A large-load high-angular acceleration gyro motor and gyro

Abstract

The present application discloses a large-load high-angular acceleration gyro motor and a gyroscope, wherein the large-load high-angular acceleration gyro motor comprises: a cylindrical housing, a left end cover, a right end cover, a rotor assembly, and a stator assembly. The large-load high-angular acceleration gyro motor of the present application cancels the tooth slot structure of the traditional gyro motor to save the space occupied by the stator assembly, and adopts a multi-pole short-distance push-pull layout for the permanent magnets on the rotor assembly, which provides the working air gap magnetic induction intensity to the maximum extent under the premise of reducing leakage magnetic flux and ensuring the uniformity of the working air gap magnetic field. The stator assembly has a small radial dimension, a small end winding dimension, a small number of short-circuit windings, and low power loss; the rotor assembly adopts a push-pull short-distance closed-loop magnetic circuit, and the air gap magnetic field intensity is large and the space occupied is small, so that the rotor assembly has a large turning radius, a torque radius and a moment of inertia as large as possible, and improves the kinetic moment and torque. The gyro motor of the present application has the characteristics of small size, few parts, large kinetic moment and angular acceleration, and high and stable speed.

Description

Technical Field

[0001] The present application relates to the technical field of gyroscopes, and in particular to a large-load high-angular acceleration gyroscope motor and a gyroscope. Background Art

[0002] The working principle of the gyro motor is based on the gyro effect, that is, when a rotating rigid body is subjected to external force, its rotating motor axis will try to keep its direction unchanged. This phenomenon is called the gyro effect. The gyro motor measures and stabilizes the attitude of the object by utilizing this effect.

[0003] Traditional gyro motors are hysteresis synchronous motors, asynchronous motors or permanent magnet brushless synchronous motors with a tooth structure. They usually have small angular acceleration (≤500rad / s2), low speed (≤30000r / min), and low working efficiency (≤60%), which makes it difficult to meet the needs of fast-working and high-momentum gyro use. Summary of the invention

[0004] The embodiment of the present application provides a large-load high-angular acceleration gyro motor, which can solve the technical problems of low starting angular acceleration and low rotation speed of the gyro motor in the prior art. The technical solution is as follows:

[0005] On the one hand, a large-load high-angular acceleration gyro motor is provided, comprising: a cylindrical casing having a left opening and a right opening communicating with each other from left to right; a left end cover fixedly connected to the left opening of the cylindrical casing; a right end cover fixedly connected to the right opening of the cylindrical casing; a rotor assembly concentrically arranged in the cylindrical casing, comprising a motor shaft, a fixed disk fixedly connected to the motor shaft and close to the right end cover, an inner magnetic steel assembly and an outer magnetic steel assembly fixedly connected to the left side of the fixed disk in an annular shape, wherein the inner magnetic steel assembly, the outer magnetic steel assembly and the motor shaft have a common central axis, and the inner magnetic steel assembly is located inside the outer magnetic steel assembly; the inner magnetic steel assembly, the outer magnetic steel assembly and the fixed disk form an annular groove; a stator assembly comprises a cylindrical stator frame fixedly connected to the right side surface of the left end cover, and an annular winding fixedly connected to the outer surface of the cylindrical stator frame; the annular winding is located in the annular groove, and the central axis of the annular winding is colinear with the central axis of the annular groove.

[0006] Optionally, the external magnetic steel assembly includes an outer magnetic conductive ring having one end fixedly connected to the fixed disk, six tile-shaped external magnetic steels in a ring shape are fixedly connected inside the outer magnetic conductive ring, the six tile-shaped external magnetic steels 18 are magnetized radially, and the polarities are NSNSNS in sequence, and the polarities of adjacent tile-shaped external magnetic steels are opposite, forming a three-pole magnetic circuit structure; the internal magnetic steel assembly includes an inner magnetic conductive ring having one end fixedly connected to the fixed disk, six tile-shaped internal magnetic steels in a ring shape are fixedly connected outside the inner magnetic conductive ring, the six tile-shaped internal magnetic steels are magnetized radially, and the polarities are NSNSNS in sequence, and the polarities of adjacent tile-shaped internal magnetic steels are opposite, forming a three-pole magnetic circuit structure.

[0007] Optionally, the annular winding includes six inner windings attached to the outer surface of the cylindrical bracket, and six outer windings attached to the outer surface of the six inner windings, and the six inner windings are 30° apart from the six outer windings in the circumferential direction; when power is turned on, the polarities of the six inner windings are NSNSNS in sequence, the polarities of two adjacent inner windings are opposite, and the six inner windings form a three-pole magnetic circuit structure; the polarities of the six outer windings are NSNSNS in sequence, the polarities of two adjacent outer windings are opposite, and the six outer windings form a three-pole magnetic circuit structure.

[0008] Optionally, the fixed disk has a rim, and a dimension of the rim along the axial direction of the fixed disk is larger than a dimension of the fixed disk along the axial direction of the fixed disk.

[0009] Optionally, the material of the fixing plate is a soft magnetic alloy or electrical pure iron, and the material of the rim is a tungsten-based high-density alloy W142 or a tungsten-based high-density alloy W152.

[0010] Optionally, the cylindrical stator frame is made of ceramic material or polyimide material.

[0011] Optionally, a left bearing is provided between the motor shaft and the left end cover, and a right bearing is provided between the motor shaft and the right end cover.

[0012] Optionally, the coaxiality of the outer magnetic steel component relative to the motor shaft is less than or equal to φ0.01 mm, and the coaxiality of the inner magnetic steel component relative to the motor shaft is less than or equal to φ0.01 mm.

[0013] On the other hand, the present application also provides a gyroscope, including a gyroscope vacuum chamber, in which the above-mentioned large-load high-angular acceleration gyroscope motor is installed.

[0014] The beneficial effects brought by the technical solution provided by the embodiment of the present application include at least:

[0015] A large-load high-angular acceleration gyro motor comprises: a cylindrical casing, a left end cover, a right end cover, a rotor assembly, and a stator assembly. The large-load high-angular acceleration gyro motor of the present application cancels the tooth slot structure of the traditional gyro motor to save the space occupied by the stator assembly, and adopts a multi-pole short-distance push-pull layout for the permanent magnets on the rotor assembly, which provides the working air gap magnetic induction intensity to the maximum extent under the premise of reducing leakage magnetic flux and ensuring the uniformity of the working air gap magnetic field. The fixed disk of the rotor assembly is fixedly connected to the position near the right end cover on the motor shaft, and an inner magnetic steel assembly and an outer magnetic steel assembly are arranged on the left side of the fixed disk, and the inner magnetic steel assembly, the outer magnetic steel assembly and the motor shaft share a central axis, so that the inner magnetic steel assembly, the outer magnetic steel assembly and the fixed disk will form an annular groove. The stator assembly composed of a cylindrical stator frame and an annular winding attached to the cylindrical stator frame is inserted into the annular groove, and the stator assembly is nested and inserted into the rotor assembly, that is, the outer magnetic steel assembly and the inner magnetic steel assembly belonging to the rotor assembly wrap the stator assembly, and the stator assembly extends laterally into the rotor assembly. The stator assembly has a small radial dimension, a small end winding dimension, a small number of short-circuit windings, and low power loss; the rotor assembly adopts a push-pull short-distance closed-loop magnetic circuit, and the air gap magnetic field strength is large and the space occupied is small, so that the rotor assembly's turning radius, torque radius, and rotational inertia are as large as possible, thereby increasing the momentum and torque. Therefore, the high-load high-angular acceleration gyro motor of the present application has the characteristics of small size, few parts, large momentum and angular acceleration, and high and stable speed.

[0016] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 It is a front view of a large-load high-angular acceleration gyro motor provided in an embodiment of the present application;

[0019] Figure 2 yes Figure 1 The front view of the high angular acceleration gyro motor with medium and large loads;

[0020] Figure 3 yes Figure 1 Side view of a medium to large load high angular acceleration gyro motor;

[0021] Figure 4 yes Figure 2 A front cross-sectional view of the middle rotor assembly;

[0022] Figure 5 It is a short-distance closed-loop magnetic circuit structure with three pairs of poles corresponding to the polarity of the outer magnetic steel component and the inner magnetic steel component;

[0023] Figure 6 It is a front cross-sectional view of the outer magnetic steel assembly in the rotor assembly;

[0024] Figure 7 yes Figure 6 Side view of

[0025] Figure 8 is a front cross-sectional view of the inner magnetic steel assembly in the rotor assembly;

[0026] Fig. 9 yes Figure 8 Side view of

[0027] Fig.10 yes Figure 1 The main view of the middle stator assembly;

[0028] Fig.11 yes Fig.10 Side view of

[0029] Fig.12 It is a schematic diagram of the connection of the inner winding and the outer winding in the stator assembly;

[0030] Fig.13 It is a principle block diagram of the driving and electronic commutation circuit for the large-load high-angular acceleration gyro motor provided in the embodiment of the present application;

[0031] Fig.14 It is a relationship diagram of torque and time curve of a large-load high-angular acceleration gyro motor provided in an embodiment of the present application under the excitation and control of a driving and electronic commutation circuit;

[0032] Fig.15 This is a simulation diagram of the correctness of the magnetic circuit direction of the large-load high-angular acceleration gyro motor provided in the embodiment of the present application;

[0033] Fig.16 It is the simulation result of the working air gap magnetic field strength of the large-load high-angular acceleration gyro motor provided in the embodiment of the present application, wherein the working air gap magnetic field strength is 0.515T;

[0034] Fig.17 It is a simulation result of magnetic flux leakage of the magnetic ring of the high-load high-angular acceleration gyro motor provided in the embodiment of the present application, wherein the magnetic flux leakage of the outer circle of the outer magnetic ring is less than or equal to 1.96mT;

[0035] Fig.18 It is the simulation result of the back EMF of the phase winding of the high-load high-angular acceleration gyro motor provided in the embodiment of the present application, wherein the back EMF of the phase winding is 49.8V;

[0036] Fig.19 It is the simulation result of the back-EMF phase difference between phases during the operation of the high-load high-angular acceleration gyro motor provided in the embodiment of the present application, wherein the motor working cycle is 1.09ms, each rotation of a pair of pole angles takes 0.363ms, and the back-EMF phase difference between the two-phase windings is 1 / 4 waveform (30°);

[0037] Fig. 20 The simulation results of the rotor assembly relative to the stator assembly in the large-load high-angular acceleration gyro motor provided in the embodiment of the present application are as follows: the momentum moment under the volume of φ22mm×21mm is 54.6g·cm·s, the start-up time is 3.29s, and the angular acceleration is 1645rad / s 2 , the speed is 54000r / min, and the working efficiency reaches 91.3%, which meets the use requirements of large-load and high-angular acceleration gyro motors.

[0038] Reference numerals:

[0039] 1- cylindrical casing;

[0040] 2-left end cover; 3-right end cover; 4-rotor assembly; 41-motor shaft; 42-fixed plate; 421-wheel rim; 43-inner magnetic steel assembly; 431-inner magnetic guide ring; 432-tile-shaped inner magnetic steel;

[0041] 44-external magnetic steel assembly; 441-external magnetic conductive ring; 442-tile-shaped external magnetic steel; 5-stator assembly; 51-cylindrical stator frame; 52-annular winding; 521-inner winding; 522-outer winding; 6-left bearing; 7-right bearing; 9-fixed wire ring; 10-ear shaft; C1-annular groove. DETAILED DESCRIPTION

[0042] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0043] In the present disclosure, unless otherwise stated, directional words such as "upper" and "lower" generally refer to the "upper" and "lower" of the corresponding parts in the use state relative to the direction of gravity, and "inside" and "outside" refer to the "inside" and "outside" relative to the corresponding parts' own contours. In addition, the terms "first", "second", etc. used in the present disclosure are to distinguish one element from another and do not have order and importance. In the following description, when referring to the drawings, unless otherwise explained, the same figure numbers in different drawings represent the same or similar elements.

[0044] Traditional gyro motors are hysteresis synchronous motors, asynchronous motors or permanent magnet brushless synchronous motors with a tooth structure. They usually have small angular acceleration (≤500rad / s2), low speed (≤30000r / min), and low working efficiency (≤60%), which makes it difficult to meet the needs of fast-working and high-momentum gyro use.

[0045] According to the embodiments of the present application, reference Figures 1 to 3 As shown, a large-load high-angular acceleration gyro motor is provided, comprising: a cylindrical casing 1, a left end cover 2, a right end cover 3, a rotor assembly 4, and a stator assembly 5.

[0046] refer to Figure 1 and Figure 2 The cylindrical casing 1 has a left opening and a right opening which are connected to each other; the left end cover 2 is fixedly connected to the left opening of the cylindrical casing 1; the right end cover 3 is fixedly connected to the right opening of the cylindrical casing 1; Figure 4 The rotor assembly 4 is concentrically arranged in the cylindrical housing 1, and includes a motor shaft 41, a fixed disk 42 fixedly connected to the motor shaft 41 and close to the right end cover 3, and an inner magnetic steel assembly 43 and an outer magnetic steel assembly 44 fixedly connected to the left side of the fixed disk 42 in an annular shape, wherein the inner magnetic steel assembly 43, the outer magnetic steel assembly 44 and the motor shaft 41 have a common central axis, and the inner magnetic steel assembly 43 is inside the outer magnetic steel assembly 44; the inner magnetic steel assembly 43, the outer magnetic steel assembly 44 and the fixed disk 42 form an annular groove C1; refer to Figure 2 and Fig.10 The stator assembly 5 includes a cylindrical stator frame 51 fixedly connected to the right side surface of the left end cover 2, and an annular winding 52 fixedly connected to the outer surface of the cylindrical stator frame 51; the annular winding 52 is located in the annular groove C1, and the central axis of the annular winding 52 is colinear with the central axis of the annular groove C1.

[0047] In the above embodiment, the tooth slot structure of the conventional gyro motor is eliminated to save the space occupied by the stator assembly 5, and a multi-pair short-distance push-pull layout is adopted for the permanent magnets on the rotor assembly 4, so as to provide the working air gap magnetic induction intensity to the maximum extent under the premise of reducing magnetic leakage and ensuring the uniformity of the working air gap magnetic field. The fixed disk 42 of the rotor assembly 4 is fixedly connected to the position of the motor shaft 41 near the right end cover 3, and the inner magnetic steel assembly 43 and the outer magnetic steel assembly 44 are arranged on the left side of the fixed disk 42, and the inner magnetic steel assembly 43, the outer magnetic steel assembly 44 and the motor shaft 41 share the same central axis, so that the inner magnetic steel assembly 43, the outer magnetic steel assembly 44 and the fixed disk 42 will form an annular groove. The stator assembly 5 composed of the cylindrical stator frame 51 and the annular winding 52 attached to the cylindrical stator frame 51 is inserted into the annular groove C1, and the stator assembly 5 is nested and inserted into the rotor assembly 4, that is, the outer magnetic steel assembly 44 and the inner magnetic steel assembly 43 belonging to the rotor assembly 4 wrap the stator assembly 5, and the stator assembly 5 extends laterally into the rotor assembly 4. The stator assembly 5 has a small radial dimension, a small end winding dimension, a small number of short-circuit windings, and low power loss; the rotor assembly 4 adopts a push-pull short-distance closed-loop magnetic circuit, and the air gap magnetic field strength is large and the space occupied is small, so that the rotation radius, torque radius and rotational inertia of the rotor assembly 4 are as large as possible, and the momentum and torque are improved. Therefore, the large-load high-angular acceleration gyro motor of the present application has the characteristics of small size, few parts, large momentum and angular acceleration, and high and stable speed.

[0048] According to the embodiments of the present application, reference Figures 4 to 7 As shown, specifically, the external magnetic steel assembly 44 includes an outer magnetic conductive ring 441 with one end fixedly connected to the fixed disk 42, and six tile-shaped external magnetic steels 442 arranged in a ring are fixedly connected inside the outer magnetic conductive ring 441. The six tile-shaped external magnetic steels 442 are magnetized radially, and the polarities are NSNSNS in sequence. Adjacent tile-shaped external magnetic steels 442 have opposite polarities, forming a three-pole magnetic circuit structure.

[0049] refer to Figure 4 , Figure 5 , Figure 8 and Fig. 9 As shown, the inner magnetic steel assembly 43 includes an inner magnetic ring 431 with one end fixedly connected to the fixed disk 42, and six tile-shaped internal magnetic steels 432 in a ring shape are fixedly connected to the outside of the inner magnetic ring 431. The six tile-shaped internal magnetic steels 432 are magnetized radially, and the polarities are NSNSNS in sequence. Adjacent tile-shaped internal magnetic steels 432 have opposite polarities, forming a three-pole magnetic circuit structure.

[0050] refer to Figures 10 to 12As shown, the annular winding 52 includes six inner windings 521 attached to the outer surface of the cylindrical bracket, and six outer windings 522 attached to the outer surface of the six inner windings 521. The six inner windings 521 and the six outer windings 522 differ in circumferential direction by 30°. When energized, the polarities of the six inner windings 521 are NSNSNS in sequence, the polarities of two adjacent inner windings 521 are opposite, and the six inner windings 521 form a three-pole magnetic circuit structure. The polarities of the six outer windings 522 are NSNSNS in sequence, the polarities of two adjacent outer windings 522 are opposite, and the six outer windings 522 form a three-pole magnetic circuit structure.

[0051] According to the embodiments of the present application, reference Figure 4 As shown, the fixed disk 42 has a rim 421, and the dimension of the rim 421 along the axial direction of the fixed disk 42 is larger than the dimension of the fixed disk 42 along the axial direction of the fixed disk 42. In this way, the momentum and torque of the rotor assembly 4 can be improved. Preferably, the material of the fixed disk 42 is a soft magnetic alloy or electrical pure iron. For example, the material of the fixed disk 42 can be an iron-nickel soft magnetic alloy 1J50. The material of the rim 421 is a tungsten-based high-density alloy W142 or a tungsten-based high-density alloy W152. Tungsten-based high-density alloy W142 or tungsten-based high-density alloy W152 has a very high density and excellent mechanical properties. It is mainly composed of tungsten and nickel-iron alloy, and has a very high density, usually between 17-18 g / cm3. Due to its high density, it can provide a large momentum for the rotor assembly 4.

[0052] According to the embodiment of the present application, the cylindrical stator frame 51 is made of ceramic material or polyimide material, so that the stator assembly 5 has a small radial dimension, a small end winding dimension, a small number of short-circuit windings, no eddy current heating, and low power loss.

[0053] Further, according to the embodiments of the present application, reference Figure 2 As shown, a left bearing 6 is provided between the motor shaft 41 and the left end cover 2, and a right bearing 7 is provided between the motor shaft 41 and the right end cover 3. In addition, the left bearing 6 and the right bearing 7 are preferably high-precision high-speed angular contact ball bearings, which can ensure that the gyro motor shaft 41 has no gap, and the speed and dynamic balance are stable during high-speed operation.

[0054] Further, according to an embodiment of the present application, in order to improve the stability of the gyro motor, the coaxiality of the outer magnetic steel component 44 relative to the motor shaft 41 is less than or equal to φ0.01mm, and the coaxiality of the inner magnetic steel component 43 relative to the motor shaft 41 is less than or equal to φ0.01mm. In this case, each outer magnetic steel inner hole N pole is directly opposite to the inner magnetic steel outer circle S pole, and the outer magnetic steel inner hole S pole is directly opposite to the inner magnetic steel outer circle N pole, forming a short-distance magnetic circuit structure. The thickness of the magnetic steel and the thickness of the magnetic conductive ring are small, the working air gap magnetic field is strong, the leakage magnetic field is small, and the magnetic field utilization rate is high.

[0055] In addition, refer to Figure 1 The wires of the large-load and high-angular-acceleration gyro motor are led out along the wire groove and the wire hole, and the ear shaft 10 and the wire fixing ring 9 can better fix and protect the wires.

[0056] To meet the requirements of high angular acceleration (short start-up time) under large load (or high momentum). Fig.13 , Fig.13 It is a principle block diagram of the driving and electronic commutation circuit for the large-load high-angular acceleration gyro motor provided in the embodiment of the present application.

[0057] Fig.14 It is a relationship diagram between torque and time curves of the large-load high-angular acceleration gyro motor provided in the embodiment of the present application under the excitation and control of the driving and electronic commutation circuits.

[0058] The high-load high-angular acceleration gyro motor provided in the embodiment of the present application has been simulated and verified for its magnetic circuit direction, working air gap magnetic field strength, magnetic ring leakage, phase winding back electromotive force, and rotor assembly 4 working in full mode relative to stator assembly 5, specifically:

[0059] Fig.15 The correctness of the magnetic circuit direction simulation of the large-load high-angular acceleration gyro motor provided in the embodiment of the present application is shown in the figure, which is a three-pair-pole short-distance closed-loop magnetic circuit structure.

[0060] Fig.16 This is the simulation result of the working air gap magnetic field strength of the large-load high angular acceleration gyro motor provided in the embodiment of the present application, wherein the working air gap magnetic field strength is 0.515T.

[0061] Fig.17 This is a simulation result of magnetic leakage of the magnetic ring of the high-load and high-angular acceleration gyro motor provided in the embodiment of the present application. The magnetic leakage of the outer circle of the outer magnetic ring 441 is less than or equal to 1.96mT.

[0062] Fig.18 This is the simulation result of the phase winding back EMF of the large-load high-angular acceleration gyro motor provided in the embodiment of the present application. The phase winding back EMF is 49.8V.

[0063] Fig.19This is the simulation result of the inter-phase back-EMF phase difference during the operation of the large-load high-angular acceleration gyro motor provided in the embodiment of the present application. The motor working cycle is 1.09ms, and it takes 0.363ms to rotate a pair of poles. The back-EMF phase difference between the two-phase windings is 1 / 4 waveform (30°).

[0064] Fig. 20 The simulation results of the rotor assembly 4 relative to the stator assembly 5 in the full-mode operation of the high-load and high-angular acceleration gyro motor provided in the embodiment of the present application are shown in FIG. 1 , wherein the momentum moment under the volume of φ22 mm×21 mm is 54.6 g·cm·s, the start-up time is 3.29 s, and the angular acceleration is 1645 rad / s 2 , the speed is 54000r / min, and the working efficiency reaches 91.3%, which meets the use requirements of large-load and high-angular acceleration gyro motors.

[0065] In summary, the high-load high-angular acceleration gyro motor of the embodiment of the present application has the following beneficial effects:

[0066] 1. The present invention is different from the traditional slotted structure gyro motor, works in the vacuum cavity of the gyro, has excellent SwaP (size, mass and power consumption), simple structure, good processability, low cost, working efficiency can reach more than 90%, starting angular acceleration can reach greater than or equal to 1500rad / s2, and the rotation speed is higher than 50000r / min. It is an excellent fast-starting, high-momentum, high-stability permanent magnet synchronous motor for gyro.

[0067] 2. The high-load and high-angular acceleration gyro motor of the present application adopts a wire trough to guide the wires and cables, and uses a wire fixing ring 9 clamp lead structure to ensure the compact structure of the micro-gyro motor and the safety and reliability of the lead when working in harsh environments.

[0068] 3. The motor body of the large-load high-angular acceleration gyro motor of the present application adopts an outer rotor stator lateral sleeve structure to make the rotation radius and torque radius of the rotor assembly 4 as large as possible, which is beneficial to improving the kinetic moment and torque; high-precision high-speed angular contact ball bearings are used to eliminate the shaft system clearance, so that the speed and dynamic balance are stable when working at high speed.

[0069] 4. The large-load high-angular acceleration gyro motor of the present application adopts a slotless iron core structure, and the winding is pasted on the outer circle of the cylindrical frame. The structure is simple, there is no short-pitch winding, and the torque radius is increased, which is beneficial to reducing costs, improving efficiency and increasing starting torque.

[0070] 5. The large-load high-angular acceleration gyro motor of the present application adopts an internal-external push-pull short-distance closed-loop magnetic circuit structure with small magnetic loss and high working air gap magnetic field intensity, which is beneficial to improving torque.

[0071] 6. The large-load high-angular acceleration gyro motor of the present application has an increased number of pole pairs in a small volume, which is beneficial to the stability of the rotation speed at high speed.

[0072] 7. The large-load, high-angular-acceleration gyro motor of the present application can be applied and promoted in gyroscopes that can start up instantly and enter a working state and have a large kinetic moment.

[0073] On the other hand, the present application also provides a gyroscope, including a gyroscope vacuum chamber, wherein the above-mentioned large-load high-angular acceleration gyroscope motor is installed in the gyroscope vacuum chamber. For a gyroscope, rotation speed stability, dynamic balance stability, etc. are its basic requirements, so the gyroscope motor should work in the gyroscope vacuum chamber to reduce the influence of airflow damping at high speed on the starting angular acceleration and the working rotation speed stability and dynamic balance stability.

[0074] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0075] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0076] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A large load high angular acceleration gyro motor, characterized in that: include: A cylindrical casing (1) having a left opening and a right opening communicating with each other; A left end cover (2) fixedly connected to the left opening of the cylindrical casing (1); A right end cover (3) fixedly connected to the right opening of the cylindrical casing (1); A rotor assembly (4) is concentrically arranged in the cylindrical housing (1), comprising a motor shaft (41), a fixed disk (42) fixedly connected to the motor shaft (41) and close to the right end cover (3), and an inner magnetic steel assembly (43) and an outer magnetic steel assembly (44) fixedly connected to the left side of the fixed disk (42) in an annular shape, wherein the inner magnetic steel assembly (43), the outer magnetic steel assembly (44) and the motor shaft (41) share a central axis, and the inner magnetic steel assembly (43) is located inside the outer magnetic steel assembly (44); the inner magnetic steel assembly (43), the outer magnetic steel assembly (44) and the fixed disk (42) form an annular groove (C1); The stator assembly (5) comprises a cylindrical stator frame (51) fixedly connected to the right side surface of the left end cover (2), and an annular winding (52) fixedly connected to the outer surface of the cylindrical stator frame (51); The annular winding (52) is located in the annular groove (C1), and the central axis of the annular winding (52) is colinear with the central axis of the annular groove (C1).

2. The large-load high-angular-acceleration gyro motor according to claim 1, characterized in that: The external magnetic steel component (44) comprises an external magnetic conductive ring (441) with one end fixedly connected to the fixed disk (42), six tile-shaped external magnetic steels (442) in a ring-shaped manner are fixedly connected inside the external magnetic conductive ring (441), the six tile-shaped external magnetic steels (442) are magnetized in radial direction, and the polarities are NSNSNS in sequence, and the polarities of adjacent tile-shaped external magnetic steels (442) are opposite, forming a three-pole magnetic circuit structure; The inner magnetic steel assembly (43) comprises an inner magnetic ring (431) with one end fixedly connected to the fixed disk (42); six tile-shaped inner magnetic steels (432) arranged in a ring shape are fixedly connected to the outside of the inner magnetic ring (431); the six tile-shaped inner magnetic steels (432) are magnetized in radial direction, and polarities are NSNSNS in sequence; adjacent tile-shaped inner magnetic steels (432) have opposite polarities, forming a three-pole magnetic circuit structure.

3. The large-load high-angular-acceleration gyro motor according to claim 1, characterized in that: The annular winding (52) comprises six inner windings (521) attached to the outer surface of the cylindrical support, and six outer windings (522) attached to the outer surface of the six inner windings (521), and the six inner windings (521) and the six outer windings (522) differ in circumferential direction by 30°; When energized, the polarities of the six inner windings (521) are NSNSNS in sequence, the polarities of two adjacent inner windings (521) are opposite, and the six inner windings (521) form a three-pole magnetic circuit structure; the polarities of the six outer windings (522) are NSNSNS in sequence, the polarities of two adjacent outer windings (522) are opposite, and the six outer windings (522) form a three-pole magnetic circuit structure.

4. The large-load high-angular-acceleration gyro motor according to claim 1, characterized in that: The fixed disk (42) has a rim (421), and the dimension of the rim (421) along the axial direction of the fixed disk (42) is greater than the dimension of the fixed disk (42) along the axial direction of the fixed disk (42).

5. The large-load high-angular-acceleration gyro motor according to claim 4, characterized in that: The material of the fixing plate (42) is a soft magnetic alloy or electrical pure iron, and the material of the wheel rim (421) is a tungsten-based high-density alloy W142 or a tungsten-based high-density alloy W152.

6. The large-load high-angular-acceleration gyro motor according to claim 1, characterized in that: The cylindrical stator frame (51) is made of ceramic material or polyimide material.

7. The large-load high-angular-acceleration gyro motor according to claim 1, characterized in that: A left bearing (6) is arranged between the motor shaft (41) and the left end cover (2), and a right bearing (7) is arranged between the motor shaft (41) and the right end cover (3).

8. The large-load high-angular-acceleration gyro motor according to claim 1, characterized in that: The coaxiality of the outer magnetic steel component (44) relative to the motor shaft (41) is less than or equal to φ0.01 mm, and the coaxiality of the inner magnetic steel component (43) relative to the motor shaft (41) is less than or equal to φ0.01 mm.

9. A gyroscope, characterized in that: It comprises a gyro vacuum chamber, in which the heavy-load high-angular acceleration gyro motor as claimed in any one of claims 1 to 8 is installed.

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