CN102632988B - Steering engine for underwater vehicle - Google Patents

Steering engine for underwater vehicle Download PDF

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Publication number
CN102632988B
CN102632988B CN201210097424.5A CN201210097424A CN102632988B CN 102632988 B CN102632988 B CN 102632988B CN 201210097424 A CN201210097424 A CN 201210097424A CN 102632988 B CN102632988 B CN 102632988B
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CN
China
Prior art keywords
bearing
nut
leading screw
pipe link
orienting sleeve
Prior art date
Application number
CN201210097424.5A
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Chinese (zh)
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CN102632988A (en
Inventor
许晖
宋保维
潘光
李执山
张福斌
曹永辉
Original Assignee
西北工业大学
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Application filed by 西北工业大学 filed Critical 西北工业大学
Priority to CN201210097424.5A priority Critical patent/CN102632988B/en
Publication of CN102632988A publication Critical patent/CN102632988A/en
Application granted granted Critical
Publication of CN102632988B publication Critical patent/CN102632988B/en

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Abstract

The invention discloses a steering engine for an underwater vehicle. A speed reducer, a lead screw nut, a resistive position sensor and a connector are located on one side of the speed reducer; a lead screw and a nut are coaxially arranged; the steering engine has a compact structure, and the mounting size of the steering engine is reduced. A travel insert block is embedded into the middle part of the lead screw; when the lead screw extends out for a certain distance, the travel insert block is tightly attached to the inner wall of an outer end cover to limit the extension distance of the lead screw; at one end of the lead screw matched with a drive nut, a blind hole in the drive nut has certain depth; and when the lead screw retreats, a travel boss at the end of the lead screw close to the nut is tightly attached to the end surface of the inner hole of the drive nut to limit the retreat distance of the lead screw. According to the invention, through a reverse travel self-locking of a lead screw nut mechanism, the steering engine realizes firm mechanical self-locking to maintain the stability of a rudder surface. The adopted hollow cup DC (direct current) motor has small rotational inertia, the lead screw nut mechanism is supported and guided by a deep groove ball bearing, a ball and a linear bearing, the frictional resistance is reduced, and the response speed of the steering engine is increased.

Description

A kind of steering wheel for submarine navigation device
Technical field
The present invention is a kind of steering wheel, is specifically applied to submarine navigation applicator platform.
Background technology
Submarine navigation device is more and more widely used in various Activities of Oceans, and steering wheel, as submarine navigation device attitude-adjusting system, plays a part crucial to the performance of aircraft.By consulting relevant document, the steering wheel that is applied at present submarine navigation device is less, tradition steering wheel is difficult to be applied on submarine navigation device, mainly contain following some deficiency: the inner space of installing for steering wheel of (1) submarine navigation device is little, impact shock is large, tradition steering wheel is to meet under horsepower output condition size large, and the requirement (2) that is difficult to meet anti shock and vibration does not possess failure-free auto-lock function, submarine navigation device rudder face stands the impact of wave under water, and self-locking is stable interference-free to guarantee rudder face reliably.(3) in traditional steering wheel transmission process, mechanical friction resistance is large, and response time is long, can not meet well the demand that submarine navigation device attitude regulates in real time.
Patent of invention 200910161480.9 is a kind of slide type airplane model steering engine that is applied to helicopter model, worm screw in worm gear device is affixed and coaxial with the turning cylinder of drive motor, worm gear is affixed and coaxial with drive screw, sleeve and drive screw are threaded connection, drive screw is rotatablely moved and is converted to straight-line motion, sleeve is fixedly connected with straight line position transduser, feedback sleeve position signal.This invention is slowed down by worm-and-wheel gear, slows down smaller, and output torque is little, and mechanical efficiency is lower, and worm-and-wheel gear is arranged vertically, and the volume that takes up room is large, and structure is compact not.Sleeve does straight-line motion in square fluting, and sleeve is not easy to be connected with rudder stock.
Utility model patent 200820108942.1 is a kind of electric steering gear, comprise ball-screw, feed screw nut, reinforcement ring, pendular body and output shaft etc., on leading screw, be socketed with square feed screw nut, feed screw nut two sides coordinate with the U-lag of pendular body lower end, the rotation of drive pendular body, pendular body rotates to certain angle and contacts with shell inwall, plays stroke limiting effect.This new patent has been realized the output of output shaft angle, can not realize straight line output.
The leading screw steering wheel that utility model patent 201120006972.3 is a kind of model of an airplane, on stake body, two ends have bearing hole, and leading screw is fixed on stake body by bearing.Slide block is inserted in leading screw by screw thread, and slide block top is square structure, through stake body, opens in square groove.Drive motor and stake body are parallel near arrangement, and drive motor is connected one-level gear cluster with leading screw end, the transmission of moving and deceleration.Steering wheel compact conformation, installation volume is little, adopts primary gear speed reducing, and output torque size is limited, leading screw plays support by bearings at both ends, and rigidity is poor, can not anti shock and vibration, gear cluster does not surround through housing, and realization is well not lubricated, and mechanical friction loss is large.
Summary of the invention
For overcoming the requirement that the steering wheel size existing in prior art is large, be difficult to meet anti shock and vibration, or reliability is poor, or response time is longer, can not meet well the submarine navigation device attitude deficiency of the demand of adjusting in real time, the present invention proposes a kind of small-sized steering machine for submarine navigation device.
The present invention includes connector, DC machine, retarder, orienting sleeve shell, bearing case, outer end cap, scale board, screw-nut body and position feedback assembly; And:
A. screw-nut body comprises leading screw, linear bearing, drive nut and stroke abaculus; Wherein, linear bearing is sleeved on leading screw, and makes the groove on described linear bearing circumference corresponding with the position feedback assembly mounting groove on leading screw; Drive nut is sleeved on the thread end of leading screw; Stroke abaculus is fixed in the position feedback assembly mounting groove on leading screw;
B. position feedback assembly comprises pipe link, center bearing pilot bearing, pointer, pilot bar, sensor installation seat, connector adapter plate, position transduser and coupling nut; Pipe link lower end packs the pipe link jack being positioned on leading screw into by the mounting hole on stroke abaculus; The upper end of pipe link packs in the through slot of coupling nut's outside face; Center bearing pilot bearing is sleeved on the contiguous stroke abaculus of pipe link one end, and is positioned at the center bearing pilot bearing chute of orienting sleeve shell circumferential surface; Pointer is fixed on the positioning threads that is positioned at pipe link middle part and puts; One end of pilot bar packs in coupling nut's tapped bore, and the axostylus axostyle of position transduser is connected with the other end of pilot bar by coupler; On described position transduser, be set with connector adapter plate; On the position transduser between connector adapter plate and coupling nut, be set with sensor installation seat; Between described position transduser and sensor installation seat, be connected; Free-running fit between described connector adapter plate and position transduser;
C. orienting sleeve outer cover suit is on linear bearing, and closely cooperates between the two; End face and the bearing case of orienting sleeve shell are connected, and another end face has outer end cap; Scale board sticks on the outer round surface of orienting sleeve shell;
D. bearing case is sleeved on drive nut, and the end face of this bearing case coordinates with the end face of orienting sleeve shell; Bore area at orienting sleeve shell has ball grooves, by ball, makes moving cooperation between orienting sleeve shell and drive nut; Free-running fit between one end that bearing case is connected with orienting sleeve shell and drive nut; The other end of bearing case is sleeved on bearing, and closely cooperates between the two; Bearing carrier ring is contained in the outside face of drive nut and volution, and tightens up by roller bearing end cap; Roller bearing end cap is sleeved on axle sleeve; Volution is sleeved on the inner side of axle sleeve; Connector is fixed on the butt flange that bearing case is provided with end, roller bearing end cap one end; The output shaft of retarder packs in the connecting bore of axle sleeve, and axle sleeve is sleeved on drive nut; Between the input shaft of retarder and the output shaft of DC machine, by coupler, be connected.
Described leading screw is divided into two sections, and wherein the circumferential surface of a section has the mounting groove of position feedback assembly, and the lower surface of this mounting groove has the jack of the pipe link that connects leading screw, has screw hole, for fixed journey system abaculus in jack one side of described pipe link; The line of centers of the jack of described pipe link and stroke abaculus fixed orifice is all perpendicular to the line of centers of leading screw; Another of leading screw section circumferential surface is the screw thread coordinating with drive nut; At leading screw and the end face of the drive nut section of cooperation, there is the stroke limit boss of axial protrusion.
At the circumferential surface of orienting sleeve shell, have a center bearing pilot bearing chute along the axial distribution of orienting sleeve shell, and this center bearing pilot bearing chute connects this orienting sleeve case body; The width of described center bearing pilot bearing chute is slightly larger than the external diameter of center bearing pilot bearing; One end end face of orienting sleeve shell is evenly equipped with the fixed orifice of outer end cap; The other end end face of orienting sleeve shell has the butt flange of connection bearing shell.
The endoporus of described outer end cap is stepped, its small aperture place and leading screw free-running fit, and place, large aperture is greater than the oad of stroke abaculus; Ladder end face in the endoporus of outer end cap has formed the confined planes of stroke abaculus.
At the middle part of bearing case, there is a pair of erecting bed being connected with the housing of aircraft radially protruding, on this erecting bed, have the mounting hole of sensor installation seat; Described erecting bed is corresponding with the position of annular gear platform in this bearing case endoporus in the position of the outer round surface of bearing case.
On the circumference of the pipe link in described position feedback assembly, there are the positioning table, the fitting surface of center bearing pilot bearing and the attachment face of pointer that limit the degree of depth in this pipe link insertion pipe link jack; Between the attachment face of described pointer and the fitting surface of center bearing pilot bearing, be set with the positioning threads cover of pointer, the pointer other end compresses pointer end face by fastening nut and tightens up; The other end of pipe link is the polished rod coordinating with coupling nut.
There is the arc groove coordinating with bearing case outer round surface at the lower surface middle part of described sensor installation seat base; There is respectively clamp the both sides, middle part of the upper surface of close base; The mounting hole of position sensor on each clamp; A side surface at each clamp has strip gab, and this side of clamp is divided into two-layer up and down; This open slot connects the thickness of clamp, and is communicated with the mounting hole of the position transduser on this clamp; Connecting bore line of centers on line of centers and the base of described through hole is parallel to each other.
The lower surface of described connector adapter plate has the concave surface coordinating with bearing case outer round surface; The via hole of position sensor on connector adapter plate; Above described position transduser via hole, there is the mounting hole of the connector that connects this connector adapter plate.
Described retarder adopts three grades of straight-tooth retarders, comprises reducer shell, four gear wheel shafts and three grades of reducing gear; Four gear wheel shafts are all arranged on reducer shell by bearing, and four gear wheel shafts are parallel to each other; The mouth of retarder and input end are in the same side; One end of the 4th gear wheel shaft of retarder is mouth, and it is external that the other end of the 4th gear wheel shaft extends to reducing gearbox.
In the present invention, DC machine connects reducer input shaft by coupler, and reducer output shaft is connected by axle sleeve and drive nut, and drive nut is enclosed within on thrust ball bearing by volution and drive nut Step Shaft near retarder end, plays a supporting role; The bigger diameter end portion matching with leading screw at drive nut, orienting sleeve shell endoporus place has circular groove, places ball in groove, and nut is played to support, reduces friction drag simultaneously.Thrust ball bearing is fixed in thrust ball bearing shell, and bearing case is connected as one by flange and retarder.Threads of lead screw end coordinates with drive nut, the leading screw other end is inserted in the linear bearing playing the guiding role, in the fixedly embedded orienting sleeve housing of linear bearing, orienting sleeve housing is connected with thrust ball bearing shell by flange, the orienting sleeve housing other end connects with outer end cap by flange, and leading screw is through outer end cap.On orienting sleeve housing, have center bearing pilot bearing chute, leading screw middle part has the mounting groove of position feedback assembly, the mounting groove of the position feedback assembly that stroke abaculus embedding leading screw is opened, pass linear bearing along groove that axis direction is opened, by pipe link, pilot bar and coupling nut, be connected with position transduser, pilot bar and position transduser stretch out the axostylus axostyle synchronous feedback lead screw position that is connected; Pointer is enclosed within on pipe link, and that the initial position of pointer must be with on scale board number axis is 0 corresponding; This pointer, along with leading screw moves, is indicated lead screw position on scale board.Position transduser is arranged on sensor installation seat, and sensor installation seat and thrust ball bearing housing are linked together by nut; Connector seat board and bearing case are linked together by nut.Whole steering wheel is connected as one by the screw on bear box and aircraft, has realized firmly mechanical attachment.
DC machine of the present invention, screw-nut body, position feedback assembly, orienting sleeve shell, bearing case and connector are all arranged in retarder one side, and leading screw and nut coaxially arranged, steering wheel compact conformation, has reduced the installation dimension of steering wheel.At leading screw middle part, embed one stroke abaculus, when leading screw stretches out certain distance, stroke abaculus and outer end cap ladder end face are adjacent to, and define the outreach of leading screw; Leading screw coordinates one end with drive nut, and in drive nut, blind hole has certain depth, and during leading screw rollback, leading screw is adjacent near hole end surface in nut end stroke boss and drive nut, defines the rollback distance of leading screw.
The present invention is by the reversing sense stroke self-locking of screw-nut body, and steering wheel has been realized firm mechanical self-latching, maintains the stable of rudder face.The hollow cup DC motor rotor inertia adopting is little, and in screw-nut body, drive nut supports and guiding by bearing, ball, and leading screw leads by linear bearing, has reduced friction drag, has improved the speed of response of steering wheel.
The present invention adopts three grades of straight-tooth retarders, and gear cluster is arranged in housing,, by high nonfreezable oil grease lubrication, operates steadily in inside, and friction drag is little, can realize larger reduction ratio and moment output.By drive nut is connected with reducer output shaft, leading screw coordinates by flat of thread with nut, and leading screw and nut are on same axis, and compact conformation, has reduced installing space.Drive nut supports by bearing and ball, and leading screw, through linear bearing guiding, has reduced friction drag, has improved the speed of response of steering wheel.The lead angle of selected leading screw must self-locking, has realized failure-free mechanical self-latching and higher driving efficiency.On pipe link, cover has center bearing pilot bearing, on center bearing pilot bearing and orienting sleeve body skin, convince is to free-running fit between bearing runner, make pipe link do straight-line motion along center bearing pilot bearing chute, through coupling nut, drive pilot bar and position transduser axostylus axostyle synchronizing moving, feedback lead screw position information.Between whole steering wheel each several part, realized firm mechanical support and be connected, compact conformation, rigidity is strong, can bear larger impact shock.Leading screw middle part has embedded stroke abaculus, and when leading screw stretches out certain distance, stroke abaculus and outer end cap ladder end face are adjacent to, and define the outreach of leading screw; Leading screw coordinates one end with drive nut, and in drive nut, blind hole has certain depth, and in the time of leading screw rollback, leading screw is adjacent near hole end surface in nut end stroke boss and drive nut, defines the rollback distance of leading screw.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram for the steering wheel of submarine navigation device.
Fig. 2 is overall exploded perspective view of the present invention.
Fig. 3 is partial schematic sectional view of the present invention.
Fig. 4 is screw-nut body schematic diagram of the present invention.
Fig. 5 is position feedback assembly schematic diagram of the present invention.
Fig. 6 is retarder cutaway view of the present invention.
Fig. 7 is that pointer of the present invention is installed on pipe link schematic diagram
Fig. 8 is thrust ball bearing shell schematic diagram of the present invention.
Fig. 9 is thrust ball bearing cut-away view of outer cover of the present invention.
Figure 10 is drive nut part sectional view of the present invention.
Figure 11 is pipe link schematic diagram of the present invention, and wherein: Figure 11 a is front view, Figure 11 b is birds-eye view.
Figure 12 is the structural representation of orienting sleeve.
Figure 13 is orienting sleeve cut-away view of outer cover.
Figure 14 is the structural representation of sensor installation seat.
Figure 15 is sensor installation seat part sectional view.
Figure 16 is the structural representation of connector adapter plate.
Figure 17 is pipe link schematic diagram, and wherein, Figure 17 a is left view, and Figure 17 b is front view.
Figure 18 is coupling nut's structural representation.
Figure 19 is the structural representation of volution, and wherein, Figure 19 a is front view, and Figure 19 b is right elevation
Figure 20 is the structural representation of outer end cap
Figure 21 is the structural representation of stroke abaculus, and wherein, Figure 21 a is front view, and Figure 21 b is birds-eye view.
Figure 22 is the structural representation of volution.
Figure 23 is the schematic diagram of scale board.Wherein:
1. connector 2. connector adapter plate 3. sensor installation seat 4. position transduser 5. pilot bars
6. coupling nut's 7. pipe link 8. pointer 9. center bearing pilot bearing 10. outer end caps
11. leading screw 12. scale board 13. orienting sleeve shell 14. bearing case 15. DC machine
16. retarder 17. roller bearing end cap 18. bearing 19. stroke abaculus 20. linear bearings
21. ball 22. drive nut 23. volution 24. axle sleeves
The specific embodiment
The present embodiment is a kind of steering wheel for submarine navigation device, comprises connector 1, DC machine 15, retarder 16, orienting sleeve shell 13, bearing case 14, screw-nut body and position feedback assembly.And:
Screw-nut body comprises leading screw 11, linear bearing 20, drive nut 22 and stroke abaculus 19.Wherein, linear bearing 20 is sleeved on leading screw 11, and makes the groove on described linear bearing 20 circumference corresponding with the position feedback assembly mounting groove on leading screw 11.Drive nut 22 is also sleeved on the thread end of leading screw 11.Stroke abaculus 19 is fixed in the position feedback assembly mounting groove on leading screw 11.Position feedback assembly comprises pipe link 7, center bearing pilot bearing 9, pointer 8, pilot bar 5, sensor installation seat 3, connector adapter plate 2, position transduser 4 and coupling nut 6.Pipe link 7 lower ends pack pipe link 7 jacks that are positioned on leading screw 11 into by the mounting hole on stroke abaculus 19; The upper end of pipe link 7 packs in the through slot of coupling nut's 6 outside faces.Center bearing pilot bearing 9 is sleeved on pipe link 7 contiguous stroke abaculus 19 one end, and is positioned at the center bearing pilot bearing chute of orienting sleeve shell 13 circumferential surfaces.Pointer 8 is sleeved on the positioning threads that is positioned at pipe link 7 middle parts and puts, and overlaps with fastening nut this pointer location by positioning threads, makes 0 corresponding with on scale board number axis of the initial position of this pointer; This pointer is indicated leading screw 11 positions on scale board along with leading screw moves.One end of pilot bar 5 packs in coupling nut 6 tapped bore, and the axostylus axostyle of position transduser 4 is connected with the other end of pilot bar 5 by coupler.On described position transduser 4, be set with connector adapter plate 2; On the position transduser 4 between connector adapter plate 2 and coupling nut 6, be set with sensor installation seat 3.Between described position transduser 4 and sensor installation seat 3, pass through screws tighten; Free-running fit between described connector adapter plate 2 and position transduser 4.Connector 1 adopts aviation connector of the prior art.This connector embeds in the mounting hole on connector adapter plate 2, and is fixed on connector adapter plate 2.Orienting sleeve shell 13 is sleeved on linear bearing 20, and described orienting sleeve shell 13 inner hole surface and linear bearing 20 peripheries closely cooperate, and described orienting sleeve shell 13 tightens up by tapped bore and outer end cap 10.Outer round surface one side at orienting sleeve shell 13 is pasted with scale board 12.Bearing case 14 is sleeved on drive nut 22, and the end face of this bearing case 14 coordinates with the end face of orienting sleeve shell 13.Between described bearing case 14 and orienting sleeve shell 13, by the attachment lug being positioned on bearing case 14 and orienting sleeve shell 13, tighten up.Bore area at orienting sleeve shell 13 has ball grooves, by ball, makes moving cooperation between orienting sleeve shell 13 and drive nut 22.Free-running fit between one end that bearing case 14 is connected with orienting sleeve shell 13 and drive nut 22.The other end of bearing case 14 is sleeved on bearing 18, and closely cooperates between the two.Bearing 18 is sleeved on the outside face of drive nut 22 and volution 23, and tightens up by roller bearing end cap 17.The housing of retarder 16 is connected by the flange of bolt and bearing case 14.The output shaft of described retarder 16 packs in the rectangle connecting bore of axle sleeve 24, and axle sleeve 24 is sleeved on drive nut 22.Between the output shaft of the input shaft of retarder 16 and DC machine 15, by coupler, be connected.
In the present embodiment, leading screw 11 in screw-nut body is divided into two sections, wherein the circumferential surface of a section has the mounting groove of position feedback assembly, the lower surface of this mounting groove has the jack of the pipe link 7 that connects leading screw 11, jack one side at described pipe link 7 has screw hole, for fixed journey system abaculus 19; The line of centers of the jack of described pipe link 7 and stroke abaculus 19 fixed orifices is all perpendicular to the line of centers of leading screw.Another section of leading screw 11 is used for installing drive nut 22, and the circumferential surface of this section is the screw thread coordinating with drive nut 22.At leading screw 11 and the end face of drive nut 22 sections of cooperation, there is the stroke limit boss of axial protrusion.Described leading screw 11 adopts Acme thread, and the lead angle of this screw thread must self-locking, in the present embodiment, the lead angle of leading screw 11 screw threads be 3 ° 48 '.
Linear bearing 20 in screw-nut body is prior art.Described linear bearing 20 is sleeve-shaped, and has and connect the axial groove of this linear bearing 20 at the outer round surface of linear bearing 20.The external diameter of linear bearing 20 is identical with the internal diameter of orienting sleeve shell 13, and packs into after orienting sleeve shell 13 when linear bearing 20, closely cooperates between the two.
Drive nut 22 in screw-nut body is stepped circular pin.The profile of described drive nut 22 ends, one end is identical with the interior shape of axle sleeve 24, and drive nut 22 and axle sleeve 24 are closely cooperated.Roller bearing end cap 17 is sleeved on axle sleeve 24.Volution 23 is sleeved on the inner side of axle sleeve 24.Bearing 18 adopts thrust ball bearing, is sleeved on the step of described volution 23 and drive nut 22.The diameter maximum of described drive nut 22 other ends.End face in the larger diameter end of this drive nut 22 has axial ladder endoporus, and this ladder endoporus is blind hole.Free-running fit between the external diameter of the aperture of the bottom, hole of described ladder endoporus and leading screw 11 stroke limit boss.The middle part of described ladder endoporus is the via hole of leading screw 11.One end, aperture of described ladder endoporus is and leading screw 11 mate with threaded holes.
Volution 23 is circular sleeve, and its inside face has screw thread, coordinates with the thread rod of drive nut 22.At volution 23 one end end faces, be evenly equipped with 4 axially extended oilways, after bearing 18 is sleeved on this volution 23, by described oilway, realize lubricating bearing.Described oilway connects the barrel of volution 23.
Axle sleeve 24 is also circular sleeve.The endoporus of axle sleeve 24 coordinates with the front end of one end of drive nut 22 and the output shaft of retarder 16.The shape and size of axle sleeve 24 endoporus are identical with the profile of the drive nut 22 coordinating with it and retarder 16 respectively.Axle sleeve 24 packs in the endoporus of roller bearing end cap 17, and free-running fit between the two.
Stroke abaculus 19 in screw-nut body is rectangular block shape.On the trip abaculus 19, there are two through holes that distribute side by side.One of them through hole is "T"-shaped pipe link 7 mounting holes, and another through hole is counter sink, for the trip abaculus 19 is connected with leading screw 11.
Described orienting sleeve shell 13 is hollow gyro-rotor.The internal diameter that orienting sleeve shell 13 has one section of rectangular channel is identical with the external diameter of linear bearing 20, and the internal diameter of another section is slightly larger than the external diameter of drive nut 22 enlarged diameter section axles.At the circumferential surface of orienting sleeve shell 13, have a center bearing pilot bearing chute along the axial distribution of orienting sleeve shell 13, and this center bearing pilot bearing chute connects this orienting sleeve case body.The width of described center bearing pilot bearing chute is slightly larger than the external diameter of center bearing pilot bearing 9.One end end face of orienting sleeve shell 13 is evenly equipped with connecting bore, for outer end cap fixed outer ends lid 10.The other end end face of orienting sleeve shell 13 has radially the butt flange protruding, for by affixed with bearing case 14 this orienting sleeve shell 13.Orienting sleeve shell 13 has a circular groove with the endoporus place that bearing case 14 is connected one end by flange, places ball 21, for the support to drive nut 22 outer shaft larger diameter end in groove.
Outer end cap 10 is annular element.The endoporus of outer end cap 10 is stepped.The aperture of outer end cap 10 apertures is slightly larger than the external diameter of leading screw 11, after making leading screw 11 pack in the aperture of outer end cap 10, and free-running fit between the two.The aperture of outer end cap 10 macropores is greater than the oad of stroke abaculus 19, the space requirement when meeting the moving along leading screw 11 of the trip abaculus 19.Ladder end face in the endoporus of outer end cap 10 has formed the confined planes of stroke abaculus 19.The external peripheral surface at outer end cap 10 middle parts has the butt flange radially protruding, and on described butt flange, is evenly equipped with connecting bore, by this connecting bore, outer end cap 10 is fixed on to the end face of orienting sleeve shell 13.
Described bearing case 14 is stepped hollow gyro-rotor.The endoporus of bearing case 14 enlarged diameter sections is stepped hole, and for bearing 18 and roller bearing end cap 17 are installed, the endoporus of bearing case 14 reduced diameter sections is used for installing drive nut 22; Bearing case 14 smaller diameter end endoporus apertures are slightly larger than drive nut 22 outer shaft enlarged diameter section diameters, form free-running fit between the two.There is the annular gear platform radially protruding this large diameter hole section and small diameter bore section junction, for the location to bearing 18.The external diameter that the internal diameter at this annular gear platform place is slightly larger than third stage step on drive nut 22 is identical, forms free-running fit between the two.Bearing 18 is positioned at the inside of bearing case 14 enlarged diameter section endoporus.Bearing case 14 is fluted with the bore area that bearing 18 coordinates, two ends outside face in this surperficial bearing 18 is contacted with the inside face of bearing case 14, between the outside face at bearing 18 middle parts and the inside face of bearing case 14, by described groove, formed assembly clearance.Roller bearing end cap 17 is positioned at the orifice part of bearing case 14 enlarged diameter section endoporus, and is threaded connection with the endoporus of bearing case 14, and described roller bearing end cap 17 end faces and bearing 18 contact and closely cooperate between end face.
The outer round surface of described bearing case 14 is stepped.The outer round surface that drive nut 22 end ends, one end, the large footpath of stepped shaft is installed at bearing case 14 has the butt flange radially protruding, by this butt flange by affixed to bearing case 14 and orienting sleeve shell 13.At the middle part of described bearing case 14, have a pair of erecting bed radially protruding, this erecting bed is symmetrically distributed in the outer round surface of bearing case 14; At described erecting bed, there is mounting hole.By this mounting hole, the present embodiment is fixedly connected with the housing of aircraft.On described erecting bed, also has the mounting hole of sensor installation seat 3.Described erecting bed is corresponding with the position of the annular gear platform radially protruding in these bearing case 14 endoporus in the position of the outer round surface of bearing case 14.The outer round surface that bearing case 14 is provided with roller bearing end cap 17 ends, one end is symmetrically distributed with 2 pairs of auricle shape butt flanges that radially protrude, for retarder 16 is fixedly connected with this bearing case 14.In described 2 pairs of auricle shape butt flanges, on two auricle shape butt flanges adjacent with connector 1, also has the fixed orifice of connector adapter plate 2.
Pipe link 7 in described position feedback assembly is stepped shaft.Pipe link 7 one end are the coupling end coordinating with leading screw 11, and the external diameter of this coupling end is identical with the internal diameter of the pipe link jack on leading screw 11, and make to closely cooperate between pipe link 7 and the pipe link jack of leading screw 11; On described pipe link, have the rounded square positioning table radially protruding, a side surface of this positioning table and the groove outside face of leading screw 11 are fitted, and insert the degree of depth of pipe link jack for limiting this pipe link 7.At the opposite side of described positioning table, be followed successively by the fitting surface of center bearing pilot bearing 9 and the attachment face of pointer 8; The attachment face of described pointer 8 is flat of thread, and between the attachment face of described pointer 8 and the fitting surface of center bearing pilot bearing 9, is set with the positioning threads cover of pointer 8, and pointer 8 other ends compress pointer end face by fastening nut and tighten up.The other end of pipe link 7 is the polished rod coordinating with coupling nut 6.
Pointer 8 is comprised of dials, pin, fastening nut and positioning threads cover.Described dials is sleeved on the pointer attachment face on pipe link, and overlaps location by positioning threads.On pointer attachment face on pipe link, cover is loaded onto fastening nut, by this fastening nut, pointer 8 is fixed on pipe link.The pin of pointer 8 perpendicular to the scale board 12 of outer round surface that is positioned at orienting sleeve shell 13.
Pilot bar 5 is rod member.One end of pilot bar 5, by outside thread, spins with coupling nut.The other end of pilot bar 5 is connected by coupler with the axostylus axostyle of position transduser 4.
Sensor installation seat 3 is block, base and 2 clamps, consists of.There is arc groove at the lower surface middle part of base, and the curvature of this arc groove is identical with the curvature of bearing case 14 outer round surface; There is respectively connecting bore both sides at described arc groove, for sensor installation seat 3 is affixed with the housing of bearing case 14.The both sides, middle part of the upper surface of close base have square fast, for being fixedly connected with 2 clamps.Described 2 clamps lay respectively at the both sides of base.Described clamp is rectangular block, has the mounting hole of the position transduser 4 of perforation on this clamp, and the aperture of the mounting hole of this position transduser 4 is identical with the external diameter of position transduser 4.A side surface at clamp has strip gab, and this side of clamp is divided into two-layer up and down; This open slot connects the thickness of clamp, and is communicated with the mounting hole of the position transduser 4 on this clamp.On clamp, perpendicular to the direction of strip gab, have through hole.Described through hole connects the two-layer up and down of clamp, and through hole one side is through hole, and an other side is tapped bore; Connecting bore line of centers on line of centers and the base of described through hole is parallel to each other.
Connector adapter plate 2 is plate.The lower surface of this connector adapter plate 2 is arc-shaped concave; The curvature of this arc-shaped concave is identical with the curvature of bearing case 14 outer round surface.The via hole of position sensor 4 on connector adapter plate 2.Above described position transduser 4 via holes, there is the mounting hole of the connector 1 that connects this connector adapter plate 2.
Coupling nut 6 is hollow gyro-rotor.Coupling nut 6 profile is stepped, has the bar hole that radially connects these coupling nut's 6 larger diameter end at the circumferential surface of these coupling nut's 6 larger diameter end; The aperture of this bar hole is slightly larger than the external diameter of pipe link 7, makes coupling nut 6 and pipe link 7 free-running fits.The endoporus of these coupling nut's 6 smaller diameter end is tapped bore, for being connected with pilot bar 5; The bar hole of this tapped bore and coupling nut's 6 larger diameter end connects.
Center bearing pilot bearing 9 and position transduser 4 all adopt prior art, and described center bearing pilot bearing 9 is deep groove ball bearing, and described position transduser is resistance-type sophisticated sensor.
Retarder 16 adopts three grades of straight-tooth retarders, comprises reducer shell, four gear wheel shafts, three grades of reducing gear.Four gear wheel shafts are all arranged on reducer shell by bearing, and four gear wheel shafts are parallel to each other.
First gear wheel shaft one end at the driving wheel place of first order reducing gear is connected with the output shaft of DC machine 15 by coupler; The flower wheel of first order reducing gear is positioned on second gear wheel shaft.The driving wheel of second stage reducing gear is positioned on second gear wheel shaft, is meshed with the flower wheel that is positioned at the 3rd second stage reducing gear on gear wheel shaft.The driving wheel of third stage reducing gear is positioned on the 3rd gear wheel shaft, is meshed with the flower wheel that is positioned at the 4th third stage reducing gear on gear wheel shaft.The 4th output shaft that gear wheel shaft is this retarder; The mouth of the 4th gear wheel shaft and the input end of retarder 16 are in the same side; Described mouth is connected with drive nut 22 by axle sleeve 24, and the other end of this output shaft is outer hexagon, and it is external to extend to reducing gearbox, when feed screw nut moves to when stuck, by the elongated end of this output shaft, regulates.
On described retarder 16 housings, there is the tapped bore being connected with the auricle shape butt flange of bearing case 14.
Scale board 12 is for showing that lead screw shaft is to miles of relative movement.On described scale board 12, have scale, this scale adopts number axis to represent, the centre of this number axis is 0, and take described 0 as boundary, equidistantly indicates respectively 1~10 scale value, to represent that lead screw shaft is to miles of relative movement to both sides.
Bearing 8, ball 21, DC machine 15 and connector 1 are prior art.Described bearing 8 is thrust ball bearing, and DC machine 15 is hollow cup DC motor, and connector 1 is aviation connector.
In aircraft motion process, by connector 1, inputting certain voltage drives the DC machine 15 being connected with retarder 16 input shafts to rotate, through deceleration and the increase output torque of retarder 16, drive the drive nut 22 being connected with retarder 16 output shafts at thrust ball bearing 18 and rotation in being arranged on the ball 21 in orienting sleeve shell 13 inside holes, leading screw 11, under the screw pair effect matching with drive nut 22, in axial direction moves.
Leading screw 11 middle parts have position feedback assembly mounting groove, and stroke abaculus 19 embeds wherein, and when leading screw 11 stretches out certain distance, stroke abaculus 19 is adjacent to outer end cap 10 ladder end faces, defines the outreach of leading screw 11; Leading screw 11 coordinates one end with drive nut 22, and the interior blind hole end of drive nut 22 has certain depth, and during leading screw 11 rollback, the stroke limit boss of leading screw 11 ends and the interior hole end surface of drive nut 22 are adjacent to, and define the rollback distance of leading screw 11.
Pipe link 7 embeds in leading screw 11 pipe link 7 mounting holes, center bearing pilot bearing 9 is inserted at pipe link 7 middle parts, orienting sleeve shell 13 convinces are slightly larger than center bearing pilot bearing 9 external diameters to bearing runner width, when leading screw 11 moves, drive pipe link 7 to move along retraining rectilinear direction in orienting sleeve shell 13 center bearing pilot bearing chutes.Pipe link 7 is connected with pilot bar 5 by coupling nut 6, pilot bar 5 is connected with straight line resistive position sensor 4 axostylus axostyles, position transduser 4 is fixed on sensor installation seat 3, the mobile axostylus axostyle that drives position transduser 4 of pipe link 7 moves, feedback obtains the position signal of leading screw, by connector 1, exports; By pointer 8, on scale board 12, indicate leading screw 11 present positions simultaneously.

Claims (9)

1. for a steering wheel for submarine navigation device, it is characterized in that, comprise connector, DC machine, retarder, orienting sleeve shell, bearing case, outer end cap, scale board, screw-nut body and position feedback assembly; And:
A. screw-nut body comprises leading screw, linear bearing, drive nut and stroke abaculus; Wherein, linear bearing is sleeved on leading screw, and makes the groove on described linear bearing circumference corresponding with the position feedback assembly mounting groove on leading screw; Drive nut is sleeved on the thread end of leading screw; Stroke abaculus is fixed in the position feedback assembly mounting groove on leading screw;
B. position feedback assembly comprises pipe link, center bearing pilot bearing, pointer, pilot bar, sensor installation seat, connector adapter plate, position transduser and coupling nut; Pipe link lower end packs the pipe link jack being positioned on leading screw into by the mounting hole on stroke abaculus; The upper end of pipe link packs in the through slot of coupling nut's outside face; Center bearing pilot bearing is sleeved on the contiguous stroke abaculus of pipe link one end, and is positioned at the center bearing pilot bearing chute of orienting sleeve shell circumferential surface; Pointer is fixed on the positioning threads that is positioned at pipe link middle part and puts; One end of pilot bar packs in coupling nut's tapped bore, and the axostylus axostyle of position transduser is connected with the other end of pilot bar by coupler; On described position transduser, be set with connector adapter plate; On the position transduser between connector adapter plate and coupling nut, be set with sensor installation seat; Between described position transduser and sensor installation seat, be connected; Free-running fit between described connector adapter plate and position transduser;
C. orienting sleeve outer cover suit is on linear bearing, and closely cooperates between the two; End face and the bearing case of orienting sleeve shell are connected, and another end face has outer end cap; Scale board sticks on the outer round surface of orienting sleeve shell;
D. bearing case is sleeved on drive nut, and the end face of this bearing case coordinates with the end face of orienting sleeve shell; Bore area at orienting sleeve shell has ball grooves, by ball, makes moving cooperation between orienting sleeve shell and drive nut; Free-running fit between one end that bearing case is connected with orienting sleeve shell and drive nut; The other end of bearing case is sleeved on bearing, and closely cooperates between the two; Bearing carrier ring is contained in the outside face of drive nut and volution, and tightens up by roller bearing end cap; Roller bearing end cap is sleeved on axle sleeve; Volution is sleeved on the inner side of axle sleeve; Connector is fixed on the butt flange that bearing case is provided with end, roller bearing end cap one end; The output shaft of retarder packs in the connecting bore of axle sleeve, and axle sleeve is sleeved on drive nut; Between the input shaft of retarder and the output shaft of DC machine, by coupler, be connected.
2. a kind of steering wheel for submarine navigation device as claimed in claim 1, it is characterized in that, leading screw is divided into two sections, wherein the circumferential surface of a section has the mounting groove of position feedback assembly, the lower surface of this mounting groove has the jack of the pipe link that connects leading screw, jack one side at described pipe link has screw hole, for fixed journey system abaculus; The line of centers of the jack of described pipe link and stroke abaculus fixed orifice is all perpendicular to the line of centers of leading screw; Another of leading screw section circumferential surface is the screw thread coordinating with drive nut; At leading screw and the end face of the drive nut section of cooperation, there is the stroke limit boss of axial protrusion.
3. a kind of steering wheel for submarine navigation device as claimed in claim 1, is characterized in that, have a center bearing pilot bearing chute along the axial distribution of orienting sleeve shell, and this center bearing pilot bearing chute connects this orienting sleeve case body at the circumferential surface of orienting sleeve shell; The width of described center bearing pilot bearing chute is slightly larger than the external diameter of center bearing pilot bearing; One end end face of orienting sleeve shell is evenly equipped with the fixed orifice of outer end cap; The other end end face of orienting sleeve shell has the butt flange of connection bearing shell.
4. a kind of steering wheel for submarine navigation device as claimed in claim 1, is characterized in that, the endoporus of outer end cap is stepped, its small aperture place and leading screw free-running fit, and place, large aperture is greater than the oad of stroke abaculus; Ladder end face in the endoporus of outer end cap has formed the confined planes of stroke abaculus.
5. a kind of steering wheel for submarine navigation device as claimed in claim 1, is characterized in that, has a pair of erecting bed being connected with the housing of aircraft radially protruding at the middle part of bearing case, has the mounting hole of sensor installation seat on this erecting bed; Described erecting bed is corresponding with the position of annular gear platform in this bearing case endoporus in the position of the outer round surface of bearing case.
6. a kind of steering wheel for submarine navigation device as claimed in claim 1, it is characterized in that on the circumference of the pipe link in described position feedback assembly, having the positioning table, the fitting surface of center bearing pilot bearing and the attachment face of pointer that limit the degree of depth in this pipe link insertion pipe link jack; Between the attachment face of described pointer and the fitting surface of center bearing pilot bearing, be set with the positioning threads cover of pointer, the pointer other end compresses pointer end face by fastening nut and tightens up; The other end of pipe link is the polished rod coordinating with coupling nut.
7. a kind of steering wheel for submarine navigation device as claimed in claim 1, is characterized in that, there is the arc groove coordinating with bearing case outer round surface at the lower surface middle part of sensor installation seat base; There is respectively clamp the both sides, middle part of the upper surface of close base; The mounting hole of position sensor on each clamp; A side surface at each clamp has strip gab, and this side of clamp is divided into two-layer up and down; This open slot connects the thickness of clamp, and is communicated with the mounting hole of the position transduser on this clamp; On clamp, have through hole, and the connecting bore line of centers on line of centers and the base of this through hole is parallel to each other.
8. a kind of steering wheel for submarine navigation device as claimed in claim 1, is characterized in that, the lower surface of connector adapter plate has the concave surface coordinating with bearing case outer round surface; The via hole of position sensor on connector adapter plate; Above described position transduser via hole, there is the mounting hole of the connector that connects this connector adapter plate.
9. a kind of steering wheel for submarine navigation device as claimed in claim 1, is characterized in that, retarder adopts three grades of straight-tooth retarders, comprises reducer shell, four gear wheel shafts and three grades of reducing gear; Four gear wheel shafts are all arranged on reducer shell by bearing, and four gear wheel shafts are parallel to each other; The mouth of retarder and input end are in the same side; One end of the 4th gear wheel shaft of retarder is mouth, and it is external that the other end of the 4th gear wheel shaft extends to reducing gearbox.
CN201210097424.5A 2012-04-05 2012-04-05 Steering engine for underwater vehicle CN102632988B (en)

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JP6004876B2 (en) * 2012-10-03 2016-10-12 三菱重工業株式会社 Steering machine and ship equipped with the same
CN103538711B (en) * 2013-09-29 2016-05-04 武汉船用机械有限责任公司 A kind of rotary vane type steering gear
CN105652955A (en) * 2014-11-14 2016-06-08 中国航空工业第六八研究所 Large stroke high integration electric steering engine
CN105059502A (en) * 2015-08-31 2015-11-18 哈尔滨工程大学 Leveling driving mechanism for underwater butt joint device
CN106444426B (en) * 2016-10-31 2019-08-20 陕西航天时代导航设备有限公司 Electric steering engine design method based on harmonic reducing mechanism
CN106382862B (en) * 2016-11-01 2018-11-13 陕西航天时代导航设备有限公司 Fine module gear deceleration electric steering engine design method based on hollow-cup motor
CN106768833B (en) * 2016-11-30 2019-04-12 无锡明珠增压器制造有限公司 The fan blade regulating device of wave measurement machine
CN106768835B (en) * 2016-11-30 2019-06-07 无锡明珠增压器制造有限公司 Fan blade regulating device for wave measurement
CN106768834B (en) * 2016-11-30 2019-04-12 无锡明珠增压器制造有限公司 Fan blade regulating device
CN106741801B (en) * 2016-12-17 2019-01-04 黄浩 A kind of electrodynamic type steering engine
CN106853645B (en) * 2016-12-31 2019-08-16 深圳市优必选科技有限公司 Steering engine gear diastema measuring device and method
CN110304229B (en) * 2019-07-18 2021-04-16 重庆大学 Marine steering engine with two-stage mechanical transmission structure

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CN201020282Y (en) * 2007-04-17 2008-02-13 田瑜 Steering engine
CN201224496Y (en) * 2008-06-30 2009-04-22 北京理工大学 Electric steering engine
CN101612481B (en) * 2008-11-26 2011-06-08 罗之洪 Slide type airplane model steering engine
KR100979288B1 (en) * 2009-07-07 2010-08-31 엘아이지넥스원 주식회사 Apparatus for controlling elevon
CN201988182U (en) * 2011-01-11 2011-09-28 田瑜 Screw steering engine for model planes
CN202574611U (en) * 2012-04-05 2012-12-05 西北工业大学 Steering engine used for underwater vehicle

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