Electromagnetic actuating device for space on-orbit service

Abstract

The invention provides an electromagnetic actuating device for space on-orbit service, and belongs to the field of aerospace. The problem that the thrust density is reduced when an existing electromagnetic actuator suppresses armature reaction is solved. The motor comprises a stator and a rotor, the stator comprises an upper magnetic structure, an outer magnetic structure, a lower magnetic structure and an inner magnetic structure, the upper magnetic structure comprises an upper magnet yoke and an upper axial magnetic ring, the upper axial magnetic ring is installed on the lower side of the upper magnet yoke, and the outer magnetic structure comprises an outer lower radial magnetic ring, an outer middle axial magnetic ring, an outer upper radial magnetic ring and an outer magnet yoke. The outer upper radial magnetic ring is installed on the upper portion of the inner side of the outer magnet yoke, the outer middle axial magnetic ring is installed in the middle of the inner side of the outer magnet yoke and located on the lower side of the outer upper radial magnetic ring, and the outer lower radial magnetic ring is installed on the lower portion of the inner side of the outer magnet yoke and located on the lower side of the outer middle axial magnetic ring. The method is mainly used for space on-orbit service.

Description

Technical Field

[0001] The invention belongs to the field of aerospace, and in particular relates to an electromagnetic actuating device for space on-orbit service. Background Art

[0002] With the development of aerospace technology and the continuous exploration of space, various types of spacecraft have been launched into space to complete their respective scientific tasks. Currently, there are a large number of spacecraft operating in orbit, and some of them have reached the end of their service life, exhausted their fuel, or their parts have been damaged and become space junk. However, space service measures such as on-orbit repair or replacement of parts, refueling, and changing service orbits can extend the service life of spacecraft and reduce the application cost of spacecraft.

[0003] For spacecraft on-orbit service missions, the service spacecraft needs to rendezvous and dock with the target spacecraft before it can perform fuel refueling and maintenance services. After completing the service mission, the service spacecraft needs to separate from the target spacecraft again and return it to its working orbit. This process requires a reusable separation device that can achieve adjustable separation speed for different types of spacecraft, and the electromagnetic actuator plays a key role in this process.

[0004] At present, the existing electromagnetic actuating devices, such as the Chinese patent with publication number CN113572334A, discloses a dual-magnetic circuit electromagnetic actuator with compensating magnets, which realizes permanent magnetic flux diversion by forming front and rear dual permanent magnetic branch loops on a single-layer magnetic pole structure, and uses end compensating magnets to increase the magnetomotive force and air gap magnetic field strength. However, there are problems such as large end leakage magnetic field, a single coil causing armature reaction, and the structure has no effective suppression measures for the armature reaction, and the magnetic field strength at the bottom of the air gap is small, resulting in a small initial thrust.

[0005] The Chinese patent with publication number CN113443176A discloses an electromagnetic actuator for a nanosatellite deployer, which uses multiple magnetic rings in series to form a single closed permanent magnetic circuit to increase the magnetic field strength of the inner and outer air gaps. The invention has two air gaps, which enhances the speed regulation range of the actuator, but the two air gaps also cause more serious magnetic leakage at the end. The lack of auxiliary permanent magnets at the bottom leads to weak magnetic field strength at the bottom of the two air gaps, resulting in a small initial thrust of the actuator.

[0006] The Chinese patent with publication number CN113562203A discloses an electromagnetic actuator with redundant air gap, which uses a magnetic isolation ring to play the role of redundant air gap and forms an auxiliary permanent magnetic circuit. Although this method increases the magnetic density of the end air gap, the coil will generate a large electromagnetic field and produce armature reaction, and this invention cannot weaken the armature reaction. The magnetic flux circuit formed by the lower magnetic ring in the permanent magnet arrangement at the bottom of the air gap will weaken the magnetic field strength of the air gap.

[0007] The Chinese patent with publication number CN113572335A discloses a single-layer magnetic pole electromagnetic actuator with double windings, which uses a guide magnetic ring to solve the problem of magnetic field cancellation caused by opposite magnetic circuits, and reduces some leakage magnetic flux by guiding the magnetic flux of different branches. However, the two-circle air gap still causes a large leakage magnetic flux. And the two radially arranged coils will cause the direction of the electromagnetic field magnetic flux loop generated by the coil to be opposite to the direction of the magnetic flux loop generated by the permanent magnet, thereby reducing the magnetic flux density in the air gap.

[0008] It can be seen that the existing electromagnetic actuators have many problems such as serious end magnetic leakage, small initial thrust and difficulty in suppressing armature reaction. The current electromagnetic actuator uses a double coil to pass reverse current to generate opposite electromagnetic fields to cancel each other out, thereby suppressing the armature reaction. However, the existing actuators with a double coil design have large magnetic leakage and low thrust density, which also makes the energy conversion rate low. In order to meet the mission requirements of various types of spacecraft to separate after completing on-orbit service, the electromagnetic actuator is required to have the ability to suppress armature reaction, reduce the risk of demagnetization and be able to operate stably on orbit for a long time, while still being able to maintain a certain thrust density. Summary of the invention

[0009] In view of this, the present invention aims to propose an electromagnetic actuator for space on-orbit service to solve the problems of serious magnetic leakage of existing electromagnetic actuators, inability to suppress armature reaction and low thrust density.

[0010] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: an electromagnetic actuator for space on-orbit service, which comprises a stator and a mover, wherein the stator comprises an upper magnetic structure, an outer magnetic structure, a lower magnetic structure and an inner magnetic structure, wherein the upper magnetic structure comprises an upper magnetic yoke and an upper axial magnetic ring, wherein the upper axial magnetic ring is installed on the lower side of the upper magnetic yoke, wherein the outer magnetic structure comprises an outer lower radial magnetic ring, an outer middle axial magnetic ring, an outer upper radial magnetic ring and an outer magnetic yoke, wherein the outer upper radial magnetic ring is installed on the inner upper part of the outer magnetic yoke, wherein the outer middle axial magnetic ring is installed on the inner middle part of the outer magnetic yoke and is located on the lower side of the outer upper radial magnetic ring, wherein the outer lower radial magnetic ring is installed on the inner lower part of the outer magnetic yoke and is located on the lower side of the outer middle axial magnetic ring, wherein the lower magnetic structure comprises a lower inner axial magnetic ring, a lower magnetic yoke and a lower outer axial magnetic ring , the lower inner axial magnetic ring is installed on the radial inner side of the upper part of the lower magnetic yoke, and the lower outer axial magnetic ring is installed on the radial outer side of the upper part of the lower magnetic yoke. The inner magnetic structure includes an inner magnetic yoke, an inner upper radial magnetic ring, an inner middle axial magnetic ring and an inner lower radial magnetic ring. The inner upper radial magnetic ring is installed on the upper part of the inner magnetic yoke, the inner middle axial magnetic ring is installed on the middle part of the inner magnetic yoke and is located on the lower side of the inner upper radial magnetic ring, the inner lower radial magnetic ring is installed on the lower part of the inner magnetic yoke and is located on the lower side of the inner middle axial magnetic ring, the upper and lower ends of the inner magnetic yoke are respectively installed at the center of the upper magnetic yoke and the lower magnetic yoke, the upper and lower ends of the outer magnetic yoke are respectively installed at the edges of the upper magnetic yoke and the lower magnetic yoke, there is an air gap between the radial inner side of the outer magnetic structure and the radial outer side of the inner magnetic structure, and the mover is arranged in the air gap.

[0011] Furthermore, the mover includes an upper coil, a mover coil frame and a lower coil, the mover coil frame is arranged in the air gap, and annular grooves are provided on the upper and lower parts of the outer side of the mover coil frame, and the upper coil and the lower coil are respectively arranged in the upper and lower annular grooves.

[0012] Furthermore, the mover also includes a top plate, a linear motion bottom plate, a lower support rod and an upper support rod. There are multiple lower support rods and upper support rods, and they are evenly distributed along the circumferential direction of the mover coil frame. One end of the lower support rod is connected to the lower part of the mover coil frame, and the other end is connected to the linear motion bottom plate after passing through the lower magnetic structure. One end of the upper support rod is connected to the upper part of the mover coil frame, and the other end is connected to the top plate after passing through the upper magnetic structure.

[0013] Furthermore, the lower part of the lower magnetic structure is connected to the stator frame, and the stator frame includes a base and a stator support rod. There are multiple stator support rods, and the multiple stator support rods are evenly distributed along the circumferential direction of the base. One end of the stator support rod is connected to the base, and the other end is connected to the lower magnetic yoke. The linear motion base plate is slidably connected to the stator support rod.

[0014] Furthermore, the materials of the top plate, the base, the stator support rod, the lower support rod and the upper support rod are all hard aluminum alloy 2A12.

[0015] Furthermore, the upper coil and the lower coil have the same height, the current passed through the upper coil is in the opposite direction to the current passed through the lower coil, the outer lower radial magnetic ring, the outer upper radial magnetic ring, the inner upper radial magnetic ring and the inner lower radial magnetic ring have the same height, the upper coil is located between the outer upper radial magnetic ring and the inner upper radial magnetic ring, and the lower coil is located between the outer lower radial magnetic ring and the inner lower radial magnetic ring.

[0016] Furthermore, the mover coil frame is made of polyimide material.

[0017] Furthermore, the magnetizing directions of the lower inner axial magnetic ring, the lower outer axial magnetic ring, the outer upper radial magnetic ring, the outer middle axial magnetic ring, the outer lower radial magnetic ring, the inner upper radial magnetic ring, the inner middle axial magnetic ring, the inner lower radial magnetic ring and the upper axial magnetic ring are respectively: front N and back S, front S and back N, inside N and outside S, front N and back S, inside S and outside N, inside N and outside S, front S and back N, inside S and outside N, front S and back N.

[0018] Furthermore, the materials of the upper axial magnetic ring, the inner upper radial magnetic ring, the inner middle axial magnetic ring, the inner lower radial magnetic ring, the lower inner axial magnetic ring, the lower outer axial magnetic ring, the outer lower radial magnetic ring, the outer middle axial magnetic ring and the outer upper radial magnetic ring are all neodymium iron boron N35 permanent magnet materials.

[0019] Furthermore, the materials of the upper magnetic yoke, the inner magnetic yoke, the lower magnetic yoke and the outer magnetic yoke are all DT4C.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention provides an electromagnetic actuator for space on-orbit service, which can suppress the problem of strong armature reaction of the existing electromagnetic actuator and provide sufficient thrust density. The present invention uses multi-layer annular permanent magnets to form multiple closed permanent magnetic circuits, adopts a closed magnetic yoke structure to effectively reduce leakage magnetic flux, increase the strength of the air gap magnetic field, improve the uniformity of the air gap magnetic flux density, and reduce thrust fluctuations; the armature reaction caused by the coil electromagnetic field is suppressed by yoke saturation.

[0021] Before the coil is energized, the magnetic flux generated by the permanent magnet saturates the yoke. After the coil is energized, the electromagnetic field flux generated by the coil is offset by the magnetic flux generated by the permanent magnet. However, due to the saturation of the yoke, the air gap can still generate a strong magnetic field strength. A radially magnetized permanent magnet ring is arranged at the bottom of the air gap to form a local magnetic flux loop, thereby enhancing the magnetic field strength at the bottom of the air gap and improving the initial thrust.

[0022] The invention has the characteristics of compact structure, small volume, light weight and large thrust adjustment range, which can meet the actual needs of on-orbit space services at this stage. It is used to separate multiple types of spacecraft after on-orbit space maintenance, ensuring that the spacecraft separates at a predetermined speed.

[0023] The present invention uses two coils of equal height to pass opposite currents. The two coils generate opposite electromagnetic fields and cancel each other out. The Ampere forces they receive are both upward. The height of the yoke is reduced to saturate the yoke, which effectively suppresses the armature reaction generated by the coils and reduces the risk of demagnetization of the permanent magnet ring. At the same time, magnetic saturation reduces the amount of yoke material used, reduces the overall mass of the actuator, and improves the thrust density.

[0024] The present invention uses multiple magnetic rings to form three main magnetic flux loops, and uses radially magnetized permanent magnet magnetic rings, external magnetic structures and internal magnetic structures at the ends to form a local small magnetic flux loop to reduce leakage magnetic flux and increase the air gap magnetic density at the ends, thereby increasing the initial thrust. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0026] Figure 1 This is a schematic diagram of the three-dimensional structure of an electromagnetic actuating device for space on-orbit service according to the present invention;

[0027] Figure 2 This is a schematic diagram of the cross-sectional structure of the magnetic circuit of an electromagnetic actuator for space on-orbit service according to the present invention;

[0028] Figure 3 It is a schematic diagram of the three-dimensional structure of the mover of the present invention;

[0029] Figure 4 It is a three-dimensional schematic diagram of the external magnetic structure of the present invention;

[0030] Figure 5 It is a three-dimensional schematic diagram of the internal magnetic structure of the present invention;

[0031] Figure 6 It is a three-dimensional schematic diagram of the upper magnetic structure of the present invention;

[0032] Figure 7 It is a three-dimensional schematic diagram of the lower magnetic structure of the present invention;

[0033] Figure 8 It is a three-dimensional schematic diagram of the stator frame of the present invention;

[0034] Fig. 9 Schematic diagram of the magnetic circuit of the stator according to the present invention.

[0035] In the figure:

[0036] 1-top plate, 2-upper magnetic structure, 3-outer magnetic structure, 4-lower magnetic structure, 5-base, 6-linear motion base plate, 7-statator support rod, 8-lower support rod, 9-upper support rod, 10-upper yoke, 11-upper axial magnetic ring, 12-inner yoke, 13-inner upper radial magnetic ring, 14-upper coil, 15-inner middle axial magnetic ring, 16-motor coil frame, 17-lower coil, 18-inner lower radial magnetic ring, 19-lower inner axial magnetic ring, 20-lower yoke, 21-lower outer axial magnetic ring, 22-outer lower radial magnetic ring, 23-outer middle axial magnetic ring, 24-outer upper radial magnetic ring, 25-outer yoke. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely explain the technical solutions in the embodiments of the present invention. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict, and the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0038] See also Figure 1-8 To illustrate the present embodiment, an electromagnetic actuator for space on-orbit service includes a stator and a mover, wherein the stator includes an upper magnetic structure 2, an outer magnetic structure 3, a lower magnetic structure 4 and an inner magnetic structure, wherein the upper magnetic structure 2 includes an upper magnetic yoke 10 and an upper axial magnetic ring 11, wherein the upper axial magnetic ring 11 is mounted on the lower side of the upper magnetic yoke 10, the outer magnetic structure 3 includes an outer lower radial magnetic ring 22, an outer middle axial magnetic ring 23, an outer upper radial magnetic ring 24 and an outer magnetic yoke 25, wherein the outer upper radial magnetic ring 24 is mounted on the inner upper portion of the outer magnetic yoke 25, the outer middle axial magnetic ring 23 is mounted on the inner middle portion of the outer magnetic yoke 25 and is located below the outer upper radial magnetic ring 24, the outer lower radial magnetic ring 22 is mounted on the inner lower portion of the outer magnetic yoke 25 and is located below the outer middle axial magnetic ring 23, the lower magnetic structure 4 includes a lower inner axial magnetic ring 19, a lower magnetic yoke 20 and a lower outer axial magnetic ring 21, The lower outer axial magnetic ring 21 is installed on the radial inner side of the upper part of the lower magnetic yoke 20, and the inner magnetic structure includes an inner magnetic yoke 12, an inner upper radial magnetic ring 13, an inner middle axial magnetic ring 15 and an inner lower radial magnetic ring 18. The inner upper radial magnetic ring 13 is installed on the upper part of the inner magnetic yoke 12, the inner middle axial magnetic ring 15 is installed in the middle part of the inner magnetic yoke 12 and is located at the lower side of the inner upper radial magnetic ring 13, the inner lower radial magnetic ring 18 is installed on the lower part of the inner magnetic yoke 12 and is located at the lower side of the inner middle axial magnetic ring 15, the upper and lower ends of the inner magnetic yoke 12 are respectively installed at the center of the upper magnetic yoke 10 and the lower magnetic yoke 20 by bolts, the upper and lower ends of the outer magnetic yoke 25 are respectively installed at the edges of the upper magnetic yoke 10 and the lower magnetic yoke 20 by bolts, there is an air gap between the radial inner side of the outer magnetic structure 3 and the radial outer side of the inner magnetic structure, and the mover is arranged in the air gap.

[0039] The mover in this embodiment includes a top plate 1, a linear motion bottom plate 6, a lower support rod 8, an upper support rod 9, an upper coil 14, a mover coil frame 16 and a lower coil 17. The mover coil frame 16 is arranged in an air gap, and an annular groove is provided at the upper and lower parts of the outer side of the mover coil frame 16. The upper coil 14 and the lower coil 17 are arranged in the annular grooves of the upper and lower parts respectively. There are four lower support rods 8 and four upper support rods 9, and the four lower support rods 8 and upper support rods 9 are evenly distributed along the circumferential direction of the mover coil frame 16. One end of the lower support rod 8 is connected to the lower part of the mover coil frame 16, and the other end passes through the lower magnetic structure 4 and is connected to the linear motion bottom plate 6 by bolts. One end of the upper support rod 9 is connected to the upper part of the mover coil frame 16, and the other end passes through the upper magnetic structure 2 and is connected to the top plate 1 by bolts.

[0040] The lower part of the lower magnetic structure 4 in this embodiment is connected to the stator frame, and the stator frame includes a base 5 and a stator support rod 7. The number of the stator support rods 7 is multiple, and the multiple stator support rods 7 are evenly distributed along the circumferential direction of the base 5. One end of the stator support rod 7 is connected to the base 5, and the other end is connected to the lower magnetic yoke 20. The linear motion base plate 6 is slidably connected to the stator support rod 7, and the mover cooperates with the stator support rod 7 through the linear motion base plate 6 to realize the linear motion of the mover. The upper coil 14 and the lower coil 17 have the same height, and the current passed through the upper coil 14 is opposite to the current passed through the lower coil 17. The outer lower radial magnetic ring 22, the outer upper radial magnetic ring 24, the inner upper radial magnetic ring 13 and the inner lower radial magnetic ring 18 have the same height. The upper coil 14 is located between the outer upper radial magnetic ring 24 and the inner upper radial magnetic ring 13, and the lower coil 17 is located between the outer lower radial magnetic ring 22 and the inner lower radial magnetic ring 18.

[0041] In this embodiment, the materials of the top plate 1, the base 5, the stator support rod 7, the lower support rod 8 and the upper support rod 91 are all made of hard aluminum alloy 2A12, and the movable coil frame 16 is made of polyimide material. The top plate 1 is connected to the upper support rod 9 by bolts, the upper support rod 9 is connected to the movable coil frame 16 by threads, the linear motion bottom plate 6 is connected to the lower support rod 8 by bolts, the lower support rod 8 is connected to the movable coil motion frame 16 by threads, the base 5 is connected to the stator support rod 7 by bolts, and the stator support rod 7 is connected to the lower yoke 20 by threads.

[0042] The magnetizing directions of the lower inner axial magnetic ring 19, the lower outer axial magnetic ring 21, the outer upper radial magnetic ring 24, the outer middle axial magnetic ring 23, the outer lower radial magnetic ring 22, the inner upper radial magnetic ring 13, the inner middle axial magnetic ring 15, the inner lower radial magnetic ring 18 and the upper axial magnetic ring 11 described in this embodiment are: front N and back S, front S and back N, inside N and outside S, front N and back S, inside S and outside N, inside N and outside S, front S and back N, inside S and outside N, front S and back N.

[0043] The materials of the upper axial magnetic ring 11, the inner upper radial magnetic ring 13, the inner middle axial magnetic ring 15, the inner lower radial magnetic ring 18, the lower inner axial magnetic ring 19, the lower outer axial magnetic ring 21, the outer lower radial magnetic ring 22, the outer middle axial magnetic ring 23 and the outer upper radial magnetic ring 24 are all made of NdFeB N35 permanent magnet material. The materials of the upper magnetic yoke 10, the inner magnetic yoke 12, the lower magnetic yoke 20 and the outer magnetic yoke 25 are all DT4C.

[0044] This embodiment forms multiple closed permanent magnet circuits through multi-layer annular permanent magnets, and adopts a closed yoke structure to effectively reduce leakage magnetic flux, increase the strength of the air gap magnetic field, improve the uniformity of the air gap magnetic density, and reduce thrust fluctuations; the armature reaction caused by the electromagnetic field of the coil is suppressed through yoke saturation and the risk of permanent magnet demagnetization under high current conditions is reduced. It has the characteristics of compact structure, small size, light weight, and large thrust adjustment range, which can meet the actual needs of on-orbit space services at this stage and have long-term stable working performance. It is used to separate multiple types of spacecraft after completing on-orbit space maintenance to ensure that the spacecraft separates at a predetermined speed.

[0045] The device described in this embodiment can form three main permanent magnetic closed loops, as follows:

[0046] Permanent magnetic closed loop 1: The magnetic flux starts from the N pole of the inner upper radial magnetic ring 13, passes through the inner magnetic yoke 12, the outer magnetic yoke 25, the S pole of the outer upper radial magnetic ring 24, the N pole of the outer upper radial magnetic ring 24, the air gap, and finally returns to the S pole of the inner upper radial magnetic ring 13.

[0047] Permanent magnetic closed loop 2: The magnetic flux starts from the N pole of the inner upper radial magnetic ring 13, and passes through the inner magnetic yoke 12, the S pole of the inner lower radial magnetic ring 18, the N pole of the inner lower radial magnetic ring 18, the air gap, the S pole of the outer lower radial magnetic ring 22, the N pole of the outer lower radial magnetic ring 22, the outer magnetic yoke 25, the S pole of the outer upper radial magnetic ring 24, the S pole of the outer upper radial magnetic ring 24, the N pole of the outer upper radial magnetic ring 13, the air gap, and finally returns to the S pole of the inner upper radial magnetic ring 13.

[0048] Permanent magnet closed loop three: The magnetic flux starts from the N pole of the inner lower radial magnetic ring 18, passes through the air gap, the S pole of the outer lower radial magnetic ring 22, the N pole of the outer lower radial magnetic ring 22, the outer magnetic yoke 25, the lower magnetic yoke 20, the inner magnetic yoke 12, and finally returns to the S pole of the inner lower radial magnetic ring 18. The magnetic flux generated by the upper axial magnetic ring 11, the outer middle axial magnetic ring 23, the inner middle axial magnetic ring 17, the lower outer axial magnetic ring 21, and the lower inner axial magnetic ring 19 is used to improve the magnetic field distribution in the air gap.

[0049] The device described in this embodiment can also form an auxiliary magnetic circuit through the magnetic flux loop formed by the lower inner axial magnetic ring 19 and the lower outer axial magnetic ring 21. The auxiliary magnetic circuit is specifically: the magnetic flux starts from the N pole of the lower inner axial magnetic ring 19, passes through the lower magnetic yoke 20, the S pole of the lower outer axial magnetic ring 21, the N pole of the lower outer axial magnetic ring 21, the outer lower radial magnetic ring 22, the air gap, the inner lower radial magnetic ring 18, and finally returns to the S pole of the lower inner axial magnetic ring 19.

[0050] When the device is working, the lower inner axial magnetic ring 19, the lower outer axial magnetic ring 21, the outer upper radial magnetic ring 24, the outer middle axial magnetic ring 23, the outer lower radial magnetic ring 22, the inner upper radial magnetic ring 13, the inner middle axial magnetic ring 15, the inner lower radial magnetic ring 18, and the upper axial magnetic ring 11 form a closed air gap, and a constant permanent magnetic field is formed in the air gap. The outer magnetic yoke 25, the upper magnetic yoke 10, the inner magnetic yoke 12, and the lower magnetic yoke 20 close the permanent magnet, reduce the leakage magnetic flux and enhance the magnetic field density of the air gap. The upper coil 14 and the lower coil 17 are connected to the current, and the upper coil 14 and the lower coil 17 are equal in height. They move in the air gaps corresponding to the upper and lower layers of radial magnetic rings respectively. Since the height of the upper coil 14 is equal to the height of the lower coil 17 and the current is connected in opposite directions, the electromagnetic fields they generate are opposite in direction and cancel each other out. The armature reaction is effectively suppressed by the design of the magnetic flux saturation of the magnetic yoke. At the same time, the two coils are connected with current to generate Ampere force, and the force is in the same direction, and the Ampere force is upward, thereby increasing the output thrust of the device. The mover realizes linear motion through the cooperation of the linear motion bottom plate 6 and the stator support rod 7. The top plate 1 and the linear motion bottom plate 6 play the role of connection and force transmission during the movement of the mover, and the upper support rod 9 and the lower support rod 8 ensure the accuracy of the mover's movement direction. The entire device generates linear motion in the above manner and can be used for on-orbit services of spacecraft, such as the separation of multiple types of spacecraft after on-orbit space maintenance, ensuring that the spacecraft separates at a predetermined speed.

[0051] The embodiments of the present invention disclosed above are only used to help illustrate the present invention. The embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. According to the content of this specification, many modifications and changes can be made. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well.

Claims

1. An electromagnetic actuator for space on-orbit service, characterized in that: It comprises a stator and a mover, wherein the stator comprises an upper magnetic structure (2), an outer magnetic structure (3), a lower magnetic structure (4) and an inner magnetic structure, wherein the upper magnetic structure (2) comprises an upper magnetic yoke (10) and an upper axial magnetic ring (11), wherein the upper axial magnetic ring (11) is mounted on the lower side of the upper magnetic yoke (10), wherein the outer magnetic structure (3) comprises an outer lower radial magnetic ring (22), an outer middle axial magnetic ring (23), an outer upper radial magnetic ring (24) and an outer magnetic yoke (25), wherein the outer upper radial magnetic ring (2 4) is installed on the inner upper part of the outer magnetic yoke (25), the outer middle axial magnetic ring (23) is installed on the inner middle part of the outer magnetic yoke (25) and is located below the outer upper radial magnetic ring (24), the outer lower radial magnetic ring (22) is installed on the inner lower part of the outer magnetic yoke (25) and is located below the outer middle axial magnetic ring (23), the lower magnetic structure (4) comprises a lower inner axial magnetic ring (19), a lower magnetic yoke (20) and a lower outer axial magnetic ring (21), the lower inner axial magnetic ring (19) is installed on the lower The lower outer axial magnetic ring (21) is mounted on the radially inner side of the upper part of the lower magnetic yoke (20); the inner magnetic structure comprises an inner magnetic yoke (12), an inner upper radial magnetic ring (13), an inner middle axial magnetic ring (15) and an inner lower radial magnetic ring (18); the inner upper radial magnetic ring (13) is mounted on the upper part of the inner magnetic yoke (12); the inner middle axial magnetic ring (15) is mounted on the middle part of the inner magnetic yoke (12) and is located on the lower side of the inner upper radial magnetic ring (13); The inner lower radial magnetic ring (18) is installed at the lower part of the inner magnetic yoke (12) and is located at the lower side of the inner middle axial magnetic ring (15); the upper and lower ends of the inner magnetic yoke (12) are respectively installed at the center of the upper magnetic yoke (10) and the lower magnetic yoke (20); the upper and lower ends of the outer magnetic yoke (25) are respectively installed at the edges of the upper magnetic yoke (10) and the lower magnetic yoke (20); an air gap exists between the radial inner side of the outer magnetic structure (3) and the radial outer side of the inner magnetic structure; and the mover is arranged in the air gap.

2. The electromagnetic actuating device for on-orbit space service according to claim 1, characterized in that: The mover comprises an upper coil (14), a mover coil frame (16) and a lower coil (17); the mover coil frame (16) is arranged in an air gap; an annular groove is provided at the upper and lower parts of the outer side of the mover coil frame (16); the upper coil (14) and the lower coil (17) are arranged in the annular grooves of the upper and lower parts respectively.

3. The electromagnetic actuator for space on-orbit service according to claim 2, characterized in that: The mover also includes a top plate (1), a linear motion bottom plate (6), a lower support rod (8) and an upper support rod (9); the lower support rod (8) and the upper support rod (9) are both multiple and are evenly distributed along the circumferential direction of the mover coil frame (16); one end of the lower support rod (8) is connected to the lower part of the mover coil frame (16), and the other end passes through the lower magnetic structure (4) and is connected to the linear motion bottom plate (6); one end of the upper support rod (9) is connected to the upper part of the mover coil frame (16), and the other end passes through the upper magnetic structure (2) and is connected to the top plate (1).

4. The electromagnetic actuator for space on-orbit service according to claim 3, characterized in that: The lower part of the lower magnetic structure (4) is connected to the stator frame, and the stator frame comprises a base (5) and a stator support rod (7). There are a plurality of stator support rods (7), and the plurality of stator support rods (7) are evenly distributed along the circumferential direction of the base (5). One end of the stator support rod (7) is connected to the base (5), and the other end is connected to the lower magnetic yoke (20). The linear motion base plate (6) is slidably connected to the stator support rod (7).

5. The electromagnetic actuator for space on-orbit service according to claim 4, characterized in that: The materials of the top plate (1), the base (5), the stator support rod (7), the lower support rod (8) and the upper support rod (9) are all hard aluminum alloy 2A12.

6. The electromagnetic actuator for space on-orbit service according to any one of claims 2 to 5, characterized in that: The upper coil (14) and the lower coil (17) have the same height; the current passed through the upper coil (14) is in the opposite direction to the current passed through the lower coil (17); the outer lower radial magnetic ring (22), the outer upper radial magnetic ring (24), the inner upper radial magnetic ring (13) and the inner lower radial magnetic ring (18) have the same height; the upper coil (14) is located between the outer upper radial magnetic ring (24) and the inner upper radial magnetic ring (13); and the lower coil (17) is located between the outer lower radial magnetic ring (22) and the inner lower radial magnetic ring (18).

7. The electromagnetic actuating device for on-orbit space service according to claim 6, characterized in that: The mover coil frame (16) is made of polyimide material.

8. The electromagnetic actuator for space on-orbit service according to claim 1, characterized in that: The magnetizing directions of the lower inner axial magnetic ring (19), the lower outer axial magnetic ring (21), the outer upper radial magnetic ring (24), the outer middle axial magnetic ring (23), the outer lower radial magnetic ring (22), the inner upper radial magnetic ring (13), the inner middle axial magnetic ring (15), the inner lower radial magnetic ring (18) and the upper axial magnetic ring (11) are, in sequence: front N and back S, front S and back N, inside N and outside S, front N and back S, inside S and outside N, inside N and outside S, front S and back N, inside S and outside N, front S and back N, inside S and outside N, front S and back N.

9. The electromagnetic actuator for space on-orbit service according to claim 1, characterized in that: The materials of the upper axial magnetic ring (11), the inner upper radial magnetic ring (13), the inner middle axial magnetic ring (15), the inner lower radial magnetic ring (18), the lower inner axial magnetic ring (19), the lower outer axial magnetic ring (21), the outer lower radial magnetic ring (22), the outer middle axial magnetic ring (23) and the outer upper radial magnetic ring (24) are all neodymium iron boron N35 permanent magnet materials.

10. The electromagnetic actuator for space on-orbit service according to claim 1, characterized in that: The materials of the upper magnetic yoke (10), the inner magnetic yoke (12), the lower magnetic yoke (20) and the outer magnetic yoke (25) are all DT4C.

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