CN103231797A - Four-axle-linkage electric steering engine - Google Patents
Four-axle-linkage electric steering engine Download PDFInfo
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- CN103231797A CN103231797A CN2013101349566A CN201310134956A CN103231797A CN 103231797 A CN103231797 A CN 103231797A CN 2013101349566 A CN2013101349566 A CN 2013101349566A CN 201310134956 A CN201310134956 A CN 201310134956A CN 103231797 A CN103231797 A CN 103231797A
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- rudderpost
- bearing
- annulate shaft
- electric steering
- motor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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Abstract
The invention relates to a four-axle-linkage electric steering engine, and belongs to the technical field of precision guidance. The invention aims at solving problems such as complicated structure, large weight, and high cost of prior art. The electric steering engine provided by the invention comprises a motor, a magnetoelectric encoder, a cabin, and a rudder shaft driving unit. The rudder shaft driving unit is completely arranged in the cabin. The rudder shaft driving unit comprises a driving mechanism, four rudder shaft units, and a ring shaft. Rotation movement of the motor rotates a ball screw in the driving mechanism through a coupling; the ball screw rotates and drives a screw nut to perform linear movement along a parallel guide rod; with the linear movement of the screw nut, the ring shaft rotates under driving; and the linkage of the four rudder shafts is realized. According to the driving mechanism provided by the invention, through the rotation of the ring shaft, synchronous movements of the four rudder shafts uniformly arranged on the ring shaft are realized, such that the movements of the rudder shafts can be synchronously controlled by one motor. Therefore, system complicity and weight are reduced, system cost is reduced, and system reliability is improved.
Description
Technical field
The invention belongs to the precise guidance technical field, relate to a kind of structure design of electric steering gear, relate in particular to a kind of four-axle linked formula electric steering gear of compact conformation.
Background technology
Electric steering gear is as the operating control of precision guided weapon, the angle of rudder reflection instruction that receiver borne computer or autopilot send, overcome the hinge moment of rudder face and carry out the tracking of position, quick angle, thereby change flight attitude and the flight path of guided weapon, reach the launching effect of expection.
Application number is that 200620161599.8 Chinese patent discloses the technical scheme that a key name is called " Electrodynamic Rudder System device ", this Electrodynamic Rudder System device comprises the electric steering gear of four control rudder faces, described four electric steering gears all are fixed on the center frame, its electric steering gear output shaft axis overlaps axially intersecting vertically on the both direction in twos; Be provided with change speed gear box between motor in the described electric steering gear and the output shaft.Each axle of this Electrodynamic Rudder System device is made up of independently motor and change speed gear box, complex structure, and weight is big, and cost is higher.
Summary of the invention
The objective of the invention is to propose a kind of four-axle linked formula electric steering gear, solve the problem that complex structure, weight are big and cost is high that exists in the prior art.
For achieving the above object, four-axle linked formula electric steering gear of the present invention comprises a motor, magneto-electric coder, cabin body and rudderpost driver element; The integral installation of described rudderpost driver element is in the body of cabin, and described rudderpost driver element comprises driver train, four rudderpost unit and annulate shaft;
Described driver train comprises ball-screw, feed screw nut, leading screw bearing, linear bearing, parallel guide rod, and described four rudderpost unit are installed in the symmetric position at four angles of annulate shaft, and described feed screw nut links to each other with annulate shaft by the annulate shaft connecting rod; Described motor one end is connected with the magneto-electric coder, the other end is connected with ball-screw by coupler, described parallel guide rod is installed on the described leading screw bearing, between described parallel guide rod and the described feed screw nut linear bearing is installed, ball-screw rotating band movable wire thick stick nut carries out straight-line motion along parallel guide rod, straight-line motion by feed screw nut drives the annulate shaft rotation, and then realizes four rudderpost unit interlocks.
Described rudderpost unit comprises oscillating bearing A, double end stud, oscillating bearing B, curved connecting rod, rudderpost bearing and rudderpost, described oscillating bearing A is connected with described oscillating bearing B by double end stud, the other end of described oscillating bearing B is connected with described curved connecting rod, the described curved connecting rod other end and described rudderpost are connected, and described rudderpost is installed in the described rudderpost bearing by bearing.
Described rudderpost unit also comprises potential device, and described potentiometer output links to each other with any one other end in described four rudderposts.
The integral installation of described rudderpost driver element is specially in the body of cabin: described annulate shaft is equipped with two annulate shaft positioning supports of symmetry, annulate shaft knock hole on described annulate shaft positioning support and the cabin body is connected, between described annulate shaft positioning support and the described annulate shaft knock hole bearing is installed, realize annulate shaft freely rotating relative to the cabin body, described four rudderposts cooperate with four rudderpost knock holees on the body of described cabin, and described leading screw bearing and described leading screw bearing hole are connected.
Described coupler is the cross slider type structure.
Beneficial effect of the present invention is: compared with prior art, four-axle linked formula electric steering gear of the present invention rotates the up-and-down movement of realizing feed screw nut by the driven by motor ball-screw, feed screw nut drives annulate shaft by the annulate shaft connecting rod that is attached thereto and rotates, rotation by annulate shaft drives four rudderpost units synchronization motions of evenly installing on it, realized the purpose of four rudderpost motions of a motor synchronous control, thereby complexity and the weight of system have been reduced, reduce the cost of system, improved the reliability of system.
Description of drawings
Fig. 1 is the integral structure figure of four-axle linked formula electric steering gear of the present invention;
Fig. 2 is the rudderpost structure of driving unit scheme drawing in the four-axle linked formula electric steering gear of the present invention;
Fig. 3 is the driving mechanism structure scheme drawing in the four-axle linked formula electric steering gear of the present invention;
Fig. 4 is the section structure figure in the four-axle linked formula electric steering gear of the present invention;
Wherein: 1, motor, 2, the magneto-electric coder, 3, the cabin body, 301, annulate shaft knock hole, 302, the rudderpost knock hole, 303, the leading screw bearing hole, 4, rudderpost driver element, 401, the leading screw bearing, 402, coupler, 403, ball-screw, 404, feed screw nut, 405, linear bearing, 406, parallel guide rod, 407, annulate shaft positioning support, 408, annulate shaft, 409, double end stud, 410, oscillating bearing B, 411, oscillating bearing A, 412, rudderpost, 413, curved connecting rod, 414, potential device, 415, rudderpost bearing, 416, the annulate shaft connecting rod.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described further.
Referring to accompanying drawing 1, accompanying drawing 2, accompanying drawing 3 and accompanying drawing 4, four-axle linked formula electric steering gear of the present invention comprises a motor 1, magneto-electric coder 2, cabin body 3 and rudderpost driver element 4; Described rudderpost driver element 4 integral body are positioned at cabin body 3, and described rudderpost driver element 4 comprises driver train, four rudderpost unit and annulate shaft 408;
Described driver train comprises ball-screw 403, feed screw nut 404, leading screw bearing 401, linear bearing 405, parallel guide rod 406, described four rudderpost unit are installed in the symmetric position at four angles of annulate shaft 408, and described feed screw nut 404 links to each other with annulate shaft 408 by annulate shaft connecting rod 416; Described motor 1 one ends are connected with magneto-electric coder 2, the other end is connected with ball-screw 403 by coupler 402, described parallel guide rod 406 is installed on the described leading screw bearing 401, between described parallel guide rod 406 and the described feed screw nut 404 linear bearing 405 is installed, ball-screw 403 rotating band movable wire thick stick nuts 404 carry out straight-line motion along parallel guide rod 406, straight-line motion by feed screw nut 404 drives annulate shaft 408 rotations, and then realizes four rudderpost unit interlocks.
Described rudderpost unit comprises oscillating bearing A411, double end stud 409, oscillating bearing B410, curved connecting rod 413, rudderpost bearing 415, rudderpost 412 and potential device 414, described oscillating bearing A411 is connected with described oscillating bearing B410 by double end stud 409, the other end of described oscillating bearing B410 is connected with described curved connecting rod 413, and described curved connecting rod 413 other ends and described rudderpost 412 are connected.
Annulate shaft 408 is equipped with two annulate shaft positioning supports 407 of symmetry, annulate shaft knock hole 301 on described annulate shaft positioning support 407 and the cabin body 3 is connected, between described annulate shaft positioning support 407 and the described annulate shaft knock hole 301 bearing is installed, realize annulate shaft 408 freely rotating relative to cabin body 3, rudderpost 412 is installed in 415 li of rudderpost bearings by bearing, rudderpost bearing 415 is installed to 302 li of the rudderpost knock holees of cabin body 3, fix by screw with the rudderpost end cap, described leading screw bearing 401 is connected with described leading screw bearing hole 303 again.
Any one other end links to each other with described potential device 414 mouths in described four rudderposts 412, potential device 414 is used for measuring the angle that rudderpost 412 rotates, be subjected to the limitation of length of stroke, annulate shaft 408 rotational angles, oscillating bearing A411 and oscillating bearing B410 length and the curved connecting rod 413 of ball-screw 403 translations, the scope that rudderpost 412 can freely rotate is-30 °～+ 30 °.
The external diameter of cabin body 3 is 180mm, for alleviating its total quality, body 3 structures in cabin have been carried out optimal design, adopt aluminium or other low-density alloy casting back fine limit work to make, motor 1 adopts dc brushless motor at a high speed, motor 1 output shaft, one end and magneto-electric coder 2 are connected, and magneto-electric coder 2 can be measured 1 rotational angular of motor in real time.The motor 1 output shaft other end links to each other with ball-screw 403 by coupler 402, and for avoiding Mismachining tolerance to influence of mounting accuracy, coupler 402 adopts the cross slider type structure.For guaranteeing the parallel motion of feed screw nut 404, at leading screw bearing 401 parallel guide rod 406 has been installed, be the power of reducing friction, between parallel guide rod 406 and the feed screw nut 404 linear bearing 405 is installed.For easy for installation, motor 1 all is installed on the leading screw bearing 401 with ball-screw 403 and parallel guide rod 406, leading screw bearing 401 again integral installation 303 li of the leading screw bearing holes of cabin body 3, fastening by screw.
Annulate shaft 408 adopts the symmetrical structure layout, adopt arc-shaped structure near annulate shaft positioning support 407 parts, carried out the linear pattern design near annulate shaft connecting rod 416 parts, annulate shaft 408 and annulate shaft connecting rod 416 are for mainly being subjected to force mechanisms, material adopts 40Cr, do not influence its rigidity again for reducing its weight, annulate shaft 408 has carried out Optimal Structure Designing.Whole annulate shaft 408 is installed in the annulate shaft knock hole 301 on the cabin body 3 by two annulate shaft positioning supports 407, and annulate shaft positioning support 407 and 301 of annulate shaft knock holees be equipped with bearing, and annulate shaft 408 can freely rotate in certain angle.
Curved connecting rod 413 and rudderpost 412 materials adopt 40Cr.For alleviating quality, rudderpost bearing 415, rudderpost end cap and leading screw bearing 401 adopt aluminium or other low-density alloy casting back fine limit work to make.
When the present invention works, motor 1 rotatablely moves, the magneto-electric coder 2 that link to each other with motor 1 this moment is measured the rotating speed of motor 1, motor 1 output shaft is by the lead screw shaft of coupler 402 rotation ball leading screws 403, the rotating band movable wire thick stick nut 404 of lead screw shaft carries out straight-line motion along parallel guide rod 406, the translation of feed screw nut 404 drives annulate shaft 408 by annulate shaft connecting rod 416 and rotates, four groups of oscillating bearing A411 that link to each other with annulate shaft 408, oscillating bearing B410 drives four curved connecting rods 413, the motion of curved connecting rod 413 drives rudderpost 412 and rotates, potential device 414 on one of them rudderpost 412 detects the angle of rudderpost 412, can realize the angle orientation of electric steering gear by corresponding control setup.
Claims (6)
1. a four-axle linked formula electric steering gear is characterized in that, comprises a motor (1), magneto-electric coder (2), cabin body (3) and rudderpost driver element (4); Described rudderpost driver element (4) integral installation is in cabin body (3), and described rudderpost driver element (4) comprises driver train, four rudderpost unit and annulate shaft (408);
Described driver train comprises ball-screw (403), feed screw nut (404), leading screw bearing (401), linear bearing (405), parallel guide rod (406), described four rudderpost unit are installed in the symmetric position at four angles of annulate shaft (408), and described feed screw nut (404) links to each other with annulate shaft (408) by annulate shaft connecting rod (416); Described motor (1) one end is connected with magneto-electric coder (2), the other end is connected with ball-screw (403) by coupler (402), described parallel guide rod (406) is installed on the described leading screw bearing (401), between described parallel guide rod (406) and the described feed screw nut (404) linear bearing (405) is installed, ball-screw (403) rotating band movable wire thick stick nut (404) carries out straight-line motion along parallel guide rod (406), straight-line motion by feed screw nut (404) drives annulate shaft (408) rotation, and then realizes four rudderpost unit interlocks.
2. a kind of four-axle linked formula electric steering gear according to claim 1, it is characterized in that, described rudderpost unit comprises oscillating bearing A(411), double end stud (409), oscillating bearing B(410), curved connecting rod (413), rudderpost bearing (415) and rudderpost (412), described oscillating bearing A(411) by double end stud (409) and described oscillating bearing B(410) be connected, described oscillating bearing B(410) the other end is connected with described curved connecting rod (413), described curved connecting rod (413) other end and described rudderpost (412) are connected, and described rudderpost (412) is installed in described rudderpost bearing (415) lining by bearing.
3. a kind of four-axle linked formula electric steering gear according to claim 2 is characterized in that described rudderpost unit also comprises potential device (414), and described potential device (414) mouth links to each other with any one other end in described four rudderposts (412).
4. a kind of four-axle linked formula electric steering gear according to claim 1, it is characterized in that, described rudderpost driver element (4) integral installation is specially in cabin body (3): described annulate shaft (408) is equipped with two annulate shaft positioning supports (407) of symmetry, annulate shaft knock hole (301) on described annulate shaft positioning support (407) and the cabin body (3) is connected, between described annulate shaft positioning support (407) and the described annulate shaft knock hole (301) bearing is installed, realize annulate shaft (408) freely rotating relative to cabin body (3), described four rudderposts (412) cooperate with four rudderpost knock holees (302) on the described cabin body (3), and described leading screw bearing (401) is connected with described leading screw bearing hole (303).
5. a kind of four-axle linked formula electric steering gear according to claim 1 is characterized in that described coupler (402) is the cross slider type structure.
6. a kind of four-axle linked formula electric steering gear according to claim 1 is characterized in that described motor (1) is dc brushless motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013101349566A CN103231797A (en) | 2013-04-18 | 2013-04-18 | Four-axle-linkage electric steering engine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013101349566A CN103231797A (en) | 2013-04-18 | 2013-04-18 | Four-axle-linkage electric steering engine |
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| CN103231797A true CN103231797A (en) | 2013-08-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2013101349566A Pending CN103231797A (en) | 2013-04-18 | 2013-04-18 | Four-axle-linkage electric steering engine |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104552227A (en) * | 2013-10-21 | 2015-04-29 | 苏茂 | Linear bearing type metacarpophalangeal joint movement detection device |
| CN104960659A (en) * | 2015-07-20 | 2015-10-07 | 哈尔滨工业大学 | Steering engine directly driven by piezoelectric motors |
| CN106643339A (en) * | 2016-10-27 | 2017-05-10 | 浙江理工大学 | Spatial linkage type missile control plane control mechanism |
| CN107005129A (en) * | 2016-07-28 | 2017-08-01 | 深圳市创客工场科技有限公司 | A kind of magnetic compiles steering wheel |
| CN107792345A (en) * | 2017-09-30 | 2018-03-13 | 中国科学院长春光学精密机械与物理研究所 | A kind of compact steering wheel and steering gear flat |
| CN108286918A (en) * | 2017-12-29 | 2018-07-17 | 中国航天空气动力技术研究院 | A kind of how shaft-driven annular rudder control unit |
| CN108545169A (en) * | 2018-06-08 | 2018-09-18 | 湖南玛伽克蓝箭科技有限公司 | A kind of mounting structure of steering engine on carrier |
| CN110160732A (en) * | 2018-08-09 | 2019-08-23 | 北京机电工程研究所 | Adjustable frictional force device and adjustable frictional force method for flutter test |
| CN110230956A (en) * | 2019-04-29 | 2019-09-13 | 西安航天精密机电研究所 | A kind of Electrodynamic Rudder System |
| CN110254691A (en) * | 2019-07-05 | 2019-09-20 | 贵州航天控制技术有限公司 | A kind of single steering engine structure and even distribution type electric steering engine |
| CN110297430A (en) * | 2019-06-12 | 2019-10-01 | 北京航天控制仪器研究所 | A kind of microminiature high-precision digital Electrodynamic Rudder System and its design method |
| CN113513952A (en) * | 2021-03-30 | 2021-10-19 | 北京机械设备研究所 | Electric steering engine, zero position calibration method and device for electric steering engine and storage medium |
| CN114838629A (en) * | 2022-04-18 | 2022-08-02 | 南京理工大学 | Ball screw type gas rudder servo mechanism |
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| US20090321581A1 (en) * | 2007-05-10 | 2009-12-31 | Firouz Alizadeh Salimi | Flap device |
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2013
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| US20090321581A1 (en) * | 2007-05-10 | 2009-12-31 | Firouz Alizadeh Salimi | Flap device |
Non-Patent Citations (2)
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| GE MING ETAL: "The parameter optimization of missile actuator based on spatial RSSR linkage mechanism", 《INTERNATIONAL CONFERENCE ON ELECTRIC INFORMATION AND CONTROL ENGINEERING(ICEICE2011)》 * |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104552227A (en) * | 2013-10-21 | 2015-04-29 | 苏茂 | Linear bearing type metacarpophalangeal joint movement detection device |
| CN104960659A (en) * | 2015-07-20 | 2015-10-07 | 哈尔滨工业大学 | Steering engine directly driven by piezoelectric motors |
| CN107005129A (en) * | 2016-07-28 | 2017-08-01 | 深圳市创客工场科技有限公司 | A kind of magnetic compiles steering wheel |
| WO2018018485A1 (en) * | 2016-07-28 | 2018-02-01 | 深圳市创客工场科技有限公司 | Magnetic encoding steering engine |
| CN106643339A (en) * | 2016-10-27 | 2017-05-10 | 浙江理工大学 | Spatial linkage type missile control plane control mechanism |
| CN107792345A (en) * | 2017-09-30 | 2018-03-13 | 中国科学院长春光学精密机械与物理研究所 | A kind of compact steering wheel and steering gear flat |
| CN108286918A (en) * | 2017-12-29 | 2018-07-17 | 中国航天空气动力技术研究院 | A kind of how shaft-driven annular rudder control unit |
| CN108545169A (en) * | 2018-06-08 | 2018-09-18 | 湖南玛伽克蓝箭科技有限公司 | A kind of mounting structure of steering engine on carrier |
| CN110160732A (en) * | 2018-08-09 | 2019-08-23 | 北京机电工程研究所 | Adjustable frictional force device and adjustable frictional force method for flutter test |
| CN110160732B (en) * | 2018-08-09 | 2020-12-25 | 北京机电工程研究所 | Friction force adjustable device and friction force adjustable method for flutter test |
| CN110230956A (en) * | 2019-04-29 | 2019-09-13 | 西安航天精密机电研究所 | A kind of Electrodynamic Rudder System |
| CN110297430A (en) * | 2019-06-12 | 2019-10-01 | 北京航天控制仪器研究所 | A kind of microminiature high-precision digital Electrodynamic Rudder System and its design method |
| CN110297430B (en) * | 2019-06-12 | 2022-12-09 | 北京航天控制仪器研究所 | Microminiature high-precision digital electric steering engine system and design method thereof |
| CN110254691A (en) * | 2019-07-05 | 2019-09-20 | 贵州航天控制技术有限公司 | A kind of single steering engine structure and even distribution type electric steering engine |
| CN113513952A (en) * | 2021-03-30 | 2021-10-19 | 北京机械设备研究所 | Electric steering engine, zero position calibration method and device for electric steering engine and storage medium |
| CN114838629A (en) * | 2022-04-18 | 2022-08-02 | 南京理工大学 | Ball screw type gas rudder servo mechanism |
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Application publication date: 20130807 |