CN107014364A - A kind of sensitive gyroscope of stator rotating type magnetic suspension - Google Patents
A kind of sensitive gyroscope of stator rotating type magnetic suspension Download PDFInfo
- Publication number
- CN107014364A CN107014364A CN201710181553.5A CN201710181553A CN107014364A CN 107014364 A CN107014364 A CN 107014364A CN 201710181553 A CN201710181553 A CN 201710181553A CN 107014364 A CN107014364 A CN 107014364A
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- China
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- torquer
- rotor
- stator
- magnetic suspension
- bearing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/02—Rotary gyroscopes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/02—Rotary gyroscopes
- G01C19/04—Details
- G01C19/16—Suspensions; Bearings
- G01C19/24—Suspensions; Bearings using magnetic or electrostatic fields
Abstract
The present invention provides a kind of stator rotating type magnetic suspension sensitive gyroscope, belongs to gyroscope technology field.The gyroscope includes magnetic levitation bearing system, magnetic suspension wipping top rotor-support-foundation system, torquer stator rotary system and rotor case, and magnetic levitation bearing system includes upper axial magnetic suspension bearing, lower axial magnetic suspension bearing and radial magnetic bearing；Magnetic suspension wipping top rotor-support-foundation system includes magnetic suspension wipping top rotor, high-speed electric expreess locomotive and torquer rotor assembly；Torquer stator rotary system includes photoelectric code disk, end face bearing, rotation modulation rotor framework, rotation modulation motor, rotation modulation motor mount, torquer stator transfer panel and torquer stator module；Rotor case includes lower rotor case, middle rotor case and upper rotor case.The present invention has rotation modulation function, it is possible to increase magnetic suspension sensitivity gyro angular rate measurement precision；And system bulk is smaller, power consumption is lower.
Description
Technical field
The present invention relates to gyroscope technology field, a kind of sensitive gyroscope of stator rotating type magnetic suspension is particularly related to.
Background technology
Gyroscope all plays important make as main inertial navigation angular-rate detecting apparatus in military, civil area
With existing high accuracy, high bandwidth angular speed Sensitive Apparatus are such as：Optical fibre gyro, laser gyro, the sensitive gyro of magnetic suspension, when long
Between when using due to gyro zero partially, random drift be temperature dependent angular speed detection error caused by the gyroscopic drift including error
Unavoidably.Influence of the gyroscopic drift to high accuracy gyroscope instrument accuracy of detection is fatal.
Rotation modulation technology, by rotatory inertia device sensitive axes, making it, (generally carrier is sat around a certain fixed coordinate system
Mark system) rotation, so that being modulated into the periodic signal that average is zero with the gyroscopic drift error in rotating shaft direct cross direction, make
It is not in the principal element as influence the measuring precision.
Traditional rotation modulation system is that whole gyroscope is positioned on platform to rotate together, though it can effectively eliminate gyro drift
Shift error, but whole system volume is larger, power consumption is larger, is even unsatisfactory for the height that the diagonal rate sensitivity system of spacecraft is proposed
Precision, high bandwidth, small volume, lightweight, small power consumption demand.
The content of the invention
It is existing to overcome the technical problem to be solved in the present invention is to provide a kind of sensitive gyroscope of stator rotating type magnetic suspension
Rotation modulation system bulk is big, the big deficiency of power consumption.
The gyroscope includes magnetic levitation bearing system, magnetic suspension wipping top rotor-support-foundation system, torquer stator rotary system and top
Spiral shell room, magnetic levitation bearing system includes upper axial magnetic suspension bearing, lower axial magnetic suspension bearing and radial magnetic bearing；Magnetcisuspension
Floating gyrorotor system includes magnetic suspension wipping top rotor, high-speed electric expreess locomotive and torquer rotor assembly；Torquer stator rotary system
Including photoelectric code disk, end face bearing, rotation modulation rotor framework, rotation modulation motor, rotation modulation motor mount, torquer
Stator transfer panel and torquer stator module；Rotor case includes lower rotor case, middle rotor case and upper rotor case；
Upper axial magnetic suspension bearing and lower axial magnetic suspension bearing are fixed on upper rotor case and lower gyro by screw respectively
Fang Shang, upper axial magnetic suspension bearing and lower axial magnetic suspension bearing axially support magnetic suspension wipping top rotor, radial magnetic bearing
Middle rotor case, radial magnetic bearing radial support magnetic suspension wipping top rotor are fixed on by screw；Magnetic suspension wipping top rotor point
Not She You opening upwards the first turning slot and the second turning slot that Open Side Down, the left and right end face of magnetic suspension wipping top rotor with it is upper
Lower surface is different footpaths sphere with one heart；High-speed electric expreess locomotive is connected with upper rotor case and magnetic suspension wipping top rotor；Torquer rotor assembly
It is connected with magnetic suspension wipping top rotor；Photoelectric code disk is connected with rotation skeleton and lower rotor case；Rotation skeleton is divided into torquer stator
Transfer panel locating surface, Circular gratings mounting surface, torquer stator transfer panel mounting surface, end face bearing upper bearing (metal) plate mounting surface and rotation
Modulating motor mounting surface；End face bearing includes end face bearing upper bearing (metal) plate and end face bearing rotor, end face bearing upper bearing (metal) plate position
In the lower section due to rotation skeleton, it is fixed on by screw on end face bearing upper bearing (metal) plate mounting surface, end face bearing rotor is located at
Below end face bearing upper bearing (metal) plate, above rotation modulation motor stator；Rotation modulation motor and rotation modulation rotor framework and rotation
Modulation motor mount is connected；Torquer stator module is connected with torquer stator transfer panel, torquer stator transfer panel bag
Include torquer stator skeleton locating surface, torquer stator transfer panel fixing hole, torquer stator module aluminium seat fixing screwed hole and
Torquer winding run groove.
Wherein：High-speed electric expreess locomotive is drag cup outer-rotor structure, including high-speed electric expreess locomotive stator, high speed rotor of motor locknut and height
Speed motor rotor, high-speed electric expreess locomotive stator is fixed on upper rotor case by screw, and high speed rotor of motor passes through high speed rotor of motor
Locknut is axially fixed on the lateral wall of the first turning slot of magnetic suspension wipping top rotor, high speed rotor of motor driving magnetic suspension wipping top
Rotor rotates at a high speed.
Torquer rotor assembly includes torquer outer rotor nut, torquer outer rotor magnet steel, torquer outer rotor magnet steel
Magnetic guiding loop, torquer outer rotor component locknut, torquer internal rotor nut, torquer internal rotor magnetic steel, torquer internal rotor magnetic
Steel magnetic guiding loop and torquer internal rotor component locknut, wherein, torquer outer rotor nut is fixed on the of magnetic suspension wipping top rotor
The bottom of two-revolution groove lateral wall, torquer outer rotor magnet steel upper end is fitted on torquer outer rotor nut, is turned outside torquer
Sub- magnet steel magnetic guiding loop is located at torquer outer rotor magnet steel lower end, and magnetic suspension is axially fixed at by torquer outer rotor component locknut
On second turning slot lateral wall of gyrorotor, torquer internal rotor nut is fixed on the second turning slot of magnetic suspension wipping top rotor
The bottom of madial wall, torquer internal rotor magnetic steel upper end is fitted on torquer internal rotor nut, and torquer internal rotor magnetic steel is led
Magnet ring is located at torquer internal rotor magnetic steel lower end, and magnetic suspension wipping top rotor is axially fixed at by torquer internal rotor component locknut
The second turning slot madial wall on.
Photoelectric code disk includes code-disc Circular gratings, code wheel reading head and reading head mounting seat, and code-disc Circular gratings are solid by bolt
Due on the Circular gratings mounting surface of rotation skeleton, code wheel reading head is located on the outside of code-disc Circular gratings, solid by reading head mounting seat
Due on lower rotor case.
Rotation modulation motor is split-type structural, including rotation modulation rotor and rotation modulation motor stator, wherein,
Rotation modulation motor stator is secured by bolts on rotation modulation motor mount, and rotation modulation motor mount passes through screw
It is fixed on lower rotor case, rotation modulation rotor is located on the inside of rotation modulation motor stator, is secured by bolts in rotation
On the rotation modulation motor mounting surface of modulation rotor skeleton, torquer stator transfer panel is located at the upper end of rotation modulation rotor framework
Face, is fixed on the torquer stator transfer panel mounting surface of rotation modulation rotor framework by spiral.
Torquer stator module includes torquer stator module aluminium seat, torquer stator skeleton and torquer winding, torque
Device stator skeleton include winding boss, torquer winding block, torquer winding run groove, torquer winding run circular hole and
Torquer winding run square hole, wherein, torquer stator module aluminium seat is located above torquer stator transfer panel, solid by bolt
Due on torquer stator transfer panel, the torquer stator skeleton that torquer stator skeleton is located at torquer stator transfer panel is positioned
Between face and torquer stator module aluminium seat, torquer stator module aluminium seat inner side is fixed on by epoxy resin, torquer around
Group is fixed on the winding boss of torquer stator skeleton, is kept apart by torquer winding block, torquer winding power
Line is drawn by torquer winding run groove, torquer winding run hole and torquer winding run groove.
Upper axial magnetic suspension bearing, lower axial magnetic suspension bearing and radial magnetic bearing are pure electromagnetism sphere magnetic axis
Hold.
Rotation modulation rotor framework be cup-shaped structure, the circumferentially uniform 4 torquers stator transfer panel locating surface in its upper surface,
Platform is machined with torquer stator transfer panel mounting surface, torquer stator transfer panel on the outside of torquer stator transfer panel locating surface
Uniform 8 screwed holes on mounting surface, for fixed end taken about the point of fixation device stator transfer panel, rotation modulation rotor framework outermost platform upper table
Face is uniform 9 screwed holes on Circular gratings mounting surface, Circular gratings mounting surface, for fixing code-disc Circular gratings, rotation modulation rotor
Skeleton outermost platform lower surface is end face bearing upper bearing (metal) plate mounting surface, uniform 8 spiral shells of end face bearing upper bearing (metal) plate mounting surface
Pit, for fixing end spherical bearing, rotation modulation rotor framework lower surface is rotation modulation motor mounting surface, rotation modulation motor
Uniform 6 screwed holes of mounting surface, for fixing rotation modulation rotor.
Torquer stator transfer panel is loop configuration, and torquer stator transfer panel inner ring is provided with 4 boss, boss appearance
Face is torquer stator skeleton locating surface, and boss is provided with torquer winding run groove, torquer stator transfer panel outer shroud
Uniform 8 torquers stator transfer panel fixing hole, it is fixed provided with torquer in the both sides of each torquer stator transfer panel fixing hole
Sub-component aluminium seat fixing screwed hole.
Torquer stator skeleton is columnar structured, and four winding boss are circumferentially equal along torquer stator skeleton external cylindrical surface
Even distribution, each winding boss circumference subtended angle is 80 °；Torquer winding block is furnished with the middle of each two winding boss；Four power
Square device winding run square hole along torquer stator skeleton be circumferentially evenly distributed on torquer stator skeleton external cylindrical surface two around
At the group boss plane of symmetry；Four torquer winding run grooves are circumferentially uniformly distributed along torquer stator skeleton；Four groups of torquers
Winding run circular hole is located in four torquer winding run grooves, and every group of torquer winding run circular hole is by two identical power
Square device winding run circular hole is constituted, and runs through torquer winding run square hole.
The present invention principle be：Important mechanism of the present invention is the rotation modulation to torquer stator, that is, passes through rotation modulation
Motor carries out Periodic Rotating to torquer stator, makes the sensitive axes of the sensitive gyro of magnetic suspension relative to a certain fixed coordinate system week
Phase property is rotated, and tested angle rate signal is modulated on swing circle carrier wave, because gyroscopic drift error is not with rotation carrier wave
Cyclically-varying, therefore gyroscopic drift error can be just eliminated by demodulation filtering, improve the inspection of magnetic suspension wipping top angular speed
Precision is surveyed, therefore the innovative point of the present invention is to realize the rotation modulation work(to the sensitive gyro of magnetic suspension by turning moment device stator
Energy.Wherein realizing the mechanism of torquer stator rotation mainly includes：Photoelectric code disk, end face bearing, rotation modulation rotor framework, rotation
Turn modulating motor, rotation modulation motor mount, torquer stator transfer panel and torquer stator module；Rotation modulation motor leads to
Rotation modulation rotor framework and the connection of torquer stator transfer panel and driving moment device stator module are crossed, is measured by photoelectric code disk
Torquer stator rotation angles position and angular speed, are realized to rotation modulation motor high precision position, speed double-closed-loop control,
So as to realize the high-precision Periodic Rotating of torquer stator, make the sensitive axes of the sensitive gyro of magnetic suspension relative to a certain fixed coordinates
It is Periodic Rotating, realizes the function of rotation modulation, is demodulated and filters to eliminate top by the angle rate signal to acquisition
Spiral shell drift error, can improve magnetic suspension wipping top angular speed accuracy of detection.
The above-mentioned technical proposal of the present invention has the beneficial effect that：
Gyroscope of the present invention may be used as the angular speed sensitive mechanism in spacecraft, pass through rotation modulation motor driving moment
Device stator carries out rotation modulation to angle rate signal, eliminates gyroscopic drift error, improves the sensitive gyroscope angular speed of magnetic suspension quick
Feel precision, while reducing system bulk, reduce power consumption.Major advantage is：(1) the sensitive top of stator rotating type magnetic suspension of the present invention
Spiral shell instrument has rotation modulation function, is rotated by rotation modulation motor driving moment device stator, makes the sensitive gyro of magnetic suspension sensitive
Axial period changes, and tested angle rate signal is modulated on swing circle carrier wave, and it is 0 gyroscopic drift is modulated into average
Period change amount, so as to eliminate gyroscopic drift, improve the angular speed accuracy of detection of the sensitive gyro of magnetic suspension.(2) present invention is logical
Cross turning moment device stator and realize rotation modulation, be component-level rotation modulation, relative to system-level rotation modulation, its volume is more
Small, power consumption is lower, the angular speed sensitive mechanism for the spacecraft that is particularly suitable for use in.
Brief description of the drawings
Fig. 1 is the sensitive gyroscope arrangement schematic diagram of stator rotating type magnetic suspension of the invention；
Fig. 2 is the sensitive gyrorotor component axial sectional view of magnetic suspension of the invention；
Fig. 3 is lower gyro house component of the invention；
Fig. 4 is magnetic suspension wipping top rotor structure schematic diagram of the invention；
Fig. 5 is rotation modulation rotor framework sectional view of the invention；
Fig. 6 is torquer stator transfer panel structural representation of the invention；
Fig. 7 is torquer stator skeleton structural representation of the invention.
Wherein：1：Upper axial magnetic suspension bearing；2：Lower axial magnetic suspension bearing；3：Radial magnetic bearing；4：Magnetic suspension
Gyrorotor；5：High-speed electric expreess locomotive；6：Torquer rotor assembly；7：Photoelectric code disk；8：End face bearing；9：Rotation modulation rotor bone
Frame；10：Rotation modulation motor；11：Rotation modulation motor mount；12：Torquer stator transfer panel；13：Torquer stator pack
Part；14：Lower rotor case；15：Middle rotor case；16：Upper rotor case；4-A：First turning slot；4-B：Second turning slot；5-1：At a high speed
Motor stator；5-2：High speed rotor of motor locknut；5-3：High speed rotor of motor；6-1：Torquer outer rotor nut；6-2：Torque
Device outer rotor magnet steel；6-3：Torquer outer rotor magnet steel magnetic guiding loop；6-4：Torquer outer rotor component locknut；6-5：In torquer
Armature nut；6-6：Torquer internal rotor magnetic steel；6-7：Torquer internal rotor magnetic steel magnetic guiding loop；6-8：Torquer internal rotor component
Locknut；7-1：Code-disc Circular gratings；7-2：Code wheel reading head；7-3：Reading head mounting seat；8-1：End face bearing upper bearing (metal) plate；8-2：
End face bearing rotor；9-A：Torquer stator transfer panel locating surface；9-B：Circular gratings mounting surface；9-C：Torquer stator transfer panel
Mounting surface；9-D：End face bearing upper bearing (metal) plate mounting surface；9-E：Rotation modulation motor mounting surface；10-1：Rotation modulation motor turns
Son；10-2：Rotation modulation motor stator；12-A：Torquer stator skeleton locating surface；12-B：Torquer stator transfer panel is fixed
Hole；12-C：Torquer stator module aluminium seat fixing screwed hole；12-D：Torquer winding run groove；13-1：Torquer stator
Component aluminum seat；13-2：Torquer stator skeleton；13-3：Torquer winding；13-2-A：Winding boss；13-2-B：Torquer around
Group block；13-2-C：Torquer winding run groove；13-2-D：Torquer winding run circular hole；13-2-E：Torquer winding
Cabling square hole.
Embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
The present invention provides a kind of stator rotating type magnetic suspension sensitive gyroscope.
As shown in Figure 1,2 and 3, the sensitive gyroscope of the stator rotating type magnetic suspension it is main by：Magnetic levitation bearing system, magnetcisuspension
Floating gyrorotor system, torquer stator rotary system and the part of rotor case four composition, mainly include：Upper axial magnetic suspension bearing
1st, lower axial magnetic suspension bearing 2, radial magnetic bearing 3, magnetic suspension wipping top rotor 4, high-speed electric expreess locomotive 5, torquer rotor assembly
6th, photoelectric code disk 7, end face bearing 8, rotation modulation rotor framework 9, rotation modulation motor 10, rotation modulation motor mount 11,
Torquer stator transfer panel 12 and torquer stator module 13, lower rotor case 14, middle rotor case 15 and upper rotor case 16；Upper axial direction
Magnetic suspension bearing 1 and lower axial magnetic suspension bearing 2 are fixed on upper rotor case 16 and lower rotor case 14 by screw respectively, axially
Magnetic suspension wipping top rotor 4 is supported, radial magnetic bearing 3 is fixed on middle rotor case 15, radial support magnetic suspension top by screw
Spiral shell rotor 4, high-speed electric expreess locomotive 5 is drag cup outer-rotor structure, including：High-speed electric expreess locomotive stator 5-1, high speed rotor of motor locknut 5-2,
High speed rotor of motor 5-3, high-speed electric expreess locomotive stator 5-1 are fixed on upper rotor case 16 by screw, and high speed rotor of motor 5-3 passes through
High speed rotor of motor locknut 5-2 is axially fixed on the first turning slot 4-A lateral wall of magnetic suspension wipping top rotor 4, drives magnetic
Suspending gyrorotor rotor 4 rotates at a high speed, and torquer rotor assembly 6 includes：Torquer outer rotor nut 6-1, torquer outer rotor magnetic
Steel 6-2, torquer outer rotor magnet steel magnetic guiding loop 6-3, torquer outer rotor component locknut 6-4, torquer internal rotor nut 6-5,
Torquer internal rotor magnetic steel 6-6, torquer internal rotor magnetic steel magnetic guiding loop 6-7, torquer internal rotor component locknut 6-8, wherein, power
Square device outer rotor nut 6-1, which is fixed on outside the bottom of the second turning slot 4-B lateral walls of magnetic suspension wipping top rotor 4, torquer, to be turned
Sub- magnet steel 6-2 upper ends are fitted on torquer outer rotor nut 6-1, and torquer outer rotor magnet steel magnetic guiding loop 6-3 is located at torquer
Outer rotor magnet steel 6-2 lower ends, the second of magnetic suspension wipping top rotor 4 is axially fixed at by torquer outer rotor component locknut 6-4
On turning slot 4-B lateral walls, torquer internal rotor nut 6-5 is fixed on the inside of the second turning slot 4-B of magnetic suspension wipping top rotor 4
The bottom of wall, torquer internal rotor magnetic steel 6-6 upper ends are fitted on torquer internal rotor nut 6-5, torquer internal rotor magnetic steel
Magnetic guiding loop 6-7 is located at torquer internal rotor magnetic steel 6-6 lower ends, and magnetic is axially fixed at by torquer internal rotor component locknut 6-8
On second turning slot 4-B madial walls of suspending gyrorotor rotor 4, photoelectric code disk 7 includes：Code-disc Circular gratings 7-1, code wheel reading head 7-
2nd, reading head mounting seat 7-3, code-disc Circular gratings 7-1 are secured by bolts on the Circular gratings mounting surface 9-B of rotation skeleton 9, code
Disk reading head 7-2 is located on the outside of code-disc Circular gratings 7-1, is fixed on by reading head mounting seat 7-3 on lower rotor case 14, end face axle
Holding 8 includes：Wherein, end face bearing upper bearing (metal) plate 8-1 is located at due to rotation by end face bearing upper bearing (metal) plate 8-1, end face bearing rotor 8-2
Turn the lower section of skeleton 9, be fixed on by screw on end face bearing upper bearing (metal) plate mounting surface 9-D, end face bearing rotor 8-2 is located at end
Below spherical bearing upper bearing (metal) plate 8-1, above rotation modulation motor stator 10-2, rotation modulation motor is split-type structural, including：
Rotation modulation rotor 10-1 and rotation modulation motor stator 10-2, wherein, rotation modulation motor stator 10-2 passes through bolt
It is fixed on rotation modulation motor mount 11, rotation modulation motor mount 11 is fixed on lower rotor case 14 by screw,
Rotation modulation rotor 10-1 is located on the inside of rotation modulation motor stator 10-2, is secured by bolts in rotation modulation rotor bone
On the rotation modulation motor mounting surface 9-E of frame 9, torquer stator transfer panel 12 is located at the upper surface of rotation modulation rotor framework 9,
It is fixed on by spiral on the torquer stator transfer panel mounting surface 9-C of rotation modulation rotor framework 9, torquer stator module 13
Including：Torquer stator module aluminium seat 13-1, torquer stator skeleton 13-2 and torquer winding 13-3, wherein, torquer is fixed
Sub-component aluminium seat 13-1 is located at the top of torquer stator transfer panel 12, is secured by bolts on torquer stator transfer panel 12,
Torquer stator skeleton 13-2 is located at the torquer stator skeleton locating surface 12-A of torquer stator transfer panel 12 and torquer is determined
Between sub-component aluminium seat 13-1, it is fixed on by epoxy resin on the inside of torquer stator module aluminium seat 13-1, torquer winding 13-
3 are fixed on torquer stator skeleton 13-2 winding boss 13-2-A, are kept apart by torquer winding block 13-2-B,
Torquer winding 13-3 power lines pass through torquer winding run groove 13-2-C, torquer winding run circular hole 13-2-D and power
Square device winding run square hole 13-2-E is drawn.Upper axial magnetic suspension bearing 1, lower axial magnetic suspension bearing 2 and axial magnetic axle
It is pure electromagnetism sphere magnetic bearing to hold 3.
Fig. 4 is magnetic suspension wipping top rotor structure schematic diagram, and magnetic suspension wipping top rotor 4 is respectively equipped with first time of opening upwards
Turn trough 4-A and the second turning slot 4-B that Open Side Down, left and right end face and the upper and lower end face of magnetic suspension wipping top rotor 4 be it is concentric not
With footpath sphere.
Fig. 5 is rotation modulation rotor framework sectional view, and rotation modulation rotor framework 9 is cup-shaped structure, and its upper surface is circumferential
Uniform 4 torquers stator transfer panel locating surface 9-A, platform processing is strong on the outside of torquer stator transfer panel locating surface 9-A
Uniform 8 screwed holes on square device stator transfer panel mounting surface 9-C, torquer stator transfer panel mounting surface 9-C, for fixed end taken about the point of fixation
Device stator transfer panel 12, the outermost platform upper surface of rotation modulation rotor framework 9 is Circular gratings mounting surface 9-B, and Circular gratings are installed
Uniform 9 screwed holes on the 9-B of face, for fixing code-disc Circular gratings 7-1, the outermost platform lower surface of rotation modulation rotor framework 9
For end face bearing upper bearing (metal) plate mounting surface 9-D, uniform 8 screwed holes of end face bearing upper bearing (metal) plate mounting surface 9-D, for fixing end
Spherical bearing 8, the lower surface of rotation modulation rotor framework 9 is rotation modulation motor mounting surface 9-E, rotation modulation motor mounting surface 9-E
Uniform 6 screwed holes, for fixing rotation modulation rotor 10-1.
Fig. 6 is torquer stator transfer panel structural representation, and torquer stator transfer panel 12 is loop configuration, and torquer is fixed
The sub- inner ring of transfer panel 12 is provided with 4 boss, and boss outer surface is torquer stator skeleton locating surface 12-A, and boss is provided with power
Uniform 8 torquers stator transfer panel fixing hole 12- on square device winding run groove 12-D, the outer shroud of torquer stator transfer panel 12
B, in each torquer stator transfer panel fixing hole 12-B both sides provided with torquer stator module aluminium seat fixing screwed hole 12-C.
Fig. 7 is torquer stator skeleton structural representation, and torquer stator skeleton 13-2 is columnar structured, four windings
Boss 13-2-A is circumferentially uniformly distributed along torquer stator skeleton 13-2 external cylindrical surfaces, each winding boss 13-2-A circumference subtended angles
For 80 °.Torquer winding block 13-2-B is furnished with the middle of each two winding boss 13-2-A.Four torquer winding run square holes
13-2-E is circumferentially evenly distributed on two windings on torquer stator skeleton 13-2 external cylindrical surfaces along torquer stator skeleton 13-2
At the boss 13-2-A planes of symmetry.Circumferential uniform point along torquer stator skeleton 13-2 of four torquer winding run groove 13-2-C
Cloth；Four groups of torquer winding run circular hole 13-2-D are located in four torquer winding run groove 13-2-C, every group of torquer
Winding run circular hole 13-2-D is made up of two identical torquer winding run circular hole 13-2-D, is run through torquer winding and is walked
Line square hole 13-2-E.
Described above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of principle of the present invention is not departed from, some improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of sensitive gyroscope of stator rotating type magnetic suspension, it is characterised in that：Including magnetic levitation bearing system, magnetic suspension wipping top
Rotor-support-foundation system, torquer stator rotary system and rotor case, magnetic levitation bearing system include upper axial magnetic suspension bearing (1), under
Axial magnetic suspension bearing (2) and radial magnetic bearing (3)；Magnetic suspension wipping top rotor-support-foundation system include magnetic suspension wipping top rotor (4),
High-speed electric expreess locomotive (5) and torquer rotor assembly (6)；Torquer stator rotary system include photoelectric code disk (7), end face bearing (8),
Rotation modulation rotor framework (9), rotation modulation motor (10), rotation modulation motor mount (11), torquer stator transfer panel
And torquer stator module (13) (12)；Rotor case includes lower rotor case (14), middle rotor case (15) and upper rotor case (16)；
Upper axial magnetic suspension bearing (1) and lower axial magnetic suspension bearing (2) respectively by screw be fixed on upper rotor case (16) and
On lower rotor case (14), upper axial magnetic suspension bearing (1) and lower axial magnetic suspension bearing (2) axially support magnetic suspension wipping top rotor
(4), radial magnetic bearing (3) is fixed on middle rotor case (15), radial magnetic bearing (3) radial support magnetcisuspension by screw
Floating gyrorotor (4)；Magnetic suspension wipping top rotor (4) is respectively equipped with the first turning slot (4-A) of opening upwards and Open Side Down
Second turning slot (4-B), left and right end face and the upper and lower end face of magnetic suspension wipping top rotor (4) are concentric different footpath spheres；It is electric at a high speed
Machine (5) is connected with upper rotor case (16) and magnetic suspension wipping top rotor (4)；Torquer rotor assembly (6) and magnetic suspension wipping top rotor
(4) it is connected；Photoelectric code disk (7) is connected with rotation skeleton (9) and lower rotor case (14)；Rotation skeleton (9) is divided into torquer stator
Transfer panel locating surface (9-A), Circular gratings mounting surface (9-B), torquer stator transfer panel mounting surface (9-C), axle on end face bearing
Board mounting surface (9-D) and rotation modulation motor mounting surface (9-E)；End face bearing (8) includes end face bearing upper bearing (metal) plate (8-1)
With end face bearing rotor (8-2), end face bearing upper bearing (metal) plate (8-1) is located at the lower section due to rotation skeleton (9), solid by screw
Due on end face bearing upper bearing (metal) plate mounting surface (9-D), end face bearing rotor (8-2) is located at end face bearing upper bearing (metal) plate (8-1)
Above lower section, rotation modulation motor stator (10-2)；Rotation modulation motor (10) is adjusted with rotation modulation rotor framework (9) and rotation
Motor mount (11) processed is connected；Torquer stator module (13) is connected with torquer stator transfer panel (12), torquer stator
Transfer panel (12) includes torquer stator skeleton locating surface (12-A), torquer stator transfer panel fixing hole (12-B), torquer
Stator module aluminium seat fixing screwed hole (12-C) and torquer winding run groove (12-D).
2. the sensitive gyroscope of stator rotating type magnetic suspension according to claim 1, it is characterised in that：The high-speed electric expreess locomotive
(5) it is drag cup outer-rotor structure, including high-speed electric expreess locomotive stator (5-1), high speed rotor of motor locknut (5-2) and high-speed electric expreess locomotive turn
Sub (5-3), high-speed electric expreess locomotive stator (5-1) is fixed on upper rotor case (16) by screw, and high speed rotor of motor (5-3) passes through height
Speed motor rotor locknut (5-2) is axially fixed on the lateral wall of the first turning slot (4-A) of magnetic suspension wipping top rotor (4), high
Speed motor rotor (5-3) driving magnetic suspension wipping top rotor (4) rotates at a high speed.
3. the sensitive gyroscope of stator rotating type magnetic suspension according to claim 1, it is characterised in that：The torquer rotor
Component (6) includes torquer outer rotor nut (6-1), torquer outer rotor magnet steel (6-2), torquer outer rotor magnet steel magnetic guiding loop
(6-3), torquer outer rotor component locknut (6-4), torquer internal rotor nut (6-5), torquer internal rotor magnetic steel (6-6),
Torquer internal rotor magnetic steel magnetic guiding loop (6-7) and torquer internal rotor component locknut (6-8), wherein, torquer outer rotor nut
(6-1) is fixed on the bottom of the second turning slot (4-B) lateral wall of magnetic suspension wipping top rotor (4), torquer outer rotor magnet steel (6-
2) upper end is fitted on torquer outer rotor nut (6-1), and torquer outer rotor magnet steel magnetic guiding loop (6-3), which is located at outside torquer, to be turned
Sub- magnet steel (6-2) lower end, the of magnetic suspension wipping top rotor (4) is axially fixed at by torquer outer rotor component locknut (6-4)
On two-revolution groove (4-B) lateral wall, torquer internal rotor nut (6-5) is fixed on the second revolution of magnetic suspension wipping top rotor (4)
The bottom of groove (4-B) madial wall, torquer internal rotor magnetic steel (6-6) upper end is fitted on torquer internal rotor nut (6-5), power
Square device internal rotor magnetic steel magnetic guiding loop (6-7) is located at torquer internal rotor magnetic steel (6-6) lower end, is locked by torquer internal rotor component
Female (6-8) is axially fixed on the second turning slot (4-B) madial wall of magnetic suspension wipping top rotor (4).
4. the sensitive gyroscope of stator rotating type magnetic suspension according to claim 1, it is characterised in that：The photoelectric code disk
(7) code-disc Circular gratings (7-1), code wheel reading head (7-2) and reading head mounting seat (7-3) are included, code-disc Circular gratings (7-1) pass through
Bolt is fixed on the Circular gratings mounting surface (9-B) of rotation skeleton (9), and code wheel reading head (7-2) is located at code-disc Circular gratings (7-1)
Outside, is fixed on lower rotor case (14) by reading head mounting seat (7-3).
5. the sensitive gyroscope of stator rotating type magnetic suspension according to claim 1, it is characterised in that：The rotation modulation electricity
Machine (10) is split-type structural, including rotation modulation rotor (10-1) and rotation modulation motor stator (10-2), wherein, revolve
Modulation motor stator (10-2) is secured by bolts on rotation modulation motor mount (11), rotation modulation motor mount
(11) it is fixed on by screw on lower rotor case (14), rotation modulation rotor (10-1) is located at rotation modulation motor stator
On the inside of (10-2), it is secured by bolts on the rotation modulation motor mounting surface (9-E) of rotation modulation rotor framework (9), torque
Device stator transfer panel (12) is located at the upper surface of rotation modulation rotor framework (9), and rotation modulation rotor bone is fixed on by spiral
On the torquer stator transfer panel mounting surface (9-C) of frame (9).
6. the sensitive gyroscope of stator rotating type magnetic suspension according to claim 1, it is characterised in that：The torquer stator
Component (13) includes torquer stator module aluminium seat (13-1), torquer stator skeleton (13-2) and torquer winding (13-3),
Torquer stator skeleton (13-2) includes winding boss (13-2-A), torquer winding block (13-2-B), torquer winding and walked
Line groove (13-2-C), torquer winding run circular hole (13-2-D) and torquer winding run square hole (13-2-E), wherein, power
Square device stator module aluminium seat (13-1) is located above torquer stator transfer panel (12), is secured by bolts in torquer stator and turns
Connect on disk (12), torquer stator skeleton (13-2) is located at the torquer stator skeleton locating surface of torquer stator transfer panel (12)
Between (12-A) and torquer stator module aluminium seat (13-1), torquer stator module aluminium seat (13- is fixed on by epoxy resin
1) inner side, torquer winding (13-3) is fixed on the winding boss (13-2-A) of torquer stator skeleton (13-2), passes through power
Square device winding block (13-2-B) is kept apart, and torquer winding (13-3) power line passes through torquer winding run groove (13-
2-C), torquer winding run circular hole (13-2-D) and torquer winding run square hole (13-2-E) are drawn.
7. the sensitive gyroscope of stator rotating type magnetic suspension according to claim 1, it is characterised in that：The upper axial magnetcisuspension
It is pure electromagnetism sphere magnetic bearing that floating axle, which holds (1), lower axial magnetic suspension bearing (2) and radial magnetic bearing (3),.
8. the sensitive gyroscope of stator rotating type magnetic suspension according to claim 4 and 5, it is characterised in that：The rotation is adjusted
Rotor framework (9) processed is cup-shaped structure, the circumferentially uniform 4 torquers stator transfer panel locating surface (9-A) in its upper surface, in torque
Platform is machined with torquer stator transfer panel mounting surface (9-C) on the outside of device stator transfer panel locating surface (9-A), and torquer stator turns
Uniform 8 screwed holes on disk mounting surface (9-C) are connect, for fixed end taken about the point of fixation device stator transfer panel (12), rotation modulation rotor framework
(9) outermost platform upper surface is uniform 9 screwed holes on Circular gratings mounting surface (9-B), Circular gratings mounting surface (9-B), is used for
Fixed code-disc Circular gratings (7-1), rotation modulation rotor framework (9) outermost platform lower surface is installed for end face bearing upper bearing (metal) plate
Face (9-D), uniform 8 screwed holes of end face bearing upper bearing (metal) plate mounting surface (9-D), for fixing end spherical bearing (8), rotation modulation
Rotor framework (9) lower surface is rotation modulation motor mounting surface (9-E), uniform 6 screw threads of rotation modulation motor mounting surface (9-E)
Hole, for fixing rotation modulation rotor (10-1).
9. the sensitive gyroscope of stator rotating type magnetic suspension according to claim 1, it is characterised in that：The torquer stator
Transfer panel (12) is loop configuration, and torquer stator transfer panel (12) inner ring is provided with 4 boss, and boss outer surface is torquer
Stator skeleton locating surface (12-A), boss is provided with torquer winding run groove (12-D), torquer stator transfer panel (12)
Uniform 8 torquers stator transfer panel fixing hole (12-B) on outer shroud, in each torquer stator transfer panel fixing hole (12-B)
Both sides provided with torquer stator module aluminium seat fixing screwed hole (12-C).
10. the sensitive gyroscope of stator rotating type magnetic suspension according to claim 1, it is characterised in that：The torquer is determined
Sub- skeleton (13-2) is columnar structured, and four winding boss (13-2-A) are all along torquer stator skeleton (13-2) external cylindrical surface
To being uniformly distributed, each winding boss (13-2-A) circumference subtended angle is 80 °；Cloth is strong in the middle of each two winding boss (13-2-A)
Square device winding block (13-2-B)；Four torquer winding run square holes (13-2-E) are circumferential along torquer stator skeleton (13-2)
It is evenly distributed on torquer stator skeleton (13-2) external cylindrical surface, at two winding boss (13-2-A) planes of symmetry；
Four torquer winding run grooves (13-2-C) are circumferentially uniformly distributed along torquer stator skeleton (13-2)；
Four groups of torquer winding run circular holes (13-2-D) are located in four torquer winding run grooves (13-2-C), every group of power
Square device winding run circular hole (13-2-D) is made up of two identical torquer winding run circular holes (13-2-D), runs through torque
Device winding run square hole (13-2-E).
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