Satellite load non-contact supporting outer rotor rotating joint structure

Abstract

The invention relates to a satellite load non-contact supporting outer rotor rotating joint structure which comprises a stator, a rotor, a rotating motor, a magnetic suspension bearing set, a sensor set and a self-unlocking type locking device. The rotor sleeves the outer side of the stator at intervals, the rotating motor, the magnetic suspension bearing set and the sensor set are arranged between the rotor and the stator, and the rotor is arranged outside so that a rotating joint control circuit can be arranged in a load cabin, and therefore all assembly wires of the rotating joint can be directly connected to the corresponding control circuit and driving circuit through the periphery of the rotating joint. The problem that a central shaft inner hole wiring mode is difficult to achieve due to too many lines is solved, and high-precision pointing and stable control over the rotary joint rotor system can be conducted through load cabin attitude information. The magnetic suspension bearing set can achieve five-degree-of-freedom magnetic suspension non-contact supporting, and a precise supporting function is provided for loads. The self-unlocking type locking device is used for connecting and locking the stator and the rotor, and can release the fixation between the stator and the rotor when unlocking is needed.

Description

Technical Field

[0001] The invention relates to the field of satellite technology, and in particular to a satellite load contactless supporting outer rotor rotating joint structure. Background Art

[0002] The Chinese patent application with publication number CN107226220A discloses a magnetic suspension support device for the stable rotation of satellite payloads. The rotating mechanism adopts a hybrid magnetic suspension scheme, and uses the passive stabilization of the permanent magnet of the rotor and the active control of the permanent magnet bias electromagnetic to realize the magnetic suspension constraint of the five degrees of freedom of the rotating mechanism, actively control the radial translation of the rotating axis, and passively stabilize the axial translation and radial deflection, so as to realize the magnetic constraint of the five degrees of freedom of the rotating mechanism and the design of the rotating mechanism driven by a motor with one degree of freedom. However, with the development of satellite engineering, higher requirements are put forward for the contactless support capability and control accuracy of satellite payloads, and it is necessary to realize the active control of five degrees of freedom. Summary of the invention

[0003] The purpose of the present invention is to provide a satellite payload contactless supporting outer rotor rotary joint structure capable of practical five-degree-of-freedom active control.

[0004] In order to achieve the above object, the present invention provides a satellite payload contactless support outer rotor rotation joint structure, comprising:

[0005] A stator, used for connection with the platform cabin;

[0006] The rotor is coaxially sleeved on the outside of the stator and is used to connect with the load compartment;

[0007] The rotating motor is arranged between the stator and the rotor, the magnetic steel part of the rotating motor is fixedly connected to the stator, and the coil part of the rotating motor is fixedly connected to the rotor and rotates with the rotor;

[0008] A magnetic suspension bearing group is arranged between the stator and the rotor, and includes two radial magnetic suspension bearings and one axial magnetic suspension bearing. The two radial magnetic suspension bearings are arranged at intervals along the axial direction of the stator, and the axial magnetic suspension bearing is located between the two radial magnetic suspension bearings. The magnetic steel parts of the radial magnetic suspension bearings and the axial magnetic suspension bearings are fixedly connected to the stator, and the coil parts of the radial magnetic suspension bearings and the axial magnetic suspension bearings are fixedly connected to the rotor and rotate with the rotor.

[0009] A sensor group, arranged between the stator and the rotor, including a rotary transformer for detecting a rotor rotation angle, an absolute zero position sensor for measuring a rotor orientation and a rotation speed, two radial displacement sensors for measuring a rotor radial displacement, and an axial displacement sensor for measuring a rotor axial displacement, wherein the rotary transformer, the absolute zero position sensor, the radial displacement sensor, and the detection ring of the axial displacement sensor are fixedly connected to the stator, and together with the magnetic steel part of the rotating motor, the magnetic steel part of the radial magnetic bearing, and the magnetic steel part of the axial magnetic bearing, the probe of the rotary transformer, the absolute zero position sensor, the radial displacement sensor, and the axial displacement sensor are fixedly connected to the rotor, and together with the coil part of the rotating motor, the radial magnetic bearing, and the coil part of the axial magnetic bearing, they form a rotor system; and

[0010] The self-unlocking locking device is used to connect and lock the stator system and the rotor system, and can release the fixation between the stator system and the rotor system when unlocking is required.

[0011] Optionally, the satellite payload contactless support outer rotor rotation joint structure also includes a mechanical protection bearing, which includes two mechanical bearing groups and is arranged at intervals along the axial direction of the stator and fixedly connected to the rotor system. Each mechanical bearing group includes a pair of angular contact bearings installed back to back. When the magnetic bearing group is working normally, each mechanical bearing group and the stator system are provided with axial and radial separation gaps. When the magnetic bearing group loses stability and the displacement stroke of the rotor system is greater than the separation gap, the mechanical bearing group contacts the stator system and participates in the rotation.

[0012] On the basis of the implementation method with two mechanical bearing groups, optionally, the satellite payload non-contact supporting outer rotor rotating joint structure further includes a gap elimination device, the gap elimination device includes a driving motor and a driving gear drivingly connected to the driving motor, the driving motor is fixedly connected to the stator, the driving gear is sleeved on the stator and threadedly connected to the stator, the driving gear is arranged above the mechanical bearing group located on the upper side and there is a gap between the two, the driving motor can drive the driving gear to move along the axial direction of the stator when working, and push the mechanical bearing group to drive the rotor system to move downward until the displacement stroke of the rotor system is greater than the separation gap, and the mechanical bearing group contacts with the stator system to participate in the rotation;

[0013] When resetting is required, the drive motor rotates in the opposite direction to drive the drive gear to rotate and move to its original position. Under the action of the magnetic levitation bearing, the mechanical protection bearing group is disconnected from the stator system, and the satellite payload non-contact supporting outer rotor rotating joint structure restores the magnetic levitation working mode.

[0014] Based on the embodiment with the backlash elimination device, optionally, a first conical surface is provided on the outer peripheral side of the gear, and a second conical surface is provided on the fixing frame of the mechanical bearing group located on the upper side;

[0015] A limiting ring is provided at the lower side of the mechanical bearing group located at the lower side, a third conical surface is provided at the outer peripheral side of the limiting ring, and a fourth conical surface is provided on the fixing frame of the mechanical bearing group located at the lower side;

[0016] The fixing frame is connected to the outer ring of the bearing of the mechanical bearing group;

[0017] When the satellite payload contactless support outer rotor rotating joint structure is in the magnetic suspension working mode, the first cone surface and the second cone surface are arranged in parallel and spaced apart, and the third cone surface and the fourth cone surface are arranged in parallel and spaced apart. When the driving gear continues to move upward along the stator, the first cone surface and the second cone surface abut against each other, and the third cone surface and the fourth cone surface abut against each other, so as to limit the relative rotation of the rotor system and the stator system.

[0018] Optionally, both the radial magnetic suspension bearing and the axial magnetic suspension bearing are Lorentz force magnetic suspension bearings.

[0019] Optionally, the number of the absolute zero position sensors is two, and the two absolute zero position sensors are spaced apart and distributed in the axial direction of the stator.

[0020] Optionally, the self-unlocking locking device includes a connecting ring, a support seat and a locking portion, the connecting ring is fixedly sleeved on the rotor, the support seat is fixedly connected to the stator, the connecting ring and the support seat are axially spaced apart on the stator, and the locking portion is located between the connecting ring and the support seat, and is used to connect and lock the connecting ring and the support seat.

[0021] Optionally, the locking portion of the self-unlocking locking device is an explosive device or a memory alloy.

[0022] Optionally, a wireless energy transmission unit is provided on the support base.

[0023] Optionally, the rotating motor is a brushless DC rotating motor.

[0024] Optionally, the radial displacement sensor and the axial displacement sensor are of eddy current detection type; or

[0025] The absolute zero position sensor is a photoelectric detection type.

[0026] The above technical solution of the present invention has the following advantages:

[0027] The invention provides a satellite payload contactless support outer rotor rotary joint structure, comprising a stator, a rotor, a rotary motor, a magnetic suspension bearing group, a sensor group and a self-unlocking locking device. The rotor is sleeved on the outside of the stator, the rotary motor, the magnetic suspension bearing group and the sensor group are arranged between the rotor and the stator, the magnetic suspension bearing group comprises two radial magnetic suspension bearings and one axial magnetic suspension bearing, the two radial magnetic suspension bearings are arranged along the axial direction of the stator, and the axial magnetic suspension bearing is located between the two radial magnetic suspension bearings. The sensor group is arranged between the stator and the rotor, and comprises a rotary transformer for detecting the rotor rotation angle, an absolute zero position sensor for measuring the rotor pointing and speed, two radial displacement sensors for measuring the radial displacement of the rotor and an axial displacement sensor for measuring the axial displacement of the rotor. The rotor is outside, and the rotary joint control circuit can be placed in the load cabin, so that the wires of each component of the rotary joint can be directly connected to the corresponding control circuit and drive circuit through the periphery of the rotary joint, avoiding the problem of difficulty in realizing the wiring method through the inner hole of the central shaft due to too many lines, and the attitude information of the load cabin can be used to perform high-precision pointing and stable control of the rotary joint rotor system. The magnetic bearing group can realize five-degree-of-freedom magnetic suspension contactless support and provide precise support function for the load. The self-unlocking locking device is used to connect and lock the stator and the rotor, and can release the fixation between the stator and the rotor when unlocking is required.

[0028] Another satellite payload contactless support outer rotor rotating joint structure provided in this embodiment also includes a mechanical protection bearing, which includes two mechanical bearing groups and is arranged at intervals along the axial direction of the stator. Each mechanical bearing group includes a pair of angular contact bearings installed back to back. When the magnetic suspension bearing group is working normally, each mechanical bearing group and the rotor are provided with axial and radial separation gaps, and the mechanical protection bearing group is not connected to the rotor. When the magnetic suspension bearing group is unstable, the rotor displacement stroke is greater than the separation gap, and the mechanical bearing group is in contact with the rotor to participate in the rotation, providing support for the rotor, and will not generate excessive resistance torque to cause stellar disturbance, providing a protective function for the rotating joint when the magnetic suspension support is unstable, and can provide support for the payload cabin as a backup after the magnetic suspension support is unstable. Provide protection for the rotating joint during satellite launch, maneuvering, and orbit change.

[0029] This embodiment provides another satellite payload contactless support outer rotor rotation joint structure, which realizes rotation joint angle and displacement measurement through a rotary transformer and a displacement sensor, and uses an absolute zero position sensor to realize on-orbit calibration of the errors of the displacement sensor and the rotary transformer, providing a backup calibration method for high dynamic star sensitivity. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The drawings of the present invention are provided for illustrative purposes only, and the proportions and quantities of the components in the drawings may not necessarily be consistent with the actual products.

[0031] Figure 1 It is a schematic cross-sectional view of a satellite payload contactless support outer rotor rotary joint structure cut through the center line in an embodiment of the present invention;

[0032] Figure 2 yes Figure 1 A magnified schematic diagram of part B in FIG.

[0033] Figure 3 yes Figure 1 Enlarged schematic diagram of part A in the middle.

[0034] In the figure:

[0035] 1: stator;

[0036] 2: rotor;

[0037] 3: Rotating motor;

[0038] 4: Radial magnetic bearing;

[0039] 5: Axial magnetic bearing;

[0040] 6: Rotary transformer;

[0041] 7: Absolute zero position sensor;

[0042] 71: detection ring of absolute zero position sensor;

[0043] 8: Radial displacement sensor;

[0044] 81: detection ring of radial displacement sensor;

[0045] 9: Axial displacement sensor;

[0046] 10: Self-unlocking locking device;

[0047] 101: connecting ring;

[0048] 102: support seat;

[0049] 11: Mechanical bearing group;

[0050] 111: Angular contact bearing;

[0051] 12: Anti-gap device;

[0052] 121: driving motor;

[0053] 122: driving gear;

[0054] 123: separation gap;

[0055] 124: first cone surface;

[0056] 125: second cone surface;

[0057] 126: third cone surface;

[0058] 127: fourth cone surface;

[0059] 13: Energy transmission unit;

[0060] 14: Communication unit. DETAILED DESCRIPTION

[0061] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0062] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0063] like Figure 1 As shown, the satellite payload contactless support outer rotor rotary joint structure provided by the embodiment of the present invention includes a stator 1, a rotor 2, a rotary motor 3, a magnetic bearing group, a sensor group and a self-unlocking locking device 10. Among them, the stator 1 is used to connect with the platform cabin. The rotor 2 is coaxially spaced and sleeved on the outside of the stator 1 for connecting with the payload cabin. The rotary motor 3, the magnetic bearing group and the sensor group are all arranged between the stator 1 and the rotor 2.

[0064] In this embodiment, the main body of the stator 1 is a columnar body, preferably a hollow columnar body. The main body of the rotor 2 is a cylinder.

[0065] The rotating motor 3 is arranged between the stator 1 and the rotor 2 to provide driving force for the rotation of the rotor 2. The magnetic steel part of the rotating motor 3 is fixedly connected to the stator 1, and the coil part of the rotating motor 3 is fixedly connected to the rotor 2 and rotates with the rotor 2.

[0066] The magnetic suspension bearing group includes two radial magnetic suspension bearings 4 and one axial magnetic suspension bearing 5. The two radial magnetic suspension bearings 4 are arranged at intervals along the axial direction of the stator 1, and the axial magnetic suspension bearing 5 is located between the two radial magnetic suspension bearings 4. The magnetic steel parts of the radial magnetic suspension bearings 4 and the axial magnetic suspension bearings 5 ​​are fixedly connected to the stator 1, and the coil parts of the radial magnetic suspension bearings 4 and the axial magnetic suspension bearings 5 ​​are fixedly connected to the rotor 2 and rotate with the rotor 2 to provide support for the rotor 2. The radial magnetic suspension bearings 4 are responsible for the stable pointing suspension control of the two radial translational degrees of freedom of the rotor 2 and the two deflection degrees of freedom of the rotor around the radial direction, and the axial magnetic suspension bearings 5 ​​are responsible for the control of the axial translational degrees of freedom of the rotor, which can realize five-degree-of-freedom magnetic suspension contactless support and provide a precise support function for the load.

[0067] The sensor group is arranged between the stator 1 and the rotor 2, and includes a rotary transformer 6 for detecting the rotation angle of the rotor 2, an absolute zero position sensor 7 for measuring the direction and speed of the rotor 2, two radial displacement sensors 8 for measuring the radial displacement of the rotor 2, and an axial displacement sensor 9 for measuring the axial displacement of the rotor 2. The detection rings of the rotary transformer 6, the absolute zero position sensor 7, the radial displacement sensor 8, and the axial displacement sensor 9 are fixedly connected to the stator 1. The rotary transformer 6, the absolute zero position sensor 7, the detection rings of the radial displacement sensor 8 and the axial displacement sensor 9, the magnetic steel part of the rotary motor 3, and the magnetic steel part of the radial magnetic suspension bearing 4 and the axial magnetic suspension bearing 5 together constitute the stator system. The rotary transformer 6, the absolute zero position sensor 7, the radial displacement sensor 8, and the probe of the axial displacement sensor 9 are fixedly connected to the rotor 2. The rotary transformer 6, the absolute zero position sensor 7, the probe of the radial displacement sensor 8 and the axial displacement sensor 9, the coil part of the rotary motor 3, and the coil part of the radial magnetic suspension bearing 4 and the axial magnetic suspension bearing 5 together constitute the rotor system.

[0068] The self-unlocking locking device 10 is used to connect and lock the stator system and the rotor system, and can release the fixation between the stator system and the rotor system when unlocking is required.

[0069] When in use, the platform cabin is connected to the stator, and the payload cabin is connected to the rotor. In the active launch phase, the stator and rotor are locked by a self-unlocking locking device to prevent rotation. After entering orbit, they are unlocked, and the rotary joint controls the high-precision rotation of the payload cabin to realize the payload function.

[0070] The satellite payload contactless support outer rotor rotary joint structure of this embodiment adopts a core shaft structure of an inner stator and an outer rotor, which is generally divided into a stator system and a rotor system, wherein the stator system is connected to the platform cabin, and the rotor system is connected to the payload cabin. The stator system mainly includes a stator 1, a magnetic steel part of a rotating motor 3, a magnetic steel part of a rotary transformer 6, a magnetic steel part of a radial magnetic bearing 4, a magnetic steel part of an axial magnetic bearing 5, a detection ring 81 of a radial displacement sensor, a detection ring of an axial displacement sensor 9, a detection ring 71 of an absolute zero position sensor, and the like. The rotor system mainly includes the coil part of the rotating motor 3, the coil part of the rotating transformer 6, the coil part of the radial magnetic bearing 4, the coil part of the axial magnetic bearing 5, the probe of the radial displacement sensor 8, the probe of the axial displacement sensor 9, the probe of the absolute zero position sensor 7, etc., which can place the rotary joint control circuit in the load compartment so that the wires of each component of the rotary joint can be directly connected to the corresponding control circuit and drive circuit through the periphery of the rotary joint, avoiding the problem of difficulty in routing through the inner hole of the central shaft due to too many lines, and can use the attitude information of the load compartment to perform high-precision pointing and stable control of the rotary joint rotor system. The magnetic suspension bearing group can realize five-degree-of-freedom magnetic suspension contactless support and provide precision support function for the load.

[0071] In some embodiments, the satellite payload contactless support outer rotor rotation joint structure also includes a mechanical protection bearing, which provides a protection function for the rotation joint when the magnetic suspension support becomes unstable, and can provide support for the payload cabin as a backup after the magnetic suspension support becomes unstable. The mechanical protection bearing includes two mechanical bearing groups 11, and is arranged at intervals along the axial direction of the stator 1 to improve the mechanical resistance. Each mechanical bearing group 11 includes a pair of angular contact bearings 111 installed back to back. When the magnetic suspension bearing group 11 is working normally, each mechanical bearing group 11 is fixedly connected to the rotor system, and each mechanical bearing group 11 is provided with a separation gap 123 in the axial and radial directions with the stator system, so that the mechanical bearing group 11 is not connected to the stator system, that is, the mechanical bearing group 11 can rotate as a whole with the rotor system at this time. When the magnetic bearing group 11 loses stability and the displacement stroke of the rotor system is greater than the separation gap 123, the mechanical bearing group 11 and the stator system contact each other to participate in the rotation, that is, the outer ring of the angular contact bearing 111 rotates with the rotor system, and the inner ring or the fixed structure of the inner ring generates friction with the stator system, so that the inner ring of the angular contact bearing 111 is fixed relative to the stator system and participates in the rotation process, thereby avoiding the disturbance of the stellar body caused by the generation of excessive resistance torque. The rotary joint as a whole adopts the magnetic bearing group as the main part, the mechanical protection bearing as the backup and combines the self-unlocking locking device 10 to provide the rotary joint with a protection function when the magnetic suspension support loses stability, and can provide support for the load cabin as a backup after the magnetic suspension support loses stability, thereby improving the reliability of the rotary joint structure and providing support, drive, connection, auxiliary locking and unlocking functions for the load cabin.

[0072] Based on the embodiment with mechanical protection bearing, in some embodiments, see Figure 1 and Figure 3 As shown, the satellite payload contactless support outer rotor rotation joint structure also includes a clearance elimination device 12, which is used to realize the active switching of the magnetic suspension bearing and the mechanical bearing. The clearance elimination device 12 includes a driving motor 121 and a driving gear 122 that is transmission-connected to the driving motor 121. The driving motor 121 is fixedly connected to the stator 1. The driving gear 122 is sleeved on the stator 1 and threadedly connected to the stator 1. The driving gear 122 is above the mechanical bearing group 11 located on the upper side and there is a gap between the two. The driving motor 121 can drive the driving gear 122 to move along the axial direction of the stator 1 when it works, and push the mechanical bearing group 11 to drive the rotor system to move downward until the displacement stroke of the rotor system is greater than the axial separation gap 123, and the mechanical bearing group 11 contacts the stator system and participates in the rotation.

[0073] When resetting is required, the drive motor 121 rotates in the opposite direction to drive the drive gear 122 to rotate and move to its original position. Under the action of the magnetic bearing group, the mechanical protection bearing group 11 is disconnected from the stator system, and the satellite payload non-contact supporting outer rotor rotating joint structure restores the magnetic suspension working mode, realizing active switching between magnetic bearings and mechanical bearings, thereby improving reliability.

[0074] To further improve reliability, see Figure 2 and Figure 3 As shown, based on the embodiment with the backlash elimination device 12, in some embodiments, the outer circumference of the driving gear 122 is provided with a first cone surface 124, and the fixing frame of the mechanical bearing group 11 located on the upper side is provided with a second cone surface 125. A stop ring is provided on the lower side of the mechanical bearing group 11 located on the lower side, and the stop ring is fixedly sleeved on the stator 1. The outer circumference of the stop ring is provided with a third cone surface 126, and the fixing frame of the mechanical bearing group 11 located on the lower side is provided with a fourth cone surface 127. The fixing frames of the two mechanical bearing groups 11 are respectively connected to the outer rings of the bearings of the two mechanical bearing groups 11.

[0075] When the satellite payload contactless supporting outer rotor rotating joint structure is in the magnetic levitation working mode, the first cone surface 124 and the second cone surface 125 are arranged in parallel and spaced apart, and the third cone surface 126 and the fourth cone surface 127 are arranged in parallel and spaced apart. When the driving gear 122 continues to move upward along the axial direction of the stator 1, the first cone surface 124 and the second cone surface 125 abut against each other, and the third cone surface 126 and the fourth cone surface 127 abut against each other, thereby limiting the relative rotation of the rotor system and the stator system, forming a clearance-eliminating locking. At this time, the stator system and the rotor system have no relative rotation.

[0076] In this embodiment, preferably, the radial magnetic suspension bearing 4 and the axial magnetic suspension bearing 5 are both Lorentz force magnetic suspension shafts. In the Lorentz force magnetic bearing structure, the electromagnetic force is only related to the current, in a linear relationship, and has nothing to do with the relative position of the stator and rotor, and has good linearity, and can achieve low bandwidth. Therefore, the use of Lorentz force magnetic suspension bearings can truly achieve the effect of isolating the load cabin from the platform cabin, and achieve ultra-static suspension, ultra-precise pointing, and ultra-stable rotation scanning drive of the load.

[0077] In some embodiments, the number of the absolute zero position sensors 7 is two, and the two absolute zero position sensors 7 are spaced apart in the axial direction of the stator 1. The two absolute zero position sensors 7 are distributed at both ends of the structure to measure the joint pointing and rotation speed, and can realize the on-track auxiliary calibration of the displacement sensor and the rotary transformer error.

[0078] In one embodiment, the self-unlocking locking device 10 includes a connecting ring 101, a support seat 102 and a locking portion, the connecting ring 101 is fixedly sleeved on the rotor 2, the support seat 102 is fixedly connected to the stator 1, the connecting ring 101 and the support seat 102 are axially spaced apart from each other on the stator 1, and the locking portion is located between the connecting ring 101 and the support seat 102, and is used to connect and lock the connecting ring 101 and the support seat 102.

[0079] In this embodiment, the locking part of the self-unlocking locking device 10 can adopt any existing structure that can automatically control the unlocking, such as a pin shaft locking driven by a motor, etc.; memory alloys, pyrotechnics, etc. can also be used to achieve unlocking, which is not limited here.

[0080] In some embodiments, the support seat 102 is provided with an energy transmission unit 13. The energy transmission unit 13 may be a wireless communication unit. Preferably, the energy transmission unit 13 is a contactless energy transmission unit. A communication unit 14 may also be provided on the rotary joint. The communication unit 14 may be a laser communication unit.

[0081] In this embodiment, the rotary electric machine 3 is a brushless DC rotary electric machine.

[0082] In this embodiment, the radial displacement sensor 8 and the axial displacement sensor 9 are of eddy current detection type.

[0083] In this embodiment, the absolute zero position sensor 7 is of photoelectric detection type.

[0084] It should be noted that magnetic bearings, mechanical bearings, rotating motors, rotating transformers, displacement sensors, absolute zero position sensors, wireless energy transmission units, and communication units are all mature technologies in this field and will not be described in detail in the present invention.

[0085] The details of the present invention are prior art or common knowledge to those skilled in the art.

[0086] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that not every embodiment contains only one independent technical solution. In the absence of a conflict of solutions, the various technical features mentioned in each embodiment can be combined in any manner to form other implementation methods that can be understood by those skilled in the art.

[0087] In addition, without departing from the scope of the present invention, the technical solutions described in the aforementioned embodiments may be modified, or some of the technical features may be replaced by equivalents, without causing the essence of the corresponding technical solutions to depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A satellite payload contactless support outer rotor rotating joint structure, characterized in that: include: A stator, used for connection with the platform cabin; A rotor, coaxially sleeved on the outer side of the stator and used for connecting with the load compartment; A rotating motor is arranged between the stator and the rotor, the magnetic steel part of the rotating motor is fixedly connected to the stator, and the coil part of the rotating motor is fixedly connected to the rotor and rotates with the rotor; A magnetic suspension bearing group is arranged between the stator and the rotor, and includes two radial magnetic suspension bearings and one axial magnetic suspension bearing. The two radial magnetic suspension bearings are arranged at intervals along the axial direction of the stator, and the axial magnetic suspension bearing is located between the two radial magnetic suspension bearings. The magnetic steel parts of the radial magnetic suspension bearing and the axial magnetic suspension bearing are fixedly connected to the stator, and the coil parts of the radial magnetic suspension bearing and the axial magnetic suspension bearing are fixedly connected to the rotor and rotate with the rotor. a sensor group, arranged between the stator and the rotor, comprising a rotary transformer for detecting a rotation angle of the rotor, an absolute zero position sensor for measuring a direction and a rotation speed of the rotor, two radial displacement sensors for measuring a radial displacement of the rotor, and an axial displacement sensor for measuring an axial displacement of the rotor, wherein the rotary transformer, the absolute zero position sensor, the radial displacement sensor, and the detection ring of the axial displacement sensor are fixedly connected to the stator, and together with the magnetic steel part of the rotating motor, the magnetic steel part of the radial magnetic bearing, and the magnetic steel part of the axial magnetic bearing, constitute a stator system; and the rotary transformer, the absolute zero position sensor, the radial displacement sensor, and the probe of the axial displacement sensor are fixedly connected to the rotor, and together with the coil part of the rotating motor, the radial magnetic bearing, and the coil part of the axial magnetic bearing, constitute a rotor system; and The self-unlocking locking device is used to connect and lock the stator system and the rotor system, and can release the fixation between the stator system and the rotor system when unlocking is required.

2. The satellite payload contactless support outer rotor rotary joint structure according to claim 1 is characterized in that: It also includes a mechanical protection bearing, which includes two mechanical bearing groups, which are arranged at intervals along the axial direction of the stator and fixedly connected to the rotor system. Each mechanical bearing group includes a pair of angular contact bearings installed back to back. When the magnetic bearing group is working normally, each mechanical bearing group and the stator system are provided with a separation gap in the axial and radial directions. When the magnetic bearing group is unstable and the displacement stroke of the rotor system is greater than the separation gap, the mechanical bearing group contacts the stator system and participates in the rotation.

3. The satellite payload contactless support outer rotor rotary joint structure according to claim 2 is characterized in that: It also includes a backlash elimination device, which includes a drive motor and a drive gear connected to the drive motor in a transmission manner. The drive motor is fixedly connected to the stator, the drive gear is sleeved on the stator and threadedly connected to the stator, the drive gear is arranged above the mechanical bearing group located on the upper side and there is a gap between the two. When the drive motor works, it can drive the drive gear to move along the axial direction of the stator, push the mechanical bearing group to drive the rotor system to move downward, until the displacement stroke of the rotor system is greater than the separation gap, and the mechanical bearing group contacts the stator system and participates in the rotation; When resetting is required, the drive motor rotates in the opposite direction to drive the drive gear to rotate and move to its original position. Under the action of the magnetic suspension bearing group, the mechanical protection bearing group is disconnected from the stator system, and the satellite payload non-contact supporting outer rotor rotating joint structure resumes the magnetic suspension working mode.

4. The satellite payload contactless support outer rotor rotary joint structure according to claim 3 is characterized in that: A first conical surface is provided on the outer peripheral side of the driving gear, and a second conical surface is provided on the fixing frame of the mechanical bearing group located on the upper side; A limiting ring is provided on the lower side of the mechanical bearing group located at the lower side, the limiting ring is fixedly sleeved on the stator 1, a third conical surface is provided on the outer circumference of the limiting ring, and a fourth conical surface is provided on the fixing frame of the mechanical bearing group located at the lower side; The fixing frame is connected to the outer ring of the bearing of the mechanical bearing group; When the satellite payload contactless supporting outer rotor rotating joint structure is in magnetic levitation working mode, the first cone surface and the second cone surface are arranged in parallel and spaced apart, and the third cone surface and the fourth cone surface are arranged in parallel and spaced apart. When the driving gear continues to move upward along the stator, the first cone surface and the second cone surface abut against each other, and the third cone surface and the fourth cone surface abut against each other, thereby limiting the relative rotation of the rotor system and the stator system.

5. The satellite payload contactless support outer rotor rotary joint structure according to claim 1, characterized in that: The radial magnetic bearing and the axial magnetic bearing are Lorentz force magnetic bearings; and / or The number of the absolute zero position sensors is two, and the two absolute zero position sensors are spaced apart and distributed in the axial direction of the stator.

6. The satellite payload contactless support outer rotor rotary joint structure according to claim 1, characterized in that: The self-unlocking locking device includes a connecting ring, a support seat and a locking portion, the connecting ring is fixedly sleeved on the rotor, the support seat is fixedly connected to the stator, the connecting ring and the support seat are axially spaced apart from each other on the stator, and the locking portion is located between the connecting ring and the support seat and is used to connect and lock the connecting ring and the support seat.

7. The satellite payload contactless support outer rotor rotary joint structure according to claim 6, characterized in that: The locking part of the self-unlocking locking device is an explosive device or a memory alloy.

8. The satellite payload contactless support outer rotor rotary joint structure according to claim 7, characterized in that: A wireless energy transmission unit is arranged on the support base.

9. The satellite payload contactless support outer rotor rotary joint structure according to claim 1, characterized in that: The rotating motor is a brushless DC rotating motor.

10. The satellite payload contactless support outer rotor rotary joint structure according to claim 1, characterized in that: The radial displacement sensor and the axial displacement sensor are of eddy current detection type; or The absolute zero position sensor is of photoelectric detection type.

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