CN107152506A - Pressure self-balancing formula electromechanical servo acting device under a kind of hyperbaric environment - Google Patents
Pressure self-balancing formula electromechanical servo acting device under a kind of hyperbaric environment Download PDFInfo
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- CN107152506A CN107152506A CN201710417785.6A CN201710417785A CN107152506A CN 107152506 A CN107152506 A CN 107152506A CN 201710417785 A CN201710417785 A CN 201710417785A CN 107152506 A CN107152506 A CN 107152506A
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- main casing
- hyperbaric environment
- servomotor
- lever
- leading screw
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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
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
- F16H25/2247—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with rollers
- F16H25/2252—Planetary rollers between nut and screw
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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
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/2015—Means specially adapted for stopping actuators in the end position; Position sensing means
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
- H02K5/12—Casings or enclosures characterised by the shape, form or construction thereof specially adapted for operating in liquid or gas
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
- H02K5/12—Casings or enclosures characterised by the shape, form or construction thereof specially adapted for operating in liquid or gas
- H02K5/124—Sealing of shafts
-
- 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
-
- 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
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H2025/204—Axial sliding means, i.e. for rotary support and axial guiding of nut or screw shaft
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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
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H2025/2062—Arrangements for driving the actuator
- F16H2025/2075—Coaxial drive motors
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Actuator (AREA)
Abstract
The present invention is pressure self-balancing formula electromechanical servo acting device under a kind of hyperbaric environment, including：The corollary apparatus such as servomotor, planetary roller screw pair, piston, decelerator, sensor and housing.Enclosure interior is full of fluid, and piston can be moved freely in piston cylinder；Oil-through-hole is left on main casing and ensures that main casing and the flowing of procapsid inner fluid are unimpeded；Nut is by the convert rotational motion of leading screw is linear motion and promotes take-off lever linear movement output；Linear displacement transducer is installed on a main housing, and magnet ring is arranged on guide pad and with deep groove ball bearing straight reciprocating motion；Dynamic sealing at copper sheathing uses height lip seal, and other housing coupling parts point use static seal, prevents inside and outside liquid mixing；This invention addresses existing electro-mechanical actuation unit voltage endurance capability is weak, the low problem of efficiency, and then the power to weight ratio, voltage endurance capability and load-carrying ability of electro-mechanical actuation unit are improved, to promote the development of submarine and underwater units under hyperbaric environment to provide technical guarantee.
Description
Technical field
The present invention is a kind of electric servo acting device, is especially applicable to submarine and underwater units outboard under hyperbaric environment
Servo-control system；Belong to water conservancy and marine technology field.
Background technology
Many electrifications of current submarine, underwater robot etc. are its important development trend, and power-by-wire actuating system has turned into
One of focus of Aero-Space ocean water conservancy area research, it completes secondary power system to respectively by the transfer mode of electric flux
Power transmission between executing agency.Compared with conventional hydraulic actuating system, it belongs to green energy resource, and flexibility is strong, security
Good, efficiency high, reliability are high and are easy to safeguard.
Actuating system and device are the important compositions of ocean and underwater kit, and these equipments are all to lean on actuating system phase interworking
Close drive motion components and complete each task.With the development and the proposition of " deep-sea space station " key special subjects of equipment,
It is more and more harsher to the installing space and weight demands of servo acting device, and then to the power to weight ratio and efficiency index of actuating system
Propose higher requirement.
Actuating system has two kinds of power sources now, and one kind is hydraulic energy source supply, using conventional hydraulic servo actuator, i.e.,
The linear movement output that does work by the conversion of height force feed, so as to change the posture of rudder face, this steering wheel is applied to big output
The field of force is closed, and volume and weight is all than larger；Another is the power-by-wire actuator of electric energy supply, i.e., using electromechanical servo
Mechanism driving hydraulic cylinder or lead screw pair, this novel electromechanical mode can be applied to big torque, high-power field using green energy resource
Close, but it is complicated.Above two structure can not all meet the power to weight ratio that deepwater high-pressure environment proposes to electromechanical coupling system it is high,
The demand that bearing capacity is strong, installing space is small.
The content of the invention
In view of this, it is an object of the invention to provide pressure under the novel high-pressure environment that a kind of power to weight ratio is high, bearing capacity is strong
Self-balancing type electromechanical servo acting device, for the underwater units outboard servo-control system under hyperbaric environment.
Pressure self-balancing formula electromechanical servo acting device under a kind of hyperbaric environment, including：Servomotor, planetary roller screw
The corollary apparatus such as pair, decelerator, piston, linear displacement transducer, temperature sensor, housing and guide pad.The device passes through work
Gudgeon on plug cylinder is connected with pedestal, and piston cylinder is connected with main casing by eight rear end studs, main casing and procapsid, front end
Lid is connected by eight front end studs；Cylinder interior is full of fluid, and piston can be moved freely in piston cylinder；Servomotor is with subtracting
Fast device series connection, by the way that on Stud connection to main casing, servomotor rear end is supported by support block；Leading screw end is with slowing down
Device is connected by key, and nut engages with leading screw and is linear motion by the convert rotational motion of leading screw；Take-off lever is connected with nut,
And take-off lever linear movement output is promoted by nut, and then change rudder face posture；Cutting has guide groove inside procapsid, for pacifying
Fill guide pad；Deep groove ball bearing is arranged on take-off lever by stop washer, with take-off lever straight reciprocating motion；Straight line position
Displacement sensor is arranged on the section of main casing, and magnet ring is arranged on guide pad and transported with deep groove ball bearing linear reciprocation
It is dynamic；Temperature sensor is arranged on servomotor；Oil-through-hole is left on main casing and ensures that main casing flows with procapsid inner fluid
It is unimpeded；Procapsid uses height lip seal (dust ring+Y-shaped ring), and other housing coupling parts point use static seal, prevent inside and outside liquid
Body is mixed；Procapsid installs copper sheathing and guide effect is played to take-off lever, and together ensures biography with leading screw end angular contact ball bearing
The axiality of dynamic component.
Pressure self-balancing formula electromechanical servo acting device under described hyperbaric environment, end is provided with piston cylinder, and piston can
With the free movement in piston cylinder, the pressure differential of balance cylinder block inner fluid and external environment is carried out with this, is caused the device in high compression ring
Normal work under border；
Oil-through-hole is left on described main casing, it is ensured that main casing and the flowing of procapsid inner fluid are unimpeded, do not produce pressure
Difference, while can be used for linear displacement transducer cabling；
Servomotor and decelerator are sealed in internal fluid by described housing, prevent servomotor and decelerator by
The pressure of extraneous seawater and corrosion, reduce manufacturing cost；
Described lead screw pair is planetary roller screw pair, and leading screw, which is rotated, drives nut to promote take-off lever, and driving load is made straight
Line is moved, and bearing capacity is strong, and reliability is high, improves the power to weight ratio of the device；
Described linear displacement transducer is arranged on the section of main casing, and magnet ring is arranged on guide pad, and guide pad exists
Slided in guide groove and then drive magnet ring with take-off lever straight reciprocating motion；
Described dynamic sealing uses height lip seal (dust ring+Y-shaped ring), and other housing coupling parts point use static seal,
Prevent inside and outside liquid mixing；
Described servomotor is connected with decelerator, by the way that on Stud connection to main casing, servomotor rear end passes through branch
Bracer is supported；
Described angular contact ball bearing, for supporting fixed leading screw, and plays Unloading Effect；
Described deep groove ball bearing is arranged on take-off lever, is easy to the installation of take-off lever in assembling process.
The present invention has the advantage that compared with prior art：
(1) end of the present invention is provided with piston cylinder, main casing and leaves oil-through-hole, it is ensured that main casing and procapsid inner fluid
Flowing is unimpeded, enclosure interior is not produced pressure differential, piston can the free movement in piston cylinder, come oily in balance cylinder block with this
The pressure differential of liquid and external environment, and then ensure that equipment can be in normal work under hyperbaric environment；
(2) servomotor and decelerator are sealed in internal fluid by the present invention using housing, prevent servomotor with subtracting
Pressure and corrosion of the fast device by liquid such as extraneous seawater, reduce manufacturing cost；
(3) present invention employs planetary roller screw as primary drive part, planetary roller screw pair is in transmission process
Roller and threads of lead screw linear contact lay in middle nut, therefore in the case of size identical, the bearing capacity of planetary roller screw is remote
More than the bearing capacity of ball-screw, the power to weight ratio of the device is improved, and reduces the stuck probability of leading screw in motion process；
(4) dynamic sealing of the present invention uses the sealing means of height lip seal (dust ring+Y-shaped ring), makes dynamic sealing effect more
It is good, prevent the impurity such as environmental liquids from entering cylinder interior.
Brief description of the drawings
Fig. 1 is a kind of three-dimensional cut away view of pressure self-balancing formula electromechanical servo acting device under hyperbaric environment；
Fig. 2 is a kind of top view of pressure self-balancing formula electromechanical servo acting device under hyperbaric environment；
Fig. 3 is a kind of main sectional view of pressure self-balancing formula electromechanical servo acting device under hyperbaric environment；
Fig. 4 is a kind of side sectional view of pressure self-balancing formula electromechanical servo acting device under hyperbaric environment；
Fig. 5 is a kind of roller screw pair figure of pressure self-balancing formula electromechanical servo acting device under hyperbaric environment；
In figure：1 is drive end bearing bracket；2 be front end stud；3 be procapsid；4 be main casing；5 be air plug head；6 be rear end stud；
7 be piston cylinder；8 be gudgeon；9 be take-off lever；10 be copper sheathing；11 be linear displacement transducer；12 be magnet ring；13 be angular contact ball
Bearing；14 be decelerator；15 be temperature sensor；16 be servomotor；17 be support block；18 be piston；19 be planetary roller
Lead screw pair；20 be deep groove ball bearing；21 be height lip seal；22 be guide pad；23 be contiguous block；24 be oil-through-hole.
Embodiment
Below in conjunction with the accompanying drawings with specific embodiment to further detailed description of the present invention：
It is an object of the invention to overcome the shortcomings of that there is provided one kind that a kind of power to weight ratio is high, bearing capacity is strong in prior art
Pressure self-balancing formula electromechanical servo acting device under hyperbaric environment.
Refering to Fig. 2,3,4,5, pressure self-balancing formula electromechanical servo acting device under a kind of hyperbaric environment, including：Drive end bearing bracket
(1)；Front end stud (2)；Procapsid (3)；Main casing (4)；Air plug head (5)；Rear end stud (6)；Piston cylinder (7)；Gudgeon (8)；
Take-off lever (9)；Copper sheathing (10)；Linear displacement transducer (11)；Magnet ring (12)；Angular contact ball bearing (13)；Decelerator (14)；Temperature
Spend sensor (15)；Servomotor (16)；Support block (17)；Piston (18)；Nut (19-1)；Leading screw (19-2)；Deep-groove ball axle
Hold (20)；Height lip seal (21)；Guide pad (22)；Contiguous block (23)；Oil-through-hole (24).
The device is connected by the gudgeon (8) on piston cylinder (7) with pedestal, and piston cylinder (7) passes through eight with main casing (4)
Rear end stud (6) is connected, and main casing (4) is connected with procapsid (3), drive end bearing bracket (1) by eight front end studs (2)；In cylinder body
Portion is full of fluid, and piston (18) can be moved freely in piston cylinder (7)；Servomotor (16) is connected with decelerator (14), is passed through
Stud connection is on main casing (4), and servomotor (16) rear end is supported by support block (17)；Leading screw (19-2) end with
Decelerator (14) is connected by key, and nut (19-1) engages with leading screw (19-2) and is by the convert rotational motion of leading screw (19-2)
Linear motion；Take-off lever (9) is connected with nut (19-1), and promotes take-off lever (9) linear movement output by nut (19-1), enters
And change rudder face posture；Cutting has guide groove inside procapsid (3), for installing guide pad (22)；Deep groove ball bearing (20) leads to
Stop washer is crossed on take-off lever (9), with take-off lever (9) straight reciprocating motion；Linear displacement transducer (11) is pacified
On the section of main casing (3), magnet ring (12) is arranged on guide pad (22) and past with deep groove ball bearing (20) straight line
Multiple motion；Temperature sensor (15) is arranged on servomotor (16)；Oil-through-hole (24) is left on main casing (4) and ensures main casing
(4) flowed with procapsid (3) inner fluid unimpeded；Procapsid (3) is using height lip seal (dust ring+Y-shaped ring) (21), other shells
Body coupling part uses static seal, prevents inside and outside liquid mixing；Procapsid (3) installation copper sheathing (10) is played to take-off lever (9) leads
To effect, and together ensure with leading screw (19-2) end angular contact ball bearing (13) axiality of drive disk assembly.
Pressure self-balancing formula electromechanical servo acting device under described hyperbaric environment, end is provided with piston cylinder (7), piston
(18) can the free movement in piston cylinder (7), the pressure differential of balance cylinder block inner fluid and external environment is carried out with this, is caused the device to
The normal work under hyperbaric environment；
Pressure self-balancing formula electromechanical servo acting device under described hyperbaric environment, main casing leaves oil-through-hole on (4)
(24), it is ensured that main casing (4) and the flowing of procapsid (3) inner fluid are unimpeded, pressure differential are not produced, while can be used for straight-line displacement
Sensor (11) cabling；
Pressure self-balancing formula electromechanical servo acting device under described hyperbaric environment, housing is by servomotor (16) and slows down
Device (14) is sealed in internal fluid, prevents servomotor (16) and pressure and corrosion of the decelerator (14) by extraneous seawater,
Reduce manufacturing cost；
Pressure self-balancing formula electromechanical servo acting device under described hyperbaric environment, the lead screw pair used is planetary roller silk
Thick stick pair (19), leading screw (19-2), which is rotated, drives nut (19-1) to promote take-off lever (9), and driving load is for linear motion, carries energy
Power is strong, and reliability is high, improves the power to weight ratio of the device；
Pressure self-balancing formula electromechanical servo acting device under described hyperbaric environment, linear displacement transducer (11) is arranged on
On the section of main casing (4), magnet ring (12) is arranged on guide pad (22), and guide pad (22) is slided and then driven in guide groove
Magnet ring (12) is with take-off lever (9) straight reciprocating motion；
Pressure self-balancing formula electromechanical servo acting device under described hyperbaric environment, dynamic sealing is (anti-using height lip seal
Konisphere+Y-shaped ring) (21), other housing coupling parts, which divide, uses static seal, prevents inside and outside liquid mixing；
Pressure self-balancing formula electromechanical servo acting device under described hyperbaric environment, servomotor (16) and decelerator (14)
Series connection, by the way that on Stud connection to main casing (4), servomotor (16) rear end is supported by support block (17)；
Pressure self-balancing formula electromechanical servo acting device under described hyperbaric environment, two diagonal contact ball bearings (13) are used for
The fixed leading screw (19-2) of support, and play Unloading Effect；
Pressure self-balancing formula electromechanical servo acting device under described hyperbaric environment, deep groove ball bearing (20) is arranged on output
On bar (9), it is easy to the installation of take-off lever in assembling process.
In summary, preferred embodiments of the present invention are these are only, are not intended to limit the scope of the present invention,
Within the spirit and principles of the invention, made any modification, equivalent substitution and improvements etc., should be included in the present invention
Protection domain within.
Claims (4)
1. pressure self-balancing formula electromechanical servo acting device under a kind of hyperbaric environment, it is characterised in that：By drive end bearing bracket (1), front end
Stud (2), procapsid (3), main casing (4), air plug head (5), rear end stud (6), piston cylinder (7), gudgeon (8), take-off lever
(9), copper sheathing (10), linear displacement transducer (11), magnet ring (12), angular contact ball bearing (13), decelerator (14), TEMP
Device (15), servomotor (16), support block (17), piston (18), planetary roller screw pair (19), deep groove ball bearing (20), height
Low lip seal (21), guide pad (22), contiguous block (23), oil-through-hole (24) composition；
Servomotor (16) is connected with decelerator (14), by the way that on Stud connection to main casing (4), servomotor (16) rear end leads to
Support block (17) is crossed to be supported；Leading screw (19-2) end is connected with decelerator (14) by key；Nut (19-1) is by leading screw
The convert rotational motion of (19-2) is linear motion, and promotes take-off lever (9) linear movement output；
Cutting has guide groove inside procapsid (3), for installing guide pad (22)；Deep groove ball bearing (20) is pacified by stop washer
On take-off lever (9), with take-off lever (9) straight reciprocating motion；
Linear displacement transducer (11) be arranged on main casing (3) section on, magnet ring (12) be arranged on guide pad (22) on and with
Deep groove ball bearing (20) straight reciprocating motion together；Temperature sensor (15) is arranged on servomotor (16)；
Procapsid (3) installs copper sheathing (10) and plays guide effect to take-off lever (9), and with leading screw (19-2) end angular contact ball axle
Hold the axiality that (13) together ensure drive disk assembly.It is characterized in that：Oil-through-hole (24) is left on main casing (4), it is ensured that main casing
Body (4) and the flowing of procapsid (3) inner fluid are unimpeded, enclosure interior is not produced pressure differential, end is provided with piston cylinder (7), living
Fill in (18) can the free movement in piston cylinder (7), balance cylinder block inner fluid and extraneous pressure differential are come with this, and then ensure to set
It is standby can be in normal work under hyperbaric environment；
Cylinder body is connected by the gudgeon (8) on piston cylinder (7) with pedestal；Piston cylinder (7) passes through eight rear end spiral shells with main casing (4)
Post (6) is connected；Main casing (4) is connected with procapsid (3), drive end bearing bracket (1) by eight front end studs (2).
2. pressure self-balancing formula electromechanical servo acting device under a kind of hyperbaric environment as claimed in claim 1, it is characterised in that：
Servomotor (16) and decelerator (14) are sealed in internal fluid by housing, prevent servomotor (16) and decelerator (14) by
Pressure and corrosion to extraneous seawater, reduce processing and manufacturing cost.
3. pressure self-balancing formula electromechanical servo acting device, described planet under a kind of hyperbaric environment as claimed in claim 1
Roller screw pair (19) is made up of leading screw (19-2) and nut (19-1), it is characterised in that：Leading screw (19-2) and nut (19-1)
Engaged by the screw thread on stud, the convert rotational motion of leading screw (19-2) is linear motion by nut (19-1).
4. pressure self-balancing formula electromechanical servo acting device under a kind of hyperbaric environment as claimed in claim 1, it is characterised in that：
Front end guide copper sleeve (10) place dynamic sealing uses the sealing means of height lip seal (dust ring+Y-shaped ring) (21), makes sealing effectiveness
More preferably.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710417785.6A CN107152506A (en) | 2017-06-06 | 2017-06-06 | Pressure self-balancing formula electromechanical servo acting device under a kind of hyperbaric environment |
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| CN201710417785.6A CN107152506A (en) | 2017-06-06 | 2017-06-06 | Pressure self-balancing formula electromechanical servo acting device under a kind of hyperbaric environment |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107742941A (en) * | 2017-10-09 | 2018-02-27 | 中国船舶重工集团公司第七0四研究所 | A kind of servo electric jar that can be worked in abyssal environment |
| CN107834761A (en) * | 2017-11-16 | 2018-03-23 | 北京航天自动控制研究所 | A kind of high power density long stroke electromechanical coupling system |
| CN107971559A (en) * | 2017-11-16 | 2018-05-01 | 北京航天自动控制研究所 | A kind of high power to weight ratio electric clamping device entirely |
| CN108916336A (en) * | 2018-06-11 | 2018-11-30 | 北京中航惠通自动化技术有限公司 | A kind of low abrasion planetary roller screw and its control method based on magnetic levitation technology |
| CN109341505A (en) * | 2018-09-28 | 2019-02-15 | 北京精密机电控制设备研究所 | A kind of actuator LVDT sensor fixing structure |
| CN110487161A (en) * | 2019-09-16 | 2019-11-22 | 厦门乃尔电子有限公司 | A kind of high temperature LVDT displacement sensor and its assembly technology |
| CN110873159A (en) * | 2019-11-18 | 2020-03-10 | 上海海事大学 | Underwater screw rod sliding block transmission device |
| CN112994342A (en) * | 2021-03-02 | 2021-06-18 | 西北工业大学 | Underwater large-depth direct-connected electric cylinder |
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Application publication date: 20170912 |