Control moment gyroscope device driven by frameless motor

Abstract

The utility model discloses a control moment gyro device driven by a frameless motor, which comprises a frame, the frameless motor and a control moment gyro, the control moment gyro device comprises a motor stator and a motor rotor, the motor stator is fixedly connected with the frame, the motor rotor is rotatably arranged in the motor stator, and the frame is fixedly connected with the frame. The motor rotor and the motor stator are coaxially arranged; the control moment gyroscope comprises a supporting shaft, the supporting shaft is perpendicular to a flywheel rotation shaft of the control moment gyroscope, the supporting shaft is rotatably connected with the frame, and the supporting shaft is fixedly connected with the motor rotor.

Description

Technical Field

[0001] The utility model relates to the technical field of driving mechanisms of control moment gyros, and particularly to a control moment gyro device driven by a frameless motor. Background Art

[0002] The control moment gyro generates the required gyro torque through the precession effect of the gyro, so it is often used for attitude control of spacecraft or aircraft. On the other hand, due to the characteristics of rapid response, high control precision, and large output torque of the control moment gyro, it also has certain applications in the field of attitude control of robots. However, the control moment gyro has high requirements for control precision and response speed, and its design needs to comprehensively consider mechanical structure, hardware, and control algorithms to fully exert the performance advantages of the control moment gyro. Content of the Utility Model

[0003] To solve at least one of the above problems, the utility model provides a control moment gyro device driven by a frameless motor, including: a frame, a frameless motor, and a control moment gyro. The frameless motor includes a motor stator and a motor rotor. The motor stator is fixedly connected to the frame, the motor rotor is rotatably arranged in the motor stator, and the motor rotor is coaxially arranged with the motor stator; the control moment gyro includes a support shaft, the support shaft is perpendicular to the flywheel self-rotation axis of the control moment gyro, the support shaft is rotatably connected to the frame, and the support shaft is fixedly connected to the motor rotor.

[0004] Preferably, one end of the support shaft is arranged in the motor rotor, and the support shaft is coaxially arranged with the motor rotor.

[0005] Preferably, it further includes a shaft sleeve and a set screw. The shaft sleeve is arranged between the motor rotor and the support shaft, the shaft sleeve is sleeved on the support shaft, a fastening through hole is opened on the shaft sleeve, and the set screw passes through the fastening through hole and is screwed with a fastening screw hole.

[0006] Preferably, it further includes a motor housing and a motor end cover. The first end of the motor housing is fixedly connected to the frame, the second end of the motor housing is fixedly connected to the motor end cover, and the motor rotor and the motor stator are arranged in the motor housing.

[0007] Preferably, it further includes an encoder, and the rotor of the encoder is fixedly connected to one end of the support shaft.

[0008] Preferably, the stator of the encoder is fixedly connected to the motor housing, and one end of the support shaft sequentially passes through the frame, the motor housing, and the motor end cover and is fixedly connected to the rotor of the encoder.

[0009] Preferably, it further includes a first bearing and a second bearing. The support shaft is rotatably connected to the frame through the first bearing, and the support shaft is rotatably connected to the motor end cover through the second bearing.

[0010] Preferably, a boss is provided on the outer wall of the support shaft, and a groove corresponding to the boss is provided on the frame. The boss is rotatably clamped in the groove.

[0011] Preferably, it further includes a plurality of the frameless motors and a plurality of the control moment gyros, and the plurality of frameless motors and the plurality of control moment gyros correspond to each other one by one.

[0012] The control moment gyro device driven by the frameless motor according to the embodiment of the present invention has the following beneficial effects: The frameless motor is only composed of a stator and a rotor, with a simple structure, space-saving, and high design flexibility; The frameless motor directly drives the control moment gyro, with simple control and no backlash, which can improve the system response speed and control accuracy; Without a transmission structure such as a speed reducer, the mechanical efficiency is higher, and the energy usage efficiency is improved; It is equipped with an encoder to collect and feedback data in real time to achieve fast, direct, and accurate closed-loop control. Description of the Drawings

[0013] In order to better understand the above and other objects, features, advantages and functions of the present invention, reference may be made to the embodiments shown in the drawings. The same reference numerals in the drawings refer to the same components. Those skilled in the art should understand that the drawings are intended to schematically illustrate the preferred embodiments of the present invention and have no limiting effect on the scope of the present invention. Each component in the drawings is not drawn to scale.

[0014] Figure 1 Shows a schematic structural diagram of a control moment gyro device driven by a reduction motor according to an embodiment of the present invention;

[0015] Figure 2 Shows a left view of a control moment gyro device driven by a reduction motor according to an embodiment of the present invention.

[0016] Reference Numerals:

[0017] 1. Frame; 2. Control moment gyro; 3. Frameless motor; 4. First bearing; 5. Support shaft; 6. Motor housing; 7. Motor end cover; 8. Set screw; 9. Second bearing; 10. Encoder; 11. Sleeve; 12. Motor rotor; 13. Motor stator. Detailed Embodiments

[0018] The exemplary embodiments of the present disclosure will be described below with reference to the accompanying drawings. Various details of the embodiments of the present disclosure are included to facilitate understanding, and they should be considered merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, descriptions of well-known functions and structures are omitted below for clarity and conciseness.

[0019] As used herein, the term "comprising" and its variations mean open inclusion, i.e., "including but not limited to". Unless otherwise specified, the term "or" means "and / or". The term "based on" means "at least partially based on". The terms "an exemplary embodiment" and "an embodiment" mean "at least one exemplary embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc. may refer to different or the same objects. There may also be other explicit and implicit definitions hereinafter.

[0020] To at least partially solve one or more of the above problems and other potential problems, embodiments of the present disclosure provide a control moment gyroscope device driven by a frameless motor, including: a frame 1, a frameless motor 3, and a control moment gyroscope 2. The frameless motor 3 includes a motor stator 13 and a motor rotor 12. The motor stator 13 is fixedly connected to the frame 1. The motor rotor 12 is rotatably disposed within the motor stator 13 and is coaxially arranged with the motor stator 13. The control moment gyroscope 2 includes a support shaft 5. The support shaft 5 is perpendicular to the flywheel self-rotation axis of the control moment gyroscope 2. The support shaft 5 is rotatably connected to the frame 1 and is fixedly connected to the motor rotor 12.

[0021] Specifically, as Figure 1 and Figure 2 shown, the frame 1 adopts a housing structure. The frame 1 has a receiving cavity, and the control moment gyroscope 2 is rotatably disposed within the receiving cavity of the frame 1.

[0022] The control moment gyroscope 2 includes a flywheel assembly and a support shaft 5. The flywheel assembly includes a flywheel housing and a flywheel, a high-speed motor, a flywheel self-rotation control module, etc. disposed within the flywheel housing. The support shaft 5 is a collinear shaft fixedly provided at both ends of the flywheel housing. The support shaft 5 is perpendicular to the flywheel self-rotation axis. When the control moment gyroscope 2 operates, the flywheel rotates at a high speed to generate angular momentum. When the frameless motor 3 drives the control moment gyroscope 2 to flip around a direction perpendicular to the angular momentum of the flywheel self-rotation, a gyroscopic moment for system attitude control can be generated. The control moment gyroscope 2 is rotatably connected to the frame 1 through the support shaft 5.

[0023] The frameless motor 3 includes a motor stator 13 and a motor rotor 12. The motor stator 13 is fixed to the frame 1, and the motor rotor 12 is coaxially arranged with the motor stator 13. The motor stator 13 is a hollow structure with both ends communicating, and the motor rotor 12 is arranged in the cavity of the motor stator 13. The motor rotor 12 is fixedly connected to the support shaft 5 of the control moment gyro 2, so that the support shaft 5 of the control moment gyro 2 rotates synchronously with the motor rotor 12.

[0024] As Figure 2 shown, the frameless motor 3 is arranged outside the frame 1, and one end of the support shaft 5 of the control moment gyro 2 extends out of the frame 1 and is fixedly connected to the motor rotor 12. In another embodiment, the frameless motor 3 is arranged inside the frame 1, and the support shaft 5 is rotatably connected to the inside of the frame 1 through a connecting bracket. The motor stator 13 of the frameless motor 3 is fixedly connected to the connecting bracket, and the motor rotor 12 of the frameless motor 3 is fixedly connected to the support shaft 5.

[0025] In some embodiments, one end of the support shaft 5 is arranged inside the motor rotor 12, and the support shaft 5 is coaxially arranged with the motor rotor 12.

[0026] Specifically, as Figure 2 shown, the motor rotor 12 adopts a hollow structure. One end of the support shaft 5 extends out of the frame 1 and extends into the cavity of the motor rotor 12, and the motor rotor 12 is coaxially arranged with the support shaft 5. The inner wall of the motor rotor 12 is fixedly connected to the outer wall of the support shaft 5 through a fastener.

[0027] In another embodiment, one end of the motor rotor 12 is fixedly connected to one end of the support shaft 5 through a fastener, and the motor rotor 12 is coaxially arranged with the support shaft 5. For example, the fastener adopts a coupling, etc.

[0028] In some embodiments, the control moment gyro 2 device driven by the frameless motor 3 further includes a bushing 11 and a set screw 8. The bushing 11 is arranged between the motor rotor 12 and the support shaft 5. The bushing 11 is sleeved on the support shaft 5, and a fastening through hole is opened on the bushing 11. The set screw 8 passes through the fastening through hole and is screwed into the fastening screw hole.

[0029] Specifically, as Figure 2 shown, the bushing 11 is fixedly sleeved on the outer wall of the support shaft 5. The axis of the fastening through hole is perpendicular to the axis of the bushing 11. The second end of the set screw 8 passes through the fastening through hole and is screwed into the fastening screw hole on the support shaft 5. The circumferential positioning of the bushing 11 relative to the support shaft 5 is realized through the set screw 8. The bushing 11 is adhesively bonded to the inner wall of the motor rotor 12, or, in another embodiment, the bushing 11 is in interference fit with the inner wall of the motor rotor 12, as long as the fixed connection between the bushing 11 and the motor rotor 12 can be realized.

[0030] In some embodiments, the control moment gyroscope 2 device driven by the frameless motor 3 further includes a motor housing 6 and a motor end cover 7. The first end of the motor housing 6 is fixedly connected to the frame 1, the second end of the motor housing 6 is fixedly connected to the motor end cover 7, and the motor rotor and the motor stator 13 are arranged inside the motor housing 6.

[0031] Specifically, as Figure 2 shown, the motor housing 6 adopts a hollow structure, which is used to arrange the motor stator 13 and the motor rotor 12 inside. The motor stator 13 is fixedly connected to the motor housing 6. The first end of the motor housing 6 is provided with a first opening. One end of the support shaft 5 extends out of the frame 1 and extends into the motor housing 6 through the first opening, and is fixedly connected to the motor rotor inside the motor housing 6.

[0032] In some embodiments, the control moment gyroscope 2 device driven by the frameless motor 3 further includes an encoder 10, and the rotor of the encoder 10 is fixedly connected to one end of the support shaft 5.

[0033] Specifically, the encoder 10 includes a rotor and a stator. The stator of the encoder 10 is fixedly arranged relative to the frame 1, and the rotor of the encoder 10 is fixedly connected to the support shaft 5 to measure the rotation angle and angular velocity of the support shaft 5 of the control moment gyroscope 2.

[0034] In some embodiments, the stator of the encoder 10 is fixedly connected to the motor housing 6, and one end of the support shaft 5 sequentially passes through the frame 1, the motor housing 6 and the motor end cover 7 and is fixedly connected to the rotor of the encoder 10.

[0035] Specifically, as Figure 2 shown, the second end of the motor bracket is provided with a second opening. The motor end cover 7 is fixedly connected to the outer edge of the second opening. The motor end cover 7 is provided with an end cover through hole. The encoder 10 is arranged outside the motor end cover 7. The stator of the encoder 10 is fixedly connected to the motor end cover 7. One end of the support shaft 5 extends out of the frame 1 and then sequentially passes through the motor housing 6 and the end cover through hole of the motor end cover 7 and is fixedly connected to the rotor of the encoder 10. In some other embodiments, the frameless motor 3 is arranged at the first end of the support shaft 5, and the encoder 10 is arranged at the second end of the first support shaft 5.

[0036] In some embodiments, the control moment gyroscope 2 device driven by the frameless motor 3 further includes a first bearing 4 and a second bearing 9. The support shaft 5 is rotatably connected to the frame 1 through the first bearing 4, and the support shaft 5 is rotatably connected to the motor end cover 7 through the second bearing 9.

[0037] Specifically, as Figure 2As shown, the support shaft 5 has a stepped shaft structure with a flange. The support shaft 5 is fixedly connected to the flywheel housing through the flange. A first bearing 4 is sleeved on the outer wall of the first step of the support shaft 5. The outer ring of the first bearing 4 is fixedly connected to the frame 1. A first clamping groove is formed on the outer wall of the frame 1. One end of the first bearing 4 abuts against the first clamping groove. A sleeve 11 is sleeved at the second step of the support shaft 5. A second bearing 9 is sleeved at the third step of the support shaft 5. The outer ring of the second bearing 9 is fixedly connected to the end cover through hole of the motor end cover 7. A second clamping groove is formed on the inner wall of the motor end cover 7 at the end cover through hole. The first end of the second bearing 9 abuts against the second clamping groove. The two ends of the sleeve 11 respectively abut against the first bearing 4 and the second bearing 9.

[0038] In some embodiments, a boss is provided on the outer wall of the support shaft 5, and a groove corresponding to the boss is provided on the frame 1. The boss is rotatably clamped in the groove.

[0039] Specifically, the boss is a circular ring structure protruding along the outer wall of the support shaft 5, and the groove is a concave circular ring structure formed on the frame 1. The boss is rotatably held in the groove, enabling the support shaft 5 to rotate relative to the frame 1. In some embodiments, a plurality of air holes are provided in the groove, and the plurality of air holes are connected to an air source. When the support shaft 5 rotates, the air source outputs gas through the plurality of air holes to reduce the friction between the boss and the groove.

[0040] Embodiment 1

[0041] As shown in FIGS. 1 and Figure 2 As shown, the control moment gyro device driven by a frameless motor includes a frame 1, a control moment gyro 2, and a frameless motor 3. The control moment gyro 2 is arranged inside the frame 1, and the frameless motor 3 is arranged outside the frame 1. The frameless motor 3 transmits power to the control moment gyro 2 through the support shaft 5 to achieve precise control of the control moment gyro 2. The control moment gyro 2 includes an internal flywheel, a shafting, a high-speed motor, and related control systems. The axis of the support shaft 5 of the control moment gyro 2 is perpendicular to the angular momentum direction. During operation, the flywheel of the control moment gyro 2 rotates at a high speed to generate angular momentum. When the frameless motor 3 drives the control moment gyro 2 to flip around a direction perpendicular to the angular momentum, a gyroscopic moment can be generated for attitude control of the system.

[0042] The frame 1 is provided with a shaft through-hole, and a first card slot is provided at the shaft through-hole. The outer ring of the first bearing 4 abuts against the first card slot. A first bearing 4 is provided at each end of the support shaft 5. The support shaft 5 is rotatably connected to the frame 1 through the first bearing 4. The motor housing 6 is a sleeve structure with flange plates at both ends. One of the flange plates is bolted to the frame 1, and the other flange plate is bolted to the motor end cover 7. The frameless motor is composed of a motor stator 13 and a motor rotor 12. The motor stator 13 is fixedly connected to the motor housing 6 through an adhesive to position the motor stator 13. The inner wall of the motor rotor 12 is fixedly connected to the outer wall of the shaft sleeve 11 through an adhesive. A shaft shoulder is provided on the outer wall of the shaft sleeve 11. One end of the motor rotor 12 abuts against the shaft shoulder of the shaft sleeve 11. The motor end cover 7 is provided with an end cover through-hole, and a second card slot is provided at the end cover through-hole. The outer ring of the second bearing 9 abuts against the second card slot. The support shaft 5 is rotatably connected to the motor end cover 7 through the second bearing 9. Both ends of the shaft sleeve 11 abut against the first bearing 4 and the second bearing 9 respectively. The first end of the set screw 8 is fixedly connected to the motor rotor 12. A fastening through-hole is provided on the shaft sleeve 11. The second end of the set screw 8 passes through the fastening through-hole and is screwed into the fastening screw hole provided on the support shaft 5. The stator of the encoder 10 is fixed on the motor end cover 7, and the rotor of the encoder 10 is fixedly connected to the support shaft 5.

[0043] In some other embodiments, the control moment gyro device driven by the frameless motor further includes a plurality of frameless motors 3 and a plurality of control moment gyros 2, and the plurality of frameless motors 3 and the plurality of control moment gyros 2 correspond one by one.

[0044] Specifically, the plurality of control moment gyros 2 are respectively rotatably connected to the frame 1 through their respective support shafts 5. Each of the plurality of frameless motors 3 is fixedly connected to the support shaft 5 of its corresponding control moment gyro 2 through the motor rotor 12. Those skilled in the art can understand that the control moment gyro device driven by the frameless motor further includes a plurality of encoders 10. The plurality of encoders 10 correspond to the plurality of control moment gyros 2. The rotor of each encoder among the plurality of encoders is fixedly connected to the support shaft 5 of its corresponding control moment gyro 2.

[0045] The embodiments of the present disclosure have been described above. The above description is exemplary and not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations are obvious to those of ordinary skill in the art in the technical field without departing from the scope and spirit of the described embodiments. The selection of the terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other ordinary skilled persons in the technical field to understand the present disclosure.

Claims

1. A frameless motor driven control torque gyro device, characterized in that: frame; A frameless motor, comprising a motor stator and a motor rotor, wherein the motor stator is fixedly connected to the frame, the motor rotor is rotatably arranged in the motor stator, and the motor rotor is coaxially arranged with the motor stator; A controlled moment gyroscope comprises a support shaft, wherein the support shaft and the flywheel rotation axis of the controlled moment gyroscope are perpendicular to each other, the support shaft is rotatably connected to the frame, and the support shaft is fixedly connected to the motor rotor.

2. The device according to claim 1, characterized in that One end of the support shaft is arranged in the motor rotor, and the support shaft is coaxially arranged with the motor rotor.

3. The device according to claim 2, characterized in that It also includes a shaft sleeve and a fixing screw. The shaft sleeve is arranged between the motor rotor and the support shaft. The shaft sleeve is sleeved with the support shaft. A fixing through hole is provided on the shaft sleeve. The fixing screw passes through the fixing through hole and is screwed to the fixing screw hole.

4. The device according to claim 3, characterized in that It also includes a motor housing and a motor end cover, wherein the first end of the motor housing is fixedly connected to the frame, the second end of the motor housing is fixedly connected to the motor end cover, and the motor rotor and the motor stator are arranged in the motor housing.

5. The device according to claim 4, characterized in that An encoder is also included, and a rotor of the encoder is fixedly connected to one end of the supporting shaft.

6. The device according to claim 5, characterized in that The stator of the encoder is fixedly connected to the motor housing, and one end of the support shaft passes through the frame, the motor housing and the motor end cover in sequence and is fixedly connected to the rotor of the encoder.

7. The device according to claim 6, characterized in that It also includes a first bearing and a second bearing, the support shaft is rotatably connected to the frame through the first bearing, and the support shaft is rotatably connected to the motor end cover through the second bearing.

8. The device according to claim 1, characterized in that The outer wall of the support shaft is provided with a boss, the frame is provided with a groove corresponding to the boss, and the boss is rotatably clamped in the groove.

9. The device according to claim 1, characterized in that It also includes a plurality of the frameless motors and a plurality of the control moment gyroscopes, and the plurality of the frameless motors and the plurality of the control moment gyroscopes correspond to each other one by one.

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