CN106321770B - A kind of Dual redundancy electro-mechanical actuator - Google Patents
A kind of Dual redundancy electro-mechanical actuator Download PDFInfo
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- CN106321770B CN106321770B CN201610743189.2A CN201610743189A CN106321770B CN 106321770 B CN106321770 B CN 106321770B CN 201610743189 A CN201610743189 A CN 201610743189A CN 106321770 B CN106321770 B CN 106321770B
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- motor
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Retarders (AREA)
- Transmission Devices (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention discloses a kind of Dual redundancy electro-mechanical actuators.It is made of motor, planet gear transmission speed reduction mechanism, planetary roller screw pair and sleeve push rod；Utilize the operation principle of planetary differential train, movement is driven into planetary roller screw pair through planet gear transmission speed reduction mechanism by bi-motor and is transmitted to sleeve push rod, leading screw rotary motion is converted to by the revolution of roller with rotation to the straight reciprocating motion of sleeve push rod.It is driven using double remaining motors and planetary roller screw pair, while realizing big stroke, it is ensured that the straight line start performance of actuator；Planetary roller screw pair has the characteristics that large carrying capacity, reciprocating motion can be accurately positioned.When a motor breaks down, another motor can still drive the normal operation of system, improve the reliability of system；When two motors work normally, realize that the interflow of power provides the input power of bigger for system.Dual redundancy electro-mechanical actuator is simple in structure, easy to maintain, and speed governing is good.
Description
Technical field
The invention belongs to electric steering engine technical fields, specifically, being related to a kind of electronic using motor-driven double remainings
Steering engine.
Background technology
Steering engine is actually a Stellungsservosteuerung, and the steering gear system being widely used at present, can according to the difference of power source
It is divided into:Pneumatic servo, hydraulic sterring engine and electric steering engine.Compared with pneumatic servo, hydraulic sterring engine, Electrodynamic Rudder System has height can
The characteristics of by property, high efficiency, light-weight and better maintenanceability.Thus, Electrodynamic Rudder System will become the following steering gear system
One important directions of development.
The fast development of unmanned plane requires its control system to have high-precision, highly sensitive and high reliability.Steering gear system
The indispensable key components of automatic flight control system, it can reliably working directly determine whether aircraft can be just
Therefore often flight will improve the reliability of the complete machine work of aircraft, must just improve the reliability of steering gear system；But for
For any system, possibility that failure occurs always objective reality, although the matter for improving system each constituent element can be passed through
Amount is reinforced improving the global reliability of system to the protection of element, the even measures such as improvement design, but needs to pay prodigious
Cost, and the raising of reliability is not notable.Redundancy technology can have while requirement of the relative reduction to component
Imitate the reliability of raising system.Therefore, one of the effective way of reliability for improving steering gear system is exactly to increase steering gear system
Remaining.In the electric steering engine of tradition application, usually used structure is that a motor adds gear mechanism and screw mechanism to install admittedly
It is scheduled in steering engine shell.Since electric steering engine is in frequent instantaneous operating conditions mostly in flight controls, especially in high frequency and
It is susceptible to failure under the conditions of high aerodynamic loading, to cause the object of servos control out of control, causes to seriously endanger and economy is damaged
It loses.It is limited by the limitation of steering engine installation space simultaneously, electric steering engine can not use heavy-duty motor, multi-level output power is caused to have
Limit.Currently, common Electrodynamic Rudder System is mostly double redundancy designs:That is the double redundancy designs of driving circuit or the double remainings of machine winding
Design, but add planetary differential train and planetary roller screw pair to realize that the example of the double redundancy designs of steering engine is seldom using bi-motor；
Patent CN202364049U is disclosed " a kind of double-motor driving device of steering engine ", which uses common screw nut driven,
And output axis direction is vertical with electric machine main shaft direction, stroke is shorter, bearing capacity is limited, and is not easy to installation and maintenance.
Invention content
In order to avoid the shortcomings of the prior art, the present invention proposes a kind of Dual redundancy electro-mechanical actuator.The electric steering engine knot
Structure is simple, easy to maintain, efficient, speed governing is good；The design that the double remainings of system are realized using two motors, improves system
Reliability, while the torque range of system has been expanded, and it is safe and reliable.
The technical solution adopted by the present invention to solve the technical problems is:Including planet gear transmission speed reduction mechanism, planet
Roller screw pair, sleeve push rod, actuator end cap, shell, retarder rear cover, reducer shell, actuator tail-hood, long bolt,
Planetary roller screw pair is located in shell, and planet gear transmission speed reduction mechanism is mounted on shell one end；
The planetary roller screw pair includes leading screw, roller, nut, the first rolling bearing, locking nut, planet carrier, guarantor
Frame, the second ring gear are held, there are gear, the gear at roller both ends and the second ring gear for being mounted on nut both ends in the roller both ends
It is meshed, axially position is realized in retainer both ends by the shaft shoulder, circlip respectively；Described leading screw one end passes through first axis of rolling
Hold, locking nut, actuator tail-hood are connect with planet carrier, and pass through spline and the shaft shoulder and realize axial and circumferential positioning, the first rolling
Dynamic bearing realizes to support leading screw with locking nut and fix that the leading screw other end passes through nut to be located at sleeve push rod inner cavity with roller；
The planet gear transmission speed reduction mechanism includes the first planetary gear, sun gear, first motor, the second motor, second
Planetary gear, internal spline, the first ring gear, the third line star-wheel, planet wheel spindle, the second rolling bearing, the sun gear pass through flat key
On first motor main shaft, first motor main shaft realizes that the circumferential and axial of motor position by the shaft shoulder and circumferential nut,
Described planet wheel spindle one end is connected with the second motor shaft by internal spline, and is connect with the third line star-wheel, the planet wheel spindle other end
It is connect with the second rolling bearing, and uses the axially position of shaft shoulder realization and the second rolling bearing, in the third line star-wheel and first
The interior tooth engagement of gear ring is machined with the gear teeth on the outside of the first ring gear and is engaged with the second planetary gear, first motor, the second motor
It is connected respectively by bolt with retarder rear cover, the first planetary gear coordinates with planet carrier；
The sleeve push rod is bolted across actuator end cap with nut；Actuator end cap and actuator tail-hood are logical
Long bolt is crossed to be connected.
The reducer shell installs seal washer additional with retarder rear cover joint surface.
The first motor is co-axially mounted with leading screw, sleeve push rod, shell.
Advantageous effect
Dual redundancy electro-mechanical actuator proposed by the present invention realizes the design of the double remainings of system using two motors, improves and is
The reliability of system, while having expanded the torque range of system；Sun gear is mounted on first motor output shaft, and the third line star-wheel is logical
It crosses planet wheel spindle to be connected on the output shaft of the second motor, leading screw is connected with planet carrier, and then first motor and second is electric
The rotary motion of machine passes to leading screw by planetary gear speed reducing mechanism, to realize when a motor in Electrodynamic Rudder System is due to disconnected
Electricity or reason of over-load and when failure, another motor remains to work on, and maintains the proper motion of leading screw, and then maintains system
Normal operation improves the reliability of system.
For Dual redundancy electro-mechanical actuator of the present invention compared with existing dual-redundancy steering engine, electric steering engine is compact-sized, transmission efficiency
Height, it is easy to maintain；Using planetary roller screw pair, while realizing big stroke, it is ensured that the straight line start of actuator
Energy；Planetary roller screw pair has strong large carrying capacity, kinematic accuracy height, rigidity, long lifespan, the spy for moving back and forth registration
Point.
Bi-motor in Dual redundancy electro-mechanical actuator of the present invention equally can be used existing double winding, dual control circuit technology with
Realize remaining extension.
Description of the drawings
A kind of Dual redundancy electro-mechanical actuator of the present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is Dual redundancy electro-mechanical actuator schematic diagram of the present invention.
Fig. 2 is the planet gear transmission speed reduction structural scheme of mechanism of Dual redundancy electro-mechanical actuator of the present invention.
Fig. 3 is the enclosure interior part drawing of Dual redundancy electro-mechanical actuator of the present invention.
Fig. 4 is the planetary roller screw pair half sectional view of Dual redundancy electro-mechanical actuator of the present invention.
Fig. 5 is the inner body structure chart of Dual redundancy electro-mechanical actuator of the present invention.
Fig. 6 is the planet carrier shaft mapping of Dual redundancy electro-mechanical actuator of the present invention.
Fig. 7 is the shell axonometric drawing of Dual redundancy electro-mechanical actuator of the present invention.
In figure:
1. 6. nut of sleeve push rod 2. actuator end cap, 3. shell, 4. leading screw, 5. roller, 7. first rolling bearing 8.
9. 13. first motor of planet carrier 10. first planetary gear, 11. retarder rear cover, 12. sun gear of locking nut, 14. second electricity
15. second planetary gear of machine, 16. internal spline, 17. 18. first ring gear of the third line star-wheel, 19. planet wheel spindle 20. second rolls
21. reducer shell of bearing, 22. actuator tail-hood, 23. 24. second ring gear of retainer, 25. long bolt
Specific implementation mode
In flight controls, Electrodynamic Rudder System is in frequent instantaneous operating conditions mostly, especially pneumatic in high frequency and height
Under load-up condition, the motor in Electrodynamic Rudder System is stopped due to catastrophic failure in order to prevent, is in turn resulted in
System it is out of control, threaten aircraft and the safety of driver, cause unnecessary loss；Meanwhile in order to narrow in aircraft
The electric steering engine of installation bigger power bracket, widens the power bracket of flight control system in small steering engine installation space, improves
The reliability of system, this example are described in further detail Dual redundancy electro-mechanical actuator.
Refering to fig. 1~Fig. 7, this example Dual redundancy electro-mechanical actuator, by planet gear transmission speed reduction mechanism, planetary roller screw
Pair, sleeve push rod 1, actuator end cap 2, shell 3, retarder rear cover 11, reducer shell 21, actuator tail-hood 22, long bolt
25 compositions；Planetary roller screw pair is fixed in shell 3, and planet gear transmission speed reduction mechanism is mounted on 3 one end of shell.Wherein,
Planetary roller screw pair include leading screw 4, roller 5, nut 6, the first rolling bearing 7, locking nut 8, planet carrier 9, retainer 23,
There are gear, the gear at 5 both ends of roller and 24 phase of the second ring gear for being mounted on 6 both ends of nut in second ring gear 24,5 both ends of roller
The engagement of engagement, two gear pairs ensures nut 6 and 5 co-ordination of roller, reduces the sliding of leading screw 4, when keeping roller work
Consistency.Retainer 23 ensures spacing having the same between each roller, avoids rubbing each other, improves stress, keeps
23 one end of frame utilizes the shaft shoulder, the other end to realize axially position using circlip；4 one end of leading screw is connected with planet carrier 9, passes through
Spline and the shaft shoulder realize axial and circumferential positioning, are supported by the first rolling bearing 7；In 7 end of the first rolling bearing equipped with lock
Tight nut 8, realizes the axially position of the first rolling bearing 7 by the shaft shoulder and locking nut 8, the leading screw other end pass through nut 6 with
Roller 5 is located in sleeve push rod 1；Planetary roller screw pair is mounted in shell 3.
Planet gear transmission speed reduction mechanism include the first planetary gear 10, sun gear 12, first motor 13, the second motor 14,
Second planetary gear 15, internal spline 16, the first ring gear 18, the third line star-wheel 17, planet wheel spindle 19, the second rolling bearing 20,
In, sun gear 12 is mounted on by flat key on 13 main shaft of first motor, and 13 main shaft of first motor is real by the shaft shoulder and circumferential nut
The circumferential and axial positioning of existing motor.19 one end of planet wheel spindle is fixedly connected with 14 axis of the second motor by internal spline 16, and with
The third line star-wheel 17 connects；19 other end of planet wheel spindle is connect with the second rolling bearing 20, and is realized and the second rolling by the shaft shoulder
20 axially position of dynamic bearing；The interior tooth engagement of the third line star-wheel 17 and the first ring gear 18 adds in the outside of the first ring gear 18
Work has the gear teeth.First motor 13, the second motor 14 are bolted to connection with retarder rear cover 11 respectively；First planetary gear 10
Coordinate with planet carrier 9.Sleeve push rod 1 is bolted across actuator end cap 2 with nut 6.Actuator end cap 2 and actuator
Tail-hood 22 is fixedly connected by long bolt 25, and actuator is encapsulated；Reducer shell 21 is engaged with retarder rear cover 11
Face installs seal washer additional.First motor 13 is co-axially mounted with leading screw 4, sleeve push rod 1, shell 3.
When work, power is directly handed on by the sun gear 12 being connected on 13 main shaft of first motor, and motor is passed through
Driver carries out speed displacement control, and the power needed for practical application selects suitable AC servo permanent magnet synchronous electric
Machine and mating driver.While planetary gear reducing mechanism is as transmission mechanism, deceleration torque also is carried out to motor, by power
It is transferred to straight line actuation mechanism i.e. planetary roller screw pair and sleeve push rod, is linear motion by convert rotational motion.
When normal work, when first motor 13 since short circuit, or overload or other reasons break down and can not work
When, the second motor 14 starts to replace first motor 13 to be used as power source, power directly by be connected on planet wheel spindle 19 the
Three planetary gears 17 hand on, by the engagement of the gear teeth on the third line star-wheel 17 and the first ring gear 18, by the third line star-wheel 17
Rotary motion pass to the first ring gear 18, and then drive planetary gear, planet carrier 9 rotates, and transmits power to straight line start
Convert rotational motion is to move along a straight line, and then provide power for system by mechanism, that is, planetary roller screw pair and sleeve push rod 1,
The normal operation of maintenance system improves the reliability of system, realizes double remainings of Electrodynamic Rudder System.And when first motor 13,
When second motor 14 works at the same time and power is P, in this example, double remaining motors realize work(by planetary gear mechanism
The interflow of rate provides i.e. twice power input of 2P for system, has widened the power bracket of system.
This example at work, by setting the parameter of motor control part, makes motor drive the sun with scheduled rotating speed
Wheel or planetary gear rotation, pass to planetary roller screw pair, and then defeated from sleeve push rod by planetary gear mechanism by movement
Go out linear motion.Movement position is accurately controlled by the way that the position control parameter of motor control part is arranged simultaneously.
Claims (3)
1. a kind of Dual redundancy electro-mechanical actuator, it is characterised in that:Including planet gear transmission speed reduction mechanism, planetary roller screw pair,
Sleeve push rod, actuator end cap, shell, retarder rear cover, reducer shell, actuator tail-hood, long bolt, planetary roller screw
Pair is located in shell, and planet gear transmission speed reduction mechanism is mounted on shell one end；
The planetary roller screw pair include leading screw, roller, nut, the first rolling bearing, locking nut, planet carrier, retainer,
Second ring gear, the roller both ends have gear, the gear at roller both ends mutually to be nibbled with the second ring gear mounted on nut both ends
It closes, axially position is realized in retainer both ends by the shaft shoulder, circlip respectively；Described leading screw one end pass through the first rolling bearing,
Locking nut, actuator tail-hood are connect with planet carrier, and realize axial and circumferential positioning, first axis of rolling by spline and the shaft shoulder
It holds and realizes that, to leading screw support fixation, the leading screw other end passes through nut to be located at sleeve push rod inner cavity with roller with locking nut；
The planet gear transmission speed reduction mechanism includes the first planetary gear, sun gear, first motor, the second motor, the second planet
Wheel, internal spline, the first ring gear, the third line star-wheel, planet wheel spindle, the second rolling bearing, the sun gear are installed by flat key
On first motor main shaft, first motor main shaft realizes that the circumferential and axial of the motor position by the shaft shoulder and circumferential nut, institute
State planet wheel spindle one end and the second motor shaft to be connected by internal spline, and connect with the third line star-wheel, the planet wheel spindle other end and
Second rolling bearing connects, and realizes the axially position with the second rolling bearing, the third line star-wheel and the first internal tooth using the shaft shoulder
The interior tooth engagement of circle, the gear teeth are machined on the outside of the first ring gear and are engaged with the second planetary gear, first motor, the second motor point
It is not connected by bolt with retarder rear cover, the first planetary gear coordinates with planet carrier；
The sleeve push rod is bolted across actuator end cap with nut；Actuator end cap and actuator tail-hood pass through length
Screw rod is connected.
2. Dual redundancy electro-mechanical actuator according to claim 1, it is characterised in that:The reducer shell and retarder rear cover
Joint surface installs seal washer additional.
3. Dual redundancy electro-mechanical actuator according to claim 1, it is characterised in that:The first motor is pushed away with leading screw, sleeve
Bar, shell are co-axially mounted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610743189.2A CN106321770B (en) | 2016-08-26 | 2016-08-26 | A kind of Dual redundancy electro-mechanical actuator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610743189.2A CN106321770B (en) | 2016-08-26 | 2016-08-26 | A kind of Dual redundancy electro-mechanical actuator |
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| Publication Number | Publication Date |
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| CN106321770A CN106321770A (en) | 2017-01-11 |
| CN106321770B true CN106321770B (en) | 2018-11-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610743189.2A Active CN106321770B (en) | 2016-08-26 | 2016-08-26 | A kind of Dual redundancy electro-mechanical actuator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU217446U1 (en) * | 2022-11-14 | 2023-03-31 | Федеральное государственное бюджетное образовательное учреждение высшего образования Балтийский государственный технический университет "ВОЕНМЕХ" им. Д.Ф. Устинова | Permanent magnet synchronous motor |
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| Publication number | Publication date |
|---|---|
| CN106321770A (en) | 2017-01-11 |
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