Non-equal-height double-coil electromagnetic actuating device

Abstract

The invention provides a non-equal-height double-coil electromagnetic actuating device, and belongs to the field of aerospace. The problems that an existing electromagnetic actuator is serious in magnetic flux leakage, cannot restrain armature reaction and is small in thrust density are 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 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, and 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, 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 rotor comprises a rotor coil frame, an upper coil and a lower coil, the rotor coil frame is arranged in the air gap, and the upper coil is arranged in the upper coil. Annular grooves are formed in the upper portion and the lower portion of the outer side of the rotor coil frame. The method is mainly used for on-orbit service of spacecrafts.

Description

Technical Field

[0001] The invention belongs to the field of aerospace, and in particular relates to a non-equal height double-coil electromagnetic actuating device. 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 a non-equal height double-coil electromagnetic actuator 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: a non-equal height double-coil electromagnetic actuating device, 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 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 mounted on the inner upper part of the outer magnetic yoke, the outer middle axial magnetic ring is mounted on the inner middle part of the outer magnetic yoke and is located at the lower side of the outer upper radial magnetic ring, and the outer lower radial magnetic ring is mounted on the The inner lower part of the outer magnetic yoke is located at the lower side of the outer middle axial magnetic ring. 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 at the upper part of the inner magnetic yoke, the inner middle axial magnetic ring is installed at the middle part of the inner magnetic yoke and is located at the lower side of the inner upper radial magnetic ring, the inner lower radial magnetic ring is installed at the lower part of the inner magnetic yoke and is located at the lower side of the inner middle axial magnetic ring, the outer upper radial magnetic ring is at the same height as the inner upper radial magnetic ring, and the outer upper radial magnetic ring and the inner upper radial magnetic ring are The upper radial magnetic ring is composed of the outer lower radial magnetic ring and the inner lower radial magnetic ring. The outer lower radial magnetic ring and the inner lower radial magnetic ring constitute the lower radial magnetic ring. The outer middle axial magnetic ring and the inner middle axial magnetic ring have the same height. The outer middle axial magnetic ring and the inner middle axial magnetic ring constitute the middle axial magnetic ring. The height of the upper radial magnetic ring is greater than that of the lower radial magnetic ring. The upper and lower ends of the inner magnetic yoke are respectively installed at the center of the upper magnetic structure and the lower magnetic structure. The upper and lower ends of the outer magnetic yoke are respectively installed at the edges of the upper magnetic structure and the lower magnetic structure. 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. The mover includes a mover coil frame, an upper coil and a lower coil. The mover coil frame is arranged in the air gap. The upper and lower parts of the outer side of the mover coil frame are both provided with annular grooves. The upper coil and the lower coil are respectively arranged in the annular grooves of the upper and lower parts. The height of the upper coil is greater than that of the lower coil. The current passed through the upper coil is opposite to the current passed through the lower coil.

[0011] Furthermore, the upper magnetic structure includes an upper magnetic yoke and an upper axial magnetic ring, the upper axial magnetic ring is installed on the lower side of the upper magnetic yoke, the upper end of the inner magnetic yoke is installed at the center of the upper magnetic yoke, and the upper end of the outer magnetic yoke is installed at the edge of the upper magnetic yoke.

[0012] Furthermore, the lower magnetic structure includes 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, the lower outer axial magnetic ring is installed on the radial outer side of the upper part of the lower magnetic yoke, the lower end of the inner magnetic yoke is installed at the center of the lower magnetic yoke, and the lower end of the outer magnetic yoke is installed at the edge of the lower magnetic yoke.

[0013] Furthermore, the top plate, the linear motion bottom plate, the lower support rod and the upper support rod, the lower support rod and the upper support rod are multiple and 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.

[0014] 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 structure. The linear motion base plate is slidably connected to the stator support rod.

[0015] 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.

[0016] Furthermore, the materials 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 all NdFeB N35 permanent magnet materials, and the magnetization directions are: front S and back N, front N and back S, inside S and outside N, front S and back N, inside N and outside S, inside S and outside N, front N and back S, inside N and outside S, and front S and back N.

[0017] Furthermore, the materials of the outer magnetic yoke, the inner magnetic yoke, the upper magnetic yoke and the lower magnetic yoke are all DT4C, and the mover coil frame is made of polyimide material.

[0018] Furthermore, the height of the lower radial magnetic ring is the height of the lower coil plus the spacing between the upper coil and the lower coil and the reserved coil installation height minus the height of the middle axial magnetic ring, and the height of the upper radial magnetic ring is 8-12 times the height of the lower radial magnetic ring.

[0019] Furthermore, the ratio of the height of the upper coil to the height of the lower coil is greater than or equal to 5 and less than or equal to 7, and the spacing between the upper coil and the lower coil is 1.5 to 2.5 times the height of the lower coil.

[0020] Compared with the prior art, the present invention has the following beneficial effects: 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, and adopts a closed magnetic yoke structure to effectively reduce magnetic leakage, increase the strength of the air gap magnetic field, improve the uniformity of the air gap magnetic density, and reduce thrust fluctuations.

[0021] The upper coil and the lower coil of the present invention are not at the same height, the distance between the two coils is small and reverse current is passed through them. The electromagnetic field generated by the lower coil affects the local magnetic field of the upper coil, strengthens the Ampere force on the upper coil, and increases the thrust density. At the same time, the lower coil generates an electromagnetic field opposite to that of the upper coil, which weakens the armature reaction. In the early stage of the movement of the upper and lower coils, the energized upper coil is subjected to the magnetic field formed by the upper radial magnetic ring to generate an upward Ampere force. The lower coil, which is subjected to the reverse current, is also subjected to the upward Ampere force due to the magnetic field formed by the lower radial magnetic ring and the magnetic field formed by the bottom axial magnetic ring. The auxiliary magnetic circuit strengthens the magnetic field strength at the bottom of the air gap between the lower radial magnetic rings and increases the initial thrust. After the upper and lower coils move upward for a distance under the Ampere force, both the upper and lower coils enter the air gap between the upper radial magnetic rings. At this time, the energization direction of the upper and lower coils has not changed, the upper coil is still subjected to the upward Ampere force, and the lower coil is subjected to the downward Ampere force. However, since the electromagnetic fields generated by the upper and lower coils are in opposite directions, a stronger magnetic pole is formed, which causes part of the magnetic flux in the air gap to pass between the upper and lower coils. At the same time, the lower coil is thinner and produces a local magnetic flux loop, thereby enhancing the magnetic field strength near the upper coil, guiding more magnetic flux to pass through the gap between the upper and lower coils, thereby increasing the Ampere force generated by the upper coil in the air gap, and the increased Ampere force is greater than the Ampere force received by the lower coil, thereby increasing the thrust density of the device. The low-height lower radial magnetic ring, the bottom axial magnetic ring, and the lower coil work together to increase the initial thrust.

[0022] The present invention uses three axial magnetic rings arranged at the end. A permanent magnetic ring is arranged at the upper end to promote the magnetic flux from the external magnetic structure to the internal magnetic structure, thereby reducing the magnetic leakage at the upper end. Two permanent magnetic rings are arranged at the lower end, and the magnetization directions of the two are opposite to form a local magnetic flux loop, which reduces the magnetic leakage and enhances the magnetic field strength of the bottom air gap. The present invention uses multiple magnetic rings to form three main magnetic flux loops, and uses radially magnetized permanent magnet magnetic rings at the end to form a local small magnetic flux loop with the external magnetic structure and the internal magnetic structure to reduce the magnetic leakage and increase the air gap magnetic density at the end, thereby increasing the initial thrust.

[0023] 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. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] 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:

[0025] Figure 1 It is a schematic diagram of the three-dimensional structure of a non-equal height double-coil electromagnetic actuating device according to the present invention;

[0026] 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;

[0027] Figure 3 It is a schematic diagram of the three-dimensional structure of the mover of the present invention;

[0028] Figure 4 It is a three-dimensional schematic diagram of the external magnetic structure of the present invention;

[0029] Figure 5 It is a three-dimensional schematic diagram of the internal magnetic structure of the present invention;

[0030] Figure 6 It is a three-dimensional schematic diagram of the upper magnetic structure of the present invention;

[0031] Figure 7 It is a three-dimensional schematic diagram of the lower magnetic structure of the present invention;

[0032] Figure 8 It is a three-dimensional schematic diagram of the stator frame of the present invention;

[0033] Fig. 9 Schematic diagram of the magnetic circuit of the stator according to the present invention.

[0034] In the figure:

[0035] 1-top plate, 2-upper magnetic structure, 3-outer magnetic structure, 4-lower magnetic structure, 5-base, 6-stator support rod, 7-linear motion base plate, 8-lower support rod, 9-upper support rod, 10-upper magnetic yoke, 11-upper axial magnetic ring, 12-inner magnetic yoke, 13-inner upper radial magnetic ring, 14-motor coil frame, 15-upper coil, 16-lower coil, 17-inner middle axial magnetic ring, 18-inner lower radial magnetic ring, 19-lower inner axial magnetic ring, 20-lower magnetic 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 magnetic yoke. DETAILED DESCRIPTION

[0036] 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.

[0037] See also Figure 1-9The present embodiment is described as a non-equal height double-coil electromagnetic actuator, which 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 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 installed at the inner upper part of the outer magnetic yoke 25, the outer middle axial magnetic ring 23 is installed at the inner middle part of the outer magnetic yoke 25 and is located at the lower side of the outer upper radial magnetic ring 24, and the outer lower radial magnetic ring 22 is installed at the inner lower part of the outer magnetic yoke 25 and is located at the outer The inner magnetic structure comprises an inner magnetic yoke 12, an inner upper radial magnetic ring 13, an inner middle axial magnetic ring 17 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 17 is installed in 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 in the lower part of the inner magnetic yoke 12 and is located on the lower side of the inner middle axial magnetic ring 17, the outer upper radial magnetic ring 24 is at the same height as the inner upper radial magnetic ring 13, and the outer upper radial magnetic ring 24 and the inner upper radial magnetic ring 13 form an upper The outer lower radial magnetic ring 22 has the same height as the inner lower radial magnetic ring 18, and the outer lower radial magnetic ring 22 and the inner lower radial magnetic ring 18 form a lower radial magnetic ring. The outer middle axial magnetic ring 23 has the same height as the inner middle axial magnetic ring 17, and the outer middle axial magnetic ring 23 and the inner middle axial magnetic ring 17 form a middle axial magnetic ring. The height of the upper radial magnetic ring is greater than that of the lower radial magnetic ring. The upper and lower ends of the inner magnetic yoke 12 are respectively installed at the center of the upper magnetic structure 2 and the lower magnetic structure 4 by bolts, and the upper and lower ends of the outer magnetic yoke 25 are respectively installed at the center of the upper magnetic structure 2 and the lower magnetic structure 4 by bolts. At the edges of the upper magnetic structure 2 and the lower magnetic structure 4, 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. The mover includes a mover coil frame 14, an upper coil 15 and a lower coil 16. The mover coil frame 14 is arranged in the air gap. The upper and lower parts of the outer side of the mover coil frame 14 are provided with annular grooves. The upper coil 15 and the lower coil 16 are respectively arranged in the annular grooves of the upper and lower parts. The height of the upper coil 15 is greater than the height of the lower coil 16, and the current passed through the upper coil 15 is opposite to the current passed through the lower coil 16.

[0038] The upper magnetic structure 2 described in this embodiment includes an upper magnetic yoke 10 and an upper axial magnetic ring 11, wherein the upper axial magnetic ring 11 is installed on the lower side of the upper magnetic yoke 10, the upper end of the inner magnetic yoke 12 is installed at the center of the upper magnetic yoke 10, and the upper end of the outer magnetic yoke 25 is installed at the edge of the upper magnetic yoke 10.

[0039] The lower magnetic structure 4 described in this embodiment includes 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 radial inner side of the upper part of the lower magnetic yoke 20, and the lower outer axial magnetic ring 21 is installed on the radial outer side of the upper part of the lower magnetic yoke 20. The lower end of the inner magnetic yoke 12 is installed at the center of the lower magnetic yoke 20, and the lower end of the outer magnetic yoke 25 is installed at the edge of the lower magnetic yoke 20.

[0040] The top plate 1, the linear motion bottom plate 7, the lower support rod 8 and the upper support rod 9 described in this embodiment, the lower support rod 8 and the upper support rod 9 are four in number and are evenly distributed along the circumferential direction of the mover coil frame 14. One end of the lower support rod 8 is connected to the lower part of the mover coil frame 14, and the other end is connected to the linear motion bottom plate 7 after passing through the lower magnetic structure 4. One end of the upper support rod 9 is connected to the upper part of the mover coil frame 14, and the other end is connected to the top plate 1 after passing through the upper magnetic structure 2.

[0041] The lower part of the lower magnetic structure 4 described in this embodiment is connected to the stator frame, and the stator frame includes a base 5 and a stator support rod 6. The number of the stator support rods 6 is four, and the four stator support rods 6 are evenly distributed along the circumferential direction of the base 5. One end of the stator support rod 6 is connected to the base 5, and the other end is connected to the lower magnetic structure 4. The linear motion base plate 7 is slidably connected to the stator support rod 6, and the mover realizes the linear motion of the mover through the linear motion base plate 7 and the stator support rod 6.

[0042] In this embodiment, the top plate 1 and the upper support rod 9 are connected by bolts, the upper support rod 9 and the movable coil frame 14 are connected by threads, the linear motion bottom plate 7 and the lower support rod 8 are connected by bolts, the lower support rod 8 and the movable coil frame 14 are connected by threads, the base 5 and the stator support rod 6 are connected by bolts, and the stator support rod 6 and the lower yoke 20 are connected by threads.

[0043] In this embodiment, the top plate 1, base 5, stator support rod 6, lower support rod 8 and upper support rod 9 are made of hard aluminum alloy 2A12. The outer yoke 25, inner yoke 12, upper yoke 10 and lower yoke 20 are made of DT4C, and the rotor coil frame 14 is made of polyimide material.

[0044] The materials 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 17, the inner lower radial magnetic ring 18 and the upper axial magnetic ring 11 described in this embodiment are all neodymium iron boron N35 permanent magnet materials, and the magnetization directions are: front S and back N, front N and back S, inside S and outside N, front S and back N, inside N and outside S, inside S and outside N, front N and back S, inside N and outside S, front S and back N.

[0045] In this embodiment, the height of the lower radial magnetic ring is the height of the lower coil 16 plus the spacing between the upper coil 15 and the lower coil 16 and the reserved installation height of the coil 16 minus the height of the middle axial magnetic ring. The height of the upper radial magnetic ring is 8-12 times the height of the lower radial magnetic ring. The ratio of the height of the upper coil 15 to the height of the lower coil 16 is greater than or equal to 5 and less than or equal to 7. The spacing between the upper coil 15 and the lower coil 16 is 1.5 to 2.5 times the height of the lower coil 16, which increases the magnetic flux density between the upper coil 15 and the lower coil 16, increases the Ampere force generated by the upper coil 15 in the closed air gap magnetic field, and improves the thrust density of the entire structure.

[0046] The working principle of this embodiment is: 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 17, the inner lower radial magnetic ring 18, and the upper axial magnetic ring 11 constitute a closed air gap and form a constant permanent magnetic field in the air gap, and the outer magnetic yoke 25, the upper magnetic yoke 10, the inner magnetic yoke 12 and the lower magnetic yoke 20 enclose the permanent magnet to reduce leakage magnetic field and enhance the magnetic field density of the air gap.

[0047] The device described in this embodiment can form three main permanent magnetic closed loops, as follows:

[0048] Permanent magnetic closed loop 1: The magnetic flux starts from the N pole of the inner upper radial magnetic ring 13, passes through the air gap, the S pole of the outer upper radial magnetic ring 24, the N pole of the outer upper radial magnetic ring 24, the outer magnetic yoke 25, the upper magnetic yoke 10, the inner magnetic yoke 12, and finally returns to the S pole of the inner middle radial magnetic ring.

[0049] 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 air gap, the S pole of the outer upper radial magnetic ring 24, the N pole of the outer upper radial magnetic ring 24, the outer yoke 25, the S pole of the outer lower radial magnetic ring 22, the N pole of the outer lower radial magnetic ring 22, the air gap, the S pole of the inner lower radial magnetic ring 18, the N pole of the inner lower radial magnetic ring 18, the inner yoke 12, the N pole of the outer upper radial magnetic ring, and finally returns to the S pole of the inner upper radial magnetic ring 13.

[0050] Permanent magnet closed loop three: The magnetic flux starts from the N pole of the inner lower radial magnetic ring 18, passes through the inner magnetic yoke 12, the lower magnetic yoke 20, the outer magnetic yoke 25, the S pole of the outer lower radial magnetic ring 22, the N pole of the outer lower radial magnetic ring 22, the air gap, and finally returns to the S pole of the inner lower radial magnetic ring. 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.

[0051] 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.

[0052] When 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 17, the inner lower radial magnetic ring 18, and the upper axial magnetic ring 11 together form a closed air gap and form a constant permanent magnetic field 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 enclose the permanent magnet, effectively reducing the leakage magnetic field and enhancing the magnetic field density of the air gap. At this time, the mover is in the initial position, and the upper coil 15 and the lower coil 16 are not energized.

[0053] When current is passed through the upper coil 15 and reverse current is passed through the lower coil 16, the electromagnetic field generated by the upper coil 15 is in the opposite direction to the electromagnetic field generated by the lower coil 16. The height of the upper coil 15 is greater than that of the lower coil 16, and the distance between the two is 1.5 to 2.5 times the height of the lower coil 16. This structure increases the magnetic flux density between the upper coil 15 and the lower coil 16. The upper coil 15 with power is subjected to the magnetic field formed by the upper radial magnetic ring to generate an upward Ampere force. The lower coil 16 with reverse current is subjected to the magnetic field formed by the lower radial magnetic ring and the magnetic field formed by the bottom axial magnetic ring (lower inner axial magnetic ring 19 and lower outer axial magnetic ring 21) and also generates an upward Ampere force. The lower inner axial magnetic ring 19 and the lower outer axial magnetic ring 21 form an auxiliary magnetic circuit. 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. The auxiliary magnetic circuit enhances the magnetic field strength at the bottom of the air gap between the lower radial magnetic rings, increases the initial thrust, and causes the mover to start moving upward.

[0054] After the upper and lower coils move upward for a certain distance, both the upper and lower coils enter the air gap between the upper radial magnetic rings. At this time, the direction of the upper and lower coils remains unchanged, but because the electromagnetic fields generated by the upper and lower coils are in opposite directions, a stronger magnetic pole is formed, which causes a part of the magnetic flux in the air gap to pass between the upper and lower coils. At the same time, the lower coil 16 is thinner, which produces a local magnetic flux loop, thereby enhancing the magnetic field strength near the upper coil 15, guiding more magnetic flux to pass through the gap between the upper and lower coils, thereby increasing the Ampere force generated by the upper coil 15 in the air gap, and the increased Ampere force is greater than the Ampere force received by the lower coil 16, thereby increasing the thrust density of the device, so that the mover can move upward continuously and stably to meet the mission requirements such as spacecraft separation. During the entire working process, by adjusting the magnitude and direction of the current passed through the upper coil 15 and the lower coil 16, the movement speed and direction of the mover can be accurately controlled to achieve the adjustment of the spacecraft separation speed.

[0055] 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. A non-equal height double-coil electromagnetic actuating device, 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 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 (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), and the outer upper radial magnetic ring (24) 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 inner magnetic structure comprises an inner magnetic yoke (12), an inner upper radial magnetic ring (13), an inner middle axial magnetic ring (17), 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 (17) 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 mounted on the lower part of the inner magnetic yoke (12) and is located on the lower side of the inner middle axial magnetic ring (17); the outer upper radial magnetic ring (24) is at the same height as the inner upper radial magnetic ring (13); the outer upper radial magnetic ring (24) and the inner upper radial magnetic ring (13) form an upper radial magnetic ring. The outer lower radial magnetic ring (22) is of the same height as the inner lower radial magnetic ring (18); the outer lower radial magnetic ring (22) and the inner lower radial magnetic ring (18) form a lower radial magnetic ring; the outer middle axial magnetic ring (23) is of the same height as the inner middle axial magnetic ring (17); the outer middle axial magnetic ring (23) and the inner middle axial magnetic ring (17) form a middle axial magnetic ring; the height of the upper radial magnetic ring is greater than that of the lower radial magnetic ring; the upper and lower ends of the inner magnetic yoke (12) are respectively mounted at the center of the upper magnetic structure (2) and the lower magnetic structure (4); the upper and lower ends of the outer magnetic yoke (25) are respectively mounted at the upper magnetic structure (2) and the lower magnetic structure (4); At the edge of the outer magnetic structure (3) and the lower magnetic structure (4), 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, the mover comprises a mover coil frame (14), an upper coil (15) and a lower coil (16), the mover coil frame (14) is arranged in the air gap, the upper and lower parts of the outer side of the mover coil frame (14) are both provided with annular grooves, the upper coil (15) and the lower coil (16) are respectively arranged in the annular grooves of the upper and lower parts, the height of the upper coil (15) is greater than the height of the lower coil (16), and the current passed through the upper coil (15) is opposite to the current passed through the lower coil (16).

2. The non-equal height double-coil electromagnetic actuating device according to claim 1, characterized in that: 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), the upper end of the inner magnetic yoke (12) is mounted at the center of the upper magnetic yoke (10), and the upper end of the outer magnetic yoke (25) is mounted at the edge of the upper magnetic yoke (10).

3. The non-equal height double-coil electromagnetic actuating device according to claim 2, characterized in that: 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), wherein the lower inner axial magnetic ring (19) is mounted on the radial inner side of the upper portion of the lower magnetic yoke (20), and the lower outer axial magnetic ring (21) is mounted on the radial outer side of the upper portion of the lower magnetic yoke (20). The lower end of the inner magnetic yoke (12) is mounted at the center of the lower magnetic yoke (20), and the lower end of the outer magnetic yoke (25) is mounted at the edge of the lower magnetic yoke (20).

4. The non-equal height double-coil electromagnetic actuating device according to claim 1, characterized in that: The top plate (1), the linear motion bottom plate (7), the lower support rod (8) and the upper support rod (9); the lower support rod (8) and the upper support rod (9) are multiple and are evenly distributed along the circumferential direction of the movable coil frame (14); one end of the lower support rod (8) is connected to the lower part of the movable coil frame (14), and the other end passes through the lower magnetic structure (4) and is connected to the linear motion bottom plate (7); one end of the upper support rod (9) is connected to the upper part of the movable coil frame (14), and the other end passes through the upper magnetic structure (2) and is connected to the top plate (1).

5. The non-equal height double-coil electromagnetic actuating device according to claim 4, 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 (6). There are a plurality of stator support rods (6), and the plurality of stator support rods (6) are evenly distributed along the circumferential direction of the base (5). One end of the stator support rod (6) is connected to the base (5), and the other end is connected to the lower magnetic structure (4). The linear motion base plate (7) is slidably connected to the stator support rod (6).

6. The non-equal height double-coil electromagnetic actuating device according to claim 5, characterized in that: The materials of the top plate (1), the base (5), the stator support rod (6), the lower support rod (8) and the upper support rod (9) are all hard aluminum alloy 2A12.

7. The non-equal height double-coil electromagnetic actuating device according to claim 3, characterized in that: The materials 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 (17), the inner lower radial magnetic ring (18), and the upper axial magnetic ring (11) are all NdFeB N35 permanent magnet materials, and the magnetization directions are: front S and back N, front N and back S, inside S and outside N, front S and back N, inside N and outside S, inside S and outside N, front N and back S, inside N and outside S, and front S and back N.

8. The non-equal height double-coil electromagnetic actuating device according to claim 3, characterized in that: The materials of the outer magnetic yoke (25), the inner magnetic yoke (12), the upper magnetic yoke (10), and the lower magnetic yoke (20) are all DT4C, and the mover coil frame (14) is made of polyimide material.

9. A non-equal height double-coil electromagnetic actuating device according to any one of claims 1 to 8, characterized in that: The height of the lower radial magnetic ring is the height of the lower coil (16) plus the spacing between the upper coil (15) and the lower coil (16) and the reserved installation height of the coil (16) minus the height of the middle axial magnetic ring, and the height of the upper radial magnetic ring is 8-12 times the height of the lower radial magnetic ring.

10. The non-uniform height double-coil electromagnetic actuating device according to claim 9, characterized in that: The ratio of the height of the upper coil (15) to the height of the lower coil (16) is greater than or equal to 5 and less than or equal to 7, and the spacing between the upper coil (15) and the lower coil (16) is 1.5 to 2.5 times the height of the lower coil (16).

Images