CN107104544B - A high power-to-weight ratio integrated electromechanical servo actuator - Google Patents

Abstract

The invention is an integrated electromechanical servo actuating device with high power-to-weight ratio, comprising: an integrated servo motor, a planetary roller screw pair, a rotary encoder, a linear displacement sensor, a casing and other supporting devices. The motor stator is fixed on the main casing, and forms an integrated servo motor with the magnetic patch on the end of the lead screw, and drives the lead screw to rotate; the nut converts the rotary motion of the lead screw into linear motion and pushes the load to output linear motion; linear displacement The sensor detects the displacement of the nut in real time; the rotary encoder is used to detect the rotation angle of the lead screw; the guide rod can prevent the nut from rotating and play a guiding role; a guide ring is installed in the hole of the front shell to guide and support the nut. The cylindrical roller bearing at the rear end of the lead screw jointly ensures the coaxiality. The invention has the characteristics of large power-to-weight ratio, small size, high transmission efficiency, strong load capacity and high reliability, and provides new ideas and technical guarantees for promoting the development of electric push rods and multi-electric/full-electric aircraft.

Description

A high power-to-weight ratio integrated electromechanical servo actuator

technical field

The invention is an electric servo actuating device, especially applied to electric push rod, multi-electric/full electric aircraft rudder surface servo control system, and belongs to the fields of electromechanical servo technology, aerospace machinery, electronics and control technology.

Background technique

At present, there are two main power sources in the servo actuation system. One is to use traditional hydraulic servo actuators to supply hydraulic energy, that is, to do work and output linear motion through the conversion of high and low pressure oil, so as to push the load. This servo actuation The actuator is suitable for large output force occasions, and the volume and weight are relatively large; the other is the power transmission actuator with electric energy supply, that is, the mechanism of electromechanical servo drives the hydraulic cylinder or screw pair, which can be applied to High torque, high power occasions, but complex structure. However, the above two structures cannot meet the requirements of high power-to-weight ratio, strong bearing capacity and small installation space for the servo actuation system.

Electromechanical actuator is a device that converts electrical energy into mechanical energy and realizes motion conversion. Compared with the above two power sources, it belongs to green energy, with strong flexibility, good safety, light weight, high efficiency and reliability. The advantages of high height and easy maintenance are used in aerospace navigation, construction machinery, electric actuators and other fields, and it is one of the important research directions for the development of servo technology in the future.

With the development of high-performance military equipment, the rapid development of the civilian market and the "Made in China 2025" plan, higher requirements have been placed on the performance of electromechanical servo actuators. The existing electromechanical servo actuating device has the disadvantages of large weight, low integration, small power-to-weight ratio, and low bearing capacity. For this reason, it is necessary to invent a high power-to-weight ratio integrated electromechanical servo actuating device to meet the needs of future development.

SUMMARY OF THE INVENTION

In view of this, the purpose of the present invention is to provide a high power-to-weight ratio integrated electromechanical servo actuating device with high power-to-weight ratio, strong bearing capacity and small installation space, which is used for rudder surface servo control and electric push rod system.

An integrated electromechanical servo actuating device with a high power-to-weight ratio comprises: an integrated servo motor, a planetary roller screw pair, a rotary encoder, a linear displacement sensor, a casing and other supporting devices. The joint bearing on the rear casing is connected to the base, and the rear casing and the main casing are fixedly connected by screws; the integrated servo motor is composed of a motor stator and a magnetic patch. The motor stator is fixed on the main casing and is connected to the end of the lead screw. The magnetic patch constitutes an integrated servo motor, which then drives the screw to rotate; the planetary roller screw pair consists of a screw, a nut and a roller assembly. The roller assembly is installed at the front end of the screw, meshes with the screw, and will rotate The motion is transmitted to the nut; the nut converts the rotational motion of the lead screw into linear motion; the nut and the front end cover are connected by threads and stop washers, thereby pushing the load to output linear motion; the body of the linear displacement sensor is installed on the front housing, and the magnetic ring Installed on the nut, it reciprocates linearly with the nut to detect the displacement of the nut in real time; a rotary encoder is installed at the end of the lead screw to detect the rotation angle of the lead screw; the guide rod passes through the guide hole at the lower end of the nut to prevent the nut from rotating. The guide ring is installed in the front housing, which plays a guiding and supporting role for the nut, and ensures the coaxiality with the cylindrical roller bearing at the rear end of the lead screw; a pair of thrust roller bearings are installed at the rear end of the lead screw. The flange and the shoulder of the lead screw unload the force transmitted by the load to the shell; the end of the cylindrical roller bearing is installed with a locking nut; the front and rear air connectors are used as the electrical interface of the front and rear cylinders.

The high power-to-weight ratio integrated electromechanical servo actuating device is described. The integrated servo motor consists of a motor stator and a magnetic patch. The motor stator is fixed on the main casing and is integrated with the magnetic patch on the end of the lead screw. type motor, and then drive the screw to rotate, saving the installation space of the motor and improving the power-to-weight ratio;

The screw pair is a planetary roller screw pair, the nut converts the rotational motion of the screw into linear motion, and then pushes the load to output linear motion, and the nut directly acts as the output rod to push the load motion, eliminating the need for connecting parts and structural Compact, strong bearing capacity and high reliability, which improves the power-to-weight ratio of the device;

In the linear displacement sensor, the body is installed on the front casing, and the magnetic ring is installed on the nut to reciprocate linearly together with the nut to detect the displacement of the nut in real time;

The rotary encoder is an embedded hollow absolute encoder, which increases the space utilization rate and is used to collect the rotation angle of the lead screw in real time;

In the front housing, a guide ring is installed in the hole, which plays the role of guiding and supporting the nut, and ensures the coaxiality together with the cylindrical roller bearing at the rear end of the lead screw;

The guide rod passes through the guide hole at the lower end of the nut to prevent the nut from rotating and play a guiding role;

A pair of thrust roller bearings are installed at the rear end of the lead screw, and the force transmitted by the load is unloaded to the casing through the flange and the shaft shoulder;

The aviation plugs are used as electrical interfaces of the front and rear cylinders respectively.

Compared with the prior art, the present invention has the following advantages:

(1) The present invention fixes the servo motor stator on the main casing, and forms an integrated motor with the magnetic patch on the end of the lead screw, thereby driving the lead screw to rotate, saving the motor installation space and improving the power-to-weight ratio;

(2) The present invention adopts the planetary roller screw pair as the main transmission component. The nut and roller of the planetary roller screw pair are in contact with the screw thread during the transmission process. Therefore, under the condition of the same size, the planetary roller screw The bearing capacity of the lead screw is much greater than that of the ball screw, which improves the power-to-weight ratio of the device and reduces the probability of the lead screw getting stuck during movement;

(3) In the present invention, the nut is directly used as the output rod to push the load movement, the connecting parts are omitted, the structure is compact, the bearing capacity is strong, the reliability is high, and the power-to-weight ratio of the device is improved;

(4) The present invention adopts a pair of thrust roller bearings to unload the force transmitted by the load to the shell through the flange and the shaft shoulder, with strong bearing capacity and high space utilization;

(5) The present invention adopts the linear displacement sensor to measure the output displacement of the nut, which can detect the output displacement more intuitively, which is beneficial to improve the control precision.

Description of drawings

1 is a three-dimensional view of a high power-to-weight ratio integrated electromechanical servo actuating device;

2 is a front view of a high power-to-weight ratio integrated electromechanical servo actuating device;

3 is a front cross-sectional view of a high power-to-weight ratio integrated electromechanical servo actuating device;

4 is a side sectional view of a high power-to-weight ratio integrated electromechanical servo actuating device;

Figure 5 is a three-dimensional view of a thrust roller bearing;

In the figure: 1 is the front cover; 2 is the front casing; 3 is the main casing; 4 is the aviation plug; 5 is the rear casing; 6 is the planetary roller screw pair; 7 is the thrust roller bearing; 8 is the cylinder Roller bearing; 9 is an integrated servo motor; 10 is a rotary encoder; 11 is a locking nut; 12 is a flange; 13 is a guide rod; 14 is a linear displacement sensor; 15 is a connecting screw.

Detailed ways

Below in conjunction with the accompanying drawings and specific embodiments, the present invention will be described in further detail:

The purpose of the present invention is to overcome the deficiencies in the prior art, and to provide a high power-to-weight ratio integrated electromechanical servo actuating device with high power-to-weight ratio, strong bearing capacity and small installation space.

Referring to Figures 1, 2, and 3, a high power-to-weight ratio integrated electromechanical servo actuating device includes: a front end cover (1); a front casing (2); a main casing (3); an aviation plug (4); Rear housing (5); Nut (6.1); Roller assembly (6.2); Lead screw (6.3); Thrust roller bearing (7); Cylindrical roller bearing (8); Motor stator (9.1); Magnetic patch (9.2); rotary encoder (10); loosening nut (11); flange (12); guide rod (13); linear displacement sensor body (14.1); magnetic ring (14.2); connecting screw (15).

The joint bearing on the rear casing (5) is connected with the base, and the rear casing (5) and the main casing (3) are fixedly connected by screws; the integrated servo motor (9) is composed of a motor stator (9.1) and a magnetic patch ( 9.2), the motor stator (9.1) is fixed on the main casing (3), and the magnetic patch (9.2) on the end of the lead screw (6.3) forms an integrated servo motor (9), which then drives the lead screw (6.3) Rotate; the planetary roller screw pair (6) consists of a lead screw (6.3), a nut (6.1) and a roller (6.2). ) engage and transmit the rotational motion to the nut (6.1); the nut (6.1) converts the rotational motion of the lead screw (6.3) into linear motion; the nut (6.1) is connected to the front cover (1) by a thread and a stop washer, Then push the load to output linear motion; the linear displacement sensor body (14.1) is installed on the front housing (2), the magnetic ring (14.2) is installed on the nut (6.1) and moves linearly reciprocating along with the nut (6.1) to detect the nut (6.1) in real time. 6.1) Displacement; a rotary encoder (10) is installed at the end of the lead screw (6.3) to detect the rotation angle of the lead screw (6.3); the guide rod (13) passes through the guide hole at the lower end of the nut (6.1) to prevent the nut (6.1) Rotate to play a guiding role; a guide ring is installed in the front housing (2), which plays a guiding and supporting role for the nut (6.1), and is shared with the cylindrical roller bearing (8) at the rear end of the lead screw (6.3). Ensure coaxiality; a pair of thrust roller bearings (7) are installed at the rear end of the lead screw (6.3), and the force transmitted by the load is unloaded to the main casing (12) and the shoulder of the lead screw (6.3) 3) Upper; the end of the cylindrical roller bearing (8) is installed with a locking nut (11); the front and rear aviation plugs (4) are used as the electrical interface of the front and rear cylinders respectively.

In the high power-to-weight ratio integrated electromechanical servo actuating device, the integrated servo motor (9) is composed of a motor stator (9.1) and a magnetic patch (9.2), and the motor stator (9.1) is fixed on the main casing (3) On the upper side, it forms an integrated motor with the magnetic patch (9.2) on the end of the lead screw (6.3), and then drives the lead screw (6.3) to rotate, which saves the installation space of the motor and improves the power-to-weight ratio;

The high power-to-weight ratio integrated electromechanical servo actuating device adopts a planetary roller screw pair (6), and the nut (6.1) converts the rotary motion of the screw (6.3) into linear motion, thereby pushing the load to output linear motion , the nut (6.1) is directly used as the output rod to push the load movement, eliminating the need for connecting parts, the structure is compact, the bearing capacity is strong, the reliability is high, and the power-to-weight ratio of the device is improved;

The high power-to-weight ratio integrated electromechanical servo actuating device adopts a linear displacement sensor (14), the linear displacement sensor body (14.1) is mounted on the front housing (2), and the magnetic ring (14.2) is mounted on the nut (6.1) ) moves linearly to and fro along with the nut (6.1) to detect the displacement of the nut (6.1) in real time;

The high power-to-weight ratio integrated electromechanical servo actuating device adopts a rotary encoder (10) to increase space utilization, and is used for real-time acquisition of the rotation angle of the lead screw (6.3);

In the high power-to-weight ratio integrated electromechanical servo actuating device, a guide ring is installed in the hole of the front housing (2), which plays a guiding and supporting role for the nut (6.1), and is connected with the cylindrical roller at the rear end of the lead screw (6.3). The sub-bearings (8) jointly ensure the coaxiality;

In the high power-to-weight ratio integrated electromechanical servo actuating device, the guide rod (13) passes through the guide hole at the lower end of the nut (6.1) to prevent the nut (6.1) from rotating and play a guiding role;

In the high power-to-weight ratio integrated electromechanical servo actuating device, a pair of thrust roller bearings (7) are installed at the rear end of the lead screw (6.3), and the force transmitted by the load is unloaded through the flange (12) and the shaft shoulder. on the shell;

The aviation plugs (4) are respectively used as electrical interfaces of the front and rear cylinders.

In summary, the above are only preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention, All should be included within the protection scope of the present invention.

Claims (1)

1. A high power-to-weight ratio integrated electromechanical servo actuating device is characterized in that: comprising: an integrated servo motor, a planetary roller screw pair, a rotary encoder, a linear displacement sensor, a casing, and a rear casing. The joint bearing is connected with the base, and the rear housing and the main housing are fixedly connected by screws; the integrated servo motor is composed of a motor stator and a magnetic patch, and the motor stator is fixed on the main housing and is connected with the end of the lead screw. The magnetic patch constitutes an integrated servo motor, which then drives the screw to rotate; the planetary roller screw pair is composed of a screw, a nut and a roller assembly, and the roller assembly is installed at the front end of the screw, meshes with the screw, and The rotary motion is transmitted to the nut; the nut converts the rotary motion of the lead screw into linear motion; the nut and the front end cover are connected by threads and stop washers, thereby pushing the load to output linear motion; the body of the linear displacement sensor is installed in the front On the shell, the magnetic ring is installed on the nut and reciprocates linearly with the nut to detect the displacement of the nut in real time; a rotary encoder is installed at the end of the lead screw to detect the rotation angle of the lead screw; the guide rod passes through the guide hole at the lower end of the nut , to prevent the nut from rotating and play a guiding role; a guide ring is installed in the front housing to guide and support the nut, and to ensure the coaxiality with the cylindrical roller bearing at the rear end of the screw; a pair of thrust is installed at the rear end of the screw Roller bearing, through the flange and the shoulder of the lead screw, the load transmitted force is unloaded to the shell; the end of the cylindrical roller bearing is installed with a locking nut; the front and rear air connectors are used as the electrical interface of the front and rear cylinders respectively; the integrated type The servo motor consists of a motor stator and a magnetic patch. The motor stator is fixed on the main casing, and forms an integrated motor with the magnetic patch on the end of the lead screw, which then drives the lead screw to rotate; the lead screw pair is a planetary roller screw Lever pair, the nut converts the rotational motion of the lead screw into linear motion, and then pushes the load to output linear motion, and the nut directly acts as the output rod to push the load motion; the linear displacement sensor, the body is installed on the front housing, and the magnetic ring is installed on the The nut reciprocates linearly with the nut, and the displacement of the nut is detected in real time; the rotary encoder is an embedded hollow absolute encoder, which is used to collect the rotation angle of the screw in real time; the front shell is installed in the hole There is a guide ring, which plays a guiding and supporting role for the nut, and ensures the coaxiality together with the cylindrical roller bearing at the rear end of the lead screw; the guide rod passes through the guide hole at the lower end of the nut to prevent the nut from rotating and plays a guiding role; the A pair of thrust roller bearings are installed at the rear end of the lead screw, and the force transmitted by the load is unloaded to the shell through the flange and the shaft shoulder; the aviation plugs are used as the electrical interfaces of the front and rear cylinders respectively.