CN111022599B - Supporting device for planetary roller screw and electromechanical actuator with same - Google Patents
Supporting device for planetary roller screw and electromechanical actuator with same Download PDFInfo
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- CN111022599B CN111022599B CN201911193391.2A CN201911193391A CN111022599B CN 111022599 B CN111022599 B CN 111022599B CN 201911193391 A CN201911193391 A CN 201911193391A CN 111022599 B CN111022599 B CN 111022599B
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- bearing
- screw
- planetary roller
- roller screw
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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
- F16H25/2247—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with rollers
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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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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention provides a supporting device for a planetary roller screw and an electromechanical actuator with the same, wherein the device comprises: the nut is rotatably arranged on the support and is matched with the planetary roller screw, and the planetary roller screw can be driven to do linear motion by the rotation of the nut; the first bearing is arranged on the support; the first bearing pressing end cover is arranged on the end face of the first bearing and is fixedly connected with the support, and the first bearing pressing end cover is used for pressing the first bearing and positioning the first bearing; the screw supporting unit is rotatably arranged on the first bearing and is provided with an internal thread, and the screw supporting unit is matched with the external thread of the planetary roller screw through the internal thread to realize the supporting effect on the planetary roller screw. By applying the technical scheme of the invention, the technical problems that the screw threads of the screw are easily damaged, the precision of the screw is influenced and the rigidity of the threads is reduced in the screw supporting device in the prior art are solved.
Description
Technical Field
The invention relates to the technical field of electromechanical servo actuators, in particular to a supporting device for a planetary roller screw and an electromechanical actuator with the supporting device.
Background
The electromechanical actuator 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. Along with the development of the aircraft towards hypersonic speed and high maneuverability, the area of the airfoil surface of the aircraft is increased, and the load generated by the airfoil surface in the flight process is larger and larger, so that the requirements of high rigidity and high dynamic of the transmission mechanism of the electromechanical actuator are more and more urgent.
Electromechanical actuator transmissions typically include gear reducers, planetary roller screw screws. The transmission rigidity of the planetary roller screw becomes one of important components influencing the transmission mechanism of the electromechanical actuator, and the rigidity of the planetary roller screw comprises screw rod rigidity, nut rigidity and support rigidity. Therefore, increasing the bearing stiffness is an important means to increase the screw stiffness. At present, a planetary roller screw rod is mostly supported directly, the screw rod thread part and an inner hole of a supporting bush slide relatively, the screw rod thread is damaged in the sliding process, the screw rod precision is influenced, and meanwhile, the thread rigidity is reduced.
Disclosure of Invention
The invention provides a supporting device for a planetary roller screw and an electromechanical actuator with the supporting device, which can solve the technical problems that the supporting device for the planetary roller screw in the prior art is easy to damage screw threads, influence the precision of the screw and reduce the rigidity of the threads.
According to an aspect of the present invention, there is provided a supporting device for a planetary roller screw, the supporting device including: the nut is rotatably arranged on the support and is matched with the planetary roller screw, and the planetary roller screw can be driven to do linear motion by the rotation of the nut; the first bearing is arranged on the support; the first bearing pressing end cover is arranged on the end face of the first bearing and is fixedly connected with the support, and the first bearing pressing end cover is used for pressing the first bearing and positioning the first bearing; the screw supporting unit is rotatably arranged on the first bearing and is provided with an internal thread, and the screw supporting unit is matched with the external thread of the planetary roller screw through the internal thread to realize the supporting effect on the planetary roller screw.
Further, the first bearing comprises a deep groove ball bearing or a cylindrical roller bearing.
Further, the supporting device further comprises a first vibration damping pad, the first vibration damping pad is arranged between the first bearing pressing end cover and the first bearing, and the first vibration damping pad is used for absorbing external load impact.
Further, the supporting device further comprises a second damping pad, the second damping pad is arranged between the first bearing and the support, and the second damping pad is used for absorbing external load impact.
Further, the first vibration damping pad and the second vibration damping pad can be made of flexible silicon rubber.
According to another aspect of the present invention there is provided an electromechanical actuator comprising a gear reducer, a planetary roller screw, a nut and a support means, the support means being as described above, the gear reducer being in driving connection with the nut.
Further, the electromechanical actuator further comprises a second bearing, by means of which the nut is rotatably arranged on the support.
Further, the second bearing includes a pair of angular contact bearings or a pair of tapered roller bearings.
Furthermore, the electromechanical actuator also comprises a driving unit, the driving unit is connected with the gear reducer, and the driving unit drives the nut to rotate through the gear reducer.
By applying the technical scheme of the invention, the support device for the planetary roller screw is provided, the support device is provided with the screw support unit and the first bearing, the screw support unit is in threaded fit with the planetary roller screw, the screw support unit is supported and arranged on the support through the first bearing, the first bearing enables the rotational freedom degree of the screw support unit to be released, and the screw support unit is in threaded fit with the planetary roller screw and rotates on the support in the linear moving process of the planetary roller screw.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1 shows a schematic structural view of a support device for a planetary roller screw provided according to a specific embodiment of the present invention.
Wherein the figures include the following reference numerals:
10. a support; 20. a first bearing; 30. a first bearing compression end cover; 40. a lead screw support unit; 50. a first vibration damping pad; 60. a second vibration damping pad; 100. a planetary roller screw; 200. a nut; 300. a support device; 400. a second bearing.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
As shown in fig. 1, there is provided a supporting device for a planetary roller screw according to an embodiment of the present invention, the supporting device comprises a support 10, a first bearing 20, a first bearing pressing end cover 30 and a screw supporting unit 40, wherein a nut is rotatably arranged on the support 10 and matched with a planetary roller screw, the planetary roller screw can be driven to do linear motion by the rotation of the nut, the first bearing 20 is arranged on the support 10, the first bearing pressing end cover 30 is arranged on the end face of the first bearing 20 and fixedly connected with the support 10, the first bearing pressing end cover 30 is used for pressing the first bearing 20 and positioning the first bearing 20, the screw supporting unit 40 is rotatably arranged on the first bearing 20, the screw supporting unit 40 is provided with internal threads, and the screw supporting unit 40 is matched with the external threads of the planetary roller screw through the internal threads to realize the supporting effect on the planetary roller screw.
By applying the configuration mode, the supporting device for the planetary roller screw is provided, the supporting device is provided with the screw supporting unit and the first bearing, the screw supporting unit is in threaded fit with the planetary roller screw, the screw supporting unit is supported and arranged on the support through the first bearing, the first bearing enables the rotational freedom degree of the screw supporting unit to be released, and in the process of linear movement of the planetary roller screw, the screw supporting unit is in threaded fit with the planetary roller screw and does rotational motion on the support.
In the present invention, in order to achieve the support of the screw supporting unit, the first bearing 20 may be configured to include a deep groove ball bearing or a cylindrical roller bearing. As an embodiment of the present invention, as shown in fig. 1, the first bearing 20 is a deep groove ball bearing, the deep groove ball bearing supports the screw support unit 40 such that the rotational freedom of the screw support unit 40 is released, and the first bearing pressing end cap 30 presses and positions the deep groove ball bearing.
Further, in the present invention, in order to absorb the external load impact and prevent the external load from being excessively large to affect the transmission accuracy of the planetary roller screw, the supporting device may be configured to further include a first vibration damping pad 50, the first vibration damping pad 50 being disposed between the first bearing compression end cover 30 and the first bearing 20, the first vibration damping pad 50 being configured to absorb the external load impact.
Further, in the present invention, in order to further absorb the external load impact, the supporting device may be configured to further include a second vibration damping pad 60, the second vibration damping pad 60 being disposed between the first bearing 20 and the carrier 10, the second vibration damping pad 60 being for absorbing the external load impact. As an embodiment of the present invention, the first and second vibration- damping pads 50 and 60 may be made of flexible silicon rubber.
According to another aspect of the present invention, there is provided an electromechanical actuator comprising a gear reducer, a planetary roller screw 100, a nut 200 and a support device 300, the support device 300 being the support device 300 as described above, the gear reducer being in driving connection with the nut 200.
By applying the configuration mode, the electromechanical actuator is provided, the supporting device provided by the invention is used for supporting the planetary roller screw, the supporting device is provided with the screw supporting unit and the first bearing, the screw supporting unit is in threaded fit with the planetary roller screw, the screw supporting unit is supported and arranged on the support through the first bearing, the first bearing enables the rotational freedom degree of the screw supporting unit to be released, and the screw supporting unit is in threaded fit with the planetary roller screw and performs rotational motion on the support in the linear moving process of the planetary roller screw. Therefore, when the support device provided by the invention is used in the electromechanical actuator, the system response of the electromechanical actuator can be greatly improved.
Further, in the present invention, in order to achieve the supporting function of the nut, the electromechanical actuator may be configured to further include a second bearing 400, and the nut 200 may be rotatably disposed on the support 10 through the second bearing 400. As an embodiment of the present invention, the second bearing 400 includes a pair of angular contact bearings or a pair of tapered roller bearings.
Further, in the present invention, in order to drive the movement of the planetary roller screw in the linear direction, the electromechanical actuator may be configured to further include a driving unit connected with a gear reducer, which drives the nut 200 to rotate through the gear reducer. As an embodiment of the present invention, a driving motor may be used as the driving unit, the driving motor is connected to a gear reducer, the gear reducer is connected to the nut 200, the driving motor drives the nut 200 to rotate through the gear reducer, the nut 200 is connected to the planetary roller screw 100 in a matching manner, the planetary roller screw 100 is driven to move in a linear direction by the rotation of the nut 200, and the screw supporting unit 40 is driven to rotate by the movement of the planetary roller screw 100 in the linear direction.
For further understanding of the present invention, the supporting device for a planetary roller screw and the electromechanical actuator having the same provided by the present invention will be described in detail with reference to fig. 1.
As shown in fig. 1, according to an embodiment of the present invention, there is provided a supporting device for a planetary roller screw and an electromechanical actuator having the same, the electromechanical actuator includes a gear reducer, a planetary roller screw 100, a nut 200, a supporting device 300, a second bearing 400 and a driving motor, the nut 200 is rotatably disposed on a support 10 through the second bearing 400, the driving motor is connected to the gear reducer, the gear reducer is connected to the nut 200, the driving motor drives the nut 200 to rotate through the gear reducer, the nut 200 is cooperatively connected to the planetary roller screw 100, the nut 200 rotates to drive the planetary roller screw 100 to move in a linear direction, and the planetary roller screw 100 moves in the linear direction to drive the screw supporting unit 40 to rotate. In the present embodiment, the second bearing 400 is a pair of tapered roller bearings.
The supporting device comprises a support 10, a first bearing 20, a first bearing pressing end cover 30, a screw supporting unit 40, a first vibration damping pad 50 and a second vibration damping pad 60, a nut is rotatably arranged on the support 10 and matched with a planetary roller screw, the planetary roller screw can be driven to do linear motion by the rotation of the nut, the first bearing 20 is arranged on the support 10, the first bearing pressing end cover 30 is arranged on the end face of the first bearing 20 and fixedly connected with the support 10, the first bearing pressing end cover 30 is used for pressing the first bearing 20 and positioning the first bearing 20, the screw supporting unit 40 is rotatably arranged on the first bearing 20, the screw supporting unit 40 is provided with internal threads, and the screw supporting unit 40 is matched with the external threads of the planetary roller screw through the internal threads to realize the supporting effect on the planetary roller screw. The first damping pad 50 is disposed between the first bearing end cover 30 and the first bearing 20, and the second damping pad 60 is disposed between the first bearing 20 and the carrier 10, the first damping pad 50 and the second damping pad 60 being for absorbing an external load impact. In the present embodiment, the first damping pad 50 and the second damping pad 60 may be made of flexible silicon rubber, and the first bearing 20 is a deep groove ball bearing.
In the action process of the electromechanical actuator, a driving motor drives a nut 200 to rotate through a gear reducer, the nut 200 is connected with the planetary roller screw 100 in a matched mode, the planetary roller screw 100 can be driven to move along the linear direction through the rotation of the nut 200, and the external load can be driven through the linear motion of the planetary roller screw 100. The screw supporting unit 40 is matched with the external thread of the planetary roller screw through the internal thread, and when the planetary roller screw 100 moves along the linear direction, the screw supporting unit 40 is pushed to rotate. The first bearing 20 supports the lead screw supporting unit 40 such that the rotational degree of freedom of the lead screw supporting unit 40 is released. The first and second vibration damping pads 50 and 60 are respectively located at both ends of the first bearing 20, and can effectively absorb external load impact, so that the screw supporting unit 40 can adapt to a large inertia load working condition.
In summary, the invention provides a supporting device for a planetary roller screw and an electromechanical actuator with the same, the supporting device is provided with a screw supporting unit and a first bearing, the screw supporting unit is in threaded fit with the planetary roller screw, the screw supporting unit is supported and arranged on a support through the first bearing, the first bearing enables the rotational freedom degree of the screw supporting unit to be released, and in the process of linear movement of the planetary roller screw, the screw supporting unit is in threaded fit with the planetary roller screw and rotates on the support.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A support device for a planetary roller screw, characterized in that it comprises:
the nut is rotatably arranged on the support (10) and matched with the planetary roller screw, and the planetary roller screw can be driven to do linear motion by the rotation of the nut;
a first bearing (20), the first bearing (20) being disposed on the mount (10);
the first bearing pressing end cover (30), the first bearing pressing end cover (30) is arranged on the end face of the first bearing (20) and is fixedly connected with the support (10), and the first bearing pressing end cover (30) is used for pressing the first bearing (20) and positioning the first bearing (20);
the screw supporting unit (40), the screw supporting unit (40) is rotatably arranged on the first bearing (20), the screw supporting unit (40) is provided with internal threads, and the screw supporting unit (40) is matched with the external threads of the planetary roller screw through the internal threads to realize a supporting effect on the planetary roller screw.
2. A support arrangement for a planetary roller screw according to claim 1, characterized in that the first bearing (20) comprises a deep groove ball bearing or a cylindrical roller bearing.
3. A support arrangement for a planetary roller screw according to claim 1, characterized in that it further comprises a first damping pad (50), said first damping pad (50) being arranged between said first bearing clamping end cap (30) and said first bearing (20), said first damping pad (50) being adapted to absorb external load impacts.
4. A support arrangement for a planetary roller screw according to claim 3, characterized in that it further comprises a second damping pad (60), said second damping pad (60) being arranged between said first bearing (20) and said support (10), said second damping pad (60) being intended to absorb external load impacts.
5. A support arrangement for a planetary roller screw according to claim 4, characterised in that both the first damping pad (50) and the second damping pad (60) can be made of flexible silicone rubber.
6. An electromechanical actuator, characterized in that the electromechanical actuator comprises a gear reducer, a planetary roller screw (100), a nut (200) and a support device (300), the support device (300) being the support device (300) according to any one of claims 1 to 5, the gear reducer being in driving connection with the nut (200).
7. The electromechanical actuator according to claim 6, further comprising a second bearing (400), wherein the nut (200) is rotatably arranged on the support (10) via the second bearing (400).
8. The electromechanical actuator according to claim 7, wherein the second bearing (400) comprises a pair of angular contact bearings or a pair of tapered roller bearings.
9. The electromechanical actuator according to claim 8, further comprising a drive unit, which is connected to a gear reducer, via which the drive unit drives the nut (200) in rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911193391.2A CN111022599B (en) | 2019-11-28 | 2019-11-28 | Supporting device for planetary roller screw and electromechanical actuator with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911193391.2A CN111022599B (en) | 2019-11-28 | 2019-11-28 | Supporting device for planetary roller screw and electromechanical actuator with same |
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| Publication Number | Publication Date |
|---|---|
| CN111022599A CN111022599A (en) | 2020-04-17 |
| CN111022599B true CN111022599B (en) | 2021-06-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911193391.2A Active CN111022599B (en) | 2019-11-28 | 2019-11-28 | Supporting device for planetary roller screw and electromechanical actuator with same |
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| CN201539544U (en) * | 2009-12-01 | 2010-08-04 | 西安凤城精密机械有限公司 | Rolling ball screw pair with safety protection |
| JP2014088920A (en) * | 2012-10-30 | 2014-05-15 | Ntn Corp | Electric linear actuator |
| CN204878571U (en) * | 2015-03-20 | 2015-12-16 | 日本精工株式会社 | Ball screw device |
| CN107002853A (en) * | 2014-11-21 | 2017-08-01 | Ntn株式会社 | Gear and the electric actuator for being provided with the gear |
| CN108916336A (en) * | 2018-06-11 | 2018-11-30 | 北京中航惠通自动化技术有限公司 | A kind of low abrasion planetary roller screw and its control method based on magnetic levitation technology |
| CN109139846A (en) * | 2017-06-27 | 2019-01-04 | 舍弗勒技术股份两合公司 | Planetary spindle drive, actuator and separation system |
| CN109236967A (en) * | 2018-10-26 | 2019-01-18 | 常州耀洲众创空间有限公司 | A kind of high-precision straight motion transmission device |
-
2019
- 2019-11-28 CN CN201911193391.2A patent/CN111022599B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201539544U (en) * | 2009-12-01 | 2010-08-04 | 西安凤城精密机械有限公司 | Rolling ball screw pair with safety protection |
| JP2014088920A (en) * | 2012-10-30 | 2014-05-15 | Ntn Corp | Electric linear actuator |
| CN107002853A (en) * | 2014-11-21 | 2017-08-01 | Ntn株式会社 | Gear and the electric actuator for being provided with the gear |
| CN204878571U (en) * | 2015-03-20 | 2015-12-16 | 日本精工株式会社 | Ball screw device |
| CN109139846A (en) * | 2017-06-27 | 2019-01-04 | 舍弗勒技术股份两合公司 | Planetary spindle drive, actuator and separation system |
| CN108916336A (en) * | 2018-06-11 | 2018-11-30 | 北京中航惠通自动化技术有限公司 | A kind of low abrasion planetary roller screw and its control method based on magnetic levitation technology |
| CN109236967A (en) * | 2018-10-26 | 2019-01-18 | 常州耀洲众创空间有限公司 | A kind of high-precision straight motion transmission device |
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| CN111022599A (en) | 2020-04-17 |
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