CN107289823B - Positional servosystem in a kind of Low rigidity executive device and bullet - Google Patents
Positional servosystem in a kind of Low rigidity executive device and bullet Download PDFInfo
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- CN107289823B CN107289823B CN201710475072.5A CN201710475072A CN107289823B CN 107289823 B CN107289823 B CN 107289823B CN 201710475072 A CN201710475072 A CN 201710475072A CN 107289823 B CN107289823 B CN 107289823B
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- prong
- axle sleeve
- executive device
- low rigidity
- metal layer
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B10/00—Means for influencing, e.g. improving, the aerodynamic properties of projectiles or missiles; Arrangements on projectiles or missiles for stabilising, steering, range-reducing, range-increasing or fall-retarding
- F42B10/02—Stabilising arrangements
- F42B10/04—Stabilising arrangements using fixed fins
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Chemical & Material Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Combustion & Propulsion (AREA)
- Vibration Prevention Devices (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The present invention relates to a kind of Low rigidity executive device and positional servosystems, belong to executive device technical field, under the premise of guaranteeing accurate response quickly and enough structural strengths and load capacity, solve the problems, such as to generate the unattenuated destructive pneumatic flutter of servo-system amplitude since the rigidity of executive device is excessively high, the torsional frequency of executive device easily couple with the corner frequency of the other frequencies of body or servo-system in the prior art.The Low rigidity executive device includes shift fork, motor, the feed screw nut with the lead screw shaft of the output axis connection of motor and with lead screw shaft fitting, and Low rigidity executing agency further includes the splicing sleeve affixed with feed screw nut；Splicing sleeve is located in the prong of shift fork, and prong passes through prong elastic layer and prong metal layer and splicing sleeve sliding contact；In use, the axle sleeve of shift fork is contacted with the fixation of the rudder wing.Low rigidity executive device provided by the invention can be used for the position transmission of positional servosystem on bullet.
Description
Technical field
The present invention relates to position servo systems in a kind of executive device more particularly to a kind of Low rigidity executive device and bullet
System.
Background technique
Executive device (for example, roller gear, ball-screw, planetary gear, turbine and worm and harmonic wave reduction gearing etc.) is
The important component units of positional servosystem (hereinafter referred to as servo-system) on bullet, real-time reception host computer provides at work
Position signal, and by servo motor drive transmission device respond position signal.
In servo-system, not only executive device needs quickly and accurately to respond position signal, should also have enough knots
Structure intensity, load capacity and higher power-mass ratio.Therefore, in order to meet the requirement of structural strength and load capacity, lead to
The rigidity of normal executive device is higher, so that executive device is typically in uncontrollable state.
But with the promotion of missile performance, under the coupling of in-flight aerodynamic force, elastic force and inertia force,
The torsion stiffness of executive device is excessively high, so that the torsional frequency of servo-system is easily bent frequency with the other frequencies of body or servo-system
Rate coupling, to generate the unattenuated pneumatic flutter of destructiveness of amplitude.
Summary of the invention
In view of above-mentioned analysis, the present invention is intended to provide positional servosystem on a kind of Low rigidity executive device and bullet,
Under the premise of guaranteeing accurate response quickly and enough structural strengths and load capacity, solve in the prior art due to holding
The rigidity that luggage is set is excessively high, executive device torsional frequency is easily coupled with the corner frequency of the other frequencies of body or servo-system and
Lead to the problem of the unattenuated pneumatic flutter of destructiveness of servo-system amplitude.
The purpose of the present invention is mainly achieved through the following technical solutions:
In a first aspect, the present invention provides a kind of Low rigidity executive devices comprising shift fork, motor, the output with motor
The lead screw shaft of axis connection and feed screw nut with lead screw shaft fitting, which is characterized in that Low rigidity executing agency further includes and silk
The affixed splicing sleeve of thick stick nut；Splicing sleeve is located in the prong of shift fork, and prong passes through prong elastic layer and prong metal layer and branch
Bearing sleeve sliding contact；In use, the axle sleeve of shift fork is contacted with the fixation of the rudder wing.
Further, prong elastic layer and prong metal layer are sequentially formed at the prong surface opposite with splicing sleeve, prong
Metal layer is contacted with splicing sleeve；Alternatively, prong elastic layer and prong metal layer are sequentially formed at the splicing sleeve table opposite with prong
Face, prong metal layer are contacted with prong.
Further, the axle sleeve of shift fork is contacted by axle sleeve elastic layer and axle sleeve metal layer with the rudder wing.
Further, axle sleeve elastic layer and axle sleeve metal layer are sequentially formed at the axle sleeve surface opposite with the rudder wing, axle sleeve gold
Belong to layer to contact with the rudder wing；Alternatively, axle sleeve elastic layer and axle sleeve metal layer are sequentially formed at the rudder wing surface opposite with axle sleeve, axle sleeve
Metal layer is contacted with axle sleeve.
Further, prong elastic layer with a thickness of 0.5mm~2mm, prong metal layer with a thickness of 0.5mm~2mm；Axis
Cover elastic layer with a thickness of 0.5mm~2mm, axle sleeve metal layer with a thickness of 0.5mm~2mm；.
Further, the elasticity modulus of prong elastic layer is 3GPa~4GPa；The elasticity modulus of axle sleeve elastic layer is 3GPa
~4GPa.
Further, prong elastic layer is made of polyurethane or polyimides；Axle sleeve elastic layer is sub- by polyurethane or polyamides
Amine is made.
Further, Low rigidity executive device further includes train of reduction gears；The output shaft of motor by train of reduction gears with
Lead screw axis connection.
Further, the reduction ratio of train of reduction gears is 5~10.
Second aspect, the present invention provides a kind of positional servosystems comprising above-mentioned Low rigidity executive device.
Compared with prior art, the present invention has the beneficial effect that:
A) main structure of Low rigidity executive device provided by the invention is basically unchanged, response speed, response accuracy,
Structural strength and load capacity are basically unchanged.
B) Low rigidity executive device provided by the invention can reduce the rigidity of entire executive device, itself intrinsic frequency with
And torsion mode, improve mode of flexural vibration, enable itself torsional frequency of executive device avoid the other frequencies of body and from
Body corner frequency, reduce executive device itself torsional frequency and itself corner frequency, executive device itself torsional frequency with
The frequency of the other components of body is guaranteeing accurate response quickly and enough structural strengths and load energy there is a situation where coupling
Under the premise of power, solve in the prior art due to the rigidity of executive device is excessively high, the torsional frequency of executive device easily and body
The corner frequency of other frequencies or servo-system couples and generates asking for the unattenuated pneumatic flutter of destructiveness of servo-system amplitude
Topic.
C) Low rigidity executive device provided by the invention is in the certain specific areas of aerospace (position servo system on such as bullet
System) there is real application value.
Other features and advantages of the present invention will illustrate in the following description, also, partial become from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by written explanation
Specifically noted structure is achieved and obtained in book, claims and attached drawing.
Detailed description of the invention
Attached drawing is only used for showing the purpose of specific embodiment, and is not to be construed as limiting the invention, in entire attached drawing
In, identical reference symbol indicates identical component.
Fig. 1 is the structural schematic diagram of the Low rigidity executive device of the embodiment of the present invention one；
Fig. 2 is the structural schematic diagram of another structure of the Low rigidity executive device of the embodiment of the present invention one.
Specific embodiment
Specifically describing the preferred embodiment of the present invention with reference to the accompanying drawing, wherein attached drawing constitutes the application a part, and
Together with embodiments of the present invention for illustrating the principle of the present invention.
Embodiment one
A kind of Low rigidity executive device is present embodiments provided, referring to Fig. 1 to Fig. 2 comprising shift fork 1, motor 2 and electricity
The lead screw shaft 3 of the output axis connection of machine 2, feed screw nut 4 and the splicing sleeve affixed with feed screw nut 4 with 3 fitting of lead screw shaft
5.Wherein, splicing sleeve 5 is located in the prong 101 of shift fork 1, and prong 101 passes through prong elastic layer 6 and prong metal layer 7 and bearing
Cover 5 sliding contacts；In use, the axle sleeve 102 of shift fork 1 is contacted with the cooperation of the rudder wing 8.
When implementation, the output shaft of motor 2 drives lead screw shaft 3 to rotate, and lead screw shaft 3 with feed screw nut 4 by cooperating, by lead screw
The rotary motion of axis 3 is converted into feed screw nut 4 and splicing sleeve 5 along the horizontal movement of the axis direction of lead screw shaft 3, so that splicing sleeve
5 push shift fork 1 to rotate, so that the rudder wing 8 be driven to deflect.
Compared with prior art, the main structure of Low rigidity executive device provided in this embodiment is basically unchanged, therefore,
Response speed, response accuracy, structural strength and load capacity are basically unchanged.Meanwhile above-mentioned Low rigidity executive device is supporting
Prong elastic layer 6 is set between axis 5 and prong 101, since support shaft 5 and prong 101 are typically constructed of metal, metal and elasticity
Contact stiffness between layer is low compared to the contact stiffness between metal and metal, so as to reduce the rigid of entire executive device
Degree, itself intrinsic frequency and torsion mode improve mode of flexural vibration, itself torsional frequency of executive device are enabled to avoid bullet
The other frequencies of body and itself corner frequency reduce itself torsional frequency and itself corner frequency, executive device of executive device
Itself torsional frequency with the frequency of the other components of body there is a situation where coupling, guarantee response quickly it is accurate and enough
Under the premise of structural strength and load capacity, solve in the prior art since the rigidity of executive device is excessively high, executive device
Torsional frequency easily couples with the corner frequency of the other frequencies of body or servo-system and generates unattenuated broken of servo-system amplitude
The problem of bad property pneumatic flutter.It is above-mentioned low rigid especially at the certain specific areas of aerospace (positional servosystem on such as bullet)
Spend the application value that executive device has reality.
For the position of prong elastic layer 6 and prong metal layer 7, specifically, referring to Fig. 1, prong elastic layer 6 and prong
Metal layer 7 can be sequentially formed at the surface opposite with splicing sleeve 5 of prong 101, and prong metal layer 7 is contacted with splicing sleeve 5.This
Sample, during splicing sleeve 5 pushes shift fork 1 to rotate, prong metal layer 7 and 5 phase mutual friction of splicing sleeve, on improving
State the wearability and service life of executive device.
It should be noted that in the prior art, the existing contact stiffness between prong 101 and splicing sleeve 5 is 35000N/mm
~48000N/mm, corresponding single order torsional frequency are 90Hz~120Hz.By being set on the surface opposite with splicing sleeve 5 of prong 101
Set prong elastic layer 6 and prong metal layer 7, the contact stiffness between prong 101 and splicing sleeve 5 can be reduced to 5600N/mm~
26000N/mm, single order torsional frequency are reduced to 41Hz~80Hz, and fall is obvious.
Similarly, referring to fig. 2, prong elastic layer 6 and prong metal layer 7 can also be sequentially formed at splicing sleeve 5 and prong
101 opposite surfaces, prong metal layer 7 are contacted with prong 101.
In order to further decrease the rigidity, itself intrinsic frequency and torsion mode of entire executive device, bending die is improved
The axle sleeve 102 of state, shift fork 1 can be contacted by axle sleeve elastic layer 9 and axle sleeve metal layer 10 with the rudder wing 8.It is equally because of metal
Rigidity between elastic layer is low compared to the rigidity between metal and metal, and prong is arranged between support shaft 5 and prong 101
While elastic layer 6, it is also provided with axle sleeve elastic layer 9 in the axle sleeve 102 and the rudder wing 8 of shift fork 1, entire execution can be further decreased
The rigidity of device, itself intrinsic frequency and torsion mode improve mode of flexural vibration.
For the position of axle sleeve elastic layer 9 and axle sleeve metal layer 10, specifically, referring to Fig. 1, axle sleeve elastic layer 9 and axis
Set metal layer 10 can be sequentially formed at the surface opposite with the rudder wing 8 of axle sleeve 102, and axle sleeve metal layer 10 is contacted with the rudder wing 8；Or
Person, referring to fig. 2, axle sleeve elastic layer 9 and axle sleeve metal layer 10 can also be sequentially formed at the surface opposite with axle sleeve 102 of the rudder wing 9,
Axle sleeve metal layer 10 is contacted with axle sleeve 102.
In order to guarantee that response speed, response accuracy, structural strength and the load capacity of above-mentioned executive device are basically unchanged,
The thickness of prong elastic layer 6 should be in the range of 0.5mm~2mm, and the thickness of axle sleeve elastic layer 9 should be 0.5mm~2mm's
In range.Meanwhile the wearability in order to guarantee above-mentioned executive device, the thickness of prong metal layer 7 should be 0.5mm~2mm's
In range, the thickness of axle sleeve metal layer 10 should be in the range of 0.5mm~2mm.
In order to further decrease the torsion mode of entire executive device, mode of flexural vibration, the springform of prong elastic layer 6 are improved
Amount can be 3GPa~4GPa, and the elasticity modulus of axle sleeve elastic layer 9 is 3GPa~4GPa.By prong elastic layer 6 and axle sleeve elasticity
The elasticity modulus of layer 9 limits within the above range, can further decrease the torsion mode of entire executive device, improves bending die
State, to further avoid itself torsional frequency of executive device and itself torsional frequency of itself corner frequency, executive device
It is coupled with the frequency of the other components of body.
Illustratively, under the premise of meeting above-mentioned elasticity modulus requirement, prong elastic layer 6 and axle sleeve elastic layer 9 can be with
It is made of polyurethane or polyimides.
Under normal conditions, above-mentioned Low rigidity executive device further includes train of reduction gears 11, illustratively, train of reduction gears 11
Reduction ratio be 5~10.In this way, the output shaft of motor 2 is connect by train of reduction gears 11 with lead screw shaft 3, so as to will be electric
The output revolving speed of machine 2 is adjusted to suitable revolving speed by train of reduction gears 11, to drive lead screw shaft 3 to rotate.Specifically, above-mentioned to subtract
Fast gear set 11 may include and the one-stage gear 1101 of the output axis connection of motor 2, the second level engaged with one-stage gear 1101
Gear 1102 and the tertiary gear 1103 engaged with secondary gear 1102, the output shaft and lead screw shaft 3 of tertiary gear 1103 connect
It connects.
Since above-mentioned executive device needs to be applied on bullet in positional servosystem, it is contemplated that the response speed of structure, sound
The compact of the accuracy and structure answered, above-mentioned motor 2 can be brushless servo motor.Brushless servo motor has volume
The features such as small, light-weight, power output is greatly, response is fast, speed is high, inertia is small, rotation is smooth and torque stablizes, so that using brushless
The executive device of servo motor driving is more applicable for positional servosystem on bullet.
In view of the requirement of installation, above-mentioned executive device further include set on 3 both ends of lead screw shaft lead screw bearing 12 and with
The secondary gear bearing 13 of the gear axis connection of secondary gear 1102, wherein lead screw bearing 12 is used to support lead screw shaft 3, secondary gear
Wheel bearing 13 is used to support secondary gear 1102.
Embodiment two
Present embodiments provide positional servosystem on a kind of bullet comprising the Low rigidity executive device in embodiment one.
Compared with prior art, on bullet provided in this embodiment in the beneficial effect Yu embodiment one of positional servosystem
The beneficial effect of Low rigidity executive device is identical, and details are not described herein.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.
Claims (8)
1. a kind of Low rigidity executive device, including shift fork, motor, with the lead screw shaft of the output axis connection of the motor and with institute
State the feed screw nut of lead screw shaft fitting, which is characterized in that the Low rigidity executing agency further includes the branch affixed with feed screw nut
Bearing sleeve；
The splicing sleeve is located in the prong of the shift fork, and the prong passes through prong elastic layer and prong metal layer and splicing sleeve
Sliding contact；
In use, the axle sleeve of the shift fork is contacted with the fixation of the rudder wing；
The prong elastic layer and prong metal layer are sequentially formed at the prong surface opposite with the splicing sleeve, the fork
Foot metal layer is contacted with the splicing sleeve；Alternatively, the prong elastic layer and prong metal layer are sequentially formed at the splicing sleeve
The surface opposite with the prong, the prong metal layer are contacted with the prong；
The axle sleeve of the shift fork is contacted by axle sleeve elastic layer and axle sleeve metal layer with the rudder wing.
2. Low rigidity executive device according to claim 1, which is characterized in that the axle sleeve elastic layer and axle sleeve metal layer
It is sequentially formed at the axle sleeve surface opposite with the rudder wing, the axle sleeve metal layer is contacted with the rudder wing；
Alternatively, the axle sleeve elastic layer and axle sleeve metal layer are sequentially formed at the rudder wing surface opposite with the axle sleeve, institute
Axle sleeve metal layer is stated to contact with the axle sleeve.
3. Low rigidity executive device according to claim 1, which is characterized in that the prong elastic layer with a thickness of
0.5mm~2mm, the prong metal layer with a thickness of 0.5mm~2mm；
The axle sleeve elastic layer with a thickness of 0.5mm~2mm, the axle sleeve metal layer with a thickness of 0.5mm~2mm.
4. Low rigidity executive device according to claim 1, which is characterized in that the elasticity modulus of the prong elastic layer is
3GPa~4GPa；
The elasticity modulus of the axle sleeve elastic layer is 3GPa~4GPa.
5. Low rigidity executive device according to claim 4, which is characterized in that the prong elastic layer is by polyurethane or gathers
Acid imide is made；
The axle sleeve elastic layer is made of polyurethane or polyimides.
6. described in any item Low rigidity executive devices according to claim 1~5, which is characterized in that the Low rigidity executes dress
Setting further includes train of reduction gears；
The output shaft of the motor passes through train of reduction gears and the lead screw axis connection.
7. Low rigidity executive device according to claim 6, which is characterized in that the reduction ratio of the train of reduction gears is 5
~10.
8. positional servosystem on a kind of bullet, which is characterized in that positional servosystem includes such as claim 1~7 on the bullet
Described in any item Low rigidity executive devices.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710475072.5A CN107289823B (en) | 2017-06-21 | 2017-06-21 | Positional servosystem in a kind of Low rigidity executive device and bullet |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710475072.5A CN107289823B (en) | 2017-06-21 | 2017-06-21 | Positional servosystem in a kind of Low rigidity executive device and bullet |
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| CN107289823A CN107289823A (en) | 2017-10-24 |
| CN107289823B true CN107289823B (en) | 2019-02-22 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108286918A (en) * | 2017-12-29 | 2018-07-17 | 中国航天空气动力技术研究院 | A kind of how shaft-driven annular rudder control unit |
| CN109505940A (en) * | 2018-12-05 | 2019-03-22 | 兰州飞行控制有限责任公司 | A kind of rocker-arm angular displacement actuator |
| CN110254691A (en) * | 2019-07-05 | 2019-09-20 | 贵州航天控制技术有限公司 | A kind of single steering engine structure and even distribution type electric steering engine |
| CN110455132A (en) * | 2019-08-30 | 2019-11-15 | 贵州航天控制技术有限公司 | A kind of small-sized integral type combination control mechanism |
| CN111186562A (en) * | 2020-01-16 | 2020-05-22 | 湖北三江航天红峰控制有限公司 | Servo mechanism capable of bearing radial load |
| CN111664756A (en) * | 2020-05-12 | 2020-09-15 | 上海机电工程研究所 | Structure suitable for air rudder and steering engine system connection |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6827310B1 (en) * | 2003-09-22 | 2004-12-07 | The United States Of America As Represented By The Secretary Of The Navy | Apparatus and method for fin actuation in a portable missile |
| CN201733175U (en) * | 2010-06-18 | 2011-02-02 | 珠海市蓝海节能科技有限公司 | Power-operated clutch executive device of electric machine |
| CN203271992U (en) * | 2013-05-20 | 2013-11-06 | 常州市长昊机械有限公司 | Shifting fork |
| CN106364669A (en) * | 2016-09-08 | 2017-02-01 | 北京精密机电控制设备研究所 | Lead screw-shifting fork type electromechanical servo mechanism |
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