JP6023326B2 - 三次元球体駆動システム - Google Patents
三次元球体駆動システム Download PDFInfo
- Publication number
- JP6023326B2 JP6023326B2 JP2015524175A JP2015524175A JP6023326B2 JP 6023326 B2 JP6023326 B2 JP 6023326B2 JP 2015524175 A JP2015524175 A JP 2015524175A JP 2015524175 A JP2015524175 A JP 2015524175A JP 6023326 B2 JP6023326 B2 JP 6023326B2
- Authority
- JP
- Japan
- Prior art keywords
- sphere
- ball
- bearing
- support frame
- drive system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- OQZCSNDVOWYALR-UHFFFAOYSA-N flurochloridone Chemical compound FC(F)(F)C1=CC=CC(N2C(C(Cl)C(CCl)C2)=O)=C1 OQZCSNDVOWYALR-UHFFFAOYSA-N 0.000 claims description 20
- 241000270281 Coluber constrictor Species 0.000 claims description 17
- 238000013016 damping Methods 0.000 claims description 4
- 238000005339 levitation Methods 0.000 description 5
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000002238 attenuated effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/28—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect
- B64G1/285—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect using momentum wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/244—Spacecraft control systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/28—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect
- B64G1/283—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect using reaction wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/32—Guiding or controlling apparatus, e.g. for attitude control using earth's magnetic field
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K16/00—Machines with more than one rotor or stator
- H02K16/04—Machines with one rotor and two stators
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K17/00—Asynchronous induction motors; Asynchronous induction generators
- H02K17/02—Asynchronous induction motors
- H02K17/16—Asynchronous induction motors having rotors with internally short-circuited windings, e.g. cage rotors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/025—Asynchronous motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
- H02K5/16—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields
- H02K5/173—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields using bearings with rolling contact, e.g. ball bearings
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
- H02K5/16—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields
- H02K5/173—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields using bearings with rolling contact, e.g. ball bearings
- H02K5/1737—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields using bearings with rolling contact, e.g. ball bearings radially supporting the rotor around a fixed spindle; radially supporting the rotor directly
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/08—Structural association with bearings
- H02K7/086—Structural association with bearings radially supporting the rotor around a fixed spindle; radially supporting the rotor directly
- H02K7/088—Structural association with bearings radially supporting the rotor around a fixed spindle; radially supporting the rotor directly radially supporting the rotor directly
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2201/00—Specific aspects not provided for in the other groups of this subclass relating to the magnetic circuits
- H02K2201/18—Machines moving with multiple degrees of freedom
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
- Magnetic Bearings And Hydrostatic Bearings (AREA)
- Mounting Of Bearings Or Others (AREA)
- Rolling Contact Bearings (AREA)
- Motor Or Generator Frames (AREA)
Description
形状であることを特徴とする。
、
、
または
形状の断面を有する形鋼が互いに直角となるように連結されることで、上、下、左、右、正、背面がそれぞれ開放された形態の正六面体に構成される。
形状の断面を有するように構成されることができる。この構成により、支持フレーム10が弾性復元力を有することになり、その結果、後述する玉軸受30に均一な支持力を加えることで球体20をさらに高精度かつ正確に支持することができる。
20 球体
30 玉軸受
31 玉
32 軸受レーサ
32A 溝
33 軸受ケージ
33A ガイド溝
40 電磁石
50 制御部
Claims (5)
- 正六面体形状の支持フレーム(10)と、
前記支持フレーム(10)の内部中央に位置する球体(20)と、
前記支持フレーム(10)の内側頂点毎にそれぞれ設けられ、前記球体(20)の表面と接触する複数の玉軸受(30)と、
前記玉軸受(30)の周りに配置され、磁場を形成することで前記球体(20)を回転させる複数の電磁石(40)と、
前記電磁石(40)を制御することで前記球体(20)の回転方向および回転速度を制御する制御部(50)と、からなることを特徴とする、三次元球体駆動システム。 - 前記玉軸受(30)は、玉(31)と、前記支持フレーム(10)に設けられ、前記玉(31)が載置される半球状の溝(32A)が形成された軸受レーサ(32)と、前記軸受レーサ(32)の上部に結合され、内部に半球状のガイド溝(33A)が形成された軸受ケージ(33)と、を含み、
前記玉が、前記軸受レーサ(32)の溝(32A)と前記軸受ケージ(33)のガイド溝(33A)とが接してなる溝に拘束されるように設けられることを特徴とする、請求項1に記載の三次元球体駆動システム。 - 前記玉(31)の中心が、下記数式3により決定される地点に位置することを特徴とする、請求項2に記載の三次元球体駆動システム。
- 前記玉軸受(30)と前記支持フレーム(10)との間には、振動減衰部材が設けられることを特徴とする、請求項2に記載の三次元球体駆動システム。
- 前記支持フレームは、長さ方向の断面が
形状であることを特徴とする、請求項1に記載の三次元球体駆動システム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR10-2012-0081146 | 2012-07-25 | ||
KR1020120081146A KR101372807B1 (ko) | 2012-07-25 | 2012-07-25 | 3차원 구체 구동시스템 |
PCT/KR2013/006610 WO2014017817A1 (ko) | 2012-07-25 | 2013-07-24 | 3차원 구체 구동시스템 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2015527860A JP2015527860A (ja) | 2015-09-17 |
JP6023326B2 true JP6023326B2 (ja) | 2016-11-09 |
Family
ID=49997563
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015524175A Active JP6023326B2 (ja) | 2012-07-25 | 2013-07-24 | 三次元球体駆動システム |
Country Status (4)
Country | Link |
---|---|
US (1) | US9751644B2 (ja) |
JP (1) | JP6023326B2 (ja) |
KR (1) | KR101372807B1 (ja) |
WO (1) | WO2014017817A1 (ja) |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101421949B1 (ko) * | 2014-05-12 | 2014-08-13 | 한국항공우주연구원 | 구체 자기부상시스템 및 구체 자기부상시스템 운영방법 |
KR101491682B1 (ko) * | 2014-12-10 | 2015-02-25 | 한국항공우주연구원 | 구체의 3차원 회전속도벡터 측정방법 |
EP3334654B1 (en) | 2015-08-12 | 2021-03-17 | UAB "Pazangus Pozicionavimo Sprendimai" | Satellites attitude control system |
CN105207430B (zh) * | 2015-09-15 | 2017-11-14 | 清华大学 | 一种磁轮驱动的磁悬浮动量球 |
US10151606B1 (en) * | 2016-02-24 | 2018-12-11 | Ommo Technologies, Inc. | Tracking position and movement using a magnetic field |
US11643225B2 (en) | 2017-07-21 | 2023-05-09 | The Aerospace Corporation | Interlocking, reconfigurable, reconstitutable, reformable cell-based space system |
CN108591196B (zh) * | 2018-05-09 | 2020-04-07 | 哈尔滨工业大学 | 用于微纳卫星的兼具电磁连接、转位及分离功能的机构 |
GB201812074D0 (en) * | 2018-07-24 | 2018-09-05 | Space Talos Ltd | Spacecraft radiation shield system |
KR101921243B1 (ko) | 2018-09-12 | 2018-11-22 | 에이씨케이(주) | 공중부양형 방향제 분사 장치 |
US10688405B2 (en) * | 2018-11-07 | 2020-06-23 | Cristian Moreno | Levitating ball assembly |
GB2587818A (en) * | 2019-10-03 | 2021-04-14 | Space Talos Ltd | A spacecraft attitude control system and a spacecraft comprising such an attitude control system |
CN110641739A (zh) * | 2019-11-09 | 2020-01-03 | 深圳市临近空间科技开发有限公司 | 一种多维度旋转轴连接装置 |
Family Cites Families (19)
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US3517562A (en) * | 1967-09-12 | 1970-06-30 | Raytheon Co | Inertial gyroscope |
US4719381A (en) * | 1985-08-21 | 1988-01-12 | The Curators Of The University Of Missouri | Electrical machines and apparatus for rotation around multiple axes |
JPH0343919Y2 (ja) * | 1985-12-16 | 1991-09-13 | ||
JPS62225500A (ja) * | 1986-03-26 | 1987-10-03 | 工業技術院長 | 物体の姿勢制御装置 |
JPS6468775A (en) | 1987-09-09 | 1989-03-14 | Sharp Kk | Image forming device |
JPH0635866Y2 (ja) * | 1987-12-22 | 1994-09-21 | 神鋼電機株式会社 | 全方向駆動輪 |
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JPH0635866A (ja) | 1992-07-13 | 1994-02-10 | Nippon Telegr & Teleph Corp <Ntt> | マルチプロセッサシステム |
US5319577A (en) * | 1992-12-18 | 1994-06-07 | Georgia Tech Research Corporation | Orientation sensing system and method for a spherical body |
JPH08156896A (ja) * | 1994-12-09 | 1996-06-18 | Nec Corp | 姿勢制御用ホイール及びこの姿勢制御用ホイールを用いた宇宙航行体の姿勢制御装置 |
JPH09168275A (ja) * | 1995-12-15 | 1997-06-24 | Mitsubishi Heavy Ind Ltd | 多自由度電動機 |
WO2002031945A2 (en) * | 2000-10-13 | 2002-04-18 | Clarity, Llc | Magnetic actuation and positioning |
KR100592940B1 (ko) * | 2004-07-22 | 2006-06-26 | 태화일렉트론(주) | 글라스 지지용 근접핀 |
JP4942173B2 (ja) * | 2006-09-26 | 2012-05-30 | 独立行政法人 宇宙航空研究開発機構 | 非接触型剛体回転制御装置 |
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JP4982796B2 (ja) * | 2007-06-25 | 2012-07-25 | 独立行政法人産業技術総合研究所 | 球面加減速駆動機構 |
PT104442A (pt) * | 2009-03-16 | 2010-09-16 | Pedro Da Costa Balas Ferreira | Gerador eléctrico esférico de indução magnética |
KR101168833B1 (ko) * | 2012-03-08 | 2012-07-25 | 김석문 | 케이슨 방파제, 그 케이슨 방파제 구축용 케이슨유닛, 및 그 케이슨 방파제의 제조방법 |
-
2012
- 2012-07-25 KR KR1020120081146A patent/KR101372807B1/ko active IP Right Grant
-
2013
- 2013-07-24 WO PCT/KR2013/006610 patent/WO2014017817A1/ko active Application Filing
- 2013-07-24 US US14/414,852 patent/US9751644B2/en active Active
- 2013-07-24 JP JP2015524175A patent/JP6023326B2/ja active Active
Also Published As
Publication number | Publication date |
---|---|
US20150166200A1 (en) | 2015-06-18 |
KR101372807B1 (ko) | 2014-03-12 |
KR20140014634A (ko) | 2014-02-06 |
WO2014017817A1 (ko) | 2014-01-30 |
JP2015527860A (ja) | 2015-09-17 |
US9751644B2 (en) | 2017-09-05 |
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