CN103935507A - Self-driven intelligent all-dynamic air rudder - Google Patents
Self-driven intelligent all-dynamic air rudder Download PDFInfo
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- CN103935507A CN103935507A CN201410136447.1A CN201410136447A CN103935507A CN 103935507 A CN103935507 A CN 103935507A CN 201410136447 A CN201410136447 A CN 201410136447A CN 103935507 A CN103935507 A CN 103935507A
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Abstract
The invention relates to a self-driven intelligent all-dynamic air rudder which comprises a driving mechanism and a connecting mechanism, wherein an X-type driving mechanism is adopted as the driving mechanism; when output ends of two actuators are elongated or shortened by the length of L, the output end of the driving mechanism has displacement which is much longer than L. The driving mechanism is arranged in the air rudder by the connecting mechanism; a main shaft is arranged in the air rudder; a driving moment arm is fixedly arranged on the main shaft; a control surface reinforcing rib is fixedly arranged in the air rudder; a fixed end and an output end of the driving mechanism are respectively arranged on the driving moment arm and the control surface reinforcing rib by a spherical hinge. When the output end of the driving mechanism moves, the control surface reinforcing rib is pushed, and a control surface is further driven to rotate around the main shaft. The self-driven intelligent all-dynamic air rudder has the advantages that the problem that the traditional composite control surface operating mechanisms are mutually influenced can be solved, and the manoeuvrability and the stability of an aircraft can be improved; the self-driven intelligent all-dynamic air rudder has the advantages of being rapid in response, high in accuracy, light in weight, small in volume, etc.
Description
Technical field
The present invention relates to the complete moving air rudder that a kind of intellectual material drives, the flight attitude, the flight track that can be used for guided missile and hypersonic vehicle are controlled.
Background technology
All movable rudder refers to a kind of putting in aircraft exterior, by steering wheel band, moves the rudder face of whole yaw motion, produces the control force and moment to aircraft.The introducing of complete moving air rudder can improve the stability that aircraft is controlled, but makes aircraft weight increase simultaneously, therefore be generally confined to use on the tactics short-range missile of low-latitude flying.
Traditional steering unit drives propulsion source can be divided into the forms such as air pressure, hydraulic pressure, combustion gas, fax by it.It is large that this serial driver train has driving power, drives the advantages such as reliable and stable, but himself weight is larger, is placed in guided missile or hypersonic vehicle body, can greatly increase the weight of body, and this will cause the loss of load (missile operations portion).
By mode of motion steering unit, can be divided into three kinds of synchronously moving mechanisms, modified roll mechanism, composite control mechanism (having concurrently with moving, differential function).For having installed two concerning the aircraft of rudder-aileron composite control mechanism, conventionally require its maneuvering system to there is relative independence, require mechanism can (play rudder) in the same way and oppositely (playing aileron) independent action separately, do not interfere with each other.Traditional rudder-aileron control mechanism structure is complicated, stressed bad, takes up room large, and weight is larger, and requirement on machining accuracy is high, and it is applied widely and has brought challenge.
Summary of the invention
For the problems referred to above, the present invention proposes a kind of self-driven intelligence moving air rudder entirely, the built-in servo driving rudder face of employing based on intellectual material rotates, and comprises driver train, and by main shaft, the driving arm of force, rudder face reinforced rib, two bearing seats, two bindiny mechanisms that ball pivot forms.
Wherein, driver train adopts X-type driver train, comprises inner frame, outside frame, actuator A, actuator B, switching push rod A, switching push rod B, hinge, adapter A and adapter B.Wherein, inner frame and outside frame include three parts of contiguous block on left side board, right side board and top; Between inner frame and left side board in outside frame and right side board bottom, by hinge left end, be connected with right-hand member respectively.In said structure, need make left side board and right side board in inner frame all be arranged between outside frame left side board and right side board, and between left side board and right side board, have gap respectively and in outside frame.Actuator A and actuator B are all arranged between inner frame left side board and right side board, and are arranged in parallel.The fixed end end of actuator A is connected by adapter A and outside frame top, and mouth is connected with hinge right-hand member by switching push rod A; The fixed end end of actuator B is connected by adapter B and outside frame top, and mouth is connected with hinge left end by switching push rod B.In said structure driver train, actuator A and actuator B are as the propulsion source of whole complete moving air rudder, and while applying respective physical field, actuator A and actuator B can produce corresponding displacement.When the mouth of actuator A, actuator B produces displacement, can make the middle flexible weakened part of hinge deform, and then drive internal and external frame top to produce the displacement of amplifying; The mouth of actuator A and actuator B and the connection mode of hinge left end and right-hand member according to the present invention, when the mouth of actuator A and actuator B elongates or shortens simultaneously, can make inner side, hinge two ends raise or reduce, and then the top that makes inner frame and outside frame simultaneously relative to or move on the contrary, driver train externally produces pulling force or thrust.As can be seen here, using inner frame in driver train or outside frame top during respectively as fixed end and mouth, when the mouth of actuator A and actuator B elongates or shortens displacement L in driver train, can make the Displacement Ratio L of mouth output many greatly simultaneously, realize the amplification of output displacement.
Above-mentioned driver train is arranged on air rudder inside by bindiny mechanism, and concrete connection mode is:
In bindiny mechanism, one end of main shaft is arranged on the bearing seat of root position between air rudder rudder face by bearing, and end is fixedly connected with aircraft body thus; The main shaft other end is arranged on the bearing seat of tip position between air rudder rudder face by bearing.The described driving arm of force one side is fixedly installed on main shaft sidewall attachment face.Rudder face reinforced rib is fixed between two rudder faces of air rudder, rises and increases air rudder intensity, stiffness, meanwhile, installs to provide adhere to for driver train.Two ball pivots are respectively ball pivot A and ball pivot B; Wherein, one end of ball pivot A is fixedly mounted on inner frame top in driver train, and the other end is fixedly installed on rudder face reinforced rib; Ball pivot B one end is fixedly mounted on outside frame top in driver train, and the other end is fixedly installed in and drives on the arm of force; Make in driver train with the one end that drives the arm of force to be connected as fixed end, with the fixing one end of rudder face reinforced rib as displacement mouth.When the top of driver train inner frame and outside frame relatively moves or oppositely move, the displacement mouth of driver train can promote rudder face reinforced rib, produces moment, drives rudder face to rotate around main shaft.
Advantage of the present invention is:
1, the self-driven intelligence of the present invention is moved air rudder entirely, compares the type of drive of the hydraulic pressure fax of traditional all movable rudder, and intelligence structure drive form has the advantages such as response is fast, precision is high, lightweight, volume is little;
2, the self-driven intelligence of the present invention is moved air rudder entirely, the built-in intelligent drives mechanism of rudder face has sports independence completely, the motion that is every rudder face does not affect other rudder faces completely, substantially can solve conventional composite formula rudder face steering unit completely and run into interactive problem between mechanism, thereby improve road-holding property and the stability of aircraft;
3, the self-driven intelligence of the present invention moving air rudder entirely, main shaft is fixedly connected with body, alternate torque by intellectual material the deformation under the additional physical field of alternation born, can improve the reliability of whole driver train;
4, the self-driven intelligence of the present invention is moved air rudder entirely, can save aircraft inner space, thereby alleviate aircraft weight, and then promote the field of application of air rudder, promotes the flight quality of aircraft.
Accompanying drawing explanation
Fig. 1 is the self-driven intelligence of the present invention moving air rudder integral structure schematic diagram entirely;
Fig. 2 is that the self-driven intelligence of the present invention is moved driving mechanism structure exploded view in air rudder entirely;
Fig. 3 is that the self-driven intelligence of the present invention is moved driving mechanism structure schematic diagram in air rudder entirely;
Fig. 4 is the self-driven intelligence of the present invention moving air rudder integral structure exploded view entirely.
In figure:
1-driver train 101-inner frame 102-inner frame 103-inner frame top
104-outside frame top 105-actuator A 106-actuator B 107-switching push rod A
108-switching push rod B 109-hinge 110-adapter A 111-adapter B
201-main shaft 202-drives arm of force 203-rudder face reinforced rib 204a-switching piece A
204b-switching piece B 205a-root bearing seat 205b-top axle bearing 206a-ball pivot A
206b-ball pivot B
The specific embodiment
Below in conjunction with accompanying drawing and embodiment, the present invention will be further described.
The self-driven intelligence of the present invention is moving air rudder entirely, comprises driver train 1, and by main shaft 201, drive the arm of force 202, rudder face reinforced rib 203, two switching pieces 204, two bearing seats 205, two bindiny mechanisms that ball pivot 206 forms, as shown in Figure 1.
Wherein, driver train 1 adopts X-type driver train, comprises inner frame 101, outside frame 102, actuator A105, actuator B106, switching push rod A107, switching push rod B108, hinge 109, adapter B110 and adapter A111, as shown in Figure 2.Wherein, inner frame 101 and outside frame 102 framework that is all structure as a whole, is used the moulding of line cutting processing, comprises three parts of contiguous block on left side board, right side board and top; In inner frame 101 with outside frame 102 in, between left side board and right side board bottom, by hinge left end, be connected with right-hand member end respectively.In said structure, need make left side board and right side board in inner frame 101 all be arranged between outside frame 102 left side boards and right side board, and between left side board and right side board, have gap respectively and in outside frame 102.Described actuator A105 and actuator B106 can be used intellectual material actuator (piezoelectric, magnetostriction materials).Actuator A105 and actuator B106 are all arranged between inner frame 101 left side boards and right side board, and are arranged in parallel.The fixed end end of actuator A105 is connected by adapter A110 and outside frame top 103, and mouth is connected with hinge 109 right-hand members by switching push rod A107; The fixed end end of actuator B106 is connected by adapter B111 and outside frame top 104, and mouth is connected with hinge 109 left ends by switching push rod B108.In said structure driver train 1, actuator A105 and actuator B106 are as the propulsion source of whole complete moving air rudder, and while applying respective physical field, actuator A105 and actuator B106 can produce corresponding displacement.When the mouth of actuator A105, actuator B106 produces displacement, can make the middle flexible weakened part of hinge 109 deform, and then, drive internal and external frame top to produce the displacement of amplifying.The connection mode of the mouth of actuator A105 and actuator B106 and hinge 109 left ends and right-hand member according to the present invention, when the mouth of actuator A105 and actuator B106 extends (shortening) simultaneously, can make hinge 109 inner sides, two ends raise or reduce, and then the top that makes inner frame 101 and outside frame 102 simultaneously relative to or move on the contrary, driver train 1 externally produces pulling force or thrust.As can be seen here, using inner frame in driver train or outside frame top during respectively as fixed end and mouth, when the mouth of actuator A and actuator B elongates or shortens displacement L in driver train, can make the Displacement Ratio L of mouth output many greatly simultaneously, realize the amplification of output displacement.
The mouth of described actuator A is connected with hinge right-hand member by switching push rod A; The mouth of actuator B is connected with hinge left end by switching push rod B; Described switching push rod A is connected with actuator A mouth, and the connection location of switching push rod A and hinge left end is all eccentric with switching push rod A, and is positioned at heteropleural; Equally, switching push rod B and the junction of actuator B mouth and the junction of hinge right-hand member are all eccentric with switching push rod A, and are positioned at heteropleural; And the junction of switching push rod A and hinge left end is near the junction of switching push rod B and hinge right-hand member.When if actuator A105 and actuator B106 adopt piezoelectric actuator, switching push rod A107 crosses conference with the upper and lower two tapped bore offsets of switching push rod B108 makes the piezoelectric stack in piezoelectric actuator bear moment of flexure increase, and the possibility that piezoelectric actuator destroys also increases thereupon.Therefore to properly design this offset.
In the present invention, the top side of the left side board in the inner frame of above-mentioned driver train 1 101, outside frame 102 and right side board and bottom side are tilted to homonymy respectively, and be parallel to each other, form diamond structure; And the top of left side board, right side board and bottom side in inner frame 101, respectively with outside frame 102 in top and the bottom side of left side board, right side board intersect, make driver train 1 there is larger output rigidity.
Above-mentioned driver train 1 is arranged on air rudder inside by bindiny mechanism, and concrete connection mode is:
In bindiny mechanism, the fixed end of main shaft 201 is arranged on the root bearing seat 205a of root position between air rudder rudder face by bearing; And through bearing seat 205, be connected with body, realize being connected between air rudder and body.Main shaft 201 other ends are arranged on the top axle bearing 205b of tip position between air rudder rudder face by bearing.The described driving arm of force 202 is platy structure, and a side is fixedly installed on the attachment face designing on main shaft 201 sidewalls, and position is near root bearing seat 205a.Two ball pivots 206 all adopt WJ1 type ball pivot, and two ball pivots 206 coaxially arrange; Wherein, one end of ball pivot A206a is fixedly mounted on the top 103 of inner frame 101 in driver train 1 by switching piece A204a, and the other end is installed on rudder face reinforced rib 203, and rudder face reinforced rib 203 is fixed between air rudder rudder face.Ball pivot B206b one end is fixedly mounted on the top 104 of outside frame 102 in driver train 1 by switching piece B204b, the other end is fixedly installed in and drives on the arm of force 202, and is positioned at outside the projection axis of main shaft 201 on the driving arm of force 202 in the projection that drives the arm of force; Thereby form the self-driven intelligence of the present invention moving air rudder entirely.By above-mentioned connection, make: make the one end being connected with rudder face reinforced rib 203 in driver train 1 as mouth, one end fixing with driving the arm of force 202 is as fixed end; Thus, when the top of driver train 1 inner frame 101 and outside frame 102 relatively moves or oppositely moves, the mouth of driver train 1 can promote rudder face reinforced rib 203, produces moment and drives rudder face to rotate around main shaft.
Claims (8)
1. self-driven intelligence is moved air rudder entirely, it is characterized in that: comprise driver train, and by main shaft, the driving arm of force, rudder face reinforced rib, two bearing seats, two bindiny mechanisms that ball pivot forms;
Wherein, driver train adopts X-type driver train, comprises inner frame, outside frame, actuator A, actuator B, switching push rod A, switching push rod B, hinge, adapter B and adapter A; Wherein, inner frame and outside frame include three parts of contiguous block on left side board, right side board and top; Between inner frame and left side board in outside frame and right side board bottom, by the left Du Duan of hinge, be connected with right-hand member respectively; In said structure, need make left side board and right side board in inner frame all be arranged between outside frame left side board and right side board, and between left side board and right side board, have gap respectively and in outside frame; Described actuator A and actuator B are all arranged between inner frame left side board and right side board, and are arranged in parallel; The fixed end end of actuator A is connected by adapter A and outside frame top, and mouth is connected with hinge right-hand member by switching push rod A; The fixed end end of actuator B is connected by adapter B and outside frame top, and mouth is connected with hinge left end by switching push rod B; In said structure driver train, when the mouth of actuator A and actuator B elongates or shortens simultaneously, can make hinge two ends inner sides raise or reduce, so make inner frame with the top while of outside frame relative to moving on the contrary, driver train externally produces pulling force or thrust;
Above-mentioned driver train is arranged on air rudder inside by bindiny mechanism, and concrete connection mode is:
In bindiny mechanism, one end of main shaft is arranged on the bearing seat of root position between air rudder rudder face by bearing, and end is fixedly connected with aircraft body thus; The main shaft other end is arranged on the bearing seat of tip position between air rudder rudder face by bearing; The described driving arm of force one side is fixedly installed on main shaft sidewall attachment face; Rudder face reinforced rib is fixed between two rudder faces of air rudder, rises and increases air rudder intensity, stiffness, meanwhile, installs to provide adhere to for driver train; Two ball pivots are respectively ball pivot A and ball pivot B; Wherein, one end of ball pivot A is fixedly mounted on inner frame top in driver train, and the other end is fixedly installed on rudder face reinforced rib; Ball pivot B one end is fixedly mounted on outside frame top in driver train, and the other end is fixedly installed in and drives on the arm of force; Make in driver train with the one end that drives the arm of force to be connected as fixed end, with the fixing one end of rudder face reinforced rib as displacement mouth; When the top of driver train inner frame and outside frame relatively moves or oppositely move, the displacement mouth of driver train can promote rudder face reinforced rib, produces moment, drives rudder face to rotate around main shaft.
2. as described in requiring 1 as weighed, self-driven intelligence is moved air rudder entirely, it is characterized in that: the mouth of described actuator A is connected with hinge right-hand member by switching push rod A; The mouth of actuator B is connected with hinge left end by switching push rod B; Described switching push rod A is connected with actuator A mouth, and the connection location of switching push rod A and hinge left end is all eccentric with switching push rod A, and is positioned at heteropleural; Equally, switching push rod B and the junction of actuator B mouth and the junction of hinge right-hand member are all eccentric with switching push rod A, and are positioned at heteropleural; And the junction of switching push rod A and hinge left end is near the junction of switching push rod B and hinge right-hand member.
3. as described in requiring 1 as weighed, self-driven intelligence is moved air rudder entirely, it is characterized in that: the top side of the inner frame of described driver train, the left side board in outside frame and right side board and bottom side tilt to homonymy respectively, and are parallel to each other, and forms diamond structure; And the top of left side board, right side board and bottom side in inner frame, respectively with outside frame in top and the bottom side of left side board, right side board intersect.
4. as described in requiring 1 as weighed, self-driven intelligence is moved air rudder entirely, it is characterized in that: described actuator A and actuator B adopt intellectual material actuator.
5. as described in requiring 1 as weighed, self-driven intelligence is moved air rudder entirely, it is characterized in that: described driving arm of force position is near the bearing seat of root.
6. as described in requiring 1 as weighed, self-driven intelligence is moved air rudder entirely, it is characterized in that: ball pivot adopts WJ1 type ball pivot.
7. as described in requiring 1 as weighed, self-driven intelligence is moved air rudder entirely, it is characterized in that: described two ball pivots coaxially arrange.
8. as described in requiring 1 as weighed, self-driven intelligence is moved air rudder entirely, it is characterized in that: described ball pivot B is positioned at outside the projection axis of main shaft on driving the arm of force with the junction that drives the arm of force.
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| CN201410136447.1A CN103935507B (en) | 2014-04-04 | 2014-04-04 | Self-driven intelligence is dynamic air rudder entirely |
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| CN201410136447.1A CN103935507B (en) | 2014-04-04 | 2014-04-04 | Self-driven intelligence is dynamic air rudder entirely |
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| CN103935507A true CN103935507A (en) | 2014-07-23 |
| CN103935507B CN103935507B (en) | 2015-11-11 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106568356A (en) * | 2016-10-27 | 2017-04-19 | 浙江理工大学 | Missile rudder surface control mechanism |
| CN106643339A (en) * | 2016-10-27 | 2017-05-10 | 浙江理工大学 | Spatial linkage type missile control plane control mechanism |
| CN106643340A (en) * | 2016-10-27 | 2017-05-10 | 浙江理工大学 | Missile control surface space linkage type control mechanism |
| CN108995792A (en) * | 2018-07-30 | 2018-12-14 | 上海机电工程研究所 | The airvane of composite structure |
| CN113218254A (en) * | 2021-05-12 | 2021-08-06 | 上海机电工程研究所 | Air rudder with particle damping vibration damper |
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| AU3686089A (en) * | 1988-05-16 | 1989-12-12 | Sea Shelf Engineering Pty. Ltd. | Wind driven craft |
| CN201971151U (en) * | 2011-02-17 | 2011-09-14 | 中国航空工业集团公司西安飞机设计研究所 | Control surface suspension arm |
| CN203186574U (en) * | 2013-03-29 | 2013-09-11 | 湖北三江航天红峰控制有限公司 | Digital servo control rudder system |
| US20140042269A1 (en) * | 2012-08-09 | 2014-02-13 | Technische Universitaet Hamburg-Harburg | Drive system for control surfaces of an aircraft |
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2014
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU3686089A (en) * | 1988-05-16 | 1989-12-12 | Sea Shelf Engineering Pty. Ltd. | Wind driven craft |
| CN201971151U (en) * | 2011-02-17 | 2011-09-14 | 中国航空工业集团公司西安飞机设计研究所 | Control surface suspension arm |
| US20140042269A1 (en) * | 2012-08-09 | 2014-02-13 | Technische Universitaet Hamburg-Harburg | Drive system for control surfaces of an aircraft |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106568356A (en) * | 2016-10-27 | 2017-04-19 | 浙江理工大学 | Missile rudder surface control mechanism |
| CN106643339A (en) * | 2016-10-27 | 2017-05-10 | 浙江理工大学 | Spatial linkage type missile control plane control mechanism |
| CN106643340A (en) * | 2016-10-27 | 2017-05-10 | 浙江理工大学 | Missile control surface space linkage type control mechanism |
| CN108995792A (en) * | 2018-07-30 | 2018-12-14 | 上海机电工程研究所 | The airvane of composite structure |
| CN113218254A (en) * | 2021-05-12 | 2021-08-06 | 上海机电工程研究所 | Air rudder with particle damping vibration damper |
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| CN103935507B (en) | 2015-11-11 |
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