CN111186562A - Servo mechanism capable of bearing radial load - Google Patents
Servo mechanism capable of bearing radial load Download PDFInfo
- Publication number
- CN111186562A CN111186562A CN202010049209.2A CN202010049209A CN111186562A CN 111186562 A CN111186562 A CN 111186562A CN 202010049209 A CN202010049209 A CN 202010049209A CN 111186562 A CN111186562 A CN 111186562A
- Authority
- CN
- China
- Prior art keywords
- screw
- bearing
- servo mechanism
- radial load
- executing
- 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
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/24—Transmitting means
- B64C13/26—Transmitting means without power amplification or where power amplification is irrelevant
- B64C13/28—Transmitting means without power amplification or where power amplification is irrelevant mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C15/00—Attitude, flight direction, or altitude control by jet reaction
- B64C15/02—Attitude, flight direction, or altitude control by jet reaction the jets being propulsion jets
Abstract
The invention discloses a servo mechanism capable of bearing radial load, which comprises a screw pair, a sliding block and an executing piece, wherein the screw pair comprises a screw, a screw nut and first bearings, the screw nut is arranged on the screw in a penetrating way, and the two first bearings are respectively arranged at the left end and the right end of the screw; the sliding block is hinged on the screw nut through a hinge shaft; the second bearing is arranged on the executing piece, and the central line of the second bearing is positioned above or below the central line of the hinge shaft; the executing part comprises an executing main body and a guide track, wherein the guide track is arranged on the executing main body and is used for enabling the sliding block to be in contact with the guide track and slide on the guide track, so that the executing part is driven to rotate around the central line of the second bearing. The invention can improve the design structure of the screw pair and the executive component on the basis of not increasing the torque shunting and reversing structure, thereby realizing the design target that the servo mechanism can bear radial load under the same enveloping condition and simultaneously ensuring the indexes of miniaturization, high transmission efficiency and high precision of the whole machine.
Description
Technical Field
The invention belongs to the field of servo actuators, and particularly relates to a servo mechanism capable of bearing radial loads.
Background
The servo mechanism is an actuating mechanism of a guidance and control system of an aircraft and comprises a motor, a speed reducer (comprising a screw rod pair and a gear pair), a position sensor, an actuating piece and the like.
The common servo mechanism adopts the working principle that a motor drives a speed reducer, the rotary motion of the motor is converted into the linear motion of a screw nut, the forward and reverse movement and the torque output of the screw nut are realized, and the coordinated coordination of a plurality of spray pipes or control surfaces is realized through the action of an executing piece to realize the yaw, pitch and roll attitude control and track control of the aircraft.
In the prior art, the servo mechanism is generally designed in a structure that a screw pair is linearly connected with an actuator, or the screw pair is connected with the actuator in a V shape through a joint bearing. In the connection mode, the screw pair only bears the axial force and the supporting force of the bearing in the working process, and does not bear the action of extra radial external force. With the rapid development of various major mechanical industries such as aerospace and the like, the requirements for miniaturization, high transmission efficiency and high precision are higher and higher, the design requirements of servo mechanism products are gradually improved, and the existing servo mechanism design technology needs to add a torque shunting and reversing structure under the conditions of certain envelope conditions and radial load design requirements, so that the volume of a servo complete machine is increased, the transmission efficiency is reduced, the transmission precision is reduced, the optimization and improvement of miniaturization, high transmission efficiency and high precision are difficult to realize, and the requirements for development of various industries cannot be met.
Disclosure of Invention
Aiming at the defects or the improvement requirements of the prior art, the invention provides the servo mechanism capable of bearing the radial load, solves the blank of the miniaturization design of the existing servo mechanism with the radial external load function, ensures high transmission efficiency and high transmission precision, simplifies the composition structure of the servo mechanism and reduces the production cost.
In order to achieve the above object, according to one aspect of the present invention, there is provided a servo mechanism capable of bearing radial load, which is characterized by comprising a screw pair, a slider and an actuating member, wherein,
the screw pair comprises a screw, screw nuts and first bearings, the central line of the screw extends along the left-right direction, the screw nuts are arranged on the screw in a penetrating manner, and the two first bearings are respectively arranged at the left end and the right end of the screw so as to be used for installing the screw pair on an external fixed structure;
the sliding block is hinged to the screw nut through a hinge shaft, and the center line of the hinge shaft extends in the front-back direction;
the executing part comprises an executing main body and a guide track, a second bearing is arranged on the executing main body and used for installing the executing part on an external fixed structure, the center line of the second bearing extends along the front-back direction, the center line of the second bearing is located above or below the center line of the hinge shaft, and the guide track is arranged on the executing main body and used for enabling the sliding block to be in contact with the guide track and slide on the guide track, so that the executing part is driven to rotate around the center line of the second bearing.
Preferably, the number of the hinge shafts is two, the two hinge shafts are coaxially arranged and are respectively positioned at the front side and the rear side of the screw nut, and each hinge shaft is respectively connected with one sliding block.
Preferably, the guide rail is a U-shaped groove provided on the actuator body, a surface of the guide rail, which is used for contacting with the slider, is a flat surface, and a portion of the slider, which is used for contacting with the guide rail, is a flat surface.
Preferably, the slider is a square block.
Preferably, the second bearings are two and are respectively arranged at the front and the rear sides of the executing member.
Preferably, the hinge shaft is a support lug integrally formed on the screw nut.
Preferably, the slider and the actuating body are always spaced apart from each other without contact.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
1) the invention can improve the design structure of the screw pair and the executive component on the basis of not increasing the torque shunting and reversing structure, thereby realizing the design goal that the servo mechanism can bear radial load under the same enveloping condition, simultaneously ensuring the indexes of miniaturization, high transmission efficiency and high precision performance of the whole machine, ensuring the bearing capacity of the radial external load to depend on the strength of structural materials, and being applicable to the servo mechanism which needs to bear the radial external load.
2) The screw rod pair and the executive component can be separated: when the stroke of the screw nut is enough, the separation of the executive component and the screw pair can be realized through the rotary motion of the screw pair, the disassembly difficulty is reduced, and the disassembly and maintenance of the servo mechanism are facilitated.
3) The invention has simple structure, convenient processing, few structural components, favorable cost reduction, good economy, high repeated utilization rate and easy realization of miniaturization.
Drawings
FIG. 1 is a force diagram of the present invention;
FIG. 2 is a schematic cross-sectional view of the present invention;
fig. 3 is a schematic view of a slider according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1 to 3, a servo mechanism capable of bearing radial load comprises a screw pair 1, a slide block 2 and an actuating member 3, wherein,
the screw pair 1 comprises a screw 11, a screw nut 12 and first bearings 13, the central line of the screw 11 extends in the left-right direction, the screw nut 12 is mounted on the screw 11 in a penetrating manner, and the two first bearings 13 are respectively mounted at the left end and the right end of the screw 11 and used for mounting the screw pair 1 on an external fixing structure; under the excitation action of an external power mechanism, the screw rod 11 rotates and then is converted into linear motion of the screw rod nut 12 along the axial direction of the screw rod 11;
the sliding block 2 is hinged to the screw nut 12 through a hinge shaft 21, the center line of the hinge shaft 21 extends in the front-back direction, and the linear movement of the screw nut 12 can drive the sliding block 2 to move along the axial direction of the screw 11;
the actuating member 3 comprises an actuating body 31 and a guide rail 32, a second bearing 4 is arranged on the actuating body 31 for mounting the actuating member 3 on an external fixed structure, the center line of the second bearing 4 extends along the front-back direction, and the center line of the second bearing 4 is positioned above or below the center line of the hinge shaft 21; preferably, the second bearings 4 are two and are respectively arranged at the front side and the rear side of the actuating member 3 to ensure the smoothness of the rotation of the actuating member 3. The actuating member 3 is sleeved in the second bearing 4 through a circular boss of the actuating member 3, and the guide rail 32 is mounted on the actuating main body 31, so that the sliding block 2 is in contact with the guide rail 32 and slides on the guide rail 32, and the actuating member 3 is driven to rotate around the central line of the second bearing 4. Preferably, the executing part 3 is provided with a U-shaped groove, the guide rail 32 is formed by a side wall of the U-shaped groove, a surface of the guide rail 32, which is used for contacting with the slider 2, is a plane, a part of the slider 2, which is used for contacting with the guide rail 32, is a plane, and the two planes are attached together and matched with each other, so that the rotating of the executing part 3 is stable and reliable, and the executing part 3 does not jump. The guide rail 32 can be made of metal materials with certain strength, the symmetry degree of the two guide vane rails beside the U-shaped groove is 0.015mm, the two guide vane rails and the sliding block 2 are in small-gap fit, and the fit precision is guaranteed to be 0-0.005 mm. In addition, the slider 2 is in contact with only the guide rail 32, and the two slide relatively, and the slider 2 and the actuator body 31 are always spaced apart from each other without contact.
Further, the hinge shafts 21 are coaxially arranged and are respectively located on the front side and the rear side of the screw nut 12, each hinge shaft 21 is connected with one sliding block 2, the hinge shafts 21 are supporting lugs integrally formed on the screw nut 12, the screw nut 12 is of a cross structure, the hinge shafts 21 can play a role in positioning and connecting, the axial positioning precision is-0.01-0 mm, and the coaxiality of the two hinge shafts 21 is 0.01mm, so that the mounting precision of the sliding blocks 2 at the two ends is ensured.
Further, slider 2 is square piece, preferably copper block, and it is provided with central through-hole and the cooperation of hinge 21, and central through-hole adopts little clearance fit to be connected with hinge 21, and the cooperation precision guarantees 0 ~ 0.005 mm. Any plane parallel to the axial direction of the central through hole on the slider 2 can be used as a guide surface for moving on the guide rail 32, and the interchangeability is extremely high. The actual motion track of the slide block 2 can be synthesized by the following two-way motion tracks: the slider 2 performs a rotational motion about the axis of the hinge shaft 21 and a linear motion along the axial direction of the lead screw 11.
Referring to fig. 1, the screw 11 rotates to drive the screw nut 12 to move linearly along the raceway (i.e., along the axial direction of the screw 11), and the hinge 21 drives the slider 2 to move linearly along the axial direction of the screw 11, so that the slider 2 moves on the guide track 32 and simultaneously pushes the actuator 3 to swing around the center line (point o shown in fig. 1) of the second bearing 4. Since the actuator 3 pivots, its guide track 32 also pivots about the point o, so that the slide 2 rotates about the center line of the hinge shaft 21 (the point o 'shown in fig. 1), i.e., the slide 2 simultaneously performs a linear movement in the axial direction of the spindle 11 and a rotational movement about the point o'.
After the executive component 3 rotates for a certain angle theta, the external load force F exerted by an external load is applied to a stress point which is away from a point o by a distance r on the executive component 3, wherein r is the rotating radius of the stress point, and the external load force F can be decomposed into an axial force F by combining with the mechanical principleaWith radial force Fr(the axial direction in the axial force and the radial direction in the radial force respectively refer to the axial direction and the radial direction of the screw rod 11), the radial bearing capacity of the servo mechanism can bear not only the axial external load but also the radial external load, the radial bearing capacity depends on the material strength of the structures of the executive component 3, the second bearing 4 and the like, the whole servo mechanism can realize radial bearing without designing a torque shunting and reversing structure, and the new requirements of the development of the servo mechanism in the aerospace field can be met.
In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. A servo mechanism capable of bearing radial load is characterized by comprising a lead screw pair, a slide block and an actuating piece, wherein,
the screw pair comprises a screw, screw nuts and first bearings, the central line of the screw extends along the left-right direction, the screw nuts are arranged on the screw in a penetrating manner, and the two first bearings are respectively arranged at the left end and the right end of the screw so as to be used for installing the screw pair on an external fixed structure;
the sliding block is hinged to the screw nut through a hinge shaft, and the center line of the hinge shaft extends in the front-back direction;
the executing part comprises an executing main body and a guide track, a second bearing is arranged on the executing main body and used for installing the executing part on an external fixed structure, the center line of the second bearing extends along the front-back direction, the center line of the second bearing is located above or below the center line of the hinge shaft, and the guide track is arranged on the executing main body and used for enabling the sliding block to be in contact with the guide track and slide on the guide track, so that the executing part is driven to rotate around the center line of the second bearing.
2. A servo mechanism capable of bearing radial loads according to claim 1, wherein two hinge shafts are provided, which are coaxially arranged and are respectively positioned at the front side and the rear side of the lead screw nut, and each hinge shaft is respectively connected with a slide block.
3. A radial load bearing servo mechanism according to claim 1, wherein the guide rail is a U-shaped groove provided on the actuator body, a surface of the guide rail for contacting the slider is a flat surface, and a portion of the slider for contacting the guide rail is a flat surface.
4. A radial load bearing servo mechanism according to claim 3, wherein the slide block is a square block.
5. A radial load capable servo of claim 1 wherein said second bearings are two and are disposed on the front and rear sides of said actuator respectively.
6. A radial load bearing servo mechanism according to claim 1, wherein the hinge shaft is a lug integrally formed on the lead screw nut.
7. A radial load bearing servo mechanism as claimed in claim 1, wherein said slide and said actuator body are always spaced from each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010049209.2A CN111186562A (en) | 2020-01-16 | 2020-01-16 | Servo mechanism capable of bearing radial load |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010049209.2A CN111186562A (en) | 2020-01-16 | 2020-01-16 | Servo mechanism capable of bearing radial load |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111186562A true CN111186562A (en) | 2020-05-22 |
Family
ID=70703983
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010049209.2A Pending CN111186562A (en) | 2020-01-16 | 2020-01-16 | Servo mechanism capable of bearing radial load |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111186562A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5255882A (en) * | 1990-06-19 | 1993-10-26 | Diehl Gmbh & Co. | Setting device with a nut controllable by a spindle |
| EP1426290A1 (en) * | 2002-12-03 | 2004-06-09 | Rockwell Collins, Inc. | Actuator for aircraft stabilizers with a failure responsive lock control mechanism |
| CN201224496Y (en) * | 2008-06-30 | 2009-04-22 | 北京理工大学 | Electric steering engine |
| CN107289823A (en) * | 2017-06-21 | 2017-10-24 | 北京机械设备研究所 | Positional servosystem in a kind of Low rigidity performs device and bullet |
| US10215264B2 (en) * | 2016-01-11 | 2019-02-26 | The Boeing Company | Linear actuator system with circumferentially and axially adjustable end stop assembly |
| CN109720549A (en) * | 2017-10-30 | 2019-05-07 | 空中客车德国运营有限责任公司 | For the flap actuation system used in aircraft |
-
2020
- 2020-01-16 CN CN202010049209.2A patent/CN111186562A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5255882A (en) * | 1990-06-19 | 1993-10-26 | Diehl Gmbh & Co. | Setting device with a nut controllable by a spindle |
| EP1426290A1 (en) * | 2002-12-03 | 2004-06-09 | Rockwell Collins, Inc. | Actuator for aircraft stabilizers with a failure responsive lock control mechanism |
| CN201224496Y (en) * | 2008-06-30 | 2009-04-22 | 北京理工大学 | Electric steering engine |
| US10215264B2 (en) * | 2016-01-11 | 2019-02-26 | The Boeing Company | Linear actuator system with circumferentially and axially adjustable end stop assembly |
| CN107289823A (en) * | 2017-06-21 | 2017-10-24 | 北京机械设备研究所 | Positional servosystem in a kind of Low rigidity performs device and bullet |
| CN109720549A (en) * | 2017-10-30 | 2019-05-07 | 空中客车德国运营有限责任公司 | For the flap actuation system used in aircraft |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202712431U (en) | Antenna sub-reflector system comprising fixed adjusting mechanism | |
| CN112092008B (en) | Compact modular variable-stiffness joint | |
| CN104057442A (en) | Series-parallel robot with five degrees of freedom | |
| CN110524518B (en) | Two-shift one-rotation less-branch-chain redundant drive fully-symmetrical parallel mechanism | |
| CN111590091A (en) | Double-swing-angle spindle head | |
| CN108858142B (en) | Five-freedom-degree parallel robot | |
| CN111186562A (en) | Servo mechanism capable of bearing radial load | |
| CN111168413B (en) | Swing head structure | |
| CN205956333U (en) | Screw nut structure of splining during ball is vice | |
| CN103722547A (en) | Decoupling space parallel mechanism with two movements, one rotation and three freedom degrees | |
| CN202037455U (en) | Five-coordinate positioning mechanism | |
| CN113103216B (en) | Redundant degree of freedom robot towards narrow cavity internal surface application | |
| CN110545008A (en) | Compact variable reduction ratio electromechanical actuator suitable for various working conditions | |
| CN203526978U (en) | Variable-angle bearing platform driven by two screws | |
| CN209274614U (en) | A kind of flexure portion of cross-saddle single-track traffic joint flexible type track switch | |
| CN103878624B (en) | Twin shaft shunt feed platform mechanism | |
| CN109617305A (en) | A kind of two-way shaft servo straight line executing mechanism | |
| CN112109110A (en) | Robot integrated joint with sliding bearing at output end | |
| CN216152366U (en) | Precise robot actuator | |
| CN203427030U (en) | Parallel robot | |
| CN211053734U (en) | Robot integrated joint with sliding bearing at output end | |
| CN110173549A (en) | A kind of two-way shaft servo straight line executing mechanism | |
| CN208930244U (en) | A kind of space three-freedom redundantly actuated parallel mechanism | |
| CN105234956B (en) | Steering mechanism for bionic snake-shaped robot | |
| CN112298056B (en) | Vehicle-mounted radar pitching angle swinging mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200522 |
|
| RJ01 | Rejection of invention patent application after publication |