CN103935507B - Self-driven intelligence is dynamic air rudder entirely - Google Patents
Self-driven intelligence is dynamic air rudder entirely Download PDFInfo
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- CN103935507B CN103935507B CN201410136447.1A CN201410136447A CN103935507B CN 103935507 B CN103935507 B CN 103935507B CN 201410136447 A CN201410136447 A CN 201410136447A CN 103935507 B CN103935507 B CN 103935507B
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Abstract
A kind of self-driven intelligence of the present invention dynamic air rudder entirely, comprises driver train and bindiny mechanism.Wherein, driver train adopts X-type driver train, elongates or shortens L by two actuator mouths, makes the mouth of driver train produce many displacement larger than L.Driver train is arranged in air rudder by bindiny mechanism; Main shaft is arranged in air rudder; The arm of force is driven to be fixedly installed on main shaft; Rudder face reinforced rib is fixedly mounted in air rudder; Fixed end, the mouth of driver train are arranged on respectively by ball pivot and drive on the arm of force and rudder face reinforced rib.When driver train mouth moves, rudder face reinforced rib can be promoted, and then drive rudder face around main axis.Advantage of the present invention by: conventional composite formula rudder face steering unit can be solved and run into interactive problem between mechanism, thus improve road-holding property and the stability of aircraft; And respond the advantages such as fast, precision is high, lightweight, volume is little.
Description
Technical field
The present invention relates to the complete dynamic air rudder that a kind of intellectual material drives, can be used for the flight attitude of guided missile and hypersonic vehicle, flight track controls.
Background technology
All movable rudder refers to that one is put in aircraft exterior, by the rudder face of the overall yaw motion of steering wheel band action, produces the control force and moment to aircraft.The introducing of complete dynamic air rudder can improve the stability of flying vehicles control, but makes aircraft weight increase simultaneously, therefore the tactics short-range missile being generally confined to low-latitude flying uses.
Traditional steering unit drives propulsion source can be divided into the form such as air pressure, hydraulic pressure, combustion gas, fax by it.It is large that the driver train of this series has driving power, drive the advantages such as reliable and stable, but himself weight is comparatively large, is placed in guided missile or hypersonic vehicle body, greatly can increase the weight of body, this will cause the loss in load (missile operations portion).
Synchronously moving mechanism, modified roll mechanism, composite control mechanism (namely having concurrently with dynamic, differential function) three kinds can be divided into by mode of motion steering unit.For having installed two to the aircraft of rudder-aileron composite control mechanism, usually require that its maneuvering system has relative independence, namely require that rudder (can play) and reverse (playing aileron) independent action separately in the same way in mechanism, do not interfere with each other.Traditional rudder-aileron control mechanism structure is complicated, stressed bad, takes up room large, and weight is comparatively large, and requirement on machining accuracy is high, applies widely bring challenge to it.
Summary of the invention
For the problems referred to above, the present invention proposes a kind of self-driven intelligence dynamic air rudder entirely, adopt the built-in servo driving rudder face based on intellectual material to rotate, comprise driver train, and the bindiny mechanism be made up of main shaft, the driving arm of force, rudder face reinforced rib, two bearing seats, two ball pivots.
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 contiguous block three parts on left side board, right side board and top; Inner frame is connected with right-hand member respectively by hinge left end with between right side board bottom with left side board in outside frame.In said structure, left side board and right side board in inner frame need be made all to be arranged between outside frame left side board and right side board, and to there is gap between left side board and right side board respectively and in outside frame.Actuator A and actuator B is all arranged between inner frame left side board and right side board, and 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 is as the propulsion source of whole complete dynamic air rudder, and when applying respective physical field, actuator A can produce corresponding displacement to actuator B.When the mouth of actuator A, actuator B produces displacement, hinge middle flexible weakened part can be made to deform, and then drive internal and external frame top to produce the displacement of amplifying; According to the mouth of actuator A in the present invention and actuator B and the connection mode of hinge left end and right-hand member, when the mouth of actuator A and actuator B elongates or shortens simultaneously, can make to raise inside hinge two ends or reduce, and then make the top of 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, during using inner frame in driver train or outside frame top as fixed end and mouth, when the mouth of actuator A in driver train and actuator B elongates or shortens displacement L simultaneously, the Displacement Ratio L that mouth can be made to export is many greatly, achieves 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.Described driving arm of force side is fixedly installed on main shaft sidewall attachment face.Rudder face reinforced rib is fixed between air rudder two panels rudder face, rises and increases air rudder intensity, stiffness, meanwhile, installs provide attachment 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 the one end be connected with the driving arm of force in driver train as fixed end, the one end fixed with rudder face reinforced rib is as displacement mouth.When driver train inner frame and outside frame top relative movement or when oppositely moving, the displacement mouth of driver train can promote rudder face reinforced rib, produce moment, drive rudder face around main axis.
Advantage of the present invention is:
1, the self-driven intelligence of the present invention dynamic air rudder entirely, compare the type of drive of the hydraulic pressure fax of traditional all movable rudder, 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 dynamic air rudder entirely, the built-in intelligent drives mechanism of rudder face has sports independence completely, namely the motion of every sheet 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, thus improve road-holding property and the stability of aircraft;
3, the self-driven intelligence of the present invention dynamic air rudder entirely, main shaft is fixedly connected with body, and alternate torque born by the deformation of intellectual material under the additional physical field of alternation, can improve the reliability of whole driver train;
4, the self-driven intelligence of the present invention dynamic air rudder entirely, can save aircraft interior space, thus alleviate aircraft weight, and then promote the field of application of air rudder, promote the flight quality of aircraft.
Accompanying drawing explanation
Fig. 1 is the self-driven intelligence of the present invention dynamic air rudder integral structure schematic diagram entirely;
Fig. 2 is that the self-driven intelligence of the present invention moves driving mechanism structure exploded view in air rudder entirely;
Fig. 3 is that the self-driven intelligence of the present invention moves driving mechanism structure schematic diagram in air rudder entirely;
Fig. 4 is the self-driven intelligence of the present invention dynamic air rudder integral structure exploded view entirely.
In figure:
1-driver train 101-inner frame 102-outside frame 103-inner frame top
104-outside frame top 105-actuator A106-actuator B107-switching push rod A
108-switching push rod B109-hinge 110-adapter A111-adapter B
201-main shaft 202-drives arm of force 203-rudder face reinforced rib 204a-switching piece A
204b-switching piece B205a-root bearing seat 205b-top axle bearing 206a-ball pivot A
206b-ball pivot B
Detailed description of the invention
Below in conjunction with accompanying drawing and embodiment, the present invention will be further described.
The self-driven intelligence of the present invention is dynamic air rudder entirely, comprises driver train 1, and by main shaft 201, the driving arm of force 202, rudder face reinforced rib 203, two switching pieces 204, two bearing seats 205, two bindiny mechanisms that ball pivot 206 is formed, 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 are all structure as a whole framework, use linear cutter shaping, comprise contiguous block three parts on left side board, right side board and top; In inner frame, 101 with outside frame 102, is connected between left side board with right side board bottom respectively by hinge left end with right-hand member end.In said structure, left side board and right side board in inner frame 101 need be made all to be arranged between outside frame 102 left side board and right side board, and to there is gap between left side board and right side board respectively and in outside frame 102.Described actuator A105 and actuator B106 can use intellectual material actuator (piezoelectric, magnetostriction materials).Actuator A105 and actuator B106 is all arranged between inner frame 101 left side board and right side board, and 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 member 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 end by switching push rod B108.In said structure driver train 1, actuator A105 and actuator B106 is as the propulsion source of whole complete dynamic air rudder, and when applying respective physical field, actuator A105 can produce corresponding displacement to actuator B106.When the mouth of actuator A105, actuator B106 produces displacement, hinge 109 middle flexible weakened part can be made to deform, and then, drive internal and external frame top to produce the displacement of amplifying.According to the mouth of actuator A105 in the present invention and actuator B106 and the connection mode of hinge 109 left end and right-hand member, when the mouth of actuator A105 and actuator B106 extends (shortening) simultaneously, can make to raise inside hinge 109 two ends or reduce, and then make the top of 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, during using inner frame in driver train or outside frame top as fixed end and mouth, when the mouth of actuator A in driver train and actuator B elongates or shortens displacement L simultaneously, the Displacement Ratio L that mouth can be made to export is many greatly, achieves 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; The connection of described switching push rod A and 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 be positioned at heteropleural; Equally, the junction of switching push rod B and 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 transfer push rod B and hinge right-hand member.If when actuator A105 and actuator B106 adopts piezoelectric actuator, switching push rod A107 and the upper and lower two tapped bore offsets of switching push rod B108 are crossed conference and are made the piezoelectric stack in piezoelectric actuator bear moment of flexure to increase, and the possibility of piezoelectric actuator destruction also increases thereupon.Therefore this offset to properly be designed.
In the present invention, the top side of the left side board in the inner frame 101 of above-mentioned driver train 1, outside frame 102 and right side board and bottom side are tilted respectively to homonymy, and is parallel to each other, form diamond structure; And the top of left side board, right side board and bottom side in inner frame 101, crossing with the top of the left side board in outside frame 102, right side board and bottom side respectively, make driver train 1 have 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 the connection between air rudder and body.Main shaft 201 other end is 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 side is fixedly installed on attachment face that main shaft 201 sidewall designs, and position is near root bearing seat 205a.Two ball pivots 206 all adopt WJ1 type ball pivot, and two ball pivots 206 are coaxially arranged; 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, 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, and the other end is fixedly installed in and drives on the arm of force 202, and is driving the projection of the arm of force to be positioned at outside the projection axis of main shaft 201 on the driving arm of force 202; Thus form the self-driven intelligence of the present invention dynamic air rudder entirely.Made by above-mentioned connection: make the one end be 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 driver train 1 inner frame 101 and outside frame 102 top relative movement or when oppositely moving, the mouth of driver train 1 can promote rudder face reinforced rib 203, produce moment and drive rudder face around main axis.
Claims (8)
1. a self-driven intelligence dynamic air rudder entirely, is characterized in that: comprise driver train, and the bindiny mechanism be made up of main shaft, the driving arm of force, rudder face reinforced rib, two bearing seats, two ball pivots;
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 contiguous block three parts on left side board, right side board and top; Inner frame is connected with right-hand member respectively by hinge left end with between right side board bottom with left side board in outside frame; In above-mentioned driver train, left side board and right side board in inner frame need be made all to be arranged between outside frame left side board and right side board, and to there is gap between left side board and right side board respectively and in outside frame; Described actuator A and actuator B is all arranged between inner frame left side board and right side board, and arranged in parallel; The fixed end end of actuator A is connected by adapter A and inner 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 above-mentioned driver train, when the mouth of actuator A and actuator B elongates or shortens simultaneously, can make to raise inside hinge two ends or reduce, so the while of making the top of inner frame and outside frame relative to or move 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; Described driving arm of force side is fixedly installed on main shaft sidewall attachment face; Rudder face reinforced rib is fixed between air rudder two panels rudder face, rises and increases air rudder intensity, stiffness, meanwhile, installs provide attachment point 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 the 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 the outside frame top in driver train, and the other end is fixedly installed in and drives on the arm of force; Make the one end be connected with the driving arm of force in driver train as fixed end, the one end fixed with rudder face reinforced rib is as displacement mouth; When driver train inner frame and outside frame top relative movement or when oppositely moving, the displacement mouth of driver train can promote rudder face reinforced rib, produce moment, drive rudder face around main axis.
2. as power requires the dynamic air rudder entirely of self-driven intelligence as described in 1, 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; The connection location of described switching push rod A and 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 be positioned at heteropleural; Equally, the junction of switching push rod B and actuator B mouth and with the junction of hinge right-hand member all with push rod B bias of transferring, and be positioned at heteropleural; And the junction of switching push rod A and hinge left end is near the junction of transfer push rod B and hinge right-hand member.
3. as power requires the dynamic air rudder entirely of self-driven intelligence as described in 1, it is characterized in that: top side and the bottom side of the left side board in the inner frame of described driver train, outside frame and right side board tilt respectively to homonymy, and are parallel to each other, formation diamond structure; And the top of left side board, right side board and bottom side in inner frame, crossing with the top of the left side board in outside frame, right side board and bottom side respectively.
4., as power requires the dynamic air rudder entirely of self-driven intelligence as described in 1, it is characterized in that: described actuator A and actuator B adopts intellectual material actuator.
5., as power requires the dynamic air rudder entirely of self-driven intelligence as described in 1, it is characterized in that: the bearing seat of described driving arm of force position root between air rudder rudder face.
6., as power requires the dynamic air rudder entirely of self-driven intelligence as described in 1, it is characterized in that: ball pivot adopts WJ1 type ball pivot.
7., as power requires the dynamic air rudder entirely of self-driven intelligence as described in 1, it is characterized in that: described two ball pivots are coaxially arranged.
8., as power requires the dynamic air rudder entirely of self-driven intelligence as described in 1, it is characterized in that: described ball pivot B is positioned at main shaft with the junction of the driving arm of force and is driving outside the projection axis on the arm of force.
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| CN106643340B (en) * | 2016-10-27 | 2018-01-19 | 浙江理工大学 | A kind of guided missile rudder face space coordinated type controlling organization |
| CN106643339B (en) * | 2016-10-27 | 2018-01-19 | 浙江理工大学 | A kind of space connecting-rod formula guided missile rudder plane controlling mechanism |
| CN106568356B (en) * | 2016-10-27 | 2018-01-19 | 浙江理工大学 | A kind of guided missile rudder plane controlling mechanism |
| CN108995792B (en) * | 2018-07-30 | 2020-04-24 | 上海机电工程研究所 | Air rudder with composite material 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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| AU631364B2 (en) * | 1988-05-16 | 1992-11-26 | 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 |
| EP2695810B1 (en) * | 2012-08-09 | 2016-10-19 | Airbus Operations GmbH | Drive system for control surfaces of an aircraft |
| 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 |
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