JPS6082041A - Magnetically levitating rotary wheel - Google Patents

Abstract

PURPOSE:To improve the inertial efficiency and to increase the supporting rigidity to an external force by forming noncontacting bearing means at the periphery of a rotary wheel to concentrate the mass of the wheel at the peripheral region. CONSTITUTION:A rotary wheel 1 having an axial center C of rotation includes a spherical surface 1a having a center of sphere on the axial center C, and formed in a substantially doughnut-shaped wheel. Annular permanent magnets 2, 3 are provided on the peripheral surface 1a of the wheel 1, and pole pieces 4, 5 and 6, 7 are closely engaged with the magnets 2, 3. Magnetic fluxes generated from the magnets 2, 3 are led to form a closed magnetic path at the projections 9-12 formed on the corresponding portion of a supporting stationary unit 8 made of a magnetic material arranged around the wheel 2, and the wheel 1 is supported without contact by a magnetic force.

Description

[Detailed Description of the Invention] Technical Field The present invention relates to a magnetically levitated rotating wheel in which the rotating wheel is supported for high-speed rotation by non-contact bearing means using magnetic force. The present invention relates to a magnetically levitated rotating wheel that can change the axial direction of a high-speed rotating axis in space by generating full offset torque around orthogonal axes.

BACKGROUND ART Recently, it has become possible to put into practical use non-contact bearing means that utilizes magnetic force as a means to fully support the rotation of a rotating body.

It has a remarkable effect on eliminating mechanical friction caused by bearing cracks. However, counterfeiting of known magnetically levitated rotating wheels using support mechanisms consisting of contactless bearing means of this type is
Similar to the conventional rolling bearing support standby groove, magnetic bearing means are provided in 11 parts of the rotating wheel. Although this structure is effective in eliminating mechanical friction, As in the case of the means, it does not contribute to the effective distribution of mass that contributes to optimizing the support rigidity for supporting the rotating wheel and the inertia ratio relative to the center of rotation. Also, the freedom to change the direction of the axis of rotation of the single rotation wheel relative to other supporting fixed bodies!
It is impossible to have the angular movement of the rotating wheel until it's t' (r), and therefore the angular movement of the rotating wheel is used to transfer the angular movement to the supporting fixed body.

By applying torque, it has been difficult to use a magnetically levitated rotary wheel to control the attitude of a spatially moving body with respect to three spatial axes.

OBJECTS OF THE INVENTION It is an object of the present invention not only to completely eliminate mechanical friction in a bearing part by utilizing the effectiveness of a non-contact bearing means using magnetism, but also to apply the non-contact bearing means to the surrounding area of a rotating ring. The mass of the rotating wheel is formed to be concentrated in its surrounding area, and the negative gold that contributes to the inertia factor with respect to the center of rotation is effectively ensured in the surrounding area of the rotating ring. It is an object of the present invention to provide a highly useful magnetically levitated rotating wheel that has a degree of freedom in turning around two axes that are perpendicular to the rotating axis of the rotating wheel.

Structure and operation of the invention In view of the above-mentioned object of the invention, the magnetically levitated rotating wheel according to Ichimoku's invention includes a rotating ring having a spherical circumferential surface having a spherical center on one rotation axis, and a spherical circumferential surface of the rotating wheel. It has a concave spherical surface with the same spherical center r as the concave 31! a supporting fixed body provided around the rotating ring with a constant gap between the surface and the spherical curved surface of the rotating ring; and a magnetically acting member distributed and held between the spherical curved surface of the rotating ring and the supporting fixed body. Formed in a coma rL
, a non-contact magnetic bearing part that levitates and supports the rotary ring so that it can rotate about the rotation axis relative to the supporting fixed body and can rotate around two mutually orthogonal axes perpendicular to the rotation axis; , a rotation drive section disposed substantially at the center of the rotating ring, which provides constant high-speed rotation to the rotating ring about the rotation axis, and a non-contact magnetic bearing section wound around the supporting fixed body. an electromagnetic wire wheel that controls the position of the rotary ring in cooperation with the rotary ring and that can rotate the rotary ring about the two axes; It is characterized by being completely equipped with a detector for detecting contact.

The magnetically levitated rotating wheel of the present invention has the above-described configuration.

The floating support in the radial direction of a rotating wheel rotating at high speed is achieved by concentrating the mass of one rotating wheel through the mutual magnetic action of non-contact magnetic bearings provided on the rotating wheel and the opposing portion of a supporting fixed body having a shape that opposes it. Since the peripheral area is directly supported, the supporting force of the rotating wheel against external forces is significantly improved compared to a structure in which the magnetic bearing means is provided at the center of the rotating wheel.

On the other hand, the floating support in the axial direction of the single rotation wheel is combined with the floating support effect by the above-mentioned non-contact magnetic bearing.

A control current is supplied to the electromagnetic wire ring provided on the supporting fixed body according to the direction and magnitude of the external force in the axial direction.

By generating a force in the axial direction that balances the external force, it is possible to properly maintain and control the axially balanced position. In this way, the control current supplied to the electromagnetic wire wheel can be improved compared to conventionally commonly used means for controlling the axis of the rotating ring, that is, means for always keeping the relative position of the rotating ring and the supporting fixed body constant. Instead of overcoming the external force and holding the rotating wheels at a constant position, it is only necessary to hold the rotating wheels at a position that is balanced with the external force, so the current value can be significantly reduced.

Furthermore, the above-mentioned electromagnetic wire rings are formed from four #j1 wheels arranged on the supporting fixed body at four equally spaced positions surrounding the rotating ring, and two of each are arranged to form a pair. In the case of a configuration in which the currents supplied to these four wire wheels are distributed in an appropriate ratio, the resultant torque acting on one rotating wheel is transferred to the two rotating wheels perpendicular to its axis of rotation. Desired precession torque can be generated around each of the two orthogonal axes. Also, the drive mechanism of the rotating wheel drive unit is shaped like a donut. is large, and therefore the rotating wheel drive torque is large, even though the drive current value of the two rotating wheel drive section is at a relatively low level.

This produces the effect that a large rotating wheel drive torque can be obtained.

EXAMPLES The present invention will be explained in more detail below based on examples shown in the accompanying drawings.

FIG. 1 is a longitudinal sectional view showing an embodiment of a magnetically levitated rotating wheel according to the present invention, FIG. 2 is a sectional view taken along line 1-1 in FIG. 1, and FIG. It is an enlarged view of a part T showing the relative positional relationship between the fixed body and the magnetic equilibrium point.

In Fig. 1, a rotating wheel l having one rotation axis C is a generally donut-shaped ring having a spherical curved surface 1a with a spherical center on its rotation axis C, and whose interior is hollowed out. It is formed as. An annular permanent magnet 2 is provided on the circumferential surface 1a of the rotating ring l.
, 3 are provided apart from each other in the axial direction, and
The permanent magnet 2 has annular magnetic pole pieces 4 and 5 closely attached to both ends thereof, and the other permanent magnet 3 has annular magnetic pole pieces 6.7 closely attached to both ends of the permanent magnet 3. The annular magnetic pole pieces 4, 5 and 6, 7 are made of a magnetic material arranged around the rotating wheel 1 - the magnetic fluxes f1 and fzk generated from the permanent magnets 2 and 3, as shown in an enlarged view in FIG. A protrusion 9 formed on the corresponding part of the supporting and fixed body 8,
1o and 11, 12 to form a magnetic closed circuit, thereby directing the rotating wheel 1 in its radial direction (first N
The radial direction from the spherical center in a plane perpendicular to the axial direction X is indicated by an arrow Y. ) and axial direction (
The equilibrium point O of the magnetic force in the direction shown by the arrow X in Figure 1)
A force is generated in a direction to remove the displacement in the radial direction and axial direction, and the rotating wheel 1 is supported in the vicinity of the equilibrium point 0 without contact. Now, the protrusions 9 on the supporting and fixed body 8,
10 and 11.12 are formed as concave spherical surfaces 8a having the same spherical center as the spherical center of the rotating wheel 1, and when the rotating wheel 1 is held at the above equilibrium point, the concave spherical surface 8a of the supporting fixed body 8 and the spherical circumferential surface 1a of the rotating ring 1 are held in a concentric position with a constant gap formed therebetween. In addition, at this time, the magnetic pole pieces 4, 5, and 6.7 of the rotating wheel 1 and the protrusion 9 of the supporting fixed body 8
, 10 and 11.12 in the circumferential direction, as shown in FIG. It is being

Furthermore, between the projections 9, 10 of the support fixture 8 and the projections 11
．． Electromagnetic wire rings 13 and 14 are wound between the electromagnetic wire rings 12 and 12, and when a controlled excitation current is applied from the outside to these electromagnetic wire rings 13 and 14 to generate a magnetic flux island and j4 (Fig. 3)',
The magnitude of the magnetic flux islands and f2 caused by the permanent magnets 2 and 3 of the rotating wheel 1 described above can be controlled to fluctuate. For example, if a controlled excitation current is applied to generate a magnetic flux fa't- in the same direction as the magnetic flux f1, and a magnetic flux ff in the opposite direction to the magnetic flux f2, a state of -, +1''!<>φ2-f4 is generated. The magnetic pole pieces 4° 5 of the one-rotation wheel 1 are pulled together with the protrusions 9, 1o of the supporting fixed body 8 so as to eliminate the aforementioned circumferential deviation and align with each other. , 7 is a supporting fixed body 8
A mutual magnetic interaction occurs away from the protrusions 11, 12 of. Therefore, using such mutual magnetic action, Tf'N, ge.

When an external force acts on the rotating wheel 1, the rotating wheel 1 is caused by the external force.
NozrLt-can be balanced. In other words, permanent magnets 2.3. Magnetic pole piece 4.5 #6.7 and protrusions 9, 10 of supporting fixed body 8,
The electromagnetic wire wheels 13 and 14 function as a balance means against external forces in contrast to the non-contact bearings for floating and supporting the rotating wheel 1 constituted by 11 and 12. In addition, in the case of this embodiment, between the rotation @1 and the supporting fixed body 8, as shown in FIG.
As can be understood by referring to both figures in Fig. 2, four non-contact bearings for floating support are provided at equal intervals in the circumferential direction. Electrical rings 1a and 1a are wound at points symmetrical to each other, and are arranged perpendicularly to the arms.

Electromagnetic wire rings 13a, 14a, 15a, and 16a are provided.

Now, the above-mentioned control excitation current is applied to the electromagnetic wire wheels 13 and 14 while the rotary wheel 1 is rotating, and at the same time the electromagnetic wire wheel 13 and the equilibrium point 0
When a controlled excitation current is applied so that the magnetic flux flow increases in the electromagnetic wire 15, which is located at a point symmetrical position with respect to the point, and the magnetic flux flow decreases in the electromagnetic wire 16, the equilibrium shown in FIG. An input torque is applied clockwise with respect to point 0, and according to this input torque, a torque with a vector perpendicular to the input torque is generated, and a reaction torque is applied to the supporting fixed body 8 by this torque. Such reaction torque is generated by separate electromagnetic wire wheels 13a, 14a and 15a, 16a.
Moreover, both reaction torques or both torques are generated around each of two mutually orthogonal axes that are orthogonal to the rotational axis C of the rotating shaft 1, that is, the rotating wheel 1. Therefore, the magnetically levitated rotating wheel according to the present invention is formed as a two-degree-of-freedom magnetically levitated rotating wheel.

If the two-degree-of-freedom magnetically levitated rotary wheel according to the present invention is mounted on the attitude control section of all artificial satellites and rocket devices, the above-mentioned reaction torque can be used to control the attitude and orientation of these artificial satellites and rocket devices. In this case, if a sharp torque is generated.

The reaction torque is transmitted to the C support fixed body 8 by the supporting force of the non-contact magnetic bearing, displacing the satellite body and the rocket device body to which the support fixed body 8 is attached, so that it is supported and fixed with the two rotating wheels 1. Since the relative position with the body 8 changes only slightly, the rotary wheel 1
There is no need to provide a large gap between the support and fixed body 8.

Same as rotation axis C! The control in the l11 direction is performed, for example, by controlling another electromagnetic wire ring 14 provided on the same circumference as the electromagnetic wire ring 13.
+ 15 e l When a control excitation current is applied to 6B so that the magnetic flux flow due to the annular permanent magnetic flux 3 is reduced, the rotating wheel 1
'(It can be moved in the upward direction (plus direction) on the I-X axis.

When the rotating wheel 1 deviates from the magnetic force equilibrium point 0 in the positive direction of the X-axis, the magnetic flux / is caused by the magnetic attraction force, and when it deviates in the negative direction of the X-axis (downward direction in Figure 1), the magnetic flux f2 Due to the magnetic attractive force of
Axial position detector 17417 a r 1 provided in
8 + 18 a (Figures 1 and 2) This detection is performed using a leakage magnetic flux detector, for example, to detect rotation caused by changes in leakage magnetic flux of non-contact air bearings. The axial position detectors 17, 17a, 1B, 18a may be configured to detect the displacement speed of the wheel 1 in the X-axis direction.
Amplify the detected output signal using a suitable amplifier,
Control excitation current t of the required magnitude for the % magnetic wire ring - addition 1
The generated magnetic fluxes f3 and O, and magnetic flux 4. b and c-J-
/7″1t; 趨市寅１ 未 L1 Ｇａｎｄｅｒ Ｇｕｎｄｅｒ■ こ Ｇｕｒｅｎｔ ↑F Due to the magnetic QL force, the rotating wheel 1 is supported at an equilibrium point that balances the external force.

After that, support is performed almost exclusively by the supporting force of the permanent magnet. With this support method, the current required to support the rotating wheel 1 can be extremely reduced.

On the other hand, when the rotating wheel 1 shifts i in the radial direction, the supporting fixed body 8
The axial position detector 17°17a+18+
An even number of radial position detectors are provided in the same radial direction as 18a, T is a detector designated by reference numerals 19 and 20 in FIG. The output signal from the electromagnetic coil 1 in the same radial direction, that is, the electromagnetic coil 13.14 in FIG. The la magnetic force increases by 7J depending on the direction and size of the deviation.
l] or control excitation current rUIJe1 to decrease
The rotating wheel 1 is controlled to an appropriate position.

Next, the rotational drive of the rotating wheel 1 with respect to the rotational axis C will be explained.As mentioned above, the rotating wheel 1 is formed into a donor-shaped ring body with a hollow interior. The internal circumferential flea is provided with a drive mechanism for imparting daily rotation to the rotating shaft 1.

That is, in FIG.
1. A stator 23 in which a magnetic path forming ring 22 is embedded and has an excitation winding 23a'e so as to cooperate with the strainer is attached to an extension frame 25 from a mounting base 24 of the supporting fixed body 8,
2t fixed by lid 26 and spacer 27
The magnet piece 21 and the stator 23 form an example of a drive mechanism of an electric motor structure. And this is the rotary wheel 1
It is possible to increase the torque by driving the wheel body with respect to the rotation axis C.

Braking wheels 28 and 29 are supported and fixed to safely and gradually stop the rotation in the event that the control excitation current supplied to the electromagnetic wire wheel during rotation of the rotating wheel 1 is interrupted and the zero rotating wheel 1 comes into contact with a supporting fixed body. It has 8 heat chambers. The braking wheels 28, 29 may be formed of a suitable braking effect metal layer, for example, a side fat material Tft0.Effects As is clear from the above explanation, 1.According to the present invention, the ratio of angular momentum to the total mass of the rotating wheels and It is possible to obtain a two-degree-of-freedom magnetically levitated rotary wheel that can increase support rigidity against external forces and can rotate the rotational axis around two axes in a plane perpendicular to the one rotational axis.

[Brief explanation of the drawing]

FIG. 1 is a longitudinal sectional view showing an embodiment of a magnetically levitated rotating wheel according to the present invention, FIG. 2 is a sectional view taken along the I+-tl line in FIG. 1,
FIG. 3 is a partially enlarged view showing the arrangement structure of the contactless magnetic bearing and the electromagnetic wire ring in the same embodiment. 1... Rotating ring, 2, 3... Annular permanent magnet. 4.5, 6.7...Magnetic pole piece, 8...Supporting fixed body, 9.10, 11.12...Protrusion-1
3, 13a, 14.14a. 1!1z15a+16,16a...t@Senrin,
17.17a. 18.18a... Axial direction detector, 19.20.
... Radial position detector, 21 ... Magnet piece, 23 ... Stator, 23a ... Excitation winding. 1■ Figure 2 1 Figure 3

Claims (1)

[Scope of Claims] 1. A rotating wheel having a spherical curved surface having a spherical center on the rotation axis, and a concave spherical metal having the same spherical center as the spherical curved surface of the rotating wheel, and the concave spherical surface. and a spherical curved surface of the rotating ring, and a supporting fixed body provided around the rotating ring with a certain gap between the spherical curved surface of the rotating ring and the supporting fixed body, and a magnetic effect distributed and maintained between the spherical curved surface of the rotating ring and the supporting fixed body. The rotary wheel assembly is formed by a member and is capable of rotationally interlocking around two mutually mounted axes that are directly connected to the rotary axis. a non-contact magnetic bearing section that levitates and supports the rotary wheel; a rotational drive section that is disposed approximately in the middle portion of the rotary ring and provides the rotary wheel with rotation at a constant cylinder speed about the rotary shaft 11.7; an electromagnetic wire ring that is wound around a fixed body, controls the position of the rotating ring in cooperation with the non-contact magnetic bearing section, and is capable of rotating the rotating ring about the two axes; 1. A magnetically levitated rotating wheel, characterized in that it is fully equipped with a detector for non-contact detection of the relative position of the rotating wheel with respect to a supporting fixed body. 2. In the magnetically levitated rotating wheel as set forth in claim 1, the electromagnetic wire ring includes four electromagnetic wire rings arranged at four equally spaced positions surrounding the rotating ring on the supporting fixed body. A six-wheel floating rotating wheel formed from a wire ring and configured so that two of these wheels form a pair and cooperate with each other. 3. In the magnetically levitated rotating wheel as set forth in claim 1, the detector comprises a leakage flux detection type detector that detects positional deviation 111 in the rotational axis direction and radial direction of the rotating wheel. Magnetic levitation rotating wheel. 4. The magnetically levitated rotary wheel according to claim 1, wherein the rotary wheel is formed into a substantially doughnut-shaped non-hollow body so as to increase the inertia rate with respect to its rotation axis. .