Cross plane wide-gap motor system for gimbal
First Claim
1. A motor system adapted for use with a gimbal ball wherein said gimbal ball is supported by an outer axis structure that includes means for providing for the motion of said gimbal ball about an external elevation axis and about an external azimuth axis, comprising:
- four motors that are separated with respect to each other, and wherein each of said motors is disposed proximate a common plane, said common plane passing through said gimbal ball, and wherein each of said motors is disposed in said gimbal ball away from a yaw axis of said gimbal ball, and wherein a portion of each of said motors is attached to said gimbal ball and a remaining portion thereof is attached to a payload that is disposed in said gimbal ball, and wherein each of said motors is adapted to displace said payload with respect to said gimbal ball and wherein said motors include four permanent magnet magnetic torque motors and wherein each of said magnetic torque motors includes a pair of permanent magnets that are disposed in a spaced apart relationship whereby a magnetic flux path is formed intermediate said pair of permanent magnets and wherein said portion of each of said motors that is attached to said gimbal ball includes said pair of permanent magnets, and wherein each of said magnetic torque motors includes a portion of a conductor that is disposed within said magnetic flux path and wherein said remaining portion thereof that is attached to a payload includes said conductor and wherein said payload is supported by a cardan shaft and wherein when a sufficient current is passed through said conductor, a force is experienced by said conductor that is sufficient to displace said payload with respect to said gimbal ball, and wherein two of said four magnetic torque motors are disposed in a pair, said pair being disposed in a maximally spaced-apart orientation and on an opposite side of said gimbal ball, whereby a balanced torque is applied to said payload when an equal magnitude force is applied to each motor of said pair.
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Accused Products
Abstract
An apparatus for the control and alignment of a sensor on a moving vehicle is provided that includes a gimbal ball supported by an outer axis structure and adapted to pivot about an outer elevation axis and about an outer azimuth axis. The outer axis structure is mounted to a vehicle. An inner axis structure includes a cardan shaft that is provided in the ball and is used to support a payload. An inner elevation axis passes through the cardan shaft. The payload is moved about inner pitch inner roll and inner yaw axes over a limited range of motion by the use of a plurality of permanent magnet wide-gap motors that are disposed on the plane of the cardan shaft and maximally away from the yaw axis in the ball. The motors are adapted to each urge the payload to move in two perpendicular axes, depending upon the current that is applied through conductors which pass through a flux field. Control circuitry is used to energize the motors in any desired combination to produce motion in roll, pitch, or yaw.
33 Citations
20 Claims
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1. A motor system adapted for use with a gimbal ball wherein said gimbal ball is supported by an outer axis structure that includes means for providing for the motion of said gimbal ball about an external elevation axis and about an external azimuth axis, comprising:
four motors that are separated with respect to each other, and wherein each of said motors is disposed proximate a common plane, said common plane passing through said gimbal ball, and wherein each of said motors is disposed in said gimbal ball away from a yaw axis of said gimbal ball, and wherein a portion of each of said motors is attached to said gimbal ball and a remaining portion thereof is attached to a payload that is disposed in said gimbal ball, and wherein each of said motors is adapted to displace said payload with respect to said gimbal ball and wherein said motors include four permanent magnet magnetic torque motors and wherein each of said magnetic torque motors includes a pair of permanent magnets that are disposed in a spaced apart relationship whereby a magnetic flux path is formed intermediate said pair of permanent magnets and wherein said portion of each of said motors that is attached to said gimbal ball includes said pair of permanent magnets, and wherein each of said magnetic torque motors includes a portion of a conductor that is disposed within said magnetic flux path and wherein said remaining portion thereof that is attached to a payload includes said conductor and wherein said payload is supported by a cardan shaft and wherein when a sufficient current is passed through said conductor, a force is experienced by said conductor that is sufficient to displace said payload with respect to said gimbal ball, and wherein two of said four magnetic torque motors are disposed in a pair, said pair being disposed in a maximally spaced-apart orientation and on an opposite side of said gimbal ball, whereby a balanced torque is applied to said payload when an equal magnitude force is applied to each motor of said pair. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A motor system adapted for use with a gimbal ball wherein said gimbal ball is supported by an outer axis structure that includes means for providing for the motion of said gimbal ball about an external elevation axis and about an external azimuth axis, comprising:
at least three motors that are separated with respect to each other, and wherein each of said motors is disposed proximate a common plane, said common plane passing through said gimbal ball, and wherein each of said motors is disposed in said gimbal ball away from a yaw axis of said gimbal ball, and wherein a portion of each of said motors is attached to said gimbal ball and a remaining portion thereof is attached to a payload that is disposed in said gimbal ball, and wherein each of said motors is adapted to displace said payload with respect to said gimbal ball, and wherein said motors include permanent magnet magnetic torque motors and wherein each of said magnetic torque motors includes a pair of permanent magnets that are disposed in a spaced apart relationship whereby a magnetic flux path is formed intermediate said pair of permanent magnets and wherein said portion of each of said motors that is attached to said gimbal ball includes said pair of permanent magnets, and wherein each of said magnetic torque motors includes a portion of a conductor that is disposed within said magnetic flux path and wherein said remaining portion thereof that is attached to a payload includes said conductor and wherein said payload is supported by a cardan shaft and wherein when a sufficient current is passed through said conductor, a force is experienced by said conductor that is sufficient to displace said payload with respect to said gimbal, and wherein each of said magnetic torque motors includes a second pair of permanent magnets that are disposed in a spaced apart relationship wherein a second magnetic flux path is formed intermediate said second pair of permanent magnets, and wherein each of said second pair of permanent magnets is attached to said gimbal ball, and wherein said conductor includes an extension that is disposed within said second magnetic flux path.
Specification