Multipoint magnetic suspension gravity unloading device
阅读说明：本技术 多点磁悬浮重力卸载装置 (Multipoint magnetic suspension gravity unloading device ) 是由 张赫 寇宝泉 葛庆稳 周立山 于 2019-12-05 设计创作，主要内容包括：多点磁悬浮重力卸载装置,属于磁悬浮领域,本发明为解决采用悬吊法对光学载荷进行重力卸载存在的问题。本发明包括基座平台、m个磁悬浮卸载点和水平姿态控制单元；基座平台上布设m个磁悬浮卸载点,在基座平台上的m个磁悬浮卸载点的外围区域设置水平姿态控制单元,所述水平姿态控制单元用于实现光学载荷的水平稳定控制。m个磁悬浮卸载点均独立与光学载荷连接；或将m个磁悬浮卸载点分组形成多个磁悬浮卸载单元,每个单元的若干个磁悬浮卸载点通过一号转接板与光学载荷连接。(The invention discloses a multipoint magnetic suspension gravity unloading device, belongs to the field of magnetic suspension, and aims to solve the problem of gravity unloading of an optical load by a suspension method. The invention comprises a base platform, m magnetic suspension unloading points and a horizontal attitude control unit; the horizontal attitude control unit is used for realizing horizontal stable control of the optical load. The m magnetic suspension unloading points are connected with the optical load independently; or grouping the m magnetic suspension unloading points to form a plurality of magnetic suspension unloading units, wherein a plurality of magnetic suspension unloading points of each unit are connected with the optical load through a first adapter plate.)
1. The multipoint magnetic suspension gravity unloading device is characterized by comprising a base platform (1), m magnetic suspension unloading points (2) and a horizontal attitude control unit; the method comprises the following steps that m magnetic suspension unloading points (2) are distributed on a base platform (1), a horizontal attitude control unit is arranged in the peripheral area of the m magnetic suspension unloading points (2) on the base platform (1), and the horizontal attitude control unit is used for realizing horizontal stable control of optical loads.
2. Multipoint magnetic levitation gravity unloading device according to claim 1, wherein m magnetic levitation unloading points (2) are each independently connected to an optical load; or grouping the m magnetic suspension unloading points (2) to form a plurality of magnetic suspension unloading units (5), wherein a plurality of magnetic suspension unloading points (2) of each unit are connected with the optical load through a first adapter plate (6).
3. The multi-point magnetic suspension gravity unloading device according to claim 2, characterized in that the magnetic suspension unloading point (2) comprises a magnetic suspension module (7) and two z-direction flat voice coil motors (8), the two z-direction flat voice coil motors (8) are arranged on two sides of the magnetic suspension module (7), the stator of the magnetic suspension module (7) and the stator of the two z-direction flat voice coil motors (8) are fixed together through a second adapter plate (9), and the second adapter plate of the magnetic suspension unloading point (2) is fixedly arranged on the base platform (1); the rotor of the magnetic suspension module (7) and the rotors of the two z-direction flat type voice coil motors (8) are fixed together through a third adapter plate (10), and the third adapter plate of the magnetic suspension unloading point (2) is connected with an optical load or is connected with the optical load through a first adapter plate (6).
4. Multipoint magnetic suspension gravity unloading device according to claim 3, characterized in that the magnetic suspension module (7) comprises a stator and a rotor, the stator and the rotor are parallel to each other and of a two-dimensional array flat plate structure composed of N x N rectangular permanent magnets, and a z-direction air gap is present between the stator and the rotor; an interval exists between any two adjacent permanent magnets in each layer of flat plate structure;
the magnetizing direction of the permanent magnet is the z direction, and the magnetizing directions of the permanent magnets in each layer of flat plate structure are the same; the magnetizing directions of the permanent magnets of the stator and the mover are opposite.
5. Multipoint magnetic suspension gravity unloading device according to claim 3, characterized in that the magnetic suspension module (7) comprises a stator and a rotor, the stator and the rotor are parallel to each other and of a two-dimensional array flat plate structure composed of N x N rectangular permanent magnets, and a z-direction air gap is present between the stator and the rotor; an interval exists between any two adjacent permanent magnets in each layer of flat plate structure;
the magnetizing direction of the permanent magnets is the z direction, and the magnetizing directions of any two adjacent permanent magnets in each layer of flat plate structure are opposite; the magnetizing directions of the permanent magnets at the relative positions of the stator and the rotor are opposite.
6. Multipoint magnetic suspension gravity unloading device according to claim 3, characterized in that the magnetic suspension module (7) comprises a stator and a rotor, the stator comprises an upper stator and a lower stator, the rotor is arranged between the upper stator and the lower stator which are parallel and fixedly connected with each other, and a z-direction air gap is arranged between the two stators and the rotor; the two layers of stators and the rotor are both of a two-dimensional array flat plate structure formed by N multiplied by N rectangular permanent magnets, and a space is reserved between any two adjacent permanent magnets in each layer of flat plate structure;
the magnetizing direction of the permanent magnets is the z direction, and the magnetizing directions of any two adjacent permanent magnets in each layer of flat plate structure are opposite; the magnetizing directions of the permanent magnets at the relative positions of the upper stator and the lower stator are opposite; the magnetizing directions of the permanent magnets at the relative positions of the rotor and the upper-layer stator are the same.
7. The multipoint magnetic suspension gravity unloading device according to claim 3, characterized in that the magnetic suspension module (7) comprises a stator and a rotor, the stator comprises an upper layer stator and a lower layer stator which are parallel to each other and fixedly connected, the rotor comprises an upper layer rotor and a lower layer rotor which are parallel to each other and fixedly connected, the two layers of rotors are arranged between the upper layer stator and the lower layer stator, the two layers of rotors and the two layers of stators are both two-dimensional array flat plate structures formed by N x N rectangular permanent magnets, a space exists between any two adjacent permanent magnets in each layer of flat plate structure, and a z-direction air gap exists between any two adjacent layers of flat plate structures;
the magnetizing direction of the permanent magnets is the z direction, and the magnetizing directions of any two adjacent permanent magnets in each layer of flat plate structure are opposite;
the magnetizing directions of the permanent magnets at the relative positions of the upper stator and the lower stator are opposite; the magnetizing directions of the permanent magnets at the relative positions of the upper rotor and the lower rotor are the same; the magnetizing directions of the permanent magnets at the relative positions of the two layers of rotors and the upper layer of stators are the same.
8. The multipoint magnetic suspension gravity unloading device according to claim 3, characterized in that the magnetic suspension module (7) comprises a stator and a rotor, the stator comprises an upper layer stator and a lower layer stator which are parallel to each other and fixedly connected, the rotor comprises an upper layer rotor and a lower layer rotor which are parallel to each other and fixedly connected, the two layers of rotors are arranged between the upper layer stator and the lower layer stator, the two layers of stators and the two layers of rotors are both two-dimensional array flat plate structures formed by N x N rectangular permanent magnets, a space exists between any two adjacent permanent magnets in each layer of flat plate structure, and a z-direction air gap exists between any two adjacent layers of flat plate structures;
the magnetizing direction of the permanent magnets is the z direction, and the magnetizing directions of any two adjacent permanent magnets in each layer of flat plate structure are opposite;
the magnetizing directions of the permanent magnets at the relative positions of the upper stator and the lower stator are the same; the magnetizing directions of the permanent magnets at the relative positions of the upper rotor and the lower rotor are opposite; the magnetizing directions of the permanent magnets at the relative positions of the two layers of stators and the upper layer of rotor are the same.
9. The multipoint magnetic suspension gravity unloading device according to claim 1, characterized in that the horizontal attitude control unit comprises a plurality of n x-direction flat type voice coil motors (3) and q y-direction flat type voice coil motors (4), wherein the n x-direction flat type voice coil motors (3) are symmetrically arranged on two sides of the m magnetic suspension unloading points (2) on the base platform (1) along the x axis in two groups for coordinating the stable attitude of the optical load x axis; the q y-direction flat type voice coil motors (4) are symmetrically arranged on two sides of the m magnetic suspension unloading points (2) on the base platform (1) along the y axis in two groups and used for coordinating the stable posture of the optical load y axis.
10. The multipoint magnetic suspension gravity unloading device according to claim 3, characterized in that the z-direction flat plate type voice coil motor (8) comprises a z-direction motor stator (802) and a z-direction motor mover (801) with a double-side structure, the z-direction motor stator (802) is arranged between the two z-direction motor movers (801), the z-direction motor stator (802) is a runway type coil, and each z-direction motor mover (801) comprises two rectangular permanent magnets and a magnetic yoke plate.
11. The multi-point magnetic suspension gravity unloading device according to claim 9, wherein the x-direction flat type voice coil motor (3) and the y-direction flat type voice coil motor (4) have the same structure, the x-direction flat type voice coil motor (3) comprises an x-direction motor stator (302) and an x-direction motor mover (301) with a double-side structure, the x-direction motor stator (302) is arranged between the x-direction motor movers (301) at two sides, the x-direction motor stator 802 comprises P runway type coils, each z-direction motor mover (801) comprises 2P rectangular permanent magnets and a magnetic yoke plate, the 2P rectangular permanent magnets are alternately distributed along the motor output direction N, S, and the permanent magnets of the two movers have the same magnetizing direction.
Technical Field
The invention belongs to the field of magnetic suspension, and relates to a gravity unloading technology of space optical loads.
Background
The large space optical load needs to be verified through ground experiments before aerospace launching, and the performance of an optical load system is comprehensively tested and evaluated. At present, a suspension method is generally adopted to hold up an optical load whole cabin, counteract the gravity effect of the optical load whole cabin and simulate a space weightless environment, specifically referring to fig. 1, the optical load whole cabin comprises a primary image stabilizing system and a secondary image stabilizing system, and a three-stage super platform with lower rigidity in each direction is adopted between the two image stabilizing systems to realize the adjustment of relative postures. Although the conventional suspension method can simulate the weightless environment to a certain extent, the optical load mass of a large space is large and generally exceeds 10 tons, so that some problems exist. Firstly, the sling is fixed in position, when the optical load is horizontally displaced, the sling generates component force along the lateral direction, secondly, the torsional rigidity of the sling per se can interfere the testing precision, in addition, the method has great potential safety hazard, and once the sling is broken, the optical load can be seriously damaged.
Disclosure of Invention
The invention aims to solve the problem of gravity unloading of optical loads by adopting a suspension method, and provides a multipoint magnetic suspension gravity unloading device.
The multipoint magnetic suspension gravity unloading device comprises a
Preferably, m magnetic
Preferably, the magnetic
Preferably, the magnetic suspension module 7 comprises a stator and a rotor, the stator and the rotor are parallel to each other and have a two-dimensional array flat plate structure formed by N × N rectangular permanent magnets, and a z-direction air gap is formed between the stator and the rotor; an interval exists between any two adjacent permanent magnets in each layer of flat plate structure;
the magnetizing direction of the permanent magnet is the z direction, and the magnetizing directions of the permanent magnets in each layer of flat plate structure are the same; the magnetizing directions of the permanent magnets of the stator and the mover are opposite.
Preferably, the magnetic suspension module 7 comprises a stator and a rotor, the stator and the rotor are parallel to each other and have a two-dimensional array flat plate structure formed by N × N rectangular permanent magnets, and a z-direction air gap is formed between the stator and the rotor; an interval exists between any two adjacent permanent magnets in each layer of flat plate structure;
the magnetizing direction of the permanent magnets is the z direction, and the magnetizing directions of any two adjacent permanent magnets in each layer of flat plate structure are opposite; the magnetizing directions of the permanent magnets at the relative positions of the stator and the rotor are opposite.
Preferably, the magnetic suspension module 7 comprises a stator and a rotor, the stator comprises an upper layer stator and a lower layer stator, the rotor is arranged between the upper layer stator and the lower layer stator which are parallel to each other and fixedly connected, and a z-direction air gap is formed between the two layers of stators and the rotor; the two layers of stators and the rotor are both of a two-dimensional array flat plate structure formed by N multiplied by N rectangular permanent magnets, and a space is reserved between any two adjacent permanent magnets in each layer of flat plate structure;
the magnetizing direction of the permanent magnets is the z direction, and the magnetizing directions of any two adjacent permanent magnets in each layer of flat plate structure are opposite; the magnetizing directions of the permanent magnets at the relative positions of the upper stator and the lower stator are opposite; the magnetizing directions of the permanent magnets at the relative positions of the rotor and the upper-layer stator are the same.
Preferably, the magnetic suspension module 7 comprises a stator and a rotor, the stator comprises an upper layer stator and a lower layer stator which are parallel to each other and fixedly connected, the rotor comprises an upper layer rotor and a lower layer rotor which are parallel to each other and fixedly connected, the two layers of rotors are arranged between the upper layer stator and the lower layer stator, the two layers of rotors and the two layers of stators are both two-dimensional array flat plate structures formed by N × N rectangular permanent magnets, an interval exists between any two adjacent permanent magnets in each layer of flat plate structure, and a z-direction air gap exists between any two adjacent layers of flat plate structures;
the magnetizing direction of the permanent magnets is the z direction, and the magnetizing directions of any two adjacent permanent magnets in each layer of flat plate structure are opposite;
the magnetizing directions of the permanent magnets at the relative positions of the upper stator and the lower stator are opposite; the magnetizing directions of the permanent magnets at the relative positions of the upper rotor and the lower rotor are the same; the magnetizing directions of the permanent magnets at the relative positions of the two layers of rotors and the upper layer of stators are the same.
Preferably, the magnetic suspension module 7 comprises a stator and a rotor, the stator comprises an upper layer stator and a lower layer stator which are parallel to each other and fixedly connected, the rotor comprises an upper layer rotor and a lower layer rotor which are parallel to each other and fixedly connected, the two layers of rotors are arranged between the upper layer stator and the lower layer stator, the two layers of stators and the two layers of rotors are both two-dimensional array flat plate structures formed by N × N rectangular permanent magnets, an interval exists between any two adjacent permanent magnets in each layer of flat plate structure, and a z-direction air gap exists between any two adjacent layers of flat plate structures;
the magnetizing direction of the permanent magnets is the z direction, and the magnetizing directions of any two adjacent permanent magnets in each layer of flat plate structure are opposite;
the magnetizing directions of the permanent magnets at the relative positions of the upper stator and the lower stator are the same; the magnetizing directions of the permanent magnets at the relative positions of the upper rotor and the lower rotor are opposite; the magnetizing directions of the permanent magnets at the relative positions of the two layers of stators and the upper layer of rotor are the same.
Preferably, the horizontal attitude control unit comprises a plurality of n x-direction flat type
Preferably, the z-direction flat plate type voice coil motor 8 includes a z-
Preferably, the structure of the x-direction flat type
The invention has the beneficial effects that: (1) non-contact gravity unloading is realized, maintenance is avoided, and the service life is long; (2) a large-scale suspension device is omitted, and the problem of elastic stretching of the sling is solved; (3) multi-point magnetic suspension unloading is realized, the stress distribution is uniform, and the local deformation of the optical cabin is small; (4) the unloading device has small lateral parasitic force and controllable force characteristics in all directions; (5) the test is safe and stable.
The device provided by the invention can be widely applied to the fields of rail transit, magnetic suspension bearings, precision positioning platforms and the like. The passive suspension of the load can be realized by utilizing the interaction force between the permanent magnets, the suspension has the advantages of high suspension force density, no loss, easiness in realization and the like, and the six-degree-of-freedom stable suspension of the large-mass load can be realized by combining with active control.
Drawings
FIG. 1 is a schematic diagram of a prior art gravity unloading of an optical load using a suspension method;
FIG. 2 is a schematic diagram of the gravity unloading of an optical load using the multi-point magnetic levitation gravity unloading device of the present invention;
fig. 3 and 4 are schematic structural diagrams of the multipoint magnetic suspension gravity unloading device according to the first embodiment;
fig. 5 and 6 are schematic structural diagrams of the multipoint magnetic suspension gravity unloading device according to the second embodiment;
FIG. 7 is a schematic structural diagram of the magnetic levitation gravity unloading unit in FIGS. 5 and 6;
FIG. 8 is a schematic structural view of a single magnetically suspended gravity unloading point;
fig. 9 and 10 are schematic structural views of one embodiment of a magnetic suspension module, namely a single stator and a single rotor;
fig. 11 and 12 are schematic structural views of a second embodiment of the magnetic suspension module, namely a double stator and a single mover;
fig. 13 and 14 are schematic structural views of a third embodiment of the magnetic suspension module, namely a double stator and a double mover;
fig. 15 and 16 are schematic structural views of a fourth embodiment of the magnetic suspension module, namely a double stator and a double mover;
FIGS. 17 and 18 are schematic structural views of a z-direction flat type voice coil motor;
fig. 19 to 22 are schematic structural views of an x-direction flat type voice coil motor.
Detailed Description
The following detailed description of the embodiments of the present invention will be provided with reference to the drawings and examples, so that how to apply the technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented. It should be noted that, as long as there is no conflict, the embodiments and the features of the embodiments of the present invention may be combined with each other, and the technical solutions formed are within the scope of the present invention.
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