CN110953312A - Compact series connection electric thrust vector servo actuator - Google Patents

Compact series connection electric thrust vector servo actuator Download PDF

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Publication number
CN110953312A
CN110953312A CN201811127527.5A CN201811127527A CN110953312A CN 110953312 A CN110953312 A CN 110953312A CN 201811127527 A CN201811127527 A CN 201811127527A CN 110953312 A CN110953312 A CN 110953312A
Authority
CN
China
Prior art keywords
actuator
planetary
servo
thrust vector
gear reducer
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201811127527.5A
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Chinese (zh)
Inventor
张新华
刘海
段小帅
李勇
王京伟
刘源
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Automation Control Equipment Institute BACEI
Original Assignee
Beijing Automation Control Equipment Institute BACEI
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Automation Control Equipment Institute BACEI filed Critical Beijing Automation Control Equipment Institute BACEI
Priority to CN201811127527.5A priority Critical patent/CN110953312A/en
Publication of CN110953312A publication Critical patent/CN110953312A/en
Pending legal-status Critical Current

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Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H37/00Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/12Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types

Abstract

The invention discloses a compact type series connection electric thrust vector servo actuator which comprises a linear potentiometer, wherein the linear potentiometer is connected with a servo motor, the servo motor is connected with a planetary gear reducer, the planetary gear reducer is connected with a planetary roller screw, and the planetary roller screw is connected with an output rod of the actuator. The actuator has the advantages that the actuator solves the problem that the power-to-weight ratio of the motor is low due to the small reduction ratio of the series linear actuator, and simultaneously realizes the advantages of small volume and high power-to-weight ratio of a servo transmission mechanism by utilizing the internal space of the servo motor.

Description

Compact series connection electric thrust vector servo actuator
Technical Field
The invention belongs to an electric servo, and particularly relates to a compact type series electric thrust vector servo actuator integrating a planetary roller screw, a planetary gear reducer and a servo motor.
Background
The electric thrust vector servo mechanism is widely applied to the control fields of carrier rockets, missiles, satellites, intelligent ammunitions and the like due to the advantages of good manufacturability, easy control and the like, and becomes a main actuating mechanism for rocket thrust vector control, aircraft wings and the like. With the development of hypersonic and high maneuverability of aircraft, the servo mechanism on the aircraft is required to be developed toward miniaturization and high power-weight ratio. Therefore, the problem that the power-to-weight ratio of the motor is low due to the small reduction ratio of the series linear actuator is solved, and the requirements for reducing the volume of the servo transmission mechanism and improving the power-to-weight ratio are particularly urgent.
An electric tandem linear actuator generally includes a servo motor, a gear reducer, a ball screw, and the like. With the trend of miniaturization and weight reduction of electromechanical actuators and the increasing demand of bearing capacity of electromechanical actuators, the conventional series linear actuators cannot meet the demand, and have the following disadvantages: 1) the conventional series linear actuator has small transmission ratio, so that the servo motor has low efficiency and large motor volume; 2) the conventional series linear actuator is connected with a gear reducer in series through a motor output shaft and then connected with a ball screw in series, so that the axial size of the series linear actuator is overlarge, and the use of the linear actuator is not facilitated. In order to overcome the defects, a compact type series connection electric thrust vector servo actuator integrating a planetary roller screw, a planetary gear reducer and a servo motor is provided, the transmission ratio of the electric thrust vector servo actuator is improved, the size of a servo transmission mechanism is reduced, and the power-weight ratio of a linear actuator is improved.
Disclosure of Invention
The invention aims to provide a compact series connection electric thrust vector servo actuator, which can improve the transmission ratio of the electric thrust vector servo actuator, reduce the volume of a servo transmission mechanism and improve the power-weight ratio of a linear actuator.
The invention is realized in such a way that a compact series connection electric thrust vector servo actuator comprises a linear potentiometer, wherein the linear potentiometer is connected with a servo motor, the servo motor is connected with a planetary gear reducer, the planetary gear reducer is connected with a planetary roller screw, and the planetary roller screw is connected with an output rod of the actuator.
The servo motor comprises a rotating shaft, a stator and a rotary transformer, wherein the stator is sleeved outside the rotating shaft, and one side of the rotating shaft is connected with the rotary transformer.
The planetary gear reducer comprises an inner gear ring, an output wheel and a planet wheel, wherein the output wheel is connected with the planet wheel, and the planet wheel is meshed with a gear in the inner gear ring.
The planetary roller screw comprises a screw rod, a nut and a roller, the screw rod penetrates through a central hole of the nut, and the roller penetrates through a hole in the outer ring of the nut.
The actuator has the advantages that the actuator solves the problem that the power-to-weight ratio of the motor is low due to the small reduction ratio of the series linear actuator, and simultaneously realizes the advantages of small volume and high power-to-weight ratio of a servo transmission mechanism by utilizing the internal space of the servo motor.
Drawings
FIG. 1 is a schematic diagram of a compact tandem electric thrust vector servo actuator according to the present invention;
FIG. 2 is a schematic diagram of a compact tandem electric thrust vector servo actuator according to the present invention;
FIG. 3 is a schematic view of a linear potentiometer;
FIG. 4 is a schematic view of a servo motor;
FIG. 5 is a schematic view of a planetary gear reducer;
FIG. 6 is a schematic view of the planetary gear reducer output wheel;
FIG. 7 is a schematic view of the inner ring gear of the planetary gear reducer;
FIG. 8 is a schematic diagram of a planetary gear of the planetary gear reducer;
FIG. 9 is a schematic view of a planetary roller screw;
FIG. 10 is a schematic view of a screw in a planetary roller screw;
FIG. 11 is a schematic view of a nut in a planetary roller screw;
FIG. 12 is a schematic of the rollers in a planetary roller screw;
FIG. 13 is a schematic axial dimension of the actuator.
In the figure: the device comprises a linear potentiometer 1, a servo motor 2, a planetary gear reducer 3, a planetary roller screw 4, an actuator output rod 5, a rotating shaft 6, a stator 7 and a rotary transformer 8.
Detailed Description
The invention is described in detail below with reference to the following figures and specific embodiments:
as shown in fig. 1 and 2, the compact series connection electric thrust vector servo actuator comprises a linear potentiometer 1, wherein the linear potentiometer 1 is connected with a servo motor 2, the servo motor 2 is connected with a planetary gear reducer 3, the planetary gear reducer 3 is connected with a planetary roller screw 4, and the planetary roller screw 4 is connected with an actuator output rod 5.
As shown in fig. 4, the servo motor essentially comprises a rotating shaft 6, a stator 7 and a rotary transformer 8, the stator 7 is sleeved outside the rotating shaft 6, and one side of the rotating shaft is connected with the rotary transformer 8.
As shown in fig. 5 to 8, the planetary gear reducer 3 includes an inner ring gear, an output wheel connected to the planetary wheels, and the planetary wheels engaged with gears in the inner ring gear.
As shown in fig. 9-12, the planetary roller screw includes a screw, a nut, and rollers, the screw passing through a central hole of the nut, and the rollers passing through a hole of an outer ring of the nut.
A compact type series connection electric thrust vector servo actuator integrates a planetary roller screw, a planetary gear reducer and a servo motor. The rotary motion of the actuator motor is decelerated by the planetary gear reducer, and then the rotary motion is converted into linear motion by adopting a planetary roller screw, so that the large reduction ratio drive of the actuator is realized; the rotating shaft of the motor rotor is hollow, the motor rotor, the planetary gear reducer and the planetary roller screw are coaxial, and the displacement stroke of the screw enters the inner cavity of the motor, so that the optimal utilization of the axial space of the actuator is realized, and the volume of the actuator is reduced; the linear potentiometer is in threaded connection with a lead screw through an inner cavity of a rotor rotating shaft from the tail of a motor, so that displacement feedback of an actuator is realized. The outline of the electric thrust vector servo actuator is shown in figure 1, and the transmission mechanism is shown in figure 2.
The main features of the present invention will be further explained with reference to fig. 1 to 12:
(1) the servo motor 2 comprises a rotary transformer, a stator and a rotating shaft, the rotating shaft is of a hollow structure, the front end of the rotating shaft is integrated with a central wheel of the planetary gear reducer, and the rotary motion of the servo motor is transmitted into the planetary gear reducer.
(2) The planetary gear reducer 3 includes an output wheel, an inner ring gear, and a planetary wheel. The planetary reducer realizes the reduction of the output rotating speed of the servo motor, the output wheel is fixedly connected with the nut of the planetary roller screw through a screw, and then the rotary motion is transmitted into the planetary roller screw 4.
(3) The planetary roller screw 4 comprises main components such as a screw rod, a nut and a roller, and converts rotary motion into linear motion, so that large reduction ratio driving of the actuator is realized. A screw rod of a planetary roller screw rod 4 enters an inner cavity of a rotating shaft of the servo motor 2 from a through hole of a central wheel of the planetary gear reducer 3, so that the optimal utilization of the axial space of the actuator is realized, the size of the axial space of the actuator is reduced, and the schematic diagram of the axial size is shown in figure 13.
In fig. 13, a) is a schematic diagram of the axial size distribution of a conventional linear actuator, and b) is a schematic diagram of the axial size distribution of a compact series connection electric thrust vector servo actuator. S1For the length, S, of the servo motor 22Length, S of gear reducer 33The length S of the roller screw 44Actuator stroke length, the axial dimension reduction rate η is as follows, reducing the linear actuator volume.
(4) The linear potentiometer 1 is arranged at the tail part of the actuator and is in threaded connection with a screw rod of a planetary roller screw rod 4 through an inner cavity of a rotating shaft of a servo motor 2, so that the feedback of the output displacement signal of the actuator is realized; the rotary transformer is arranged at the tail part of the actuator, and the feedback of the rotating speed signal of the motor is realized.

Claims (4)

1. A compact series connection electric thrust vector servo actuator is characterized in that: the linear potentiometer comprises a linear potentiometer (1), wherein the linear potentiometer (1) is connected with a servo motor (2), the servo motor (2) is connected with a planetary gear reducer (3), the planetary gear reducer (3) is connected with a planetary roller screw (4), and the planetary roller screw (4) is connected with an actuator output rod (5).
2. A compact series electric thrust vector servo actuator as set forth in claim 1, wherein: the servo motor comprises a rotating shaft (6), a stator (7) and a rotary transformer (8), wherein the stator (7) is sleeved outside the rotating shaft (6), and one side of the rotating shaft is connected with the rotary transformer (8).
3. A compact series electric thrust vector servo actuator as set forth in claim 1, wherein: the planetary gear reducer (3) comprises an inner gear ring, an output wheel and a planetary wheel, wherein the output wheel is connected with the planetary wheel, and the planetary wheel is meshed with a gear in the inner gear ring.
4. A compact series electric thrust vector servo actuator as set forth in claim 1, wherein: the planet roller screw (4) comprises a screw rod, a nut and a roller, the screw rod penetrates through a central hole of the nut, and the roller penetrates through a hole in the outer ring of the nut.
CN201811127527.5A 2018-09-27 2018-09-27 Compact series connection electric thrust vector servo actuator Pending CN110953312A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811127527.5A CN110953312A (en) 2018-09-27 2018-09-27 Compact series connection electric thrust vector servo actuator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811127527.5A CN110953312A (en) 2018-09-27 2018-09-27 Compact series connection electric thrust vector servo actuator

Publications (1)

Publication Number Publication Date
CN110953312A true CN110953312A (en) 2020-04-03

Family

ID=69967638

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201811127527.5A Pending CN110953312A (en) 2018-09-27 2018-09-27 Compact series connection electric thrust vector servo actuator

Country Status (1)

Country Link
CN (1) CN110953312A (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1262726A (en) * 1997-07-10 2000-08-09 Skf工程研究中心公司 Electric actuator and calliper brake comprising such actuator
CN1930757A (en) * 2004-02-06 2007-03-14 L&P产权管理公司 In-line actuator apparatus and method
CN101910680A (en) * 2008-01-12 2010-12-08 利纳克有限公司 Linear actuators
CN103946588A (en) * 2011-11-21 2014-07-23 康斯博格汽车股份公司 Linear actuator assembly having a magnetic sensor
CN105890895A (en) * 2016-04-12 2016-08-24 西北工业大学 Comprehensive performance test bench for planetary roller screw

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1262726A (en) * 1997-07-10 2000-08-09 Skf工程研究中心公司 Electric actuator and calliper brake comprising such actuator
CN1930757A (en) * 2004-02-06 2007-03-14 L&P产权管理公司 In-line actuator apparatus and method
CN101910680A (en) * 2008-01-12 2010-12-08 利纳克有限公司 Linear actuators
CN103946588A (en) * 2011-11-21 2014-07-23 康斯博格汽车股份公司 Linear actuator assembly having a magnetic sensor
CN105890895A (en) * 2016-04-12 2016-08-24 西北工业大学 Comprehensive performance test bench for planetary roller screw

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