CN105659928B - A kind of be applicable to flat installing space flat-plat type linear motor servo actuator - Google Patents
A kind of be applicable to flat installing space flat-plat type linear motor servo actuatorInfo
- Publication number
- CN105659928B CN105659928B CN201110013789.0A CN201110013789A CN105659928B CN 105659928 B CN105659928 B CN 105659928B CN 201110013789 A CN201110013789 A CN 201110013789A CN 105659928 B CN105659928 B CN 105659928B
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- China
- Prior art keywords
- flat
- actuator
- fixed
- applicable
- installing space
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- 229910000831 Steel Inorganic materials 0.000 claims abstract description 14
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- KRZGZGXXONWBRA-UHFFFAOYSA-N 1,4-bis(ethenyl)benzene;2-(phenylmethoxymethyl)oxirane;styrene Chemical compound C=CC1=CC=CC=C1.C=CC1=CC=C(C=C)C=C1.C1OC1COCC1=CC=CC=C1 KRZGZGXXONWBRA-UHFFFAOYSA-N 0.000 claims description 3
- 230000000875 corresponding Effects 0.000 claims description 3
- 239000003822 epoxy resin Substances 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims description 3
- 229910052751 metal Inorganic materials 0.000 claims description 3
- 229920000647 polyepoxide Polymers 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract 1
- XEEYBQQBJWHFJM-UHFFFAOYSA-N iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000004080 punching Methods 0.000 description 2
- UAJUXJSXCLUTNU-UHFFFAOYSA-N Pranlukast Chemical compound C=1C=C(OCCCCC=2C=CC=CC=2)C=CC=1C(=O)NC(C=1)=CC=C(C(C=2)=O)C=1OC=2C=1N=NNN=1 UAJUXJSXCLUTNU-UHFFFAOYSA-N 0.000 description 1
- 230000002146 bilateral Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 210000000056 organs Anatomy 0.000 description 1
- 229960004583 pranlukast Drugs 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Abstract
The present invention relates to electric servomechanism, be specifically related to be applicable to the flat-plat type linear motor servo actuator of flat installing space. Comprise actuator base, cover on the actuator shell on actuator base, be fixed on drive end bearing bracket and the rear end cap at actuator base and actuator shell two ends, be fixed on the some stator cores on actuator base, be wrapped in the coil windings on stator core, also comprise the guide assembly that is fixed on actuator base both sides, be slidably connected at the rotor body on guide assembly, be fixed on some magnet steel of rotor body lower surface; Magnet steel is positioned at directly over stator core and coil windings; Rotor body one end is connected with lead, and the lead other end passes drive end bearing bracket and is connected with bolt head assembly; Linear type displacement sensor is provided with between rotor body upper surface and actuator outer casing inner wall. Transmission efficiency of the present invention, dynamic response, resolution ratio, reliability are high, are applicable to flat installing space, can Driving guide line on the previous day or change the middle low power loads such as bullet barycenter.<pb pnum="1" />
Description
Technical field
The present invention relates to orthoscopic electric servomechanism, be specifically related to a kind of flat installing space that is applicable toFlat-plat type linear motor servo actuator.
Background technology
In missile weapon system, often use barycenter adjustment System, changed guided missile by adjusting barycenterInertia, be beneficial to guided missile posture adjustment. Existing space flight electric servomechanism, the driving mechanism of barycenter all adoptsElectric rotating machine, need to be converted to rectilinear motion by reducing gear and ball-screw by rotary motion, transmissionThe problems such as the strain of the mechanical organ that chain exists, friction, gap, nonlinearity erron, limitThe further raising of servo-drive system performance. Therefore, Linear motor servo actuator Direct driver is urgently adoptedBarycenter load, can save motion conversion links, significantly simplifies servo structure, improves electronic watching furtherThe Performance And Reliability of dress system.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of flat structure, built-in small size wire position of adoptingDisplacement sensor, is applicable to flat installing space, simplifies the frame for movement of servo control mechanism, improves electrical servoThe dynamic response performance of mechanism and the flat-plat type linear motor servo actuator of reliability.
To achieve these goals, technical scheme of the present invention is, is a kind ofly applicable to flat installing spaceFlat-plat type linear motor servo actuator, comprises actuator base, covers on the actuator on actuator baseShell, is fixed on drive end bearing bracket and the rear end cap at actuator base and actuator shell two ends, is fixed on startSome stator cores on device base, are wrapped in the coil windings on stator core, it is characterized in that: alsoComprise and be fixed on actuator base both sides extending longitudinally guide assembly, be slidably connected at guide assemblyOn rotor body, be fixed on some magnet steel of rotor body lower surface; Described magnet steel is positioned at stator core and lineDirectly over circle winding; Described rotor body one end is connected with lead, and the lead other end passes drive end bearing bracket,The described lead other end is connected with bolt head assembly; Described rotor body upper surface and actuator outer casing inner wallBetween be provided with linear type displacement sensor.
Further described actuator base is provided with rectangular recess, is cross sectionShape knot extending longitudinallyStructure, actuator shell is provided with rectangular recess, for cross section fallsShape structure extending longitudinally, described inSome stator cores are fixed on actuator base groove diapire, and described guide assembly is fixed on this actuatorBase bilateral wall upper end.
Further described some stator cores are parallel longitudinal to be arranged on actuator base, described some magnet steelParallel longitudinal be arranged in described stator core top rotor body on.
Further described stator core has 9, and described magnet steel has 5.
Further described some stator cores bottom integral type connection, the stator iron of this bottom integral type connectionCore is fixed by screw and actuator base by press strip at longitudinal two ends.
Further described lead is connected by spring bearing and passes drive end bearing bracket, and lead passes drive end bearing bracketOne end be connected with bolt head assembly by locking nut.
Further described linear type displacement sensor comprises sleeping brush assemblies, resistor disc, and this resistor disc is fixed onOn actuator outer casing inner wall, this sleeping brush assemblies is fixed in the rotor body of below corresponding with described resistor disc and showsOn face, described sleeping brush assemblies is provided with brush, and brush contacts with resistor disc surface sliding.
Further described resistor disc adopts film metal resistance material.
Further described rear end cap outer wall is fixed with rear lug component.
Further described magnet steel is fixed on rotor body lower surface by epoxide-resin glue.
Beneficial effect of the present invention:
(1) integral layout rationally, connect compactly, simple and compact for structure, efficiency is high, and specific power is high;
(2) coil layout is compact, manufacturability is good, easy for installation, handling ease;
(3) be high dynamic, fast-response servo actuator;
(4) high-resolution, resolving accuracy can reach 5um, and has high reliability, is applicable to little inertia highThe load that precision is highly reliable.
Accompanying drawing explanation
Fig. 1 is the structure of a kind of flat-plat type linear motor actuator that is applicable to flat installing space of the present inventionFigure;
Fig. 2 is the structure of a kind of flat-plat type linear motor actuator that is applicable to flat installing space of the present inventionA-A profile in figure;
Wherein: 1 sleeping brush assemblies, 2 resistor discs, 3 rear lug components, 4 press strips, 5 actuator bases,6 stator cores, 7 windings, 8 magnet steel, 9 rotor body, 10 leads, 11 spring bearings, 12 front endsLid, 13 locking nuts, 14 bolt head assemblies, 15 actuator shells, 16 guide assemblies, 17 rear end caps.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described further.
Embodiment mono-
The flat-plat type linear motor servo actuator that the present invention is a kind of is applicable to flat installing space, comprises workDynamic device base 5, actuator shell 15, drive end bearing bracket 12, rear end cap 17, stator core 6, it is fixed to be wrapped inCoil windings 7 on sub-iron core 6, guide assembly 16; This actuator base 5 is provided with rectangular recess, forCross sectionThe flat structure that shape is also extending longitudinally, has 9 stator cores 6 parallel longitudinal logicalCross screw to be fixed on actuator base 5 groove bottom wall, described coil windings 7 is somebody's turn to do for three-phase wiring is wound around9 structures of stator core 6; This actuator shell 15 is provided with rectangular recess, for cross section fallsThe flat structure that shape is also extending longitudinally; This actuator shell 15 is coated and covers on this actuator base 5,And on actuator shell 15 both lateral sides wall by screw by this actuator shell 15 and actuator base5 is fixing, and this actuator shell 15 is consistent with actuator base 5 longitudinal length, and in their longitudinal twoEnd is fixed with drive end bearing bracket 12 and rear end cap 17 respectively by screw; Described outer wall is fixed with rear journal stirrup groupPart 3.
Described guide assembly 16 comprises rail structure and rail groove structure, the rail groove structure of this guide assembly 16Be fixed by screws in this actuator base 5 upper end, two side;
Also comprise rotor body 9, magnet steel 8; These rotor body 9 lower surface both sides are by screw and guide assembly16 rail structure upper end is fixed, and described rotor body 9 can led with the rail structure of guide assembly 16The rail groove structure of rail assembly 16 is slided, described rotor body 9 upper surface and actuator shell 15 inwall itBetween be provided with linear type displacement sensor, described linear type displacement sensor comprises sleeping brush assemblies 1, resistanceSheet 2, resistor disc 2 adopts film metal resistance material, and this resistor disc 2 is fixed by screws in actuatorOn shell 15 groove inner wall, this sleeping brush assemblies 1 is fixed by screws in below corresponding to described resistor disc 2Rotor body 9 upper surface on, described sleeping brush assemblies 1 is provided with 2 brushes, this brush and resistor disc2 surface sliding contacts;
5 magnet steel 8 are by parallel longitudinal stator core 6 and the coil windings 7 of being fixed on of epoxide-resin glueDirectly over rotor body 9 lower surface; This rotor body 9 one end is fixed with lead 10 by screw, guidingPost 10 other end is through the spring bearing 11 being arranged on drive end bearing bracket 12, and this end cap 12 before passing; ShouldLead 10 other end has been threaded connection bolt head assembly 14, this bolt head assembly 14 and lead10 links are provided with locking nut 13, are stablized bolt head assembly 14 by locking nut 13 and lead furtherTo the connection of post 10;
Embodiment bis-
The difference of the present embodiment and embodiment mono-is, described 9 stator cores 6 are by punching pressBe shaped, 9 parallel stator cores 6 that stamp out adopt bottom for integral type syndeton. This punching pressThe stator core 6 of the bottom integral type connection being shaped arranges 2 press strips 4, this press strip 4 at longitudinal two endsBy screw, the stator core 6 of described bottom integral type connection is fixing with actuator base 5.
During work, rear lug component 3 is fixed with stationary body, bolt head assembly 14 and Driving guide previous dayThe middle low power loads such as line or change bullet barycenter are to connection. Pass to direct current to linear electric motors, motor producesRaw electromagnetic torque drives secondary rotor body 9 to carry out rectilinear motion, and then drives lead 10 to carry out straight line fortuneDynamic. Detected linear position, the speed of motor by linear type displacement sensor, realize flat straightElectric current, speed and the displacement closed loop feedback of line motor servo actuator.
The normal thrust of this flat-plat type linear motor servo actuator is 402N, now electric current virtual value aboutFor 10A, the peak value thrust of motor is 1206N, and now the virtual value of electric current is about 30A, linear electric motorsServo control mechanism torque constant is 40.2N/A; Band carries in situation, the start of flat-plat type linear motor model machine servoThe bandwidth of device is 27Hz; Therefore, this this flat-plat type linear motor servo actuator go for high dynamically,The environment of fast-response.
Claims (10)
1. be applicable to a flat-plat type linear motor servo actuator for flat installing space, at the bottom of comprising actuatorSeat (5), covers on the actuator shell (15) on actuator base (5), is fixed on actuator base (5)Drive end bearing bracket (12) and rear end cap (17) with actuator shell (15) two ends, be fixed on actuator base (5)On some stator cores (6), be wrapped in the coil windings (7) on stator core (6), it is characterized in that:Also comprise and be fixed on actuator base (5) both sides guide assembly (16) also extending longitudinally, be slidably connected atRotor body (9) on guide assembly (16), is fixed on some magnet steel (8) of rotor body (9) lower surface;Described magnet steel (8) is positioned at directly over stator core (6) and coil windings (7); Described rotor body (9)One end is connected with lead (10), and lead (10) other end passes drive end bearing bracket (12), described lead(10) other end is connected with bolt head assembly (14); Described rotor body (9) upper surface and actuator shell(15) linear type displacement sensor between inwall, is provided with.
2. according to according to claim 1 a kind of be applicable to flat installing space flat-plat type linear motor servoActuator, is characterized in that: described actuator base (5) is provided with rectangular recess, is cross sectionShapeAnd structure extending longitudinally, actuator shell (15) is provided with rectangular recess, for cross section fallsShape is also longitudinalExtended structure, described some stator cores (6) are fixed on actuator base (5) groove bottom wall, described inGuide assembly (16) is fixed on this actuator base (5) upper end, two side.
3. according to according to claim 1 a kind of be applicable to flat installing space flat-plat type linear motor servoActuator, is characterized in that: the parallel longitudinal actuator base (5) that is arranged in of described some stator cores (6)The rotor body (9) upper, described some magnet steel (8) are parallel longitudinal is arranged in described stator core (6) topOn.
4. according to according to claim 1 a kind of be applicable to flat installing space flat-plat type linear motor servoActuator, is characterized in that: described stator core (6) has 9, and described magnet steel (8) has 5.
5. according to according to claim 1 a kind of be applicable to flat installing space flat-plat type linear motor servoActuator, is characterized in that: the integral type connection of described some stator cores (6) bottom, this bottom integral typeThe stator core (6) of connection is fixing by screw and actuator base (5) by press strip (4) at longitudinal two ends.
6. according to according to claim 1 a kind of be applicable to flat installing space flat-plat type linear motor servoActuator, is characterized in that: described lead (10) is connected by spring bearing (11) and passes front endLid (12), one end that lead (10) passes drive end bearing bracket (12) is connected with spiral shell by locking nut (13)Bolt head group part (14).
7. according to according to claim 1 a kind of be applicable to flat installing space flat-plat type linear motor servoActuator, is characterized in that: described linear type displacement sensor comprises sleeping brush assemblies (1), resistor disc (2),This resistor disc (2) is fixed on actuator shell (15) inwall, and this sleeping brush assemblies (1) is fixed on and instituteState on rotor body (9) upper surface of the corresponding below of resistor disc (2), described sleeping brush assemblies (1) is provided withBrush, brush contacts with resistor disc (2) surface sliding.
8. according to according to claim 7 a kind of be applicable to flat installing space flat-plat type linear motor servoActuator, is characterized in that: described resistor disc (2) adopts film metal resistance material.
9. according to according to claim 1 a kind of be applicable to flat installing space flat-plat type linear motor servoActuator, is characterized in that: on described rear end cap outer wall, be fixed with rear lug component (3).
10. watch according to a kind of flat-plat type linear motor that is applicable to flat installing space according to claim 1Take actuator, it is characterized in that: described magnet steel (8) is fixed under rotor body (9) by epoxide-resin glueSurface.
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105659928B true CN105659928B (en) | 2014-04-02 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104698984A (en) * | 2015-02-17 | 2015-06-10 | 北京精密机电控制设备研究所 | Thrust vector controlled electromechanical servo system |
| CN107121054A (en) * | 2016-02-23 | 2017-09-01 | 舍弗勒技术股份两合公司 | The equipment that power simulation is carried out on trailer reversing element, preferably pedal force simulator |
| CN107786057A (en) * | 2016-08-25 | 2018-03-09 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of direct drive electric linear transmission mechanism |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104698984A (en) * | 2015-02-17 | 2015-06-10 | 北京精密机电控制设备研究所 | Thrust vector controlled electromechanical servo system |
| CN104698984B (en) * | 2015-02-17 | 2017-10-03 | 北京精密机电控制设备研究所 | The electromechanical servo system of thruster vector control |
| CN107121054A (en) * | 2016-02-23 | 2017-09-01 | 舍弗勒技术股份两合公司 | The equipment that power simulation is carried out on trailer reversing element, preferably pedal force simulator |
| CN107786057A (en) * | 2016-08-25 | 2018-03-09 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of direct drive electric linear transmission mechanism |
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| GR03 | Grant of secret patent right | ||
| DC01 | Secret patent status has been lifted |