CN114560106A

CN114560106A - Six-degree-of-freedom full-active control Lorentz pod

Info

Publication number: CN114560106A
Application number: CN202210303108.2A
Authority: CN
Inventors: 李晶; 马宁; 刘强; 赵甜甜; 高晴利; 盛沙; 张梦杰
Original assignee: Beijing Institute of Petrochemical Technology
Current assignee: Beijing Institute of Petrochemical Technology
Priority date: 2022-03-25
Filing date: 2022-03-25
Publication date: 2022-05-31

Abstract

The invention discloses a six-degree-of-freedom full-active control Lorentz pod, which comprises a rotor system and a stator system, wherein the rotor system comprises: the device comprises a cabin, an axial translation radial deflection magnetic bearing rotor, a spherical motor rotor assembly and a photoelectric coded disc rotor grating; the stator system includes: the device comprises an axial translation radial deflection magnetic bearing stator component, a spherical motor stator component, a radial support, a photoelectric coded disc reading head, a radial spherical magnetic bearing stator component, an axial support, an axial displacement sensor, a deflection displacement sensor and a radial displacement sensor. The Lorentz pod is controlled fully actively through six degrees of freedom with the co-location of the displacement detection point and the translation control point of the magnetic bearing, so that errors caused by a conversion matrix of the sensor and the magnetic bearing are eliminated, and the imaging quality of a spacecraft camera is improved. In addition, the spherical rotating motor is adopted to control the position of the rotor of the pod, the active adjustment capability of the azimuth angle of 360 degrees can be realized, and the mobile imaging quality of the camera for earth observation is further improved.

Description

Six-degree-of-freedom full-active control Lorentz pod

Technical Field

The invention relates to a magnetic suspension nacelle, in particular to a six-degree-of-freedom fully-actively controlled Lorentz nacelle with a displacement detection point and a magnetic bearing translation control point being co-located.

Background

In the process of flying in space, a spacecraft is influenced by vibration of various internal moving parts, electromagnetic environment interference of an external complex space and the like, so that a spacecraft platform has certain vibration, the working performance of a camera fixedly connected with the spacecraft platform is seriously influenced, and imaging is fuzzy and distorted. In addition, in the maneuvering imaging process, a large-attitude control moment is output through the control moment gyroscope to drive the spacecraft platform to perform large-angle maneuvering deflection, so that agile maneuvering imaging of the spacecraft is realized. Due to the fact that the vibration isolation effect of the spacecraft platform and the rapid stability capability of the spacecraft platform after rapid maneuvering of the posture are insufficient, the camera cannot rapidly and stably image and photograph, and the imaging quality of the space and the ground is affected.

In order to solve the problems, a layer of vibration-damping elastic damping material is arranged between the camera and the spacecraft platform, and the kinetic energy of the vibration generated by the carrier is absorbed through the damping of the material, so that passive vibration isolation is realized. When the vibration energy or amplitude exceeds the capability of the elastic damping material, the camera can contact with the spacecraft platform and also transmit the vibration to the camera, thereby affecting the imaging quality. The magnetic suspension bearing realizes non-contact suspension support between the moving stator and the stator, has the advantages of controllable support rigidity and damping, can control and inhibit vibration of a spacecraft and a camera, and is applied to a spacecraft double-super platform.

Chinese patent 201710877195.1 proposes a principal and subordinate non-contact dual-super satellite platform oriented to the daily inertia, and adopts a non-contact magnetic suspension mechanism and a design method of centralized control, so as to realize the dynamic and static isolation of a camera load compartment and a platform compartment, and isolate the interference of external disturbance to the camera load. The scheme has the advantages of high control precision, strong environmental adaptability and stable control force and control torque output, but the magnetic suspension platform is kept connected with the satellite through the locking mechanism, only the isolation between the camera load cabin and the platform cabin is realized, the deflection and rotation of the nacelle cannot be realized, and the camera load imaging capability is insufficient.

Chinese patent 201810281513.2 proposes a magnetic suspension universal deflection shock isolation pod for a satellite, which adopts a magnetic resistance-Lorentz force mixed force configuration to realize five-degree-of-freedom active vibration control and vibration suppression of a pod rotor, utilizes a spherical decoupling magnetic resistance magnetic bearing to realize radial two-degree-of-freedom deflection, and controls axial translation and radial two-degree-of-freedom high-bandwidth deflection/stable suspension of the pod rotor by means of a high-linearity Lorentz force magnetic bearing. Because the suspension force of the radial spherical magnetic resistance magnetic bearing passes through the spherical center of the rotor and the axial suspension force of the Lorentz force magnetic bearing is irrelevant to the position of the rotor, the interference of three translations on deflection suspension is avoided, and the suspension precision of the rotor of the nacelle is improved. According to the scheme, the rotor displacement detection points and the control points are different, and the actual displacement at the position of the rotor suspension force needs to be estimated by a conversion matrix. Because the conversion matrix has measurement errors, and the errors change along with environmental parameters such as time, temperature, stress and the like, the translational suspension precision of the pod rotor is reduced, and the imaging quality of the pod camera load is further influenced. In addition, the single-degree-of-freedom rotation of the pod rotor is not controlled, so that the azimuth angle of the pod camera load is in a free state, and the imaging quality of the camera is further reduced.

In view of the above, the present invention is particularly proposed.

Disclosure of Invention

The invention aims to provide a six-degree-of-freedom fully-actively controlled Lorentz pod with a displacement detection point and a magnetic bearing translation control point in common, so as to solve the technical problems in the prior art.

The purpose of the invention is realized by the following technical scheme:

the invention discloses a six-degree-of-freedom full-active control Lorentz pod, which comprises a rotor system and a stator system, wherein the rotor system mainly comprises: the device comprises a cabin, an axial translation radial deflection magnetic bearing rotor outer ring assembly, an axial translation radial deflection magnetic bearing rotor inner ring assembly, a spherical motor rotor assembly and a photoelectric coded disc rotor grating; the stator system mainly includes: the device comprises an axial translation radial deflection magnetic bearing stator component, a spherical motor stator component, a radial support, a photoelectric coded disc reading head, a left radial spherical magnetic bearing stator component, a right radial spherical magnetic bearing stator component, a front radial spherical magnetic bearing stator component, a rear radial spherical magnetic bearing stator component, a radial spherical magnetic bearing stator component locknut, an axial support, an axial displacement sensor, a left deflection displacement sensor, a right deflection displacement sensor, a front deflection displacement sensor, a rear deflection displacement sensor, a left radial displacement sensor, a right radial displacement sensor, a front radial displacement sensor and a rear radial displacement sensor; the chamber body is positioned at the axial lower end of an axial translation radial deflection magnetic bearing rotor outer ring assembly, an axial translation radial deflection magnetic bearing rotor inner ring assembly and a spherical motor rotor assembly, the axial translation radial deflection magnetic bearing rotor outer ring assembly is positioned at the radial inner side of the outer wall of a groove of the chamber body and is fixedly bonded on the chamber body through epoxy resin glue, the axial translation radial deflection magnetic bearing rotor inner ring assembly is positioned at the radial outer side of the inner wall of the groove of the chamber body and is fixedly bonded on the chamber body through epoxy resin glue, the spherical motor rotor assembly is positioned at the axial upper end of the chamber body and is fixedly bonded in the groove at the upper end of the top of the chamber body through epoxy resin glue, the photoelectric coded disc rotor grating is positioned at the outer circle radial outer side of the lower end of the chamber body and is fixedly bonded on the chamber body through epoxy resin glue, the radial support is positioned at the radial outer side of the chamber body and the photoelectric coded disc rotor grating, and the reading head of the photoelectric coded disc is positioned at the upper end of the bottom of the radial support, the left radial spherical magnetic bearing stator assembly, the right radial spherical magnetic bearing stator assembly, the front radial spherical magnetic bearing stator assembly, the rear radial spherical magnetic bearing stator assembly and the radial spherical magnetic bearing stator assembly locknuts are positioned on the radial inner side of the radial support through screws, the left radial spherical magnetic bearing stator assembly, the right radial spherical magnetic bearing stator assembly, the front radial spherical magnetic bearing stator assembly and the rear radial spherical magnetic bearing stator assembly are distributed in an orthogonal manner and are respectively positioned on the right left side, right side, front side and rear side of an inner wall clamping groove of the radial support and are fixed on the radial support through the radial spherical magnetic bearing stator assembly locknuts, the axial support is positioned at the axial upper end of the radial support and is arranged on the upper end surface of the radial support through fastening screws, the axial translation radial deflection magnetic bearing stator assembly is positioned on the radial outer side and the axial lower end of a spigot of the axial support, the axial translation radial deflection magnetic bearing stator component is positioned on the radial inner side of the inner spherical surface of the outer ring component of the axial translation radial deflection magnetic bearing rotor and the radial outer side of the outer spherical surface of the inner ring component of the axial translation radial deflection magnetic bearing rotor, and is installed on the axial support through a fastening screw, the spherical motor stator component is positioned on the inner side of the inner aperture of the axial support and the axial upper end of the spherical motor rotor component, and is installed on the axial support through a fastening screw, the axial displacement sensor is positioned on the axis position of the spherical motor stator component and is fixedly installed on the spherical motor stator component through thread matching, the left deflection displacement sensor, the right deflection displacement sensor, the front deflection displacement sensor and the rear deflection displacement sensor are positioned on the upper end of the outer edge of the groove of the cabin body, and the left deflection displacement sensor, the right deflection displacement sensor, the front deflection displacement sensor and the rear deflection displacement sensor are in orthogonal distribution, and is installed right left, right front and right back of the axial support through screw thread fit, the left radial displacement sensor, the right radial displacement sensor, the front radial displacement sensor and the back radial displacement sensor are respectively positioned at the horizontal central positions of the left radial spherical magnetic bearing stator component, the right radial spherical magnetic bearing stator component, the front radial spherical magnetic bearing stator component and the back radial spherical magnetic bearing stator component, and are fixedly installed in the left radial spherical magnetic bearing stator component, the right radial spherical magnetic bearing stator component, the front radial spherical magnetic bearing stator component and the back radial spherical magnetic bearing stator component through screw thread fit, a certain spherical shell gap is left between the lower end surface of the axial support and the upper end surface of the inner edge of the cabin groove, an upper radial axial spherical shell protection gap is formed, and a certain spherical shell gap is left between the upper end spherical surface of the spherical motor rotor component and the lower end spherical surface of the spherical motor stator component, forming a spherical motor spherical shell air gap, leaving a certain spherical shell gap between the inner spherical surfaces of the left radial spherical magnetic bearing stator component, the right radial spherical magnetic bearing stator component, the front radial spherical magnetic bearing stator component and the rear radial spherical magnetic bearing stator component and the spherical surface of the outer edge of the cabin body to form a radial spherical magnetic bearing spherical shell air gap, leaving a certain spherical shell gap between the radial inner spherical surface of the outer ring component of the axially translational radial deflection magnetic bearing rotor and the radial outer spherical surface of the inner ring component of the axially translational radial deflection magnetic bearing rotor to form an axial translational radial deflection magnetic bearing spherical shell air gap, and leaving a certain gap between the outer cylindrical surface of the lower end of the bottom of the cabin body and the inner cylindrical surface of the bottom of the radial support to form a lower radial spherical shell protection gap.

Compared with the prior art, the six-degree-of-freedom fully-actively controlled Lorentz pod with the co-location of the displacement detection point and the translation control point of the magnetic bearing has the advantages of high translation suspension precision, large deflection angle and high control precision, can realize active adjustment of an azimuth angle by 360 degrees, and can be used for high-quality and rapid maneuvering imaging of a high-resolution earth observation satellite.

Drawings

FIG. 1 is a schematic structural diagram of a six-degree-of-freedom fully actively controlled Lorentz pod in accordance with an embodiment of the present invention;

FIG. 2 is a cross-sectional view of a mover system of an embodiment of the present invention;

FIG. 3a is a cross-sectional view of a stator system of an embodiment of the present invention;

FIG. 3b is a schematic three-dimensional structure of a stator system according to an embodiment of the present invention;

FIG. 4a is a cross-sectional view in the radial direction X of an axially translated and radially deflected Lorentz magnetic bearing in accordance with an embodiment of the present invention;

FIG. 4b is a cross-sectional view in the radial Y-direction of an axially translated and radially deflected Lorentz magnetic bearing in accordance with an embodiment of the present invention;

fig. 5a is a cross-sectional view of an outer ring assembly of an axially translational and radially deflecting magnetic bearing mover and an inner ring assembly of the axially translational and radially deflecting magnetic bearing mover according to an embodiment of the present invention;

fig. 5b is a schematic three-dimensional structure diagram of an outer ring component and an inner ring component of an axial translation radial deflection magnetic bearing rotor according to an embodiment of the present invention;

FIG. 6 is a cross-sectional view of an axially translated radially deflected magnetic bearing stator assembly of an embodiment of the present invention;

fig. 7 is a sectional view of a spherical motor according to an embodiment of the present invention;

FIG. 8 is a cross-sectional view of a spherical motor mover assembly in accordance with an embodiment of the present invention;

FIG. 9a is a cross-sectional view of a spherical motor stator assembly of an embodiment of the present invention;

FIG. 9b is a three-dimensional schematic view of a spherical motor stator assembly according to an embodiment of the present invention;

FIG. 10a is a cross-sectional view of a radial spherical magnetic bearing according to an embodiment of the present invention taken along the radial direction X;

FIG. 10b is a radial Y-direction cross sectional view of the radial spherical magnetic bearing according to the embodiment of the present invention;

FIG. 11 is a cross-sectional view of an axial displacement sensor in accordance with an embodiment of the present invention;

FIG. 12 is a cross-sectional view of a deflection displacement sensor in accordance with an embodiment of the present invention;

fig. 13 is a cross-sectional view of a radial displacement sensor in accordance with an embodiment of the present invention.

Detailed Description

The technical scheme in the embodiment of the invention is clearly and completely described below by combining the attached drawings in the embodiment of the invention; it is to be understood that the described embodiments are merely exemplary of the invention, and are not intended to limit the invention to the particular forms disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.

The terms that may be used herein are first described as follows:

the term "and/or" means that either or both can be achieved, for example, X and/or Y means that both cases include "X" or "Y" as well as three cases including "X and Y".

The terms "comprising," "including," "containing," "having," or other similar terms of meaning should be construed as non-exclusive inclusions. For example: including a feature (e.g., material, component, ingredient, carrier, formulation, material, dimension, part, component, mechanism, device, process, procedure, method, reaction condition, processing condition, parameter, algorithm, signal, data, product, or article of manufacture), is to be construed as including not only the particular feature explicitly listed but also other features not explicitly listed as such which are known in the art.

The term "consisting of … …" is meant to exclude any technical feature elements not explicitly listed. If used in a claim, the term shall render the claim closed except for the inclusion of the technical features that are expressly listed except for the conventional impurities associated therewith. If the term occurs in only one clause of the claims, it is defined only as specifically listed in that clause, and elements recited in other clauses are not excluded from the overall claims.

Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "secured," etc., are to be construed broadly, as for example: can be fixedly connected, can also be detachably connected or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms herein can be understood by those of ordinary skill in the art as appropriate.

The terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used in an orientation or positional relationship that is indicated based on the orientation or positional relationship shown in the drawings for ease of description and simplicity of description only, and are not intended to imply or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting herein.

Details which are not described in detail in the embodiments of the invention belong to the prior art which is known to the person skilled in the art. Those not specifically mentioned in the examples of the present invention were carried out according to the conventional conditions in the art or conditions suggested by the manufacturer. The reagents or instruments used in the examples of the present invention are not specified by manufacturers, and are all conventional products available by commercial purchase.

The axial translation radial deflection magnetic bearing mainly comprises a rotor outer ring assembly, a rotor inner ring assembly and a stator assembly, wherein the rotor outer ring assembly comprises an outer lock nut, outer upper magnetic steel, an outer magnetism isolating ring, outer lower magnetic steel and an outer lower magnetism isolating cushion ring, the rotor inner ring assembly comprises an inner lock nut, inner upper magnetic steel, an inner magnetism isolating ring, inner lower magnetic steel and an inner lower magnetism isolating cushion ring, and the stator assembly comprises a stator base, a framework, an upper axial suspension winding, a lower axial suspension winding, a left radial deflection winding, a right radial deflection winding, a front radial deflection winding and a rear radial deflection winding.

The spherical motor is composed of a rotor part and a stator part, the rotor part comprises a spherical surface at the top of the cabin body and spherical motor magnetic steel, and the stator part comprises a spherical motor base and a spherical motor coil.

The radial spherical magnetic bearing is a pure electromagnetic spherical magnetic bearing and consists of a stator part and a rotor part, wherein the rotor part is a spherical part at the outer edge of the cabin body; the stator part comprises a stator sleeve, a left spherical stator core, a right spherical stator core, a front spherical stator core, a rear spherical stator core, a left radial spherical magnetic bearing exciting coil, a right radial spherical magnetic bearing exciting coil, a front radial spherical magnetic bearing exciting coil and a rear radial spherical magnetic bearing exciting coil.

The magnetizing directions of the outer upper magnetic steel, the outer lower magnetic steel, the inner upper magnetic steel and the inner lower magnetic steel in the rotor of the axial translation radial deflection magnetic bearing are as follows in sequence: outer N inner S, outer S inner N, outer N inner S or outer S inner N, outer N inner S, outer S inner N.

The center of mass of the six-degree-of-freedom full-active control Lorentz pod rotor system is superposed with the spherical center of the spherical surface at the outer edge of the cabin, the spherical center of the spherical surface at the radial inner side of the outer ring component of the axial translation radial deflection magnetic bearing rotor, the spherical center of the spherical surface at the radial outer side of the inner ring component of the axial translation radial deflection magnetic bearing rotor and the spherical center of the spherical surface at the upper end of the rotor component of the spherical motor.

The center of the spherical surface of the outer wall outer spherical surface of the axial translation radial deflection magnetic bearing stator assembly, the center of the spherical surface of the inner wall inner spherical surface of the axial translation radial deflection magnetic bearing stator assembly, the center of the spherical surface of the lower end spherical surface of the spherical surface motor stator assembly, the center of the spherical surface of the inner side spherical surface of the left radial spherical surface magnetic bearing stator assembly, the center of the spherical surface of the inner side spherical surface of the right radial spherical surface magnetic bearing stator assembly, the center of the spherical surface of the inner side spherical surface of the front radial spherical surface magnetic bearing stator assembly and the center of the spherical surface of the inner side spherical surface of the rear radial spherical surface magnetic bearing stator assembly are coincided, and are coincided with the mass center of a six-freedom-degree full-active control Lorentz pod.

The cabin, the spherical motor base, the left spherical stator core, the right spherical stator core, the front spherical stator core and the rear spherical stator core are all made of 1J50 or 1J22 bar materials with strong magnetic permeability.

The axial displacement sensor, the left deflection displacement sensor, the right deflection displacement sensor, the front deflection displacement sensor, the rear deflection displacement sensor, the left radial displacement sensor, the right radial displacement sensor, the front radial displacement sensor and the rear radial displacement sensor are all eddy current displacement sensors.

The principle of the scheme is as follows:

as shown in fig. 1, when a six-degree-of-freedom fully-actively controlled lorentz pod works, in the axial single-degree-of-freedom translational direction and the radial two-degree-of-freedom deflection direction, the pod is detected to move in the axial translational direction and deflect in the radial direction by an axial displacement sensor and four deflection displacement sensors, a displacement signal is fed back to an axial translational radial deflection magnetic bearing controller, and the current magnitude and direction of an axial translational coil and the current magnitude and direction of a radial deflection coil are adjusted by the controller, so that axial single-degree-of-freedom translational suspension and radial two-degree-of-freedom deflection suspension are realized; in the radial two-degree-of-freedom translation direction, the displacement signals detected by two probes of each radial displacement sensor in the positive and negative directions of the X axis and the Y axis are respectively subjected to differential operation, the operation result is fed back to a radial spherical pure electromagnetic magnetic bearing controller, and the size and the direction of the current of a radial translation coil are adjusted through the controller, so that the radial two-degree-of-freedom translation is realized; in the axial single-degree-of-freedom rotation direction, the azimuth angular displacement of the orbiting scroll is detected through the photoelectric coded disc, an azimuth displacement signal is fed back to the spherical motor controller, and the controller is used for adjusting the current magnitude and direction of the spherical motor to realize the axial single-degree-of-freedom rotation control. The six-degree-of-freedom fully-actively controlled Lorentz pod comprises two working modes, namely static high-definition imaging and rapid maneuvering imaging. In a static high-definition imaging mode, an eddy current displacement sensor is used for sensing the vibration of the spacecraft platform, a vibration signal is fed back to controllers of an axial translation radial deflection magnetic bearing, a spherical motor and a radial spherical magnetic bearing, and the controller generates corresponding control current in a coil to actively control and inhibit the vibration, so that the static high-definition imaging of the camera load is realized. Under the rapid maneuvering imaging mode, according to a maneuvering instruction of an upper computer of the spacecraft, the controller converts the angular position information of a nacelle deflection target into current information, loads the current into a radial deflection winding of an axial translation radial deflection magnetic bearing, drives the nacelle to rapidly deflect to the target position, and rapidly stabilizes an attitude angle and an azimuth angle after reaching the target position, so as to realize maneuvering high-quality imaging of the camera load.

In conclusion, compared with a magnetic suspension double-super satellite platform adopting a locking mechanism to keep connection with a satellite, the six-degree-of-freedom fully-actively controlled Lorentz pod with the displacement detection point and the magnetic bearing translation control point in the embodiment of the invention can realize the deflection and rotation of the pod and greatly improve the load imaging capability of a camera; compared with a rotor five-degree-of-freedom active vibration control and vibration suppression nacelle adopting a magnetic resistance force-Lorentz force mixed configuration, the rotor five-degree-of-freedom active vibration control and vibration suppression nacelle realizes the co-location of a magnetic bearing displacement detection point and a magnetic bearing translation control point, improves the suspension precision of the rotor of the nacelle, controls the rotor of the nacelle to rotate by using a spherical motor, improves the bearing control capability of the nacelle from uncontrollable to 360-degree omnibearing precise control, and further improves the imaging quality of a camera.

In order to more clearly show the technical solutions and the technical effects provided by the present invention, the following detailed description is provided for the embodiments of the present invention with specific embodiments.

Example 1

As shown in fig. 1, a six-degree-of-freedom full-active control lorentz nacelle includes two parts, namely a rotor system and a stator system, wherein the rotor system mainly includes: the device comprises a cabin body 1, an axial translation radial deflection magnetic bearing 2 rotor outer ring assembly, an axial translation radial deflection magnetic bearing 2 rotor inner ring assembly, a spherical motor 3 rotor assembly and a photoelectric coded disc rotor grating 4; the stator system mainly includes: the device comprises an axial translation radial deflection magnetic bearing 2 stator component, a spherical motor 3 stator component, a radial support 5, a photoelectric coded disc reading head 6, a left radial spherical magnetic bearing 7A stator component, a right radial spherical magnetic bearing 7B stator component, a front radial spherical magnetic bearing 7C stator component, a rear radial spherical magnetic bearing 7D stator component, a radial spherical magnetic bearing stator component locking nut 8, an axial support 9, an axial displacement sensor 10, a left deflection displacement sensor 11A, a right deflection displacement sensor 11B, a front deflection displacement sensor 11C, a rear deflection displacement sensor 11D, a left radial displacement sensor 12A, a right radial displacement sensor 12B, a front radial displacement sensor 12C and a rear radial displacement sensor 12D; the chamber body 1 is positioned at the axial lower end of an axial translation radial deflection magnetic bearing 2 rotor outer ring assembly, an axial translation radial deflection magnetic bearing 2 rotor inner ring assembly and a spherical motor 3 rotor assembly, the axial translation radial deflection magnetic bearing 2 rotor outer ring assembly is positioned at the radial inner side of the outer wall of a groove of the chamber body 1 and is fixedly bonded on the chamber body 1 through epoxy resin glue, the axial translation radial deflection magnetic bearing 2 rotor inner ring assembly is positioned at the radial outer side of the inner wall of the groove of the chamber body 1 and is fixedly bonded on the chamber body 1 through epoxy resin glue, the spherical motor 3 rotor assembly is positioned at the axial upper end of the chamber body 1 and is fixedly bonded in a groove at the upper end of the top of the chamber body 1 through epoxy resin glue, the photoelectric coded disc rotor grating 4 is positioned at the radial outer side of the outer circle of the lower end of the chamber body 1 and is fixedly bonded on the chamber body 1 through epoxy resin glue, and the radial support 5 is positioned at the radial outer sides of the chamber body 1 and the photoelectric coded disc grating 4, the photoelectric coded disc reading head 6 is positioned at the upper end of the bottom of the radial support 5 and is fixedly arranged on the radial support 5 through screws, the locking nut 8 of the left radial spherical magnetic bearing 7A stator component, the right radial spherical magnetic bearing 7B stator component, the front radial spherical magnetic bearing 7C stator component, the rear radial spherical magnetic bearing 7D stator component and the radial spherical magnetic bearing stator component are positioned at the radial inner side of the radial support 5, the left radial spherical magnetic bearing 7A stator component, the right radial spherical magnetic bearing 7B stator component, the front radial spherical magnetic bearing 7C stator component and the rear radial spherical magnetic bearing 7D stator component are distributed in an orthogonal manner and are respectively positioned at the right left, right, front and right of the inner wall clamping groove of the radial support 5 and are fixed on the radial support 5 through the locking nut 8 of the radial spherical magnetic bearing stator component, and the axial support 9 is positioned at the axial upper end of the radial support 5, and is installed on the upper end surface of the radial support 5 through fastening screws, the axial translation radial deflection magnetic bearing 2 stator component is positioned at the radial outer side and the axial lower end of a seam allowance of the axial support 9, the axial translation radial deflection magnetic bearing 2 stator component is positioned at the radial inner side of a spherical surface in an outer ring component of a rotor of the axial translation radial deflection magnetic bearing 2 and the radial outer side of an outer spherical surface of an inner ring component of the rotor of the axial translation radial deflection magnetic bearing 2 and is installed on the axial support 9 through the fastening screws, the spherical motor 3 stator component is positioned at the inner side of an inner aperture of the axial support 9 and the axial upper end of a rotor component of the spherical motor 3 and is installed on the axial support 9 through the fastening screws, the axial displacement sensor 10 is positioned at the axial center position of the spherical motor 3 stator component and is fixedly installed on the spherical motor 3 stator component through thread matching, the left deflection displacement sensor 11A, the axial displacement sensor and the axial displacement sensor 10A, A right deflection displacement sensor 11B, a front deflection displacement sensor 11C and a rear deflection displacement sensor 11D are positioned at the upper end of the outer edge of the groove of the cabin 1, a left deflection displacement sensor 11A, a right deflection displacement sensor 11B, a front deflection displacement sensor 11C and a rear deflection displacement sensor 11D are orthogonally distributed and are installed right left, right, front and rear of the axial support 9 through thread fit, a left radial displacement sensor 12A, a right radial displacement sensor 12B, a front radial displacement sensor 12C and a rear radial displacement sensor 12D are respectively positioned at the horizontal central positions of a left radial spherical magnetic bearing 7A stator component, a right radial spherical magnetic bearing 7B, a front radial spherical magnetic bearing 7C stator component and a rear radial spherical magnetic bearing 7D stator component and are fixedly installed at the horizontal central positions of the left radial spherical magnetic bearing 7A stator component, the rear radial spherical magnetic bearing 7A stator component, the left radial spherical magnetic bearing 7A stator component and the rear radial spherical magnetic bearing 7D stator component through thread fit, In the right radial spherical magnetic bearing 7B stator component, the front radial spherical magnetic bearing 7C stator component and the rear radial spherical magnetic bearing 7D stator component, a certain spherical shell gap is reserved between the lower end surface of the axial support 9 and the upper end surface of the inner edge of the groove of the cabin 1 to form an upper radial axial spherical shell protection gap 13, a certain spherical shell gap is reserved between the spherical surface of the upper end of the spherical motor 3 rotor component and the spherical surface of the lower end of the spherical motor 3 stator component to form a spherical motor spherical shell air gap 14, a certain spherical shell gap is reserved between the inner spherical surfaces of the left radial spherical magnetic bearing 7A stator component, the right radial spherical magnetic bearing 7B stator component, the front radial spherical magnetic bearing 7C stator component and the rear radial spherical surface 7D stator component and the spherical surface of the outer edge of the magnetic bearing cabin 1 to form a radial spherical magnetic bearing spherical shell air gap 15, and a certain spherical shell gap is reserved between the radial inner spherical surface of the axial translational radial deflection magnetic bearing 2 rotor component outer ring and the radial translational radial outer spherical surface of the axial translational radial deflection 2 rotor component inner ring component A certain spherical shell gap is formed to form an axial translation radial deflection magnetic bearing spherical shell air gap 16, and a certain gap is left between the outer cylindrical surface of the lower end of the bottom of the cabin body 1 and the inner cylindrical surface of the bottom of the radial support 5 to form a lower radial spherical shell protection gap 17.

As shown in fig. 2, which is a cross-sectional view of a mover system according to an embodiment of the present invention, the mover system mainly includes: the capsule comprises a capsule body 1, an axial translation radial deflection magnetic bearing 2 rotor outer ring component, an axial translation radial deflection magnetic bearing 2 rotor inner ring component, a spherical motor 3 rotor component and a photoelectric coded disc rotor grating 4, wherein the capsule body 1 is positioned at the axial lower end of the axial translation radial deflection magnetic bearing 2 rotor outer ring component, the axial translation radial deflection magnetic bearing 2 rotor inner ring component and the spherical motor 3 rotor component, the axial translation radial deflection magnetic bearing 2 rotor outer ring component is positioned at the radial inner side of the outer wall of a groove of the capsule body 1 and is fixedly bonded on the capsule body 1 through epoxy resin glue, the axial translation radial deflection magnetic bearing 2 rotor inner ring component is positioned at the radial outer side of the inner wall of the groove of the capsule body 1 and is fixedly bonded on the capsule body 1 through epoxy resin glue, the spherical motor 3 rotor component is positioned at the axial upper end of the capsule body 1 and is fixedly bonded in the groove at the upper end of the top of the capsule body 1 through epoxy resin glue, the photoelectric coded disc rotor grating 4 is positioned outside the outer circle of the lower end of the cabin body 1 in the radial direction and is fixedly bonded on the cabin body 1 through epoxy resin glue.

Fig. 3a is a cross-sectional view of a stator system according to an embodiment of the present invention, and fig. 3b is a schematic three-dimensional structure diagram of the stator system according to the embodiment of the present invention, where the stator system mainly includes: the device comprises an axial translation radial deflection magnetic bearing 2 stator component, a spherical motor 3 stator component, a radial support 5, a photoelectric coded disc reading head 6, a left radial spherical magnetic bearing 7A stator component, a right radial spherical magnetic bearing 7B stator component, a front radial spherical magnetic bearing 7C stator component, a rear radial spherical magnetic bearing 7D stator component, a radial spherical magnetic bearing stator component locknut 8, an axial support 9, an axial displacement sensor 10, a left deflection displacement sensor 11A, a right deflection displacement sensor 11B, a front deflection displacement sensor 11C, a rear deflection displacement sensor 11D, a left radial displacement sensor 12A, a right radial displacement sensor 12B, a front radial displacement sensor 12C and a rear radial displacement sensor 12D; the radial support 5 is positioned below the photoelectric coded disc reading head 6, the photoelectric coded disc reading head 6 is positioned at the upper end of the bottom of the radial support 5 and is fixedly arranged on the radial support 5 through screws, the left radial spherical magnetic bearing 7A stator component, the right radial spherical magnetic bearing 7B stator component, the front radial spherical magnetic bearing 7C stator component, the rear radial spherical magnetic bearing 7D stator component and the radial spherical magnetic bearing stator component locknut 8 are positioned at the radial inner side of the radial support 5, the left radial spherical magnetic bearing 7A stator component, the right radial spherical magnetic bearing 7B stator component, the front radial spherical magnetic bearing 7C stator component and the rear radial spherical magnetic bearing 7D stator component are in orthogonal distribution and are respectively positioned at the right left side, right side, front side and right side of the inner wall clamping groove of the radial support 5 and are fixed on the radial support 5 through the radial spherical magnetic bearing stator component locknut 8, an axial support 9 is positioned at the axial upper end of the radial support 5 and is installed on the upper end surface of the radial support 5 through a fastening screw, a stator assembly of an axial translation radial deflection magnetic bearing 2 is positioned at the radial outer side and the axial lower end of a seam allowance of the axial support 9 and is installed on the axial support 9 through the fastening screw, a stator assembly of a spherical motor 3 is positioned at the inner aperture inner side of the axial support 9 and is installed on the axial support 9 through the fastening screw, an axial displacement sensor 10 is positioned at the axis position of the stator assembly of the spherical motor 3 and is fixedly installed on the stator assembly of the spherical motor 3 through screw thread matching, a left deflection displacement sensor 11A, a right deflection displacement sensor 11B, a front deflection displacement sensor 11C and a rear deflection displacement sensor 11D are in orthogonal distribution and are installed right left, right front and right back of the axial support 9 through screw thread matching, the left radial displacement sensor 12A, the right radial displacement sensor 12B, the front radial displacement sensor 12C and the rear radial displacement sensor 12D are respectively positioned at the horizontal central positions of the left radial spherical magnetic bearing 7A stator component, the right radial spherical magnetic bearing 7B stator component, the front radial spherical magnetic bearing 7C stator component and the rear radial spherical magnetic bearing 7D stator component, and are fixedly installed in the left radial spherical magnetic bearing 7A stator component, the right radial spherical magnetic bearing 7B stator component, the front radial spherical magnetic bearing 7C stator component and the rear radial spherical magnetic bearing 7D stator component through thread matching.

Fig. 4a is a radial X-direction cross-sectional view of an axially-translated and radially-deflected lorentz magnetic bearing 2 according to an embodiment of the present invention, fig. 4b is a radial Y-direction cross-sectional view of an axially-translated and radially-deflected lorentz magnetic bearing 2 according to an embodiment of the present invention, the axially-translated and radially-deflected lorentz magnetic bearing 2 is composed of an axially-translated and radially-deflected magnetic bearing 2 mover outer ring assembly, an axially-translated and radially-deflected magnetic bearing 2 mover inner ring assembly, and an axially-translated and radially-deflected magnetic bearing 2 mover outer ring assembly, and the axially-translated and radially-deflected magnetic bearing 2 mover outer ring assembly mainly includes: the outer edge of the groove of the cabin body 1, an outer lock nut 201, outer upper magnetic steel 202, an outer magnetism isolating ring 203, outer lower magnetic steel 204 and an outer lower magnetism isolating backing ring 205; the axial translation radial deflection magnetic bearing 2 rotor inner ring component mainly comprises: the inner edge of the groove of the cabin body 1, an inner lock nut 206, an inner magnetic isolation ring 208 of an inner upper magnetic steel 207, an inner lower magnetic steel 209 and an inner lower magnetic isolation backing ring 210; the axial translation radial deflection magnetic bearing 2 stator component mainly includes: a stator base 211, a framework 212, an upper axial suspension winding 213, a lower axial suspension winding 214, a left radial deflection winding 215, a right radial deflection winding 216, a front radial deflection winding 217 and a rear radial deflection winding 218; the outer lock nut 201, the outer upper magnetic steel 202, the outer magnetism isolating ring 203, the outer lower magnetic steel 204 and the outer lower magnetism isolating cushion ring 205 are positioned on the inner side of the outer wall of the groove of the cabin body 1, the outer lock nut 201, the outer upper magnetic steel 202, the outer magnetism isolating ring 203, the outer lower magnetic steel 204 and the outer lower magnetism isolating cushion ring 205 are sequentially arranged from top to bottom, the outer lock nut 201, the outer upper magnetic steel 202, the outer magnetism isolating ring 203, the outer lower magnetic steel 204 and the outer lower magnetism isolating cushion ring 205 are fixedly bonded on the cabin body 1 through epoxy resin glue, the inner lock nut 206, the inner upper magnetic steel 207, the inner magnetic steel 208, the inner lower magnetic steel 209 and the inner lower magnetism isolating cushion ring 210 are positioned on the outer side of the inner wall of the groove of the cabin body 1, the inner lock nut 206, the inner upper magnetic steel 207, the inner magnetism isolating ring 208, the inner lower magnetic steel 209 and the inner lower magnetic cushion ring 210 are sequentially arranged from top to bottom, the inner lock nut 201, the inner upper magnetic steel 207, the inner magnetic ring 208, the inner lower magnetic steel 209, the inner lower magnetic cushion ring 208, the inner lower magnetic steel 209 and the inner magnetism isolating cushion ring 210 are fixedly bonded on the cabin body 1 through epoxy resin glue, the outer lock nut 201, and the outer magnet isolating cushion ring, A certain spherical shell gap is reserved between the radial inner spherical surface of the outer upper magnetic steel 202, the outer magnetism isolating ring 203, the outer lower magnetic steel 204 and the outer lower magnetism isolating backing ring 205 and the radial outer spherical surface of the inner lock nut 206, the inner upper magnetic steel 207, the inner magnetism isolating ring 208, the inner lower magnetic steel 209 and the inner lower magnetism isolating backing ring 210 to form an axial translation radial deflection magnetic bearing spherical shell air gap 16, an upper axial suspension winding 213, a lower axial suspension winding 214, a left radial deflection winding 215, a right radial deflection winding 216, a front radial deflection winding 217 and a rear radial deflection winding 218 are positioned at two sides of the lower end of the framework 212, the upper axial suspension winding 213 and the lower axial suspension winding 214 are respectively wound on the radial outer side of the cylindrical surface of the framework 211 and the radial outer side of the lower cylindrical surface, the left radial deflection winding 214, the right radial deflection winding 215, the front radial deflection winding 216 and the rear radial deflection winding 217 are respectively wound on the right left boss and right boss of the framework 212, On a boss right in front and a boss right behind, the upper axial suspension winding 213 is located at the upper ends of the left radial deflection winding 215, the right radial deflection winding 216, the front radial deflection winding 217 and the rear radial deflection winding 218, the lower axial suspension winding 214 is located at the lower ends of the left radial deflection winding 215, the right radial deflection winding 216, the front radial deflection winding 217 and the rear radial deflection winding 218, the upper axial suspension winding 213, the lower axial suspension winding 214, the left radial deflection winding 215, the right radial deflection winding 216, the front radial deflection winding 217 and the rear radial deflection winding 218 are fixed on the framework 212 through epoxy resin glue, and taking the permanent magnetic flux of the passage in the + X direction in fig. 4a as an example, the permanent magnetic flux path is as follows: the permanent magnetic flux is emitted from the N pole of the upper inner magnet steel 207, passes through the upper half part of the air gap 16 of the axial translation radial deflection magnetic bearing spherical shell, the upper axial suspension winding 213 and the upper end of the left radial deflection winding 215, reaches the S pole of the outer upper magnet steel 202, flows out from the N pole of the outer upper magnet steel 202, reaches the S pole of the outer lower magnet steel 204 through the outer edge of the groove of the capsule body 1, flows out from the N pole of the outer lower magnet steel 204, passes through the lower half part of the air gap 16 of the axial translation radial deflection magnetic bearing spherical shell, the lower axial suspension winding 214 and the lower end of the left radial deflection winding 215, reaches the S pole of the inner lower magnet steel 209, flows out from the N pole of the inner lower magnet steel 209, and returns to the N pole of the upper inner magnet steel 207 through the inner edge of the groove of the capsule body 1. Magnetic paths in the-X direction, + Y direction, -Y direction are similar to those in the + X direction.

Fig. 5a is a cross-sectional view of an outer ring component of a mover of the axial translation radial deflection magnetic bearing 2 and an inner ring component of the mover of the axial translation radial deflection magnetic bearing 2 in the embodiment of the present invention, and fig. 5b is a schematic three-dimensional structure diagram of the outer ring component of the mover of the axial translation radial deflection magnetic bearing 2 and the inner ring component of the mover of the axial translation radial deflection magnetic bearing 2 in the embodiment of the present invention, where the outer ring component of the mover of the axial translation radial deflection magnetic bearing 2 mainly includes: the outer edge of the groove of the cabin body 1, an outer locking nut 201, outer upper magnetic steel 202, an outer magnetic isolation ring 203, outer lower magnetic steel 204 and an outer lower magnetic isolation cushion ring 205; the axial translation radial deflection magnetic bearing 2 rotor inner ring component mainly comprises: the inner edge of the groove of the cabin body 1, an inner lock nut 206, an inner magnetic isolation ring 208 of an inner upper magnetic steel 207, an inner lower magnetic steel 209 and an inner lower magnetic isolation backing ring 210; the outer lock nut 201, the outer upper magnetic steel 202, the outer magnetism isolating ring 203, the outer lower magnetic steel 204 and the outer lower magnetism isolating cushion ring 205 are positioned on the inner side of the outer wall of the groove of the cabin body 1, the outer lock nut 201, the outer upper magnetic steel 202, the outer magnetism isolating ring 203, the outer lower magnetic steel 204 and the outer lower magnetism isolating cushion ring 205 are sequentially arranged from top to bottom, the outer lock nut 201, the outer upper magnetic steel 202, the outer magnetism isolating ring 203, the outer lower magnetic steel 204 and the outer lower magnetism isolating cushion ring 205 are fixedly bonded on the cabin body 1 through epoxy resin glue, the inner lock nut 206, the inner upper magnetic steel 207, the inner magnetism isolating ring 208, the inner lower magnetic steel 209 and the inner magnetic cushion ring 210 are positioned on the outer side of the inner wall of the groove of the cabin body 1, and the inner lock nut 206, the inner upper magnetic steel 207, the inner magnetism isolating ring 208, the inner lower magnetic steel 209 and the inner magnetic cushion ring 210 are sequentially arranged from top to bottom, the inner lock nut 201, the inner upper magnetic steel 207, the inner upper magnetic ring 207, the inner magnetism isolating ring 208, the inner magnetism isolating cushion ring 208, the inner lower magnetic steel 209 and the outer lock nut 201 are fixedly bonded on the cabin body 1 through epoxy resin glue, and the outer lock nut 201, Certain spherical shell gaps are reserved between the radial inner spherical surfaces of the outer upper magnetic steel 202, the outer magnetic isolation ring 203, the outer lower magnetic steel 204 and the outer lower magnetic isolation backing ring 205 and the radial outer spherical surfaces of the inner lock nut 206, the inner upper magnetic steel 207, the inner magnetic isolation ring 208, the inner lower magnetic steel 209 and the inner lower magnetic isolation backing ring 210 to form an axial translation radial deflection magnetic bearing spherical shell air gap 16.

Fig. 6 is a cross-sectional view of a stator assembly of the axial translation radial deflection magnetic bearing 2 according to an embodiment of the present invention, where the stator assembly of the axial translation radial deflection magnetic bearing 2 mainly includes: the stator base 211, the framework 212, the upper axial suspension winding 213, the lower axial suspension winding 214, the left radial deflection winding 215, the right radial deflection winding 216, the front radial deflection winding 217 and the rear radial deflection winding 218 are arranged on two sides of the lower end of the framework 212, the upper axial suspension winding 213, the lower axial suspension winding 214, the left radial deflection winding 215, the right radial deflection winding 216, the front radial deflection winding 217 and the rear radial deflection winding 218 are respectively wound on the radial outer side and the radial outer side of the lower cylindrical surface of the framework 211, the left radial deflection winding 214, the right radial deflection winding 215, the front radial deflection winding 216 and the rear radial deflection winding 217 are respectively wound on the positive left boss, the positive right boss, the positive front boss and the positive rear boss of the framework 212, and the upper axial suspension winding 213 is arranged on the left radial deflection winding 215, the positive radial deflection winding 215, the right radial deflection winding, the positive radial deflection winding and the positive rear boss of the framework 212, The upper end of the right radial deflection winding 216, the upper end of the front radial deflection winding 217 and the upper end of the rear radial deflection winding 218 are connected with the lower axial suspension winding 214, the left radial deflection winding 215, the right radial deflection winding 216, the front radial deflection winding 217 and the lower axial suspension winding 214, and the upper end of the lower axial suspension winding 213, the lower axial suspension winding 214, the left radial deflection winding 215, the upper axial deflection winding 216, the upper radial deflection winding 217 and the lower axial deflection winding 218 are fixed on the framework 212 through epoxy resin glue.

Fig. 7 is a cross-sectional view of the spherical motor 3 according to the embodiment of the present invention, the spherical motor 3 is composed of a spherical motor 3 rotor assembly and a spherical motor 3 stator assembly, the spherical motor 3 rotor assembly mainly includes: the outer edge of the top of the cabin body 1 and the spherical motor magnetic steel 301; spherical motor 3 stator module mainly includes: a spherical motor mount 302 and a spherical motor coil 303; the outer edge of the top of the cabin body 1 and the spherical motor magnetic steel 301 are positioned at the lower ends of the spherical motor base 302 and the spherical motor coil 303, the spherical motor magnetic steel 301 is positioned at the radial outer side of a boss at the outer edge of the top of the cabin body 1, the spherical motor magnetic steel 301 has 30 pieces of magnetic steel, and is uniformly distributed and arranged in a groove at the outer edge of the top of the cabin body 1 along the circumferential direction, and is fixed in the groove at the outer edge of the top of the cabin body 1 through epoxy resin glue, the spherical motor base 302 is positioned at the outer edge of the top of the cabin body 1 and the upper end of the spherical motor magnetic steel 301, the spherical motor coil 303 is wound in the groove of the boss at the lower end of the spherical motor base 302, and is bonded on the spherical motor base 302 through epoxy resin adhesive, the magnetizing direction of the spherical motor magnetic steel 301 is that the upper spherical surface is N, and the lower plane is S, and a certain spherical shell gap is left between the spherical surface at the upper end of the spherical motor 3 rotor component and the spherical surface at the lower end of the spherical motor 3 stator component, so as to form a spherical motor spherical shell air gap 14.

Fig. 8 is a cross-sectional view of a rotor assembly of the spherical motor 3 according to the embodiment of the present invention, wherein the rotor of the spherical motor 3 mainly includes: the outer edge of the top of the cabin body 1 and the spherical motor magnetic steel 301; the spherical motor magnetic steel 301 has 30 pieces of magnetic steel, is uniformly distributed in the groove at the outer edge of the top of the cabin body 1 along the circumferential direction, and is fixed in the groove at the outer edge of the top of the cabin body 1 through epoxy resin glue, and the magnetizing direction of the spherical motor magnetic steel 301 is that the upper spherical surface is N and the lower plane is S.

Fig. 9a is a cross-sectional view of a stator assembly of the spherical motor 3 according to an embodiment of the present invention, and fig. 9b is a three-dimensional schematic diagram of the stator assembly of the spherical motor 3 according to an embodiment of the present invention, where the stator assembly of the spherical motor 3 mainly includes: a spherical motor mount 302 and a spherical motor coil 303; the spherical motor coil 303 is wound in the groove of the boss at the lower end of the spherical motor base 302 and fixed on the spherical motor base 302 through epoxy resin glue.

Fig. 10a is a radial X-direction cross-sectional view of the radial spherical magnetic bearing 7 according to the embodiment of the present invention, and fig. 10b is a radial Y-direction cross-sectional view of the radial spherical magnetic bearing 7 according to the embodiment of the present invention, wherein the radial spherical magnetic bearing 7 mainly comprises a stator system and a rotor system, and the rotor system is an outer annular spherical surface of the cabin 1; the stator system mainly includes: a stator sleeve 701, a left spherical stator core 702A, a right spherical stator core 702B, a front spherical stator core 702C, a rear spherical stator core 702D, a left radial spherical magnetic bearing exciting coil 703A, a right radial spherical magnetic bearing exciting coil 703B, a front radial spherical magnetic bearing exciting coil 703C, and a rear radial spherical magnetic bearing exciting coil 703D; the capsule body 1 is positioned at the radial inner side of a left spherical stator core 702A, a right spherical stator core 702B, a front spherical stator core 702C and a rear spherical stator core 702D, the stator sleeve 701 is positioned at the radial outer side of the left spherical stator core 702A, the right spherical stator core 702B, the front spherical stator core 702C and the rear spherical stator core 702D, the left spherical stator core 702A, the right spherical stator core 702B, the front spherical stator core 702C and the rear spherical stator core 702D limit the radial angular positions thereof through positioning grooves at the inner side of the stator sleeve 701, the left spherical stator core 702A, the right spherical stator core 702B, the front spherical stator core 702C and the rear spherical stator core 702D are fixed on the stator sleeve 701 through epoxy resin glue, and a left radial spherical magnetic bearing exciting coil 703A, a right radial spherical exciting coil 703B, a front radial spherical exciting coil 703C and a rear spherical exciting coil 703D are respectively wound on the left spherical stator core 702A, the right spherical stator core 702B, the front spherical stator core 702C and the rear spherical stator sleeve 702D A core 702A, a right spherical stator core 702B, a front spherical stator core 702C and a rear spherical stator core 702D are arranged on the inner side bosses and are respectively fixed on the left spherical stator core 702A, the right spherical stator core 702B, the front spherical stator core 702C and the rear spherical stator core 702D through epoxy resin glue, a certain spherical shell gap is left between the spherical surface of the outer wall of the cabin 1 and the inner spherical surface of the left spherical stator core 702A, the inner spherical surface of the right spherical stator core 702B, the inner spherical surface of the front spherical stator core 702C and the inner spherical surface of the rear spherical stator core 702D to form a radial spherical shell air gap 15, the left spherical stator core 702A and the right spherical stator core 702B form two magnetic poles, the front spherical stator core 702C and the rear spherical stator core 702D form two magnetic poles, the left spherical stator core 702A, the right spherical stator core 702B, the front spherical stator core 702C and the rear spherical stator core 702D form left, right and front and rear 4 magnetic poles, the X, Y magnetic poles in positive and negative directions are respectively formed, taking the electromagnetic magnetic circuit of the channel + X in FIG. 10a as an example: the electromagnetic flux starts from the outer ring magnetic pole of the left spherical stator core 702A, passes through the inner ring magnetic pole of the left spherical stator core 702A, passes through the middle part of the spherical shell air gap 15 of the radial spherical magnetic bearing, reaches the spherical middle part of the outer wall of the cabin body 1, starts from the upper end and the lower end of the spherical surface of the outer wall of the cabin body 1, passes through the upper end and the lower end of the spherical shell air gap 15 of the radial spherical magnetic bearing, and returns to the outer ring magnetic pole of the left spherical stator core 702A. the-X channel, + Y channel, -Y channel electromagnetic magnetic circuits are similar along the + X channel.

Fig. 11 is a cross-sectional view of an axial displacement sensor 10 according to an embodiment of the present invention, where the axial displacement sensor 10 mainly includes: an axial displacement sensor coil 1001, an axial displacement sensor skeleton 1002, an axial magnetic bearing shield wire 1003 and an axial displacement sensor shield cylinder 1004; the axial displacement sensor coil 1001 is wound in an annular groove at the lower end of the axial displacement sensor framework 1002 and fixed on the axial displacement sensor framework 1002 through epoxy resin glue, the axial magnetic bearing shielding wire 1003 is connected with the end of the axial displacement sensor coil 1001 through soldering tin, and the axial displacement sensor shielding cylinder 1004 is located on the radial outer side of the axial displacement sensor coil 1001 and the axial displacement sensor framework 1002.

Fig. 12 is a cross-sectional view of a deflection displacement sensor 11 according to an embodiment of the present invention, where the deflection displacement sensor 11 mainly includes: a deflection displacement sensor coil 1101, an outlet 1102 and a deflection displacement sensor skeleton 1103; the deflection displacement sensor coil 1101 is wound in an annular groove at the lower end of the deflection displacement sensor framework 1103 and fixed on the deflection displacement sensor framework 1103 through epoxy resin glue, and the deflection displacement sensor coil 1101 is led out from the outlet 1102.

Fig. 13 is a cross-sectional view of the radial displacement sensor 12 according to the embodiment of the present invention, where the radial displacement sensor 12 mainly includes: a radial displacement sensor coil 1201, a radial displacement sensor skeleton 1202, a radial displacement sensor shielding cylinder 1203 and a radial displacement sensor shielding wire 1204; radial displacement sensor coil 1201 twines in radial displacement sensor skeleton 1202 lower extreme ring channel to fix on radial displacement sensor skeleton 1202 through epoxy glue, radial displacement sensor shielded wire 1204 is connected with radial displacement sensor coil 1201 end of a thread through soldering tin, and radial displacement sensor shielding section of thick bamboo 1203 is located the radial outside of radial displacement sensor coil 1201 and radial displacement sensor skeleton 1202.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims. The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.

Claims

1. The six-degree-of-freedom full-active control Lorentz pod comprises a rotor system and a stator system, and is characterized in that the rotor system mainly comprises: the device comprises a cabin body (1), an axial translation radial deflection magnetic bearing (2), a rotor outer ring assembly, an axial translation radial deflection magnetic bearing (2), a rotor inner ring assembly, a spherical motor (3), a rotor assembly and a photoelectric coded disc rotor grating (4);

the stator system mainly includes: an axial translation radial deflection magnetic bearing (2) stator component, a spherical motor (3) stator component, a radial support (5), a photoelectric coded disc reading head (6), a left radial spherical magnetic bearing (7A) stator component, a right radial spherical magnetic bearing (7B) stator component, a front radial spherical magnetic bearing (7C) stator component, a rear radial spherical magnetic bearing (7D) stator component, a radial spherical magnetic bearing stator component locknut (8) and an axial support (9), the device comprises an axial displacement sensor (10), a left deflection displacement sensor (11A), a right deflection displacement sensor (11B), a front deflection displacement sensor (11C), a rear deflection displacement sensor (11D), a left radial displacement sensor (12A), a right radial displacement sensor (12B), a front radial displacement sensor (12C) and a rear radial displacement sensor (12D);

the cabin body (1) is positioned at the axial lower ends of a rotor outer ring assembly of the axial translation radial deflection magnetic bearing (2), a rotor inner ring assembly of the axial translation radial deflection magnetic bearing (2) and a rotor assembly of the spherical motor (3), the rotor outer ring assembly of the axial translation radial deflection magnetic bearing (2) is positioned at the radial inner side of the outer wall of a groove of the cabin body (1) and is fixedly bonded on the cabin body (1) through epoxy resin glue, the rotor inner ring assembly of the axial translation radial deflection magnetic bearing (2) is positioned at the radial outer side of the inner wall of the groove of the cabin body (1) and is fixedly bonded on the cabin body (1) through epoxy resin glue, the rotor assembly of the spherical motor (3) is positioned at the axial upper end of the cabin body (1) and is fixedly bonded in a groove at the upper end of the top of the cabin body (1) through epoxy resin glue, and the photoelectric coded disc rotor grating (4) is positioned at the radial outer side of the outer circle of the lower end of the cabin body (1), the photoelectric encoder is fixedly adhered to the cabin body (1) through epoxy resin glue, the radial support (5) is positioned at the radial outer side of the cabin body (1) and the photoelectric encoder rotor grating (4), the photoelectric encoder reading head (6) is positioned at the upper end of the bottom of the radial support (5) and is fixedly installed on the radial support (5) through screws, the left radial spherical magnetic bearing (7A) stator component, the right radial spherical magnetic bearing (7B) stator component, the front radial spherical magnetic bearing (7C) stator component, the rear radial spherical magnetic bearing (7D) stator component and the radial spherical magnetic bearing stator component locking nut (8) are positioned at the radial inner side of the radial support (5), the left radial spherical magnetic bearing (7A) stator component, the right radial spherical magnetic bearing (7B) stator component, the front radial spherical magnetic bearing (7C) stator component and the rear radial spherical magnetic bearing stator component (7D) are in orthogonal distribution, the axial support (9) is positioned at the axial upper end of the radial support (5) and is arranged on the upper end surface of the radial support (5) through a fastening screw, the axial translation radial deflection magnetic bearing (2) is positioned at the radial outer side and the axial lower end of a seam allowance of the axial support (9), the stator assembly of the axial translation radial deflection magnetic bearing (2) is positioned at the radial inner side of a spherical surface in a rotor outer ring assembly of the axial translation radial deflection magnetic bearing (2) and the radial outer side of a spherical surface in a rotor inner ring assembly of the axial translation radial deflection magnetic bearing (2) and is arranged on the axial support (9) through the fastening screw, the stator assembly of the spherical motor (3) is positioned at the inner aperture inner side of the axial support (9) and the axial upper end of the rotor assembly of the spherical motor (3), the axial displacement sensor (10) is positioned at the axis position of a stator assembly of the spherical motor (3) and fixedly installed on the stator assembly of the spherical motor (3) through thread fit, the left deflection displacement sensor (11A), the right deflection displacement sensor (11B), the front deflection displacement sensor (11C) and the rear deflection displacement sensor (11D) are positioned at the upper end of the outer edge of a groove of the cabin body (1), the left deflection displacement sensor (11A), the right deflection displacement sensor (11B), the front deflection displacement sensor (11C) and the rear deflection displacement sensor (11D) are in orthogonal distribution and are installed right left, right, front and rear of the axial support (9) through thread fit, the left radial displacement sensor (12A), the right radial displacement sensor (12B), the front radial displacement sensor (12C) and the rear radial displacement sensor (12D) are respectively positioned on the left radial spherical surface Horizontal central positions of stator components of the magnetic bearing (7A), the right radial spherical magnetic bearing (7B), the front radial spherical magnetic bearing (7C) and the rear radial spherical magnetic bearing (7D) are fixedly arranged in the horizontal central positions of the stator components of the left radial spherical magnetic bearing (7A), the right radial spherical magnetic bearing (7B), the front radial spherical magnetic bearing (7C) and the rear radial spherical magnetic bearing (7D) through thread matching, a certain spherical shell gap is reserved between the lower end surface of the axial support (9) and the upper end surface of the inner edge of the groove of the cabin body (1) to form an upper radial axial spherical shell protection gap (13), a certain spherical shell gap is reserved between the upper end spherical surface of the rotor component of the spherical motor (3) and the spherical surface of the stator component at the lower end of the spherical motor (3) to form a spherical motor spherical shell air gap (14), a certain spherical shell gap is reserved between the inner spherical surface of the stator assembly of the left radial spherical magnetic bearing (7A), the inner spherical surface of the stator assembly of the right radial spherical magnetic bearing (7B), the front radial spherical magnetic bearing (7C) and the inner spherical surface of the outer edge of the cabin body (1) to form a radial spherical magnetic bearing spherical shell air gap (15), a certain spherical shell gap is reserved between the radial inner spherical surface of the outer ring assembly of the rotor of the axial translation radial deflection magnetic bearing (2) and the radial outer spherical surface of the inner ring assembly of the rotor of the axial translation radial deflection magnetic bearing (2) to form an axial translation radial deflection magnetic bearing spherical shell air gap (16), a certain gap is reserved between the outer cylindrical surface of the lower end of the bottom of the cabin body (1) and the inner cylindrical surface of the bottom of the radial support (5), and a lower radial spherical shell protection gap (17) is formed.

2. The six degree-of-freedom fully actively controlled lorentz bird of claim 1, characterized in that: the axial translation radial deflection magnetic bearing (2) mainly comprises a rotor outer ring assembly, a rotor inner ring assembly and a stator assembly, wherein the rotor outer ring assembly comprises an outer lock nut (201), outer upper magnetic steel (202), an outer magnetic isolation ring (203), outer lower magnetic steel (204) and an outer lower magnetic isolation cushion ring (205), the rotor inner ring assembly comprises an inner lock nut (206), inner upper magnetic steel (207), an inner magnetic isolation ring (208), inner lower magnetic steel (209) and an inner lower magnetic isolation cushion ring (210), and the stator assembly comprises a stator base (211), a framework (212), an upper axial suspension winding (213), a lower axial suspension winding (214), a left radial deflection winding (215), a right radial deflection winding (216), a front radial deflection winding (217) and a rear radial deflection winding (218).

3. The six degree-of-freedom fully actively controlled lorentz bird of claim 1, characterized in that: spherical motor (3) constitute by rotor part and stator part, rotor part includes the cabin body (1) top sphere and spherical motor magnet steel (301), the stator part includes spherical motor cabinet (302) and spherical motor coil (303).

4. The six degree-of-freedom fully actively controlled lorentz bird of claim 1, characterized in that: the radial spherical magnetic bearing (7) is a pure electromagnetic spherical magnetic bearing and consists of a stator part and a rotor part, and the rotor part is a spherical part at the outer edge of the cabin body (1); the stator part comprises a stator sleeve (701), a left spherical stator core (702A), a right spherical stator core (702B), a front spherical stator core (702C), a rear spherical stator core (702D), a left radial spherical magnetic bearing exciting coil (703A), a right radial spherical magnetic bearing exciting coil (703B), a front radial spherical magnetic bearing exciting coil (703C) and a rear radial spherical magnetic bearing exciting coil (703D).

5. The six degree-of-freedom fully actively controlled lorentz bird of claim 1, characterized in that: the magnetizing directions of the outer upper magnetic steel (202), the outer lower magnetic steel (204), the inner upper magnetic steel (207) and the inner lower magnetic steel (209) in the axial translation radial deflection magnetic bearing rotor (2) are as follows in sequence: outer N inner S, outer S inner N, outer N inner S or outer S inner N, outer N inner S, outer S inner N.

6. The six degree-of-freedom fully actively controlled lorentz bird of claim 1, characterized in that: the center of mass of the six-degree-of-freedom full-active control Lorentz pod rotor system is coincided with the center of a spherical surface at the outer edge of the cabin body (1), the center of a spherical surface at the radial inner side of an outer ring component of the rotor of the axial translation radial deflection magnetic bearing (2), the center of a spherical surface at the radial outer side of an inner ring component of the rotor of the axial translation radial deflection magnetic bearing (2) and the center of a spherical surface at the upper end of a rotor component of the spherical motor (3).

7. The six degree-of-freedom fully actively controlled lorentz bird of claim 1, characterized in that: the center of the outer spherical surface of the outer wall of the stator component of the axial translation radial deflection magnetic bearing (2), the center of the inner spherical surface of the inner wall of the stator component of the axial translation radial deflection magnetic bearing (2), the center of the spherical surface of the lower end spherical surface of the stator component of the spherical motor (3), the center of the inner spherical surface of the stator component of the left radial spherical magnetic bearing (7A), the center of the inner spherical surface of the stator component of the right radial spherical magnetic bearing (7B), the center of the inner spherical surface of the stator component of the front radial spherical magnetic bearing (7C) and the center of the inner spherical surface of the stator component of the rear radial spherical magnetic bearing (7D) are coincided, and are coincided with the mass center of a six-degree-of-freedom fully-actively controlled Lorentz pod rotor system.

8. The six degree-of-freedom fully actively controlled lorentz bird of claim 1, characterized in that: the cabin body (1), the spherical motor base (302), the left spherical stator core (702A), the right spherical stator core (702B), the front spherical stator core (702C) and the rear spherical stator core (702D) are all made of 1J50 or 1J22 bar materials with strong magnetic permeability.

9. The six degree-of-freedom fully actively controlled lorentz bird of claim 1, wherein: the axial displacement sensor (10), the left deflection displacement sensor (11A), the right deflection displacement sensor (11B), the front deflection displacement sensor (11C), the rear deflection displacement sensor (11D), the left radial displacement sensor (12A), the right radial displacement sensor (12B), the front radial displacement sensor (12C) and the rear radial displacement sensor (12D) are all eddy current displacement sensors.