CN107314717A - A kind of all-in-one micro rudder system - Google Patents
A kind of all-in-one micro rudder system Download PDFInfo
- Publication number
- CN107314717A CN107314717A CN201710613172.XA CN201710613172A CN107314717A CN 107314717 A CN107314717 A CN 107314717A CN 201710613172 A CN201710613172 A CN 201710613172A CN 107314717 A CN107314717 A CN 107314717A
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- China
- Prior art keywords
- bevel gear
- rudder system
- gear
- steering
- micro
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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
- F42B15/01—Arrangements thereon for guidance or control
Abstract
The invention discloses a kind of all-in-one micro rudder system, including：Motor (1), gear reduction unit (2), steering output mechanism (3), position sensing mechanism (4), control panel (5) and pinboard (6)；The steering output mechanism (3) includes the first pedestal (7), first bevel gear (9), second bevel gear (10), third hand tap gear (11) and output shaft (14), the position sensing mechanism (4) includes angular position pick up (19) and the 5th bevel gear (20), 5th bevel gear (20) is used for ratcheting with the third hand tap gear (11), realize the angular deflection of the output shaft (14), the angular position pick up (19) is used to recognize the signal of the angular deflection and feeds back to the control panel (5), so as to realize the closed-loop control of the rudder system position.The miniature rudder system of the present invention, by the way that four road steering wheels and control system integration are designed, the advantages of possessing rudder system small volume, light weight, high transmission accuracy, high installation accuracy.
Description
Technical field
Embodiments of the invention belong to servo-drive system technical field, more particularly, to a kind of all-in-one micro rudder system.
Background technology
In recent years, with the continuous progress of basic industries level and modern science and technology, servo-drive system is just towards miniaturization, length
Life-span, high efficiency, the development of non-maintaining, electromechanical integration design direction.Integrated micro rudder system arises at the historic moment, relative to biography
It significantly reduces the volume and quality of rudder system to system electric rudder system on the basis of steering wheel structure properties are ensured, makes it
Possess more superior dynamic output characteristic, electrical power properties and control performance, the development trend wanted as current line owner
One of.
Electric rudder system is the execution unit that the deflection of rudder piece is realized during missile flight, when rudder system works, control electricity
Road is deflected by motor output torque, and by reducing gear further amplifies torque come control flaps piece, realizes that the posture of body is adjusted
Whole, traditional electric rudder system is made up of a controller and four road steering wheels, because of its single functional module each other, and existing needs peace
Fill space big, the problems such as steering wheel quality is larger, to realizing that guided missile miniaturization forms restriction.
With the diversity of missile research all the more, portability guided missile turn into country in the urgent need to tackling key problem major issue it
One.Integrated micro rudder system arises at the historic moment, and relative to traditional electric rudder system, it is ensureing the base of steering wheel structure properties
Significantly reduce the volume and quality of rudder system on plinth, and it is possessed more superior dynamical output spy by Miniaturization Design
One of property, electrical power properties and control performance, the development trend wanted as current line owner.
The content of the invention
For the disadvantages described above or Improvement requirement of prior art, the present invention provides a kind of all-in-one micro rudder system, its mesh
Be by the way that four road steering wheels and control system integration are designed, realize rudder system small volume, light weight, high transmission accuracy, peace
Fill the advantages of precision is high.
To achieve these goals, the present invention provides a kind of all-in-one micro rudder system, including：Motor, gear reduction unit,
Turn to output mechanism, position sensing mechanism, control panel and pinboard；
Wherein, the motor is on the gear reduction unit, for output torque；
It is described to turn to the bottom that output mechanism is located at the gear reduction unit, including the first pedestal, first bevel gear, second
Bevel gear, third hand tap gear and output shaft, first bevel gear, second bevel gear and third hand tap gear respectively constitute institute described in four groups
State No. four transmission mechanisms of rudder system；
The gear reduction unit is installed on first pedestal by the pinboard, for amplifying the motor output
Moment of torsion；
The position sensing mechanism include angular position pick up and the 5th bevel gear, the 5th bevel gear be used for it is described
Third hand tap gear is ratcheting, realizes the angular deflection of the output shaft, and the angular position pick up is used to recognize the angular deflection
Signal and feed back to the control panel, so as to realize the closed-loop control of the rudder system position.
Further, the steering output mechanism also includes plug, and the plug is used to finely tune the second bevel gear, the
Back lash between third hand tap gear.
Further, the steering output mechanism also includes central block, and the central block is realized described for installation positioning
Four road output shafts are into cross omnidirectional distribution.
Further, the steering output mechanism also includes the 4th bevel gear, and the 4th bevel gear realizes the gear
Decelerator and the first bevel gear engaged transmission.
Further, the steering output mechanism also includes the second pedestal, and second pedestal is used for the Angle Position
Sensor is installed on the control panel.
Further, the steering output mechanism also includes bearing, and the bearing is used in realizing the plug and being described
Connection between heart block.
Further, the position sensing mechanism also includes adapter and back-up ring, and the back-up ring is provided with the adapter
In groove, the adapter is used to realize the position sensing mechanism and the connection of the 5th bevel gear.
In general, by the contemplated above technical scheme of the present invention compared with prior art, it can obtain down and show
Beneficial effect：
(1) all-in-one micro rudder system of the invention, by the way that four road steering wheels and control system integration are designed, possesses rudder system
The advantages of small volume, light weight, high transmission accuracy, high installation accuracy of uniting.
(2) rudder system control circuit receives the servos control signal that control system is sent, and control signal, steering wheel are fed back
Signal generates PWM square-wave signals according to certain control law, and motor is rotated after power circuit power amplification, through 4 grades
Spur gear and 2 grades of bevel gears realize that angle and torque output are realized in the deflection of steering wheel output shaft after slowing down, and use position sensor
Sensitive alignment of rudder stock is simultaneously converted to voltage signal and feeds back to control circuit, realizes steering wheel position-force control
(3) all-in-one micro rudder system of the invention, is slowed down by 2 grades of bevel gears and realizes that steering wheel output shaft is deflected, can root
Gear backlash is adjusted according to actual conditions, transmission accuracy is improved.
(4) all-in-one micro rudder system of the invention, on the basis of technical target of the product requirement is met, possesses integrated level
Height, small volume, reliability are high, the low feature of component consuming cost.
Brief description of the drawings
Fig. 1 is the integrated micro rudder system assembling schematic diagram of the embodiment of the present invention；
Fig. 2 is the partial sectional view of the integrated micro rudder system of the embodiment of the present invention；
Fig. 3 is the partial sectional view of the integrated micro rudder system of the embodiment of the present invention；
Fig. 4 is the partial sectional view of the integrated micro rudder system of the embodiment of the present invention.
In all of the figs, same reference represents identical technical characteristic, is specially：1- motors, 2- gears subtract
Fast device, 3- turn to output mechanism.4- position sensings mechanism, 5- control panels, 6- pinboards, the pedestals of 7- first, the pedestals of 8- second, 9-
First bevel gear, 10- second bevel gears, 11- third hand tap gears, 12- bearings, 13- plugs, 14- output shafts, 15- central blocks,
The bevel gears of 16- the 4th, 17- back-up rings, 18- adapters, 19- angular position pick ups, the bevel gears of 20- the 5th.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not
For limiting the present invention.As long as in addition, technical characteristic involved in each embodiment of invention described below that
Not constituting conflict between this can just be mutually combined.
The miniature rudder system of the embodiment of the present invention uses integrated design scheme, with modular design concept, will
Digitizing And Control Unit has carried out high integration fusion, while motor and reducing gear, controller are carried out into integrated design.This
Invention is main to be made up of reducing gear, DC servo motor, angular position pick up and control circuit.
Fig. 1 is the integrated micro rudder system assembling schematic diagram of the embodiment of the present invention.As shown in figure 1, the purpose of the present invention
It is realized in, a kind of integrated micro rudder system includes motor 1, gear reduction unit 2, turns to output mechanism 3, position sensing machine
Structure 4 and control panel 5.
Fig. 2 is the partial sectional view of the integrated micro rudder system of the embodiment of the present invention, and Fig. 3 is the one of the embodiment of the present invention
Body declines the partial sectional view of type rudder system, Fig. 4 for the integrated micro rudder system of the embodiment of the present invention partial sectional view.Such as
Shown in Fig. 2~4, wherein, gear reduction unit 2 is made up of 4 grades of Spur Gear Drivings, and motor 1 is arranged on gear reduction unit 2, gear
Decelerator 2 is arranged on the first pedestal 7 by pinboard 6.Output mechanism 3 is turned to be bored by the first pedestal 7, the second pedestal 8, first
Gear 9, second bevel gear 10, third hand tap gear 11, bearing 12, plug 13, output shaft 14, central block 15 are constituted.
Wherein four groups first bevel gears 9, second bevel gear 10, No. four transmission mechanisms of the composition steering wheel of third hand tap gear 11,
The back lash of second bevel gear 10, third hand tap gear 11 is finely tuned by plug 13.Positioning is installed by central block 15 and realizes 4 tunnels
Output shaft 14 is into cross omnidirectional distribution.Gear reduction unit 2 is by the 4th bevel gear 16 with turning to the first cone tooth in output mechanism 3
Take turns 9 engaged transmissions.
Position sensing mechanism 4 is made up of back-up ring 17, adapter 18, angular position pick up 19, the 5th bevel gear 20.Position is quick
Sense mechanism 4 engages the deflection angle for realizing transmission output shaft 14 by the 5th bevel gear 20 with third hand tap gear 11, and by angle position
Put transmission after sensor 19 is recognized and feed back signal to control panel 5, realize steering wheel position-force control.
By control panel 5 by the output torque of motor 1 during rudder system work, then by gear reduction unit 2, steering output machine
Structure 3 is to amplify in moment of torsion with exporting, and realizes steering wheel position-force control by the feedback position signal of position sensing mechanism 4.
The present invention is primarily directed to installing space is small, quality requirement is light, dynamic characteristic requires that high, control accuracy requirement is high
Demand.Rudder system control circuit receives the servos control signal that control system is sent, and control signal, steering wheel feedback signal are pressed
PWM square-wave signals are generated according to certain control law, motor is rotated after power circuit power amplification, through 4 grades of spur gears
Realize that angle and torque output are realized in the deflection of steering wheel output shaft after slowing down with 2 grades of bevel gears, and using the sensitive rudder of position sensor
Shaft position is simultaneously converted to voltage signal and feeds back to control circuit, realizes steering wheel position-force control.Its primary drive position is used
The bevel gear of adjustable back lash, effective small electric moves incident " shake " phenomenon of steering wheel, therefore the structure is with higher
Reliability and practicality.The present invention on the basis of technical target of the product requirement is met, possess integrated level height, small volume, can
By property height, the low feature of component consuming cost.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, it is not used to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the invention etc., it all should include
Within protection scope of the present invention.
Claims (7)
1. a kind of all-in-one micro rudder system, it is characterised in that including：Motor (1), gear reduction unit (2), steering output mechanism
(3), position sensing mechanism (4), control panel (5) and pinboard (6)；
Wherein, the motor (1) is on the gear reduction unit (2), for output torque；
It is described to turn to the bottom that output mechanism (3) is located at the gear reduction unit (2), including the first pedestal (7), first bevel gear
(9), second bevel gear (10), third hand tap gear (11) and output shaft (14), first bevel gear (9), the second cone tooth described in four groups
Wheel (10) and third hand tap gear (11) respectively constitute No. four transmission mechanisms of the rudder system；
The gear reduction unit (2) is installed on first pedestal (7) by the pinboard (6), for amplifying the electricity
The moment of torsion of machine (1) output；
The position sensing mechanism (4) includes angular position pick up (19) and the 5th bevel gear (20), the 5th bevel gear
(20) for ratcheting with the third hand tap gear (11), the angular deflection of the output shaft (14), the Angle Position sensing are realized
Device (19) is used to recognize the signal of the angular deflection and feeds back to the control panel (5), so as to realize the rudder system position
Closed-loop control.
2. a kind of all-in-one micro rudder system according to claim 1, it is characterised in that the steering output mechanism (3)
Also include plug (13), the plug (13) is used to finely tune nibbling between the second bevel gear (10), third hand tap gear (11)
Close gap.
3. a kind of all-in-one micro rudder system according to claim 1 or 2, it is characterised in that the steering output mechanism
(3) central block (15) is also included, the central block (15) realizes four road output shaft (14) into cross just for installing positioning
Hand over distribution.
4. a kind of all-in-one micro rudder system according to any one of claim 1-3, it is characterised in that the steering is defeated
Going out mechanism (3) also includes the 4th bevel gear (16), and the 4th bevel gear (16) realizes the gear reduction unit (2) and described the
One bevel gear (9) engaged transmission.
5. a kind of all-in-one micro rudder system according to any one of claim 1-4, it is characterised in that the steering is defeated
Going out mechanism (3) also includes the second pedestal (8), and second pedestal (8) is used to the angular position pick up (19) being installed on institute
State on control panel (5).
6. a kind of all-in-one micro rudder system according to any one of claim 1-5, it is characterised in that the steering is defeated
Going out mechanism (3) also includes bearing (12), and the bearing (12) is used to realize between the plug (13) and the central block (15)
Connection.
7. a kind of all-in-one micro rudder system according to claim 1, it is characterised in that the position sensing mechanism (4)
Also include in adapter (18) and back-up ring (17), groove of the back-up ring (17) provided with the adapter (18), the adapter
(18) it is used to realize the position sensing mechanism (4) and the connection of the 5th bevel gear (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710613172.XA CN107314717B (en) | 2017-07-25 | 2017-07-25 | A kind of all-in-one micro rudder system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710613172.XA CN107314717B (en) | 2017-07-25 | 2017-07-25 | A kind of all-in-one micro rudder system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107314717A true CN107314717A (en) | 2017-11-03 |
| CN107314717B CN107314717B (en) | 2018-10-30 |
Family
ID=60179439
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710613172.XA Active CN107314717B (en) | 2017-07-25 | 2017-07-25 | A kind of all-in-one micro rudder system |
Country Status (1)
| Country | Link |
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| CN (1) | CN107314717B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110230956A (en) * | 2019-04-29 | 2019-09-13 | 西安航天精密机电研究所 | A kind of Electrodynamic Rudder System |
| 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 |
| CN113280689A (en) * | 2021-06-16 | 2021-08-20 | 重庆航天工业有限公司 | Rudder system |
| CN115218728A (en) * | 2022-08-26 | 2022-10-21 | 上海翔骜电子科技有限公司 | Electric steering engine and control system thereof |
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| CN102188823A (en) * | 2011-03-09 | 2011-09-21 | 北京联合大学 | Multi-rudder cluster type electric steering gear system and control method thereof |
| KR101073260B1 (en) * | 2009-04-02 | 2011-10-12 | 최용준 | Control fin deploying and actuating system for guided projectiles |
| CN105659798B (en) * | 2008-12-26 | 2012-10-17 | 北京精密机电控制设备研究所 | The integrated electric steering engine of anti high overload |
| CN202966656U (en) * | 2012-10-25 | 2013-06-05 | 贵州航天林泉电机有限公司 | Small integrated electric steering engine assembly |
| CN106813537A (en) * | 2016-12-13 | 2017-06-09 | 中国航天空气动力技术研究院 | A kind of four axle combines the helm gear of precision actuation |
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Patent Citations (5)
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| CN105659798B (en) * | 2008-12-26 | 2012-10-17 | 北京精密机电控制设备研究所 | The integrated electric steering engine of anti high overload |
| KR101073260B1 (en) * | 2009-04-02 | 2011-10-12 | 최용준 | Control fin deploying and actuating system for guided projectiles |
| CN102188823A (en) * | 2011-03-09 | 2011-09-21 | 北京联合大学 | Multi-rudder cluster type electric steering gear system and control method thereof |
| CN202966656U (en) * | 2012-10-25 | 2013-06-05 | 贵州航天林泉电机有限公司 | Small integrated electric steering engine assembly |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110230956A (en) * | 2019-04-29 | 2019-09-13 | 西安航天精密机电研究所 | A kind of Electrodynamic Rudder System |
| 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 |
| CN113280689A (en) * | 2021-06-16 | 2021-08-20 | 重庆航天工业有限公司 | Rudder system |
| CN115218728A (en) * | 2022-08-26 | 2022-10-21 | 上海翔骜电子科技有限公司 | Electric steering engine and control system thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107314717B (en) | 2018-10-30 |
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