CN110545008A - Compact variable reduction ratio electromechanical actuator suitable for various working conditions - Google Patents
Compact variable reduction ratio electromechanical actuator suitable for various working conditions Download PDFInfo
- Publication number
- CN110545008A CN110545008A CN201910712448.9A CN201910712448A CN110545008A CN 110545008 A CN110545008 A CN 110545008A CN 201910712448 A CN201910712448 A CN 201910712448A CN 110545008 A CN110545008 A CN 110545008A
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- China
- Prior art keywords
- reduction ratio
- variable reduction
- conical surface
- speed reducer
- wheels
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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
- H02K7/106—Structural association with clutches, brakes, gears, pulleys or mechanical starters with dynamo-electric brakes
-
- 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
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
Abstract
a compact variable reduction ratio electromechanical actuator suitable for various working conditions relates to the technical field of electromechanical servo; the device comprises a front lug assembly, a rear lug assembly, a servo motor, a brake assembly, a speed reducer with variable reduction ratio, a pushing device, a ball screw pair and a rear lug assembly; the rear lug assembly and the front lug assembly are respectively and fixedly arranged at two axial ends of the actuator shell; the top end of the speed reducer with the variable reduction ratio extends out of the actuator shell; an output shaft of the servo motor is butted with the speed reducer with the variable reduction ratio through the brake assembly; the pushing device is butted with one side of the speed reducer with the variable reduction ratio; the ball screw pair is horizontally arranged; one axial end of the ball screw pair is fixedly connected with the front support lug assembly; the axial other end of the ball screw pair is butted with the other side of the variable reduction ratio speed reducer; the invention has compact structure and variable reduction ratio, can adjust the reduction ratio according to the requirement in the working process, and increases the reduction ratio when outputting low-speed high-torque; the reduction ratio is reduced at high speed and low torque output.
Description
Technical Field
The invention relates to the technical field of electromechanical servo, in particular to a compact variable reduction ratio electromechanical actuator suitable for various working conditions.
Background
The electromechanical actuator is used as an important executing device of a servo system and is used for converting a control command signal output by the system into a moment displacement signal and the like.
The common output forms of the electromechanical actuator mainly comprise two types, wherein one type is a linear type, namely, the output thrust and the displacement; one is a rotary type, i.e., output torque and rotational angle. The transmission part of the linear electromechanical actuator adopts a ball screw pair or a planetary roller screw pair, the lead of the linear electromechanical actuator is initially selected, and for the triangular relation formed by the electromechanical actuator and the installation rocker arm, when the lead of the lead screw and the size of the rocker arm are determined, the reduction ratio of the system cannot be further changed.
When the load working condition is changed in a large range, the layout scheme of the transmission electromechanical actuator cannot be adaptively changed by changing the system reduction ratio, so that the output torque and the output corner are changed, more applications in a more complex range cannot be realized, and particularly, the application range of the electromechanical actuator is greatly reduced for wings of deformation and folding aircrafts and the like.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides a compact variable reduction ratio electromechanical actuator suitable for various working conditions, has the characteristics of compact structure and variable reduction ratio, can adjust the reduction ratio according to requirements in the working process, and increases the reduction ratio when outputting low-speed high-torque; the reduction ratio is reduced at high speed and low torque output.
The above purpose of the invention is realized by the following technical scheme:
A compact variable reduction ratio electromechanical actuator suitable for various working conditions comprises a front support lug assembly, a rear support lug assembly, a servo motor, a brake assembly, a variable reduction ratio reducer, a pushing device, a ball screw pair, a guide mechanism and an actuator shell; wherein, the actuator shell is a horizontally placed cylindrical structure; the rear lug assembly is fixedly arranged at one axial end of the actuator shell; the front lug assembly is fixedly arranged at the other axial end of the actuator shell; the variable reduction ratio speed reducer is arranged in the middle of the inside of the actuator shell; the top end of the speed reducer with the variable reduction ratio extends out of the actuator shell; the servo motor and the brake assembly are both fixedly arranged at the top end of the actuator shell; an output shaft of the servo motor is butted with a part of the variable reduction ratio speed reducer extending out of the top end of the actuator shell; the brake assembly is sleeved on the outer wall of the output shaft of the servo motor; the pushing device, the ball screw pair and the guide mechanism are all arranged in the actuator shell, and the pushing device is in butt joint with one side of the variable reduction ratio speed reducer; the ball screw pair is horizontally arranged; one axial end of the ball screw pair is fixedly connected with the front support lug assembly; the axial other end of the ball screw pair is butted with the other side of the variable reduction ratio speed reducer; the guide mechanism is fixedly arranged at the top end of the ball screw pair.
In the compact variable reduction ratio electromechanical actuator suitable for various working conditions, the variable reduction ratio speed reducer comprises 2 top conical surface wheels, 2 bottom conical surface wheels and a conveyor belt; the back surfaces of the 2 top conical surface wheels are in butt joint with the top end of the speed reducer with the variable reduction ratio to form a power input shaft; one of the top conical surface wheels is butted with an output shaft of the servo motor; the back surfaces of the 2 bottom conical surface wheels are in butt joint with the bottom end of the speed reducer with the variable reduction ratio to form a power output shaft; and wherein 1 bottom conical surface wheel is butted with the pushing device; the other bottom conical surface wheel is butted with the ball screw pair; the 2 bottom conical surface wheels correspond to the 2 top conical surface wheels in the vertical direction; the conveying belt is sleeved between the power input shaft and the power output shaft; a belt-conveying motion is achieved.
In the compact variable reduction ratio electromechanical actuator suitable for various working conditions, the 2 top conical surface wheels and the 2 bottom conical surface wheels have the same structure; the back of the wheel is of a cone structure; the taper is 60-70 degrees.
In the compact variable reduction ratio electromechanical actuator suitable for various working conditions, the top conical surface wheel connected with the output shaft of the servo motor and the bottom conical surface wheel connected with the pushing device realize horizontal reciprocating movement under the driving of the pushing device; the other top conical surface wheel and the bottom conical surface wheel connected with the ball screw pair are fixed; the adjustment of the space between the 2 top conical surface wheels and the space between the 2 bottom conical surface wheels is realized through a pushing device.
In the compact variable reduction ratio electromechanical actuator suitable for various working conditions, the distance between the 2 top conical surface wheels is 5-10 mm; the distance between the 2 bottom conical wheels is 5-10 mm.
In the above compact variable reduction ratio electromechanical actuator suitable for various working conditions, the ball screw pair includes a screw rod and a screw nut; wherein the screw nut is horizontally arranged; one axial end of the screw nut is fixedly connected with the front support lug assembly; the screw rod is horizontally arranged in the screw rod nut, extends out from the other axial end of the screw rod nut and is connected with 1 bottom conical wheel; the rotation of the screw rod is converted into the translational motion of the screw nut through the ball screw pair.
In the compact variable reduction ratio electromechanical actuator suitable for various working conditions, the inner wall of the top of the actuator shell is horizontally provided with a guide groove along the axial direction; the top end of the guide mechanism is embedded into the guide groove, and when the lead screw nut moves horizontally, the lead screw nut is prevented from rotating.
In the compact variable reduction ratio electromechanical actuator suitable for various working conditions, when the distance between 2 top conical surface wheels and the distance between 2 bottom conical surface wheels are changed under the driving of the pushing device, the shaft diameter of the power input shaft sleeved by the conveyor belt and the shaft diameter of the power output shaft are changed along with the change of the distance between the 2 top conical surface wheels and the distance between the 2 bottom conical surface wheels; along with the reciprocating motion of the pushing device, the change of the shaft diameter ratio of the shaft diameter of the power output shaft sleeved with the conveying belt to the shaft diameter of the screw rod is realized.
In the compact variable reduction ratio electromechanical actuator suitable for various working conditions, the change range of the shaft diameter of the power input shaft is 20-40 mm; the change range of the shaft diameter of the power output shaft is 20-40 mm.
In the above-mentioned compact variable reduction ratio electromechanical actuator who is suitable for multiple operating mode, the shaft diameter ratio scope of power take off shaft diameter and lead screw shaft diameter is 2: 1-4: 1.
Compared with the prior art, the invention has the following advantages:
(1) the invention realizes the application of the speed reducer with variable reduction ratio to the electromechanical actuator, and the electromechanical actuator can finish the proportional output of different forces and speeds through the change of the reduction ratio of the speed reducer;
(2) The electromagnetic type pushing device is matched with the speed reducer to complete the change of the reduction ratio, and the electromagnetic type pushing device can continuously change the contact relation between the output shaft of the speed reducer and the transmission chain, so that the reduction ratio of the speed reducer can be continuously changed;
(3) according to the invention, the intelligent control of the servo system can be realized according to the actual load requirement, and the health management and the optimal matching are achieved, thereby solving the energy requirement of the system.
drawings
FIG. 1 is a schematic diagram of a variable reduction ratio electromechanical actuator according to the present invention.
Detailed Description
the invention is described in further detail below with reference to the following figures and specific examples:
The invention aims to provide a lead screw nut as a telescope type dual-redundancy electromechanical actuator of a motor rotor, which realizes the integrated design mode of the dual-redundancy electromechanical actuator, has the technical characteristics of short zero position, small volume, light weight, high rigidity, high bearing capacity and high precision compared with the prior scheme, and is particularly suitable for the performance requirements of military equipment in the field of aviation on a servo actuating system, such as civil airliners, transport planes, fighters, unmanned planes and the like. In addition, the structure and the working principle of the invention can be applied to electric operation control devices in the field of ships, and the invention has wide application prospect.
As shown in fig. 1, which is a schematic structural diagram of a variable reduction ratio electromechanical actuator, it can be known that a compact variable reduction ratio electromechanical actuator suitable for various working conditions includes a front support lug assembly 9, a rear support lug assembly 1, a servo motor 2, a brake assembly 3, a variable reduction ratio reducer 4, a pushing device 5, a ball screw pair 7, a guide mechanism 8 and an actuator housing 10; wherein, the actuator shell 10 is a horizontally placed cylindrical structure; the rear lug assembly 1 is fixedly arranged at one axial end of the actuator shell 10; the front lug assembly 9 is fixedly arranged at the other axial end of the actuator shell 10; the variable reduction ratio speed reducer 4 is arranged in the middle of the inside of the actuator shell 10; and the top end of the variable reduction ratio speed reducer 4 extends out of the actuator housing 10; the servo motor 2 and the brake component 3 are both fixedly arranged at the top end of the actuator shell 10; the output shaft of the servo motor 2 is butted with the part of the variable reduction ratio speed reducer 4 extending out of the top end of the actuator shell 10; the brake component 3 is sleeved on the outer wall of the output shaft of the servo motor 2; the pushing device 5, the ball screw pair 7 and the guide mechanism 8 are all arranged in the actuator shell 10, and the pushing device 5 is in butt joint with one side of the variable reduction ratio speed reducer 4; the ball screw pair 7 is horizontally arranged; one axial end of the ball screw pair 7 is fixedly connected with the front lug assembly 9; the other axial end of the ball screw pair 7 is butted with the other side of the variable reduction ratio speed reducer 4; the guide mechanism 8 is fixedly arranged at the top end of the ball screw pair 7. The screw rod 71 of the ball screw pair 7 is supported by a bearing, the screw nut 72 is in sliding fit with the inner hole of the actuator shell 10, and the guide mechanism 8 is arranged on the screw nut 72 and plays a role in preventing the screw nut 72 from rotating; preceding lug subassembly 9 links firmly with screw nut 8, and preceding lug subassembly 9 and back lug subassembly 1 can be fixed the actuator to output linear displacement.
The variable reduction ratio speed reducer 4 comprises 2 top conical wheels 41, 2 bottom conical wheels 42 and a conveyor belt 43; the back surfaces of the 2 top conical surface wheels 41 are in butt joint with the top end of the speed reducer 4 with variable reduction ratio to form a power input shaft; one of the top conical surface wheels 41 is butted with an output shaft of the servo motor 2; the back surfaces of the 2 bottom conical surface wheels 42 are in butt joint with the bottom end of the variable reduction ratio speed reducer 4 to form a power output shaft; and 1 bottom conical wheel 42 is butted with the pushing device 5; the other bottom conical wheel 42 is butted with the ball screw pair 7; the 2 bottom conical surface wheels 42 correspond to the 2 top conical surface wheels 41 in the vertical direction; the transmission belt 43 is sleeved between the power input shaft and the power output shaft; a belt-conveying motion is achieved. Wherein, 2 top cone wheels 41 and 2 bottom cone wheels 42 are of the same structure; the back of the wheel is of a cone structure; the taper is 60-70 degrees.
The top conical wheel 41 connected with the output shaft of the servo motor 2 and the bottom conical wheel 42 connected with the pushing device 5 realize horizontal reciprocating movement under the driving of the pushing device 5; the other top conical surface wheel 41 and the bottom conical surface wheel 42 connected with the ball screw pair 7 are fixed; adjustment of the spacing between the 2 top bevel wheels 41 and the spacing between the 2 bottom bevel wheels 42 is achieved by the pushing device 5. The distance between the 2 top conical wheels 41 is 5-10 mm; the spacing between the 2 bottom bevel wheels 42 is 5-10 mm.
The ball screw pair 7 comprises a screw 71 and a screw nut 72; wherein the lead screw nut 72 is horizontally placed; one axial end of the screw nut 72 is fixedly connected with the front lug assembly 9; the screw rod 71 is horizontally arranged in the screw rod nut 72, and the screw rod 71 extends out from the other axial end of the screw rod nut 72 and is connected with 1 of the bottom conical wheels 42; the conversion of the rotation of the spindle 71 into a translational movement of the spindle nut 72 is effected by the ball screw pair 7.
A guide groove is horizontally arranged on the inner wall of the top of the actuator shell 10 along the axial direction; the top end of the guide mechanism 8 is fitted into the guide groove, and when the lead screw nut 72 is horizontally moved in a translational manner, the lead screw nut 72 is prevented from being rotated.
When the distance between the 2 top conical surface wheels 41 and the distance between the 2 bottom conical surface wheels 42 are changed under the driving of the pushing device 5, the shaft diameter of the power input shaft and the shaft diameter of the power output shaft sleeved by the conveyor belt 43 are changed; along with the reciprocating motion of the pushing device 5, the change of the ratio of the shaft diameter of the power output shaft sleeved by the conveyor belt 43 to the shaft diameter of the screw rod 71 is realized. The shaft diameter variation range of the power input shaft is 20-40 mm; the change range of the shaft diameter of the power output shaft is 20-40 mm. The shaft diameter ratio range of the shaft diameter of the power output shaft to the shaft diameter of the screw rod 71 is 2: 1-4: 1.
In the working process, the rotary motion of the servo motor 2 drives the input shaft of the variable reduction ratio speed reducer 4 to rotate through the brake assembly 3, the output shaft of the variable reduction ratio speed reducer 4 drives the screw rod 71 to rotate, and the rotation is converted into the linear motion of the screw rod nut 72, so that the linear output is completed; the variable reduction ratio speed reducer 4 can lock the position of the actuator, and the variable reduction ratio speed reducer 4 can change the reduction ratio under the action of the pushing device 5, so that the electromechanical actuator can output different speeds and forces as required.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (10)
1. The utility model provides a compact variable reduction ratio electromechanical actuator who is suitable for multiple operating mode which characterized in that: the device comprises a front lug assembly (9), a rear lug assembly (1), a servo motor (2), a brake assembly (3), a speed reducer with variable reduction ratio (4), a pushing device (5), a ball screw pair (7), a guide mechanism (8) and an actuator shell (10); wherein, the actuator shell (10) is a horizontally placed cylindrical structure; the rear lug assembly (1) is fixedly arranged at one axial end of the actuator shell (10); the front lug assembly (9) is fixedly arranged at the other axial end of the actuator shell (10); the variable reduction ratio speed reducer (4) is arranged in the middle of the inside of the actuator shell (10); the top end of the variable reduction ratio speed reducer (4) extends out of the actuator shell (10); the servo motor (2) and the brake component (3) are both fixedly arranged at the top end of the actuator shell (10); an output shaft of the servo motor (2) is butted with a part of the variable reduction ratio speed reducer (4) extending out of the top end of the actuator shell (10); the brake component (3) is sleeved on the outer wall of the output shaft of the servo motor (2); the pushing device (5), the ball screw pair (7) and the guide mechanism (8) are all arranged in the actuator shell (10), and the pushing device (5) is in butt joint with one side of the variable reduction ratio speed reducer (4); the ball screw pair (7) is horizontally arranged; one axial end of the ball screw pair (7) is fixedly connected with the front lug assembly (9); the other axial end of the ball screw pair (7) is butted with the other side of the variable reduction ratio speed reducer (4); the guide mechanism (8) is fixedly arranged at the top end of the ball screw pair (7).
2. The compact variable reduction ratio electromechanical actuator applicable to various working conditions according to claim 1, wherein: the speed reducer (4) with the variable reduction ratio comprises 2 top conical surface wheels (41), 2 bottom conical surface wheels (42) and a conveyor belt (43); the back surfaces of the 2 top conical surface wheels (41) are in butt joint with the top end of the speed reducer (4) with the variable reduction ratio to form a power input shaft; one top conical surface wheel (41) is butted with an output shaft of the servo motor (2); the back surfaces of the 2 bottom conical surface wheels (42) are in butt joint with the bottom end of the speed reducer (4) with the variable reduction ratio to form a power output shaft; and 1 bottom conical surface wheel (42) is butted with the pushing device (5); the other bottom conical surface wheel (42) is butted with the ball screw pair (7); the 2 bottom conical surface wheels (42) correspond to the 2 top conical surface wheels (41) in the vertical direction; the transmission belt (43) is sleeved between the power input shaft and the power output shaft; a belt-conveying motion is achieved.
3. the compact variable reduction ratio electromechanical actuator applicable to various working conditions according to claim 2, wherein: the 2 top conical surface wheels (41) and the 2 bottom conical surface wheels (42) are of the same structure; the back of the wheel is of a cone structure; the taper is 60-70 degrees.
4. The compact variable reduction ratio electromechanical actuator suitable for multiple working conditions according to claim 3, wherein: the top conical surface wheel (41) connected with the output shaft of the servo motor (2) and the bottom conical surface wheel (42) connected with the pushing device (5) realize horizontal reciprocating movement under the driving of the pushing device (5); the other top conical surface wheel (41) and a bottom conical surface wheel (42) connected with the ball screw pair (7) are fixed; the distance between 2 top conical wheels (41) and the distance between 2 bottom conical wheels (42) are adjusted through a pushing device (5).
5. the compact variable reduction ratio electromechanical actuator applicable to various working conditions according to claim 4, wherein: the distance between the 2 top conical surface wheels (41) is 5-10 mm; the distance between the 2 bottom conical surface wheels (42) is 5-10 mm.
6. the compact variable reduction ratio electromechanical actuator suitable for multiple working conditions according to claim 5, wherein: the ball screw pair (7) comprises a screw rod (71) and a screw rod nut (72); wherein the screw nut (72) is horizontally arranged; one axial end of the screw rod nut (72) is fixedly connected with the front lug assembly (9); the screw rod (71) is horizontally arranged in the screw rod nut (72), and the screw rod (71) extends out from the other axial end of the screw rod nut (72) and is connected with 1 of the bottom conical wheels (42); the rotation of the screw rod (71) is converted into the translational motion of the screw nut (72) through the ball screw pair (7).
7. The compact variable reduction ratio electromechanical actuator suitable for multiple working conditions according to claim 6, wherein: a guide groove is horizontally formed in the inner wall of the top of the actuator shell (10) along the axial direction; the top end of the guide mechanism (8) is embedded into the guide groove, and when the lead screw nut (72) horizontally translates, the lead screw nut (72) is prevented from rotating.
8. The compact variable reduction ratio electromechanical actuator suitable for multiple working conditions, according to claim 7, wherein: when the distance between 2 top conical surface wheels (41) and the distance between 2 bottom conical surface wheels (42) are changed under the driving of the pushing device (5), the shaft diameter of a power input shaft and the shaft diameter of a power output shaft sleeved by the conveyor belt (43) are changed; along with the reciprocating motion of the pushing device (5), the change of the ratio of the shaft diameter of the power output shaft sleeved by the conveyor belt (43) to the shaft diameter of the screw rod (71) is realized.
9. The compact variable reduction ratio electromechanical actuator suitable for multiple working conditions, according to claim 8, wherein: the change range of the shaft diameter of the power input shaft is 20-40 mm; the change range of the shaft diameter of the power output shaft is 20-40 mm.
10. The compact variable reduction ratio electromechanical actuator suitable for multiple working conditions, according to claim 9, wherein: the shaft diameter ratio range of the shaft diameter of the power output shaft to the shaft diameter of the screw rod (71) is 2: 1-4: 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910712448.9A CN110545008A (en) | 2019-08-02 | 2019-08-02 | Compact variable reduction ratio electromechanical actuator suitable for various working conditions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910712448.9A CN110545008A (en) | 2019-08-02 | 2019-08-02 | Compact variable reduction ratio electromechanical actuator suitable for various working conditions |
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| Publication Number | Publication Date |
|---|---|
| CN110545008A true CN110545008A (en) | 2019-12-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910712448.9A Pending CN110545008A (en) | 2019-08-02 | 2019-08-02 | Compact variable reduction ratio electromechanical actuator suitable for various working conditions |
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| CN (1) | CN110545008A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113922694A (en) * | 2021-08-30 | 2022-01-11 | 北京精密机电控制设备研究所 | Sensing self-powered servo mechanism with compact structure |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003184981A (en) * | 2001-12-21 | 2003-07-03 | Komatsu Ltd | Electric cylinder |
| CN105190118A (en) * | 2013-04-04 | 2015-12-23 | 丰田自动车株式会社 | Vehicle control device and method |
| CN205811750U (en) * | 2016-06-17 | 2016-12-14 | 天津宏特斯自动化技术有限公司 | A kind of electric cylinder |
-
2019
- 2019-08-02 CN CN201910712448.9A patent/CN110545008A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003184981A (en) * | 2001-12-21 | 2003-07-03 | Komatsu Ltd | Electric cylinder |
| CN105190118A (en) * | 2013-04-04 | 2015-12-23 | 丰田自动车株式会社 | Vehicle control device and method |
| CN205811750U (en) * | 2016-06-17 | 2016-12-14 | 天津宏特斯自动化技术有限公司 | A kind of electric cylinder |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113922694A (en) * | 2021-08-30 | 2022-01-11 | 北京精密机电控制设备研究所 | Sensing self-powered servo mechanism with compact structure |
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Application publication date: 20191206 |
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| RJ01 | Rejection of invention patent application after publication |