barrel, the side edge of the air pump barrel is provided with a shell pulling hook, the side wall of the air pump barrel is provided with a bulge, the lower end of a release part is connected with a trigger, and the upper end of the release part canclamp the bulge on the outer wall of the piston. A bullet ejector is arranged in a bullet supply pipe, an operating lever is located between the barrel and the bullet supply pipe, a grip is connectedwith the air pump barrel, a bullet feed rod is located behind the bullet supply pipe and has a fulcrum, and after the rear end of the bullet feed rod is pressed by the bulge on the outer wall of theair pump barrel, the front end cocks for bullet supply. The grip is pushed forward, the bullet is loaded, the trigger is pulled, the bullet is shot, the grip is pulled back, the shell throwing hook pulls a shell back to the position of the shell throwing window, the shell is impacted by the shell throwing plates, gyroscopic moment is formed with the shell pulling hook as the fulcrum, the shell flies out of the shell throwing window, and shell throwing is realized.

The invention discloses a twisting and measuring machine for a main cone nut of a drive axle assembly. The twisting and measuring machine comprises a main cone nut twisting mechanism, a gyroscopic moment measuring mechanism and a rotation stopping mechanism. The main cone nut twisting mechanism comprises a sliding table drive air cylinder, a sliding table, a twisting shaft and a common shaft, all of which are sequentially connected from top to bottom. The main cone nut is sleeved with the bottom of the common shaft. The gyroscopic moment measuring mechanism comprises a servo motor, a clutch, a torque sensor, a transmission bearing, a first synchronous pulley and a second synchronous pulley, all of which are sequentially connected from top to bottom. The first synchronous pulley is connected to the bottom end of the transmission bearing, and the second synchronous pulley is connected to the top end of the common shaft and is in transmission connection with the first synchronous pulley. The rotation stopping mechanism comprises an ascent and descent lifting air cylinder and a rotation stopping part connected to the ascent and descent lifting air cylinder. The rotation stopping part is used for being connected with a main reducer flange. The twisting shaft is used for twisting the main cone nut, the torque sensor is used for directly measuring the gyroscopic moment of a main cone, and the two mechanisms share one common shaft; and the measuring accuracy of the gyroscopic moment of the main cone is improved, and cost is reduced.

The invention relates to an automatic rolling walking device and a motion control method thereof. The automatic rolling walking device comprises a main body and wheels, wherein a gyroscope assembly isarranged in the main body; and the gyroscope assembly comprises at least one pair of gyroscopes, a deflection motor which controls the gyroscopes to deflect actively, and a reverse synchronization mechanism which controls the pair of gyroscopes to deflect at the same speed and in the opposite direction. The gravity moment generated by the change of the center of gravity of the main body of the automatic rolling traveling device enables the gyroscopes to deflect passively, and / or the gyroscopic moment generated by controlling the gyroscopes to deflect actively by virtue of the deflection motoris then utilized to control the motion of the walking device and to maintain balance during the motion. Compared with the prior art, the automatic rolling walking device has the technical effects ofreducing the difficulty in attitude control, increasing the obstacle-surmounting height, continuously and steadily walking up and down stairs, shortening the braking distance, improving the braking performance, increasing the acceleration and the like.

The invention discloses a stabilization system, which comprises a robot and at least one pair of gyrostabilizers, wherein the gyrostabilizers are mounted on a chassis of the robot; the gyrostabilizerscomprise detection devices, control units and actuation units; the detection units are used for detecting a moving state of the robot and sending the detected moving state to the control units; the control units control rotating directions of the actuation units and a torque generated by the rotation according to the received moving state; a straight line where each pair of gyrostabilizers is placed passes through a central point of the chassis of the robot. According to the stabilization system disclosed by the invention, the gyrostabilizers are mounted on the chassis of the robot to detectthe moving state of the robot, so that the influence of the gyrostabilizers on the aesthetic degree of the robot is reduced, and an effect that the gyrostabilizers generate a gyroscopic moment to counteract a turning moment of the robot body if the robot turns over faster or the acceleration of the robot body exceeds a normal set value is achieved.

The invention relates to the technical field of motor accessory production equipment detection, and especially relates to a detection device for amotor shaft. The device comprises a detection workbench, a shaft supporting plate, a rotary clamping mechanism, equipment frames, a transverse flaw detection mechanism, a moving mechanism and a torque sensor. Three groups of equipment racks and fixing plates are arranged above the detection workbench, the transverse flaw detection mechanism and the moving mechanism are correspondingly arranged between the equipment frame and the fixing plate, the transverse flaw detection mechanism comprises a driving motor I, a first ball screw, a first connecting block, a first nut pair, a connecting rod and an ultrasonic flaw detector, and the driving motor I is fixedly connected with the first ball screw through a shaft coupling. According to the motor shaft detection device, through the arrangement of the detection device, the gyroscopic moment detection of the motor shaft and the nondestructive flaw detection of the motor shaft by using the ultrasonic detector are integrated in the same detection equipment, so that the use performance of the motor shaft detection device is improved.

The invention relates to the technical field of front axle detection, in particular to a front axle camber and toe-in change detection device and method. The detection device comprises a moving pair which is used for being fixedly connected with a tie rod on the front axle so as to limit the front axle to only freely move in the vertical direction; two groups of suspension loading tables which are respectively arranged below two wheels and are used for applying vertical load to the wheels and unloading lateral force and gyroscopic moment borne by the wheels; two groups of connecting hinges mounted at intervals, wherein one ends of the connecting hinges are fixedly arranged, the other ends of the connecting hinges are connected with the front axle, and the connecting hinges can rotate in the bending direction of the front axle. According to the invention, the problem that the detection of the influence of vertical loading on front axle camber and toe-in is inaccurate due to the fact that the steering freedom degree cannot be limited in the prior art can be solved.

An automatic tilting vehicle is provided that includes left and right front wheels supported by knuckles, a steerable rear wheel, a vehicle tilting device, and a control unit. The vehicle tilting device includes a swing member, a tilt actuator for swing the swing member, and a pair of tie rods pivotally attached to the swing member and the knuckles. The control unit calculates a target lateral acceleration of the vehicle, estimates a lateral acceleration of the vehicle caused by the gyro moments of the wheels and calculates a target tilt angle of the vehicle based on a sum of the target lateral acceleration and the lateral acceleration caused by the gyro moments.

The invention discloses a gyroscopic-effect-based transverse self-balancing device and method. A left set of flywheel rotation unit and a right set of flywheel rotation unit which are distributed in a manner of being axially symmetric about the center of a bottom plate are fixedly arranged at the upper part of the bottom plate, wherein each set of flywheel rotation unit comprises a flywheel, a flywheel bracket, a steering engine and a steering wheel; each flywheel comprises a metal hollow cylinder with a central axis vertical to the bottom plate and a brushless motor which is coaxially sheathed in the metal hollow cylinder; when the bottom plate is transversely inclined from front to back under the action of an outer moment, the brushless motors on the left side and the right side are equal in rotation speed and rotate in reverse rotation directions; the two steering engines rotate along reverse rotation directions at the same angular speed, so that the left flywheel and the right flywheel respectively apply two gyroscopic moments reverse to the direction of the outer moment to the flywheel brackets. Through the gyroscopic-effect-based transverse self-balancing device and method, the transverse action force is supplied by the gyroscopic effect; the transverse stability of the device is improved; the influence of the transverse disturbance on the device is reduced; the balance in the transverse direction is achieved.

The invention discloses a dynamic recovery platform based on annular flow momentum moment. The platform comprises a recovery platform body, a communication system and a control system, wherein the recovery platform body comprises a docking system, an execution mechanism and a positioning sensor system; the docking device comprises a visual camera, an LED identification light source and an AUV locking mechanism, and the executing mechanism comprises a fluid momentum ring used for stabilizing the operation posture of a recycling platform and a power propeller used for providing power for a recycling platform body; the positioning sensor system is used for positioning the recycling platform and acquiring the running state information and the environment information of the recycling platform; the control system is used for processing data, generating a control instruction and sending the control instruction to the recovery platform body. According to the dynamic recovery platform, shaking of the dynamic recovery platform during low-speed movement is reduced through the gyroscopic moment generated by the annular flow momentum moment effect, and meanwhile the recovery success rate is increased by continuously adjusting the posture of the platform.