CN107725705B - Linear anti-jamming dual-redundancy electromechanical actuator - Google Patents
Linear anti-jamming dual-redundancy electromechanical actuator Download PDFInfo
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- CN107725705B CN107725705B CN201710938334.7A CN201710938334A CN107725705B CN 107725705 B CN107725705 B CN 107725705B CN 201710938334 A CN201710938334 A CN 201710938334A CN 107725705 B CN107725705 B CN 107725705B
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- 230000005540 biological transmission Effects 0.000 claims abstract description 48
- 239000003638 chemical reducing agent Substances 0.000 claims description 49
- 230000033001 locomotion Effects 0.000 claims description 29
- 238000006073 displacement reaction Methods 0.000 claims description 17
- 230000009471 action Effects 0.000 claims description 6
- 230000002457 bidirectional effect Effects 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 abstract description 6
- 230000009467 reduction Effects 0.000 description 11
- 238000009434 installation Methods 0.000 description 4
- 230000009977 dual effect Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 230000008093 supporting effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
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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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- 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
- F16H25/205—Screw mechanisms comprising alternate power paths, e.g. for fail safe back-up
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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
- F16H25/2204—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with balls
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- 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
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
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- 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
- H02K7/08—Structural association with bearings
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- 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
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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
- F16H2025/204—Axial sliding means, i.e. for rotary support and axial guiding of nut or screw shaft
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
- H02K2213/06—Machines characterised by the presence of fail safe, back up, redundant or other similar emergency arrangements
Abstract
The invention discloses a linear anti-jamming dual-redundancy electromechanical actuator, which has the characteristics of anti-jamming dual-redundancy, namely a main working mode and a backup working mode, and is mainly realized through a linear transmission mechanism, wherein the main functional part of the linear transmission mechanism is a nested ball screw pair and comprises an outer screw and an inner screw, the outer screw mainly works, the inner screw is used as a backup, the nested layout can reduce the radial occupied space, simultaneously reduce the axial zero position length and improve the specific power of the actuator.
Description
Technical Field
The invention relates to a linear anti-jamming dual-redundancy electromechanical actuator, which is applied to high-reliability servo systems such as aviation and aerospace and belongs to the field of electromechanical servo.
Background
The electromechanical actuator is widely applied to the technical field of servo due to the advantages of high transmission precision, high response speed, easy maintenance and the like. Ball screw transmissions are one of the common forms of linear electromechanical actuators. From the current development situation at home and abroad, high reliability is the most important factor for restricting the wide application of the electromechanical actuator in the aviation field. To improve the reliability of an electromechanical actuator, the electromechanical actuator needs to have a fail-over capability. At present, an electromechanical actuator usually ensures that an electrical system has redundancy function, but effective measures cannot be taken on the problem that a lead screw is blocked.
Disclosure of Invention
The technical problem of the invention is solved: in order to overcome the defects of the prior art, the linear anti-jamming dual-redundancy electromechanical actuator still has full-scale working capacity under the condition of one-degree fault, and an electrical system has a four-redundancy fault safety function so as to improve the reliability and safety of the electromechanical actuator.
The technical solution of the invention is as follows:
a linear anti-jamming dual-redundancy electromechanical actuator comprises a first motor, a second motor, a first brake, a second brake, a ball spline gear pair, an outer lead screw, an inner lead screw, a first planetary reducer, a second planetary reducer and a transmission gear,
under a main working mode, the electric control signal controls the second brake to break power and brake, the output shaft of the second motor is locked, the ball spline gear pair is in a locking state, the inner lead screw is locked, the first motor drives the first planetary reducer to operate and drives the outer lead screw to work, the outer lead screw converts rotary motion into linear motion, the inner lead screw and the ball spline gear pair perform linear motion along with the lead screw of the outer lead screw and output linear displacement;
when the main working mode breaks down, the backup working mode is started, the first brake is controlled by the electric control signal to brake and lock the output shaft of the first motor, the outer lead screw is locked, the second motor is unlocked to drive the second planetary reducer to operate, the ball spline gear pair is driven to operate through the transmission gear, the inner lead screw is driven to operate, the rotary linear displacement is output, and under the action of the support lug at the output end, the rotary motion is eliminated, and the linear motion is output.
The motor shaft brake device is characterized by further comprising a first brake shell, a second brake shell and a nested lead screw shell, wherein a first motor and a second motor are fixed on the nested lead screw shell respectively with the first brake shell and the second brake shell, the upper surface and the lower surface of the nested lead screw shell support the motors and the brake shells, the first brake and the second brake are installed in the first brake shell and the second brake shell respectively, and the motor shaft can be locked in a power-off state.
The first planetary reducer, the second planetary reducer and the nested ball screw pair are arranged in the nested screw shell through bearings, wherein the nested ball screw pair consists of an outer screw and an inner screw; the guide block is installed in the key groove of the connecting end of the outer screw rod and the inner screw rod and is in micro-clearance fit with the sliding groove of the nested screw rod shell, the rotation of the screw rod nut is limited in transmission, the guide block is axially guided, and the output end support lug assembly is installed on the inner screw rod to output linear displacement.
The motor shafts of the first motor and the second motor are respectively connected with the first sun gear and the second sun gear of the first planetary reducer and the second planetary reducer, and the first planet carrier of the first planetary reducer is matched with the shell to limit the rotation of the first planet carrier.
Still include outer screw nut, main work gear and first reduction gear outer gear ring, first reduction gear outer gear ring is interior external tooth design, the internal tooth meshes with first planetary reducer's planet wheel, the external tooth meshes with main work gear, main work gear is connected with outer screw nut, the motor shaft drives first sun gear rotation of first planetary reducer, first sun gear will rotate the first reduction gear outer gear ring that transmits first planetary reducer, first reduction gear outer gear ring drives outer screw nut and works.
The transmission shaft is connected with the transmission shaft, the transmission gear is meshed with the ball spline gear, the ball spline gear is matched with the inner lead screw nut, the ball spline gear can drive the inner lead screw nut to rotate, and the two can slide relatively.
During operation, the shaft of the second motor drives the second sun gear to rotate, the second sun gear transmits motion to the second planet carrier, the second planet carrier drives the transmission shaft to work, and then drives the transmission gear to rotate, and the transmission gear drives the ball spline gear to rotate, so that the inner screw nut is driven to work, and linear motion is output under the action of the output end lug assembly.
The inner lead screw nut not only rotates but also slides when the main working mode breaks down, the inner ring of the thrust bearing is in press fit with the inner lead screw nut through the bearing locking nut, the outer ring of the thrust bearing is in press fit with the output end support lug and the bearing installation shell, the inner lead screw nut and the output end support lug can rotate relatively and transmit axial force and linear displacement simultaneously, and the rotary linear motion of the inner lead screw nut is converted into linear motion through the output end support lug assembly.
Compared with the prior art, the invention has the following beneficial effects:
(1) the electric actuator has the characteristics of jam prevention and dual redundancy, namely a main working mode and a backup working mode, and is mainly realized through a linear transmission mechanism, the main functional parts of the linear transmission mechanism are a nested ball screw pair and comprise an outer screw and an inner screw, wherein the outer screw mainly works, the inner screw is used as a backup, the radial occupied space can be reduced through nested layout, the axial zero position length is reduced, and the specific power of the actuator is improved;
(2) the motor and the actuator are arranged in parallel, so that the axial size can be reduced; the planetary reducer and the dead axle gear are used in a transmission combination mode, so that the center distance and the radial size can be reduced, the mounting angles of the two motors can be adjusted according to the actual mounting space requirement, the applicability is high, the screw shell and the reducer shell are integrally designed, the structure of an intermediate gear and a mounting flange is omitted, and the center distance and the radial size are shortened;
(3) the internal lead screw nut is connected with the output end support lug through a thrust bearing structure, can rotate relatively, and can simultaneously transmit axial force and output linear displacement.
Drawings
FIG. 1 is a schematic view of an electromechanical actuator of the present invention;
FIG. 2 is a partial cross-sectional view of the electromechanical actuator of the present invention;
FIG. 3 is a view showing a structure of a transmission of an actuator according to the present invention;
FIG. 4 is a diagram of an output end lug assembly of the present invention;
FIG. 5 is a schematic external view of the electromechanical actuator of the present invention.
Detailed Description
The present invention is described in further detail below with reference to the attached drawings.
A linear anti-jamming dual-redundancy electromechanical actuator is shown in figures 1, 2 and 5 and comprises a first motor 6A, a second motor 6B, a first brake 15A, a second brake 15B, a ball spline gear pair 5, an outer screw rod 3, an inner screw rod 4, a first planetary reducer 16A, a second planetary reducer 16B and a transmission gear 13,
under a main working mode, an electric control signal controls a second brake 15B to be powered off and braked, an output shaft of a second motor 6B is locked, a ball spline gear pair 5 is in a locking state, an inner lead screw 4 is locked, the first motor 6A drives a first planetary reducer 16A to operate and drive an outer lead screw 3 to work, the outer lead screw 3 converts rotary motion into linear motion, and the inner lead screw 4 and the ball spline gear pair 5 perform linear motion along with a lead screw of the outer lead screw 3 and output linear displacement;
when the main working mode breaks down, the backup working mode is started, the first brake 15A is controlled by the electric control signal to brake and lock the output shaft of the first motor 6A, the outer lead screw 3 is locked, the second motor 6B is unlocked to drive the second planetary reducer 16B to operate, the ball spline gear pair 5 is driven to operate through the transmission gear 13, the inner lead screw 4 is driven to operate, the rotary linear displacement is output, and under the action of the support lug 2 at the output end, the rotary motion is eliminated, and the linear motion is output.
As shown in fig. 2, the brake device further comprises a first brake housing 7A, a second brake housing 7B and a nested lead screw housing 8, wherein the first motor 6A and the second motor 6B are respectively fixed on the nested lead screw housing 8 together with the first brake housing 7A and the second brake housing 7B, the upper and lower surfaces of the nested lead screw housing 8 support the motors and the brake housings, and the first brake 15A and the second brake 15B are respectively installed in the first brake housing 7A and the second brake housing 7B, so that the motor shaft can be locked when power is off.
The planetary speed reducer further comprises a guide block 18 and an output end lug assembly 2, wherein a first planetary speed reducer 16A, a second planetary speed reducer 16B and a nested ball screw pair are mounted in the nested screw shell 8 through bearings, and the nested ball screw pair consists of an outer screw rod 3 and an inner screw rod 4; the guide block 18 is installed in the key groove of the connecting end of the outer lead screw 3 and the inner lead screw 4 and is in micro-clearance fit with the sliding groove of the nested lead screw shell 8, the rotation of a lead screw nut is limited in transmission, the guide block is axially guided, and the output end lug assembly 2 is installed on the inner lead screw 4 to output linear displacement.
The connecting end cover 10 is installed on the right side of the nested lead screw shell 8 in a matched mode through a spigot and is fastened through screws, and the connecting end cover mainly plays a role in supporting a bearing and locating the shell. The ball spline gear pair shell 9 and the connecting end cover 10 are installed in a matched mode, and mainly provide supporting effect for the ball spline gear pair 5 and a bearing and provide sealing guarantee for the transmission ring section. The position sensor mounting shell 11 is positioned through a spigot and fixedly connected with the ball spline gear pair shell 9 through a screw, and mainly provides support and sealing for the sensor assembly. A position sensor mounting cover 12 is mounted on the position sensor mounting housing 11 and the ball spline gear set housing 9, provides a seal for the sensor, and functions to support the connector. The output end lug assembly 2 is arranged on the inner screw rod 4 and outputs linear displacement.
As shown in fig. 2 and 3, motor shafts of the first motor 6A and the second motor 6B are connected to a first sun gear 25 and a second sun gear 26 of the first planetary reduction gear 16A and the second planetary reduction gear 16B, respectively, and the first carrier 22 of the first planetary reduction gear 16A is engaged with the housing to restrict rotation of the first carrier 22.
Still include outer lead screw nut 3B, main work gear 3C and first reduction gear outer gear ring 21, first reduction gear outer gear ring 21 is the design of interior external tooth, the internal tooth meshes with first planetary reducer 16A's planet wheel, the external tooth meshes with main work gear 3C, main work gear 3C is connected with outer lead screw nut 3B, the motor shaft drives first planetary reducer 16A's first sun gear 25 and rotates, first sun gear 25 will rotate the first reduction gear outer gear ring 21 that transmits first planetary reducer 16A, first reduction gear outer gear ring 21 drives outer lead screw nut 3B work.
The novel screw driver further comprises an inner screw nut 4B, a transmission gear 13, a second reducer outer gear ring 23 and a transmission shaft 31, a second planet carrier 24 of a second planetary reducer 16B is connected with the transmission shaft 31, the second reducer outer gear ring 23 is fixedly connected with the shell to limit rotation of the outer gear ring, the transmission shaft 31 is connected with the transmission gear 13, the transmission gear 13 is meshed with a ball spline gear 5A, the ball spline gear 5A is matched with the inner screw nut 4B, the ball spline gear 5A can drive the inner screw nut to rotate, and the two can slide relatively.
During operation, the shaft of the second motor 6B drives the second sun gear 26 to rotate, the second sun gear 26 transmits the motion to the second planet carrier 24, the second planet carrier 24 drives the transmission shaft 31 to work, and then drives the transmission gear 13 to rotate, and the transmission gear 13 drives the ball spline gear 5A to rotate, so as to drive the inner lead screw nut 4B to work, and output the linear motion under the effect of the output end lug assembly 2.
As shown in fig. 4, the bidirectional thrust bearing 34 is further included, when the main working mode fails, the inner lead screw nut 4B rotates and slides, the inner ring of the thrust bearing 34 is in press fit with the inner lead screw nut 4B through the bearing lock nut 38, the outer ring of the thrust bearing 34 is in press fit with the output end support lug 36 and the bearing mounting shell 35, the inner lead screw nut 4B and the output end support lug 36 can rotate relatively and transmit axial force and linear displacement simultaneously, and the rotary linear motion of the inner lead screw nut 4B is converted into linear motion through the output end support lug assembly.
The electromechanical actuator has an anti-jamming function, the anti-jamming function is mainly realized through a linear transmission mechanism, the main functional components of the linear transmission mechanism are a nested ball screw pair and comprise an outer screw and an inner screw, the outer screw mainly works, the inner screw serves as a backup, the radial occupied space can be reduced through the nested layout, the axial zero position length is reduced, and the specific power of the actuator is improved.
The anti-jamming dual-redundancy electromechanical actuator has the characteristic of anti-jamming dual redundancy and has two working modes, namely a main working mode and a backup working mode. The normal during operation is in main mode, and when transmission member, like the outer lead screw card of nested formula ball screw pair is dead, when main mode became invalid, switch to backup mode to guarantee that electromechanical actuator can normally work.
The nested ball screw pair is structurally shown in fig. 3, and is assembled and connected by an outer screw and an inner screw, the lead of the two screw pairs is the same, and the rotation directions are opposite. The inner lead screw is used as a backup of the outer lead screw, and when the outer lead screw fails, the nested ball screw pair is guaranteed to normally work.
The motor and the actuator are arranged in parallel, so that the axial size can be reduced; the planetary reducer and the dead axle gear are used in a transmission combination mode, the center distance and the radial size can be reduced, the installation angles of the two motors can be adjusted according to the actual installation space requirements, and the applicability is high.
As shown in figure 2, the motors are arranged in parallel with the screw rod through the speed reducer, and the two motors can be arranged on two sides of the screw rod respectively or in a vertical angle, so that the motor is suitable for different installation space requirements. The screw shell and the reducer shell are integrally designed, so that a middle gear and a mounting flange structure are omitted, and the center distance and the radial size are shortened.
The ball spline gear transmission realizes the side-rolling and side-sliding movement of the inner lead screw nut, changes sliding friction into rolling friction, greatly reduces friction loss and improves the transmission efficiency of the actuator.
As shown in fig. 3, the radial dimension is reduced by the design of integrating the ball spline with the gear, the surface of the inner lead screw nut is provided with a ball raceway along the circumferential direction, the inner lead screw nut and the ball spline 5A can slide relatively, when the ball spline 5A rotates, the inner lead screw nut 4B is driven to rotate, the inner lead screw 4A and the outer lead screw 3A are fixedly connected, when the outer lead screw 3A is locked, the inner lead screw 4A is locked, the inner lead screw nut 4B and the inner lead screw 4A rotate relatively, under the action of the lead screw pair, the inner lead screw nut 4B slides linearly and outputs linear displacement.
The internal lead screw nut is connected with the output end support lug through a thrust bearing structure, can rotate relatively, and simultaneously transmits axial force and outputs linear displacement.
As shown in fig. 4, in the event of a failure of the primary mode of operation, the inner lead screw nut 4B both rotates and slides, while the output end lug 36 allows only linear movement, which is achieved by the use of the bi-directional thrust bearing 34, at which time the inner lead screw nut 4B and the output end lug 36 can rotate relative to each other and transmit both axial force and linear displacement.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (8)
1. A linear anti-jamming dual-redundancy electromechanical actuator is characterized by comprising a first motor (6A), a second motor (6B), a first brake (15A), a second brake (15B), a ball spline gear pair (5), an outer lead screw (3), an inner lead screw (4), a first planetary reducer (16A), a second planetary reducer (16B) and a transmission gear (13),
under a main working mode, an electric control signal controls a second brake (15B) to be powered off and braked, an output shaft of a second motor (6B) is locked, a ball spline gear pair (5) is in a locking state, an inner lead screw (4) is locked, a first motor (6A) drives a first planetary reducer (16A) to operate and drive an outer lead screw (3) to work, the outer lead screw (3) converts rotary motion into linear motion, the inner lead screw (4) and the ball spline gear pair (5) perform linear motion along with a lead screw of the outer lead screw (3), and linear displacement is output;
when the main working mode breaks down, the backup working mode is started, the first brake (15A) is controlled by an electric control signal to brake and lock the output shaft of the first motor (6A), the outer screw (3) is locked, the second motor (6B) is unlocked to drive the second planetary reducer (16B) to operate, the ball spline gear pair (5) is driven to operate through the transmission gear (13), the inner screw (4) is driven to operate, the rotary linear displacement is output, rotary motion is eliminated under the action of the support lug (2) at the output end, and linear motion is output.
2. The linear anti-jamming dual-redundancy electromechanical actuator is characterized by further comprising a first brake housing (7A), a second brake housing (7B) and a nested lead screw housing (8), wherein the first motor (6A) and the second motor (6B) are respectively fixed on the nested lead screw housing (8) together with the first brake housing (7A) and the second brake housing (7B), the upper surface and the lower surface of the nested lead screw housing (8) support the motors and the brake housings, a first brake (15A) and a second brake (15B) are respectively installed in the first brake housing (7A) and the second brake housing (7B), and the motor shaft can be locked when power is cut off.
3. The linear anti-jamming dual-redundancy electromechanical actuator is characterized by further comprising a guide block (18) and an output end lug assembly (2), wherein the first planetary reducer (16A), the second planetary reducer (16B) and the nested ball screw pair are mounted in the nested screw housing (8) through bearings, wherein the nested ball screw pair is composed of an outer screw (3) and an inner screw (4); the guide block (18) is installed in a key groove of the connecting end of the outer lead screw (3) and the inner lead screw (4) and is in micro clearance fit with a sliding groove of the nested lead screw shell (8), the rotation of a lead screw nut is limited in transmission, the guide block is axially guided, the output end support lug assembly (2) is installed on the inner lead screw (4), and linear displacement is output.
4. The linear anti-jamming dual-redundancy electromechanical actuator as claimed in claim 1, wherein motor shafts of the first motor (6A) and the second motor (6B) are respectively connected with a first sun gear (25) and a second sun gear (26) of the first planetary reducer (16A) and the second planetary reducer (16B), and a first planet carrier (22) of the first planetary reducer (16A) is engaged with the housing to limit rotation of the first planet carrier (22).
5. The linear anti-jamming dual-redundancy electromechanical actuator is characterized by further comprising an outer lead screw nut (3B), a main working gear (3C) and a first reducer outer gear ring (21), wherein the first reducer outer gear ring (21) is designed to be an inner gear and an outer gear, the inner gear is meshed with a planet gear of a first planetary reducer (16A), the outer gear is meshed with the main working gear (3C), the main working gear (3C) is connected with the outer lead screw nut (3B), a motor shaft drives a first sun gear (25) of the first planetary reducer (16A) to rotate, the first sun gear (25) transmits the rotation to the first reducer outer gear ring (21) of the first planetary reducer (16A), and the first reducer outer gear ring (21) drives the outer lead screw nut (3B) to work.
6. The linear anti-jamming dual-redundancy electromechanical actuator as claimed in claim 1, further comprising an inner lead screw nut (4B), a transmission gear (13), a second reducer outer gear ring (23) and a transmission shaft (31), wherein a second planet carrier (24) of the second planetary reducer (16B) is connected with the transmission shaft (31), the second planetary reducer outer gear ring (23) is fixedly connected with the housing to limit rotation of the outer gear ring, the transmission shaft (31) is connected with the transmission gear (13), the transmission gear (13) is engaged with a ball spline gear (5A), the ball spline gear (5A) is engaged with the inner lead screw nut (4B), and the ball spline gear (5A) can drive the inner lead screw nut to rotate and can slide relatively therebetween.
7. The linear anti-jamming dual-redundancy electromechanical actuator as claimed in claim 6, wherein in operation, the shaft of the second motor (6B) drives the second sun gear (26) to rotate, the second sun gear (26) transmits motion to the second planet carrier (24), the second planet carrier (24) drives the transmission shaft (31) to operate, and further drives the transmission gear (13) to rotate, the transmission gear (13) drives the ball spline gear (5A) to rotate, so that the inner lead screw nut (4B) is driven to operate, and linear motion is output under the action of the output end lug assembly (2).
8. The linear anti-jamming dual-redundancy electromechanical actuator as claimed in claim 6, further comprising a bidirectional thrust bearing (34), wherein when the main operation mode fails, the inner lead screw nut (4B) rotates and slides, the inner ring of the thrust bearing (34) is in press fit with the inner lead screw nut (4B) through a bearing lock nut (38), the outer ring of the thrust bearing (34) is in press fit with the output end support lug (36) and the bearing mounting shell (35), the inner lead screw nut (4B) and the output end support lug (36) can relatively rotate and simultaneously transmit axial force and linear displacement, and the rotary linear motion of the inner lead screw nut (4B) is converted into linear motion through the output end support lug assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710938334.7A CN107725705B (en) | 2017-09-30 | 2017-09-30 | Linear anti-jamming dual-redundancy electromechanical actuator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710938334.7A CN107725705B (en) | 2017-09-30 | 2017-09-30 | Linear anti-jamming dual-redundancy electromechanical actuator |
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| CN107725705A CN107725705A (en) | 2018-02-23 |
| CN107725705B true CN107725705B (en) | 2020-06-09 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024062249A1 (en) * | 2022-09-23 | 2024-03-28 | Moog Wolverhampton Limited | Linear actuator tolerant to jam failure modes |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109764105B (en) * | 2019-03-16 | 2021-04-13 | 江苏安全技术职业学院 | Redundancy electromechanical actuator |
| CN111120581B (en) * | 2019-12-17 | 2021-01-19 | 北京动力机械研究所 | Transmission structure of dual-redundancy electric mechanism |
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