CN114962454B - Magnetic suspension universal stable platform - Google Patents
Magnetic suspension universal stable platform Download PDFInfo
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- CN114962454B CN114962454B CN202210843266.7A CN202210843266A CN114962454B CN 114962454 B CN114962454 B CN 114962454B CN 202210843266 A CN202210843266 A CN 202210843266A CN 114962454 B CN114962454 B CN 114962454B
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- rotor
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- 239000000725 suspension Substances 0.000 title claims abstract description 35
- 238000004804 winding Methods 0.000 claims description 25
- 238000002955 isolation Methods 0.000 claims description 24
- 210000000078 claw Anatomy 0.000 claims description 21
- 238000005339 levitation Methods 0.000 claims description 18
- 230000006641 stabilisation Effects 0.000 claims description 16
- 238000011105 stabilization Methods 0.000 claims description 16
- 239000003822 epoxy resin Substances 0.000 claims description 5
- 229920000647 polyepoxide Polymers 0.000 claims description 5
- 239000000758 substrate Substances 0.000 claims description 4
- 230000003068 static effect Effects 0.000 claims 4
- 239000002775 capsule Substances 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 4
- 230000004907 flux Effects 0.000 description 3
- 239000004642 Polyimide Substances 0.000 description 2
- 239000000956 alloy Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 229920001721 polyimide Polymers 0.000 description 2
- QJVKUMXDEUEQLH-UHFFFAOYSA-N [B].[Fe].[Nd] Chemical compound [B].[Fe].[Nd] QJVKUMXDEUEQLH-UHFFFAOYSA-N 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- KPLQYGBQNPPQGA-UHFFFAOYSA-N cobalt samarium Chemical compound [Co].[Sm] KPLQYGBQNPPQGA-UHFFFAOYSA-N 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 229910001172 neodymium magnet Inorganic materials 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 229910000938 samarium–cobalt magnet Inorganic materials 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/047—Details of housings; Mounting of active magnetic bearings
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/0474—Active magnetic bearings for rotary movement
- F16C32/0485—Active magnetic bearings for rotary movement with active support of three degrees of freedom
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/03—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using magnetic or electromagnetic means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F2222/00—Special physical effects, e.g. nature of damping effects
- F16F2222/06—Magnetic or electromagnetic
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Magnetic Bearings And Hydrostatic Bearings (AREA)
Abstract
The utility model provides a universal stable platform of magnetic suspension mainly comprises stator system and subsystem two parts, and the subsystem mainly includes: a rotor skeleton, a deflection magnetic bearing rotor, a circumferential magnetic bearing rotor and a load bearing piece; the stator system mainly comprises: translational magnetic bearing stator, deflection magnetic bearing stator, circumferential magnetic bearing stator and sensor. The invention adopts a full-spherical magnetic suspension structure, wherein the translational magnetic bearing comprises three groups of magnetic poles which are uniformly distributed at 120 degrees in the circumferential direction and obliquely arranged at 35.26 degrees, the three groups of magnetic poles form an orthogonal structure in space, the three-degree-of-freedom translational suspension and decoupling control of the subsystem is realized, and the deflection and circumferential magnetic bearings adopt spherical Lorentz force magnetic suspension structures, so that the universal deflection and circumferential rotation-free control of the subsystem are respectively realized. The invention realizes the universal deflection and accurate pointing of the subsystem through full-sphere magnetic suspension and full-channel active control, greatly improves the agility, stability and accuracy of the stable platform, and has wide application prospect in the field of aerospace remote sensing.
Description
Technical Field
The invention relates to a general non-contact magnetic suspension universal stable platform for spacecrafts and aircrafts in the atmosphere, wherein a subsystem is suspended by electromagnetic force, vibration generated by an aircrafts body can be effectively isolated, a load bearing piece of the subsystem can carry load which needs very stable ultra-static working conditions, and the subsystem can realize three-degree-of-freedom translational suspension, universal deflection and circumferential non-rotation control because a pure electromagnetic translational magnetic bearing for controlling the three-degree-of-freedom translational motion of the subsystem, a lorentz force magnetic bearing for controlling the deflection of two degrees of freedom and a lorentz force magnetic bearing for controlling the circumferential non-rotation are all spherical structures.
Technical Field
In the on-orbit running process of the spacecraft, vibration is generated due to the influence of various disturbance in the space environment, the change of the gesture is caused, the influence of the vibration cannot be ignored for the load which is carried by the spacecraft and needs to be very stable and ultra-static working environment, similarly, the situation of the aircraft in the atmosphere is more complex due to the consideration of aerodynamic force and gravity influence, the vibration generated by the aircraft can be effectively isolated by non-contact suspension of the load by utilizing the magnetic suspension technology, and the gesture pointing precision of the load is improved.
The magnetic levitation technology is mainly applied to a magnetic levitation train on the ground, has wide application prospect in the aviation and even aerospace fields, controls a rotor by adopting the magnetic levitation technology through a magnetic levitation flywheel and a magnetic levitation control moment gyro applied to aerospace, and has limited research on a magnetic levitation inertial stabilization platform capable of providing a very stable and ultra-static environment.
The magnetic suspension inertial stabilization platform generally has multiple functions of multi-degree-of-freedom suspension control, vibration isolation, attitude stabilization control and the like, and the five-degree-of-freedom active magnetic suspension inertial stabilization platform disclosed in the issued patent ZL201210321861.0 has two-degree-of-freedom translational motion and three-degree-of-freedom rotational active control capabilities, but the designed function is vibration isolation in the field of aviation remote sensing, and is further used in the field of aerospace and further needs to optimize structures, materials and the like. The lorentz inertial stabilization platform described in the issued patent zl202010295521.X adopts a spherical lorentz force magnetic bearing to realize large-angle deflection, but the stabilization precision of the lorentz inertial stabilization platform is still to be improved. The two magnetic suspension inertial stabilization platforms have further optimized space, and are put into practice in the aerospace field and further need to be upgraded and improved.
Analysis shows that the premise of improving the pointing precision of the magnetic suspension platform is that the axial translational control and the radial translational control of the platform have no interference on the radial rotation control, namely, the translational motion in the directions X, Y and Z must be completely decoupled with the radial X and Y directions, so that the magnetic bearing is required to generate radial and axial electromagnetic force, and the deflection moment can not be generated on the suspension platform.
Disclosure of Invention
The technical solution of the invention is as follows: the utility model provides a not enough of prior art provides a general non-contact magnetic suspension universal stable platform of multiple aircraft, can realize the superstable superstatic control of subsystem, and isolation vibration, provides a new axial, radial three degree of freedom translation suspension control decoupling's oblique dress three orthogonal translation magnetic bearing design, and the subsystem can carry out universal deflection, has increased the bandwidth of the load work that the load receiver carried.
The technical scheme of the invention is as follows: the utility model provides a universal stable platform of magnetic suspension mainly comprises stator system and subsystem two parts, its characterized in that: the stator system mainly comprises: the device comprises a translation deflection magnetic bearing connecting disc, a circumferential magnetic bearing stator mounting disc, a circumferential magnetic bearing stator, a deflection magnetic bearing stator, a translation magnetic bearing mounting disc and a sensor; the subsystem mainly comprises: the device comprises a load bearing piece, a circumferential magnetic bearing rotor, a deflection magnetic bearing inner rotor, a deflection magnetic bearing outer rotor and a rotor framework; the magnetic suspension subsystem and the magnetic suspension stator system realize stable suspension without mechanical contact through a circumferential magnetic bearing, a deflection magnetic bearing and a translation magnetic bearing, the translation magnetic bearing stator is positioned below a rotor framework and consists of an inner stator of the translation magnetic bearing and an outer stator of the translation magnetic bearing in pairs, three pairs of stators are uniformly distributed in the circumferential direction by 120 degrees, the central connecting line of the magnetic poles of each pair of inner and outer stators passes through the center of a sphere, three shafts are obliquely arranged in a three-orthogonal structure, the stators are arranged on a translation magnetic bearing mounting disc at the bottom through fastening screws, the circumferential magnetic bearing stator mounting disc is positioned above the inner translation magnetic bearing stator and connected through the fastening screws, the circumferential magnetic bearing stator mounting disc is provided with three groups of brackets uniformly distributed by 120 degrees, three groups of sensors are arranged on the three groups of brackets of the mounting disc, the three windings of the circumferential magnetic bearing stator are uniformly distributed and arranged in the direction that the mounting plate does not have a bracket at 120 degrees, the translational deflection magnetic bearing connecting disc is positioned above the bracket of the circumferential magnetic bearing stator mounting plate and connected through fastening screws, the connecting disc is provided with an inner interface and an outer interface, the deflection magnetic bearing stator is connected below the outer interface, an inner rotor and an outer rotor of the deflection magnetic bearing are positioned in a Lorentz force magnetic bearing room of a rotor framework, the inner rotor and the outer rotor are distributed on the radial two sides of the deflection magnetic bearing stator, the rotor framework is positioned on the radial outer side of the mounting plate of the circumferential magnetic bearing stator, the three groups of rotor magnetic claws are positioned below a cabin body and uniformly distributed between the groups of stators of the translational magnetic bearing at 120 degrees, the circumferential magnetic bearing rotor is positioned on the radial inner side of the rotor framework and above the magnetic claws and wrapped on the radial two sides of the circumferential magnetic bearing stator, and the load bearing part is positioned above the rotor framework and connected through the fastening bolts.
The translational magnetic bearing, the deflection magnetic bearing and the circumferential magnetic bearing all adopt spherical structures, and universal deflection of the universal stable platform subsystem can be realized through full spherical structures and full channel active control. The stator magnetic pole and the rotor magnetic claw of the translational magnetic bearing are 1J22 or other high-saturation magnetic-density magnetic conductive materials. The permanent magnet is made of samarium cobalt alloy or neodymium iron boron alloy material. The Lorentz force stator framework is made of high-strength and high-hardness polyimide materials.
The rotor framework is hollow, a load bearing piece connected with the upper end of the rotor framework can be connected with a load, a magnetic claw at the lower end is of an inner spherical surface and an outer spherical surface structure, axial and radial translational control of a rotor system is carried out by matching with a spherical translational magnetic bearing, a deflection Lorentz force magnetic bearing permanent magnet is arranged in a Lorentz force magnetic bearing room, a spherical air spherical shell is arranged between magnetic conduction rings between the inner permanent magnet and the outer permanent magnet, and a Lorentz force magnetic bearing stator framework winding is arranged in the spherical air spherical shell.
The principle of the scheme is as follows: the rotor system is suspended by using a magnetic bearing, mechanical contact is not generated between the rotor system and the aircraft body, the translational magnetic bearing adopts a pure electromagnetic bearing structure, magnetic poles adopt a spherical structure, radial and axial translational suspension control of the rotor system is realized by differential control, the deflection magnetic bearing adopts Lorentz force magnetic bearing control, windings of the deflection magnetic bearing are uniformly distributed on a polyimide stator framework in the circumferential direction by 90 degrees, and a magnetic field of the deflection magnetic bearing is provided by a permanent magnet. As shown in fig. 1, the deflected lorentz force permanent magnet circuit of the present invention is: the magnetic flux starts from the N pole of the outer upper permanent magnet, passes through the inner upper magnetic conductive ring, the spherical air spherical shell between the inner and outer Lorentz force permanent magnets, the outer upper magnetic conductive ring returns to the S pole of the inner upper permanent magnet, returns to the S pole of the inner lower permanent magnet through the permanent magnet and the inner cylindrical magnetic conductive ring, passes through the inner lower magnetic conductive ring, the spherical air spherical shell between the inner and outer Lorentz force permanent magnets, returns to the S pole of the outer lower permanent magnet, and returns to the N pole of the outer upper permanent magnet through the outer cylindrical magnetic conductive ring and the outer upper permanent magnet to form a closed loop. As shown in fig. 2b, the circumferential lorentz force permanent magnetic circuit of the invention is that magnetic flux starts from the N pole of the circumferential left permanent magnet, passes through the circumferential outer spherical magnetic conductive ring, the spherical air spherical shell between the inner spherical magnetic conductive ring and the outer spherical magnetic conductive ring, the circumferential inner spherical magnetic conductive ring, the air spherical shell between the inner spherical magnetic conductive ring and the outer spherical magnetic conductive ring, returns to the S pole of the Zhou Xiangyou permanent magnet, and then returns to the N pole of the circumferential left permanent magnet through the circumferential outer magnetic conductive ring and the circumferential left permanent magnet to form a closed loop. As shown in fig. 5b, the translational magnetic bearing pure electromagnetic circuit of the present invention is: the magnetic flux starts from the N pole of the left spherical magnetic pole of the outside/inside translational magnetic bearing stator, passes through the air gap between the stator and the rotor magnetic claw, then passes through the magnetic claw, returns to the S pole of the right spherical magnetic pole of the stator through the air gap between the magnetic claw and the right spherical magnetic pole of the stator, and forms a closed loop through the stator.
The principle of the scheme is as follows: the magnetic bearing is used for suspending the subsystem, so that the subsystem is not in mechanical contact with the stator system and the aircraft body, and universal deflection is realized through the global surface structure. The translational magnetic bearing for controlling the radial axial translation of the subsystem adopts a spherical structure, so that the aim of eliminating the interference moment can be fulfilled, the control force required by the axial and radial two-degree-of-freedom three-direction translational motion is decoupled to three groups of magnetic pole directions by uniformly distributing three orthogonal structures in the circumferential direction of the translational magnetic bearing at 120 degrees, and the radial axial magnetic bearing is innovatively combined; the Lorentz force stator and the permanent magnet for controlling deflection and circumferential stability are of spherical structures, and radial universal deflection and circumferential non-rotation stability of the subsystem can be realized.
The principle of the scheme is as follows: the magnetic bearing is used for suspending the subsystem, so that the subsystem is not in mechanical contact with the stator system and the aircraft body, vibration generated by the aircraft can be effectively isolated, and very stable and ultra-static working conditions are provided for the load carried on the load bearing piece.
Compared with the prior art, the invention has the advantages that: the invention combines radial axial magnetic bearings on the basis of the existing magnetic suspension technology, realizes decoupling of radial axial three-degree-of-freedom control force to the magnetic pole direction through a circumferentially 120-degree uniformly-distributed oblique three-orthogonal structure, replaces the traditional design of decoupling the required control force to radial two degrees of freedom and axial one degree of freedom, and greatly reduces the control difficulty and effectively improves the control precision by the design of three-degree-of-freedom translational suspension control by two magnetic bearings; the deflection and circumferential magnetic bearings are spherical lorentz force magnetic bearings, and the three groups of translation magnetic poles and magnetic claws thereof are also in spherical structures.
Drawings
FIG. 1 is a front cross-sectional view of a magnetic levitation universal stabilization platform according to the technical solution of the present invention;
FIG. 2a is a front cross-sectional view of a circumferential magnetic bearing according to the present invention;
FIG. 2b is a top cross-sectional view of a circumferential magnetic bearing according to the present invention;
FIG. 3 is a front cross-sectional view of a deflection magnet bearing according to the present invention;
FIG. 4 is a front cross-sectional view of a mover frame according to the present invention;
FIG. 5a is a front cross-sectional view of a translational magnetic bearing according to the present invention;
FIG. 5b is a cross-sectional view of a translational magnetic pole of the present invention;
detailed description of the preferred embodiments
As shown in fig. 1, a magnetic suspension universal stable platform mainly comprises a stator system and a subsystem, and is characterized in that: the stator system mainly comprises: the device comprises a translation deflection magnetic bearing connecting disc (2), a circumferential magnetic bearing stator mounting disc (3), a Zhou Xiangci bearing (4) stator, a deflection magnetic bearing (5) stator, a translation magnetic bearing (7) stator, a translation magnetic bearing mounting disc (8) and a sensor (9); the subsystem mainly comprises: the load bearing device comprises a load bearing piece (1), a Zhou Xiangci bearing (4) rotor, a rotor at the inner side of a deflection magnetic bearing (5), a rotor at the outer side of the deflection magnetic bearing (5) and a rotor framework (6); the magnetic levitation subsystem and the magnetic levitation stator system realize stable levitation without mechanical contact through a circumferential magnetic bearing (4), a deflection magnetic bearing (5) and a translation magnetic bearing (7), the stator of the translation magnetic bearing (7) is positioned below a rotor framework (6), the stator is formed by paired inner side stators of the translation magnetic bearing (7) and outer side stators of the translation magnetic bearing (7), three pairs of stators are circumferentially and uniformly distributed at 120 DEG, the center connecting line of each pair of inner and outer stator magnetic poles passes through a spherical center, three shafts are obliquely arranged in a three-orthogonal structure, the stators are arranged on a translation magnetic bearing mounting disc (8) at the bottom through fastening screws, the circumferential magnetic bearing stator mounting disc (3) is positioned above the inner side translation magnetic bearing (7) stator and connected through the translation fastening screws, the circumferential magnetic bearing stator mounting disc is provided with three groups of brackets uniformly distributed at 120 DEG, three groups of sensors (9) are arranged on three groups of brackets of the circumferential magnetic bearing stator mounting disc (3), three windings of the stators of the Zhou Xiangci are 120 DEG are uniformly distributed in the direction of the circumferential magnetic bearing stator mounting disc (3), the deflection magnetic bearing mounting disc (3) is positioned on the direction of no bracket, the two rotor (5) are uniformly distributed on the inner side of the magnetic bearing framework (5), the magnetic bearing (6) is positioned at the outer side of the magnetic bearing framework, the magnetic bearing (5) is connected with the inner side of the magnetic bearing (6) through the magnetic bearing, the magnetic bearing is uniformly arranged at the magnetic bearing mounting disc, the magnetic bearing is positioned at the magnetic bearing mounting disc is positioned at the inner side of the magnetic bearing interface, the inner part and the outer part are distributed on the two radial sides of a stator of the deflection magnetic bearing (5), the rotor framework (6) is positioned on the radial outer side of the stator mounting disc (3) of the circumferential magnetic bearing, three groups of rotor magnetic claws are positioned below the cabin body and are uniformly distributed between the groups of stators of the translation magnetic bearing (7) at an angle of 120 degrees, the rotor of the Zhou Xiangci bearing (4) is positioned on the radial inner side of the rotor framework (6) and above the magnetic claws, the rotor is wrapped on the two radial sides of the stator of the Zhou Xiangci bearing (4), and the load bearing piece (1) is positioned above the rotor framework (6) and is connected through fastening bolts.
Fig. 2a is a front cross-sectional view of a circumferential magnetic bearing (4) according to the present invention, fig. 2b is a top cross-sectional view of the circumferential magnetic bearing, and Zhou Xiangci the bearing (4) is a lorentz force magnetic bearing, comprising a stationary part and a floating part, the stationary part mainly comprising: a circumferential magnetic bearing stator coil support (402), a circumferential magnetic bearing winding (403), the levitation portion mainly comprising: the circumferential magnetic bearing rotor support (401), the circumferential inner spherical magnetic conduction ring (404), the circumferential outer spherical magnetic conduction ring (405), the circumferential permanent magnet (406) and the circumferential outer magnetic conduction ring (407), the circumferential magnetic bearing winding (403) is glued on the circumferential magnetic bearing stator coil support (402) through epoxy resin to form a circumferential magnetic bearing (4) stator, the circumferential magnetic bearing stator coils are uniformly distributed and arrayed on the circumferential magnetic bearing stator mounting plate (3) at 120 degrees, the circumferential magnetic bearing rotor support (401) is provided with three wrapping cabins which are uniformly distributed and arrayed at 120 degrees, the circumferential inner spherical magnetic conduction ring (404) is embedded on the inner side surface of the wrapping cabin, the circumferential outer spherical magnetic conduction ring (405), the circumferential permanent magnet (406) and the circumferential outer magnetic conduction ring (407) are concentrically matched and embedded in the outer cavity of the wrapping cabin, and the two sides of the circumferential magnetic bearing stator coils are wrapped and suspended on the wrapping cabin.
Fig. 3 is a front cross-sectional view of a deflection magnetic bearing (5) in the present invention, the deflection magnetic bearing (5) is a lorentz force magnetic bearing, and includes a stationary portion and a levitation portion, the stationary portion mainly including: a deflection magnetic bearing stator skeleton (501), deflection magnetic bearing windings (506), the levitation part mainly comprises: the inner magnetic conduction ring (502), the inner upper permanent magnet (503A), the inner lower permanent magnet (503B), the inner upper spherical magnetic conduction ring (504A), the inner lower spherical magnetic conduction ring (504B), the inner magnetic isolation ring (505), the outer magnetic conduction ring (507), the outer upper permanent magnet (508A), the outer lower permanent magnet (508B), the outer upper spherical magnetic conduction ring (509A), the outer magnetic isolation ring (510), the deflection magnetic bearing winding (506) is glued on the deflection magnetic bearing stator skeleton (501) through epoxy resin, the inner magnetic conduction ring (502) and the inner magnetic isolation ring (505) are concentrically assembled, the inner upper permanent magnet (503A), the inner upper spherical magnetic conduction ring (504A), the inner lower permanent magnet (503B) and the inner lower spherical magnetic conduction ring (504B) are concentrically and symmetrically assembled on the inner magnetic isolation ring (505) to form an inner side rotor of the deflection magnetic bearing (5), the outer magnetic isolation ring (507), the outer magnetic isolation ring (510) is concentrically assembled, the outer upper permanent magnet (508A), the outer upper spherical magnetic conduction ring (509A), the outer lower permanent magnet (508B) and the outer lower spherical magnetic isolation ring (509B) are concentrically assembled on the outer side of the deflection magnetic bearing (510).
Fig. 4 is a front view cross section of a mover framework (6) in the invention, the mover framework (6) mainly comprises a mover framework substrate (601), mover magnetic claws (602), a deflection magnetic bearing outer side mover locking ring (603) and a deflection magnetic bearing inner side mover locking ring (604), wherein the mover magnetic claws (602) are positioned below the mover framework substrate (601) and uniformly distributed at 120 degrees and connected through fastening screws.
Fig. 5a is a front view cross section of a translational magnetic bearing (7) in the present invention, fig. 5b is a translational magnetic pole cross section in the present invention, and the translational magnetic bearing (7) is a pure magnetic bearing, including a stationary portion and a suspension portion, where the stationary portion mainly includes: the device mainly comprises a translational magnetic bearing outer magnetic pole support (701), a translational magnetic bearing outer magnetic pole (702), a translational magnetic bearing outer winding (703), a translational magnetic bearing inner magnetic pole (704), a translational magnetic bearing inner winding (705) and a translational magnetic bearing inner magnetic pole support (706), wherein a suspension part mainly comprises: the rotor magnetic claw (602), the inside magnetic pole (704) of the translational magnetic bearing is installed on the inside magnetic pole bracket (706) of the translational magnetic bearing, the inside winding (705) of the translational magnetic bearing is wound, the inside stator of the translational magnetic bearing (7) is formed, three groups of the inside stators of the translational magnetic bearing are uniformly distributed at 120 degrees, the outside magnetic pole (702) of the translational magnetic bearing is installed on the outside magnetic pole bracket (701) of the translational magnetic bearing, the outside winding (703) of the translational magnetic bearing is formed, the outside stators of the translational magnetic bearing (7) are uniformly distributed at 120 degrees, the magnetic pole faces are opposite to the inside stator of the translational magnetic bearing, the magnetic pole faces are spherical, the connecting line of the magnetic pole centers is intersected with the spherical center, and an oblique three-orthogonal structure is formed, and the rotor magnetic claw (602) is suspended between the spherical surfaces of the inner magnetic pole and the outer magnetic pole to form a concentric relationship.
What is not described in detail in the present specification belongs to the prior art known to those skilled in the art.
Claims (8)
1. The utility model provides a universal stable platform of magnetic suspension mainly comprises stator system and subsystem two parts, its characterized in that: the stator system mainly comprises: the device comprises a translation deflection magnetic bearing connecting disc (2), a circumferential magnetic bearing stator mounting disc (3), a Zhou Xiangci bearing (4) stator, a deflection magnetic bearing (5) stator, a translation magnetic bearing (7) stator, a translation magnetic bearing mounting disc (8) and a sensor (9); the subsystem mainly comprises: the load bearing device comprises a load bearing piece (1), a Zhou Xiangci bearing (4) rotor, a rotor at the inner side of a deflection magnetic bearing (5), a rotor at the outer side of the deflection magnetic bearing (5) and a rotor framework (6); the magnetic levitation subsystem and the magnetic levitation stator system realize stable levitation without mechanical contact through a circumferential magnetic bearing (4), a deflection magnetic bearing (5) and a translation magnetic bearing (7), the stator of the translation magnetic bearing (7) is positioned below a rotor framework (6), the stator is formed by paired inner side stators of the translation magnetic bearing (7) and outer side stators of the translation magnetic bearing (7), three pairs of stators are circumferentially and uniformly distributed at 120 DEG, the center connecting line of each pair of inner and outer stator magnetic poles passes through a spherical center, three shafts are obliquely arranged in a three-orthogonal structure, the stators are arranged on a translation magnetic bearing mounting disc (8) at the bottom through fastening screws, the circumferential magnetic bearing stator mounting disc (3) is positioned above the inner side translation magnetic bearing (7) stator and connected through the translation fastening screws, the circumferential magnetic bearing stator mounting disc is provided with three groups of brackets uniformly distributed at 120 DEG, three groups of sensors (9) are arranged on three groups of brackets of the circumferential magnetic bearing stator mounting disc (3), three windings of the stators of the Zhou Xiangci are 120 DEG are uniformly distributed in the direction of the circumferential magnetic bearing stator mounting disc (3), the deflection magnetic bearing mounting disc (3) is positioned on the direction of no bracket, the two rotor (5) are uniformly distributed on the inner side of the magnetic bearing framework (5), the magnetic bearing (6) is positioned at the outer side of the magnetic bearing framework, the magnetic bearing (5) is connected with the inner side of the magnetic bearing (6) through the magnetic bearing, the magnetic bearing is uniformly arranged at the magnetic bearing mounting disc, the magnetic bearing is positioned at the magnetic bearing mounting disc is positioned at the inner side of the magnetic bearing interface, the inner part and the outer part are distributed on the two radial sides of a stator of the deflection magnetic bearing (5), the rotor framework (6) is positioned on the radial outer side of the stator mounting disc (3) of the circumferential magnetic bearing, three groups of rotor magnetic claws are positioned below the cabin body and are uniformly distributed between the groups of stators of the translation magnetic bearing (7) at an angle of 120 degrees, the rotor of the Zhou Xiangci bearing (4) is positioned on the radial inner side of the rotor framework (6) and above the magnetic claws, the rotor is wrapped on the two radial sides of the stator of the Zhou Xiangci bearing (4), and the load bearing piece (1) is positioned above the rotor framework (6) and is connected through fastening bolts.
2. The magnetically levitated gimbal stabilization platform of claim 1, wherein: zhou Xiangci bearing (4) be lorentz force magnetic bearing, including stationary part and suspension part, the stationary part mainly includes: a circumferential magnetic bearing stator coil support (402), a circumferential magnetic bearing winding (403), the levitation portion mainly comprising: the circumferential magnetic bearing rotor support (401), the circumferential inner spherical magnetic conduction ring (404), the circumferential outer spherical magnetic conduction ring (405), the circumferential permanent magnet (406) and the circumferential outer magnetic conduction ring (407), the circumferential magnetic bearing winding (403) is glued on the circumferential magnetic bearing stator coil support (402) through epoxy resin to form a circumferential magnetic bearing (4) stator, the circumferential magnetic bearing stator coils are uniformly distributed and arrayed on the circumferential magnetic bearing stator mounting plate (3) at 120 degrees, the circumferential magnetic bearing rotor support (401) is provided with three wrapping cabins which are uniformly distributed and arrayed at 120 degrees, the circumferential inner spherical magnetic conduction ring (404) is embedded on the inner side surface of the wrapping cabin, the circumferential outer spherical magnetic conduction ring (405), the circumferential permanent magnet (406) and the circumferential outer magnetic conduction ring (407) are concentrically matched and embedded in the outer cavity of the wrapping cabin, and the two sides of the circumferential magnetic bearing stator coils are wrapped and suspended on the wrapping cabin.
3. The magnetically levitated gimbal stabilization platform of claim 1, wherein: the deflection magnetic bearing (5) is a Lorentz force magnetic bearing and comprises a static part and a suspension part, wherein the static part mainly comprises: a deflection magnetic bearing stator skeleton (501), deflection magnetic bearing windings (506), the levitation part mainly comprises: the inner magnetic conduction ring (502), the inner upper permanent magnet (503A), the inner lower permanent magnet (503B), the inner upper spherical magnetic conduction ring (504A), the inner lower spherical magnetic conduction ring (504B), the inner magnetic isolation ring (505), the outer magnetic conduction ring (507), the outer upper permanent magnet (508A), the outer lower permanent magnet (508B), the outer upper spherical magnetic conduction ring (509A), the outer magnetic isolation ring (510), the deflection magnetic bearing winding (506) is glued on the deflection magnetic bearing stator skeleton (501) through epoxy resin, the inner magnetic conduction ring (502) and the inner magnetic isolation ring (505) are concentrically assembled, the inner upper permanent magnet (503A), the inner upper spherical magnetic conduction ring (504A), the inner lower permanent magnet (503B) and the inner lower spherical magnetic conduction ring (504B) are concentrically and symmetrically assembled on the inner magnetic isolation ring (505) to form an inner side rotor of the deflection magnetic bearing (5), the outer magnetic isolation ring (507), the outer magnetic isolation ring (510) is concentrically assembled, the outer upper permanent magnet (508A), the outer upper spherical magnetic conduction ring (509A), the outer lower permanent magnet (508B) and the outer lower spherical magnetic isolation ring (509B) are concentrically assembled on the outer side of the deflection magnetic bearing (510).
4. The magnetically levitated gimbal stabilization platform of claim 1, wherein: the rotor framework (6) mainly comprises a rotor framework substrate (601), rotor magnetic claws (602), a rotor locking ring (603) at the outer side of a deflection magnetic bearing and a rotor locking ring (604) at the inner side of the deflection magnetic bearing, wherein the rotor magnetic claws (602) are positioned below the rotor framework substrate (601) and uniformly distributed at 120 degrees and connected through fastening screws.
5. The magnetically levitated gimbal stabilization platform of claim 1 or 4, wherein: the translational magnetic bearing (7) is a pure electromagnetic bearing and comprises a static part and a suspension part, wherein the static part mainly comprises: the device mainly comprises a translational magnetic bearing outer magnetic pole support (701), a translational magnetic bearing outer magnetic pole (702), a translational magnetic bearing outer winding (703), a translational magnetic bearing inner magnetic pole (704), a translational magnetic bearing inner winding (705) and a translational magnetic bearing inner magnetic pole support (706), wherein a suspension part mainly comprises: the rotor magnetic claw (602), the inside magnetic pole (704) of the translational magnetic bearing is installed on the inside magnetic pole bracket (706) of the translational magnetic bearing, the inside winding (705) of the translational magnetic bearing is wound, the inside stator of the translational magnetic bearing (7) is formed, three groups of the inside stators of the translational magnetic bearing are uniformly distributed at 120 degrees, the outside magnetic pole (702) of the translational magnetic bearing is installed on the outside magnetic pole bracket (701) of the translational magnetic bearing, the outside winding (703) of the translational magnetic bearing is formed, the outside stators of the translational magnetic bearing (7) are uniformly distributed at 120 degrees, the magnetic pole faces are opposite to the inside stator of the translational magnetic bearing, the magnetic pole faces are spherical, the connecting line of the magnetic pole centers is intersected with the spherical center, and an oblique three-orthogonal structure is formed, and the rotor magnetic claw (602) is suspended between the spherical surfaces of the inner magnetic pole and the outer magnetic pole to form a concentric relationship.
6. The magnetically levitated gimbal stabilization platform of claim 2 or 4, wherein: zhou Xiangci bearing, circumference magnetic bearing rotor support (401) are adorned in rotor skeleton base member (601) radial inboard, rotor magnetic claw (602) top, zhou Xiangci bearing (4) stator become 120 equipartition on circumference magnetic bearing stator mounting plate and arrange, circumference magnetic bearing rotor support (401) wrap Zhou Xiangci bearing (4) stator around the radial both sides in capsule, suspend in the stator top, circumference internal spherical magnetic conduction ring (404), circumference external spherical magnetic conduction ring (405), zhou Xiangci bearing (4) stator are spherical structure, rotor system universal deflection function is unrestricted, circumference magnetic bearing passes through lorentz force control rotor system circumference and does not take place the rotation, improve the directional precision of load carrier (1) loading.
7. A magnetically levitated gimbal stabilization platform according to claim 1 or 3, wherein: the deflection magnetic bearing comprises deflection magnetic bearing stator frames (501) and deflection magnetic bearing windings (506), wherein the deflection magnetic bearing windings (506) are glued on the deflection magnetic bearing stator frames (501) through epoxy resin to form a deflection magnetic bearing (5) stator, the deflection magnetic bearing stator frames are mounted below an outer side interface of a translation deflection magnetic bearing connecting disc through fastening bolts, the four deflection magnetic bearing windings (506) are positioned on the deflection magnetic bearing stator frames (501) and are serially connected in pairs, when the four deflection magnetic bearing windings (506) are identical in number of turns, generated ampere force is equal in magnitude and opposite in direction to form force couple, interference is not generated in three translation directions, an inner magnetic conduction ring (502), an inner magnetic isolation ring (505) are concentrically assembled, an inner upper permanent magnet (503A), an inner upper spherical magnetic conduction ring (504A), an inner lower permanent magnet (503B) and an inner lower spherical magnetic conduction ring (504B) are concentrically and symmetrically assembled on the inner magnetic isolation ring (505) through fastening bolts to form an inner side rotor of the deflection magnetic bearing (5), the outer magnetic ring (507), the outer magnetic isolation ring (510) is concentrically assembled on the Lorentz force magnetic bearing housing radial inner side of the rotor frame (6), the outer magnetic conduction ring (508), the outer magnetic ring (508) is concentrically assembled on the outer magnetic isolation ring (504A) and the inner spherical magnetic isolation ring (504B) is concentrically and symmetrically assembled on the outer side of the inner magnetic isolation ring (504B) through fastening bolts, the inner spherical magnetic isolation ring (504B) is arranged on the inner side The stator of the deflection magnetic bearing (5), the outer upper spherical magnetic conduction ring (509A) and the outer lower spherical magnetic conduction ring (509B) are all in spherical structures, so that the subsystem realizes radial two-degree-of-freedom universal deflection control.
8. The magnetically levitated gimbal stabilization platform of claim 1, wherein: the magnetic pole face of the translational magnetic bearing (7) is of a spherical structure, the electromagnetic force of a spherical magnetic pole always passes through the sphere center of a rotor framework, namely the electromagnetic force always passes through one point, the electromagnetic force directions of three groups of magnetic poles form an oblique three-orthogonal structure, the needed control force is decoupled to the directions of the three groups of magnetic poles, the traditional split radial and axial magnetic bearings are replaced, and the translational suspension anti-disturbance control precision of a subsystem is improved.
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