CN111322912A - Thrust vector all-axis swinging spray pipe driven by ball screw in cooperation - Google Patents
Thrust vector all-axis swinging spray pipe driven by ball screw in cooperation Download PDFInfo
- Publication number
- CN111322912A CN111322912A CN202010152019.3A CN202010152019A CN111322912A CN 111322912 A CN111322912 A CN 111322912A CN 202010152019 A CN202010152019 A CN 202010152019A CN 111322912 A CN111322912 A CN 111322912A
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- China
- Prior art keywords
- connecting rod
- spray pipe
- ball screw
- spherical
- screw
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- 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.)
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B10/00—Means for influencing, e.g. improving, the aerodynamic properties of projectiles or missiles; Arrangements on projectiles or missiles for stabilising, steering, range-reducing, range-increasing or fall-retarding
- F42B10/60—Steering arrangements
- F42B10/66—Steering by varying intensity or direction of thrust
- F42B10/665—Steering by varying intensity or direction of thrust characterised by using a nozzle provided with at least a deflector mounted within the nozzle
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
- F42B15/01—Arrangements thereon for guidance or control
Abstract
The invention discloses a thrust vector full-axis swing spray pipe cooperatively driven by a ball screw, which comprises: the combustion chamber, the spray tube throat, the spray tube, two sets of link drive mechanisms, two sets of ball screw actuating mechanism, the servo motor rotor passes through the shaft coupling and is connected with the lead screw, ball among the rotary motion actuating mechanism of rotor, ball screw is rotatory to drive the lead screw nut and carries out linear motion along parallel guide arm, the linear motion of lead screw nut is together with the cross axle of cross universal joint, lead screw linear bearing and link mechanism have been connected to the universal joint, spherical connection between connecting rod and the spray tube, and then realize the unilateral swing of spray tube. In order to endow the spray pipe with omnibearing swinging freedom degree, two sets of connecting rods and screw rod mechanisms are arranged and positioned at 90 degrees mutually, and cooperate with each other to randomly determine the swinging angle of the spray pipe and correspond to two uniquely determined screw rod nut positions.
Description
Technical Field
The invention belongs to the technical field of aircraft attitude control, and relates to a thrust vector all-axis swinging spray pipe cooperatively driven by a ball screw.
Background
In the design of the traditional hypersonic aircraft power device, an engine can only provide power parallel to the axial direction of a fuselage, and the attitude adjustment of the aircraft is realized by the asymmetric aerodynamic moment generated by the deflection of an aerodynamic control surface. With the continuous application of the thrust vector technology in the attitude control of the aircraft, the maneuverability of the aircraft is improved to a greater extent. The thrust vector technology refers to a method for controlling the flight attitude of an aircraft by changing the direction of air flow ejected by an engine. The thrust vector technology generates aerodynamic moment by the component of the engine thrust, can directly control the attitude of the aircraft, and greatly improves the maneuvering performance of the aircraft.
The thrust vector control servo system is called servo system for short, is an actuating mechanism in a missile control system, and is used for controlling the swing angle of a spray pipe according to the instruction of the control system, changing the discharge direction of the flame sprayed by an engine, generating lateral control moment, and changing the attitude of a missile in flight so as to enable the missile to stably fly according to a preset track. The movable body of the full-axis swinging spray pipe can swing in all directions around a certain point on the axis of the engine, so that lateral force in any direction is provided, and pitching and yawing control force is provided for rockets and missiles. The two motors provide power for the swinging of the spray pipe, and the two motors are cooperated to realize the closed-loop stable control of the full-axis swinging spray pipe.
Disclosure of Invention
The invention aims to provide a thrust vector all-axis swinging spray pipe driven by a ball screw in a cooperative manner, which controls the deflection angles in the pitching and yawing directions in a two-set ball screw transmission manner, realizes swinging at any spatial angle and achieves the aim of quickly adjusting the posture.
The technical solution for realizing the purpose of the invention is as follows:
an aircraft full-axis swinging spray pipe device comprises a combustion chamber, a spray pipe outer cover, two sets of ball screw transmission mechanisms and two sets of connecting rod linkage mechanisms;
the throat part of the spray pipe and the combustion chamber are connected by flanges, so that the connection strength and the air tightness of the device are ensured;
the ball screw transmission mechanism comprises a motor shell, a motor rotor, a magnetoelectric encoder, a coupler, a ball screw, a screw nut, a screw support, a linear bearing and parallel guide rods, wherein the motor rotor is connected with the ball screw through the coupler, the motor rotor rotates to drive the ball screw to rotate, the ball screw and the screw nut are in threaded fit, the linear bearing is installed between the screw nut and the parallel guide rods, and the ball screw rotates to drive the screw nut to perform linear motion along the parallel guide rods.
The connecting rod linkage mechanism comprises a cross universal joint, a linkage rod, a spherical connecting rod A, a spherical connecting rod B, two rotating shafts of the cross universal joint are respectively connected with a linear bearing and a transmission rod, the rotating shaft ends of the transmission rod, the spherical connecting rod A and the spherical connecting rod B are fixedly connected through a hexagon bolt, the spherical ends of the spherical connecting rod A and the spherical connecting rod B are concentrically connected with the spherical bearing A and the spherical bearing B of the lug part on the side surface of the spray pipe, the relative positions of the transmission rod, the spherical connecting rod A and the spherical connecting rod B are adjusted before installation, and after the transmission rod, the spherical connecting rod A and.
The ball screw transmission mechanism and the connecting rod linkage mechanism are connected through a cross universal joint, and the linear motion of the linear bearing in the ball screw mechanism changes the spatial angle of the connecting rod linkage mechanism, so that the deflection angle of the spraying pipe in one direction is changed.
Two sets of ball screw transmission mechanisms and two sets of connecting rod linkage mechanisms are matched with each other to work in a coordinated mode, any deflection angle of a given spray pipe space corresponds to a uniquely determined connecting rod space position and a uniquely determined space angle, and then the position of the two linear bearings can be uniquely determined.
The motor rotor drives the screw rod to rotate and convert the screw rod into linear motion of a screw rod nut, the screw rod nut drives the universal joint to linearly move through the linear bearing, the universal joint is linked with the connecting rod mechanism, and the connecting rod mechanism is driven to push one side of the spray pipe; two sets of ball screw transmission and connecting rod linkage mechanisms are respectively installed and matched at 90 degrees and push the spray pipe to any given direction in space.
Compared with the prior art, the invention has the advantages that:
(1) the thrust vector all-axis swinging spray pipe can provide control force and control moment in pitching and yawing directions only by using a single spray pipe, so that the complexity and weight of the system are reduced, and the cost of the system is reduced;
(2) the ball screw is introduced for driving in the thrust vector control, so that the friction loss is small, the transmission efficiency is high, the control precision is high, and the power consumption is low; spherical connection is introduced in the swinging of the bottom of the spray pipe and the pushing of the side surface of the spray pipe, so that the swinging freedom degree is ensured, the friction loss is small, and the swinging driving moment of the spray pipe is small;
(3) two sets of ball screw driving control structures (a ball screw transmission mechanism and a connecting rod linkage mechanism) are used for cooperatively controlling the position of the whole shaft at any swing angle of the spray pipe, the closed-loop stable control of the swing angle of the spray pipe can be realized by observing information (the rotating speed of a motor and the posture of the spray pipe) and the system has high working reliability.
Drawings
FIG. 1 is a general external schematic view of the thrust vectoring full axis oscillating nozzle of the present invention.
FIG. 2 is a schematic view of the general internal cross-section of the thrust vectoring full axis oscillating nozzle of the present invention.
FIG. 3 is a schematic view of the internal structure of the thrust vector full-axis oscillating nozzle of the present invention.
FIG. 4 is a schematic view of the thrust vectoring full axis oscillating nozzle of the present invention and the mechanical drive mechanism.
FIG. 5 is a sectional view of the nozzle and mechanical transmission mechanism of the thrust vectoring all-axis oscillating nozzle of the present invention.
Fig. 6 is a structural view of a ball screw link mechanism of the thrust vector all-axis swing nozzle of the present invention.
Detailed Description
The invention is described in further detail below with reference to the attached drawing figures
The invention relates to an all-axis swinging spray pipe device of thrust vectors of an aircraft, which comprises a spray pipe outer cover 1, a spray pipe 2, a spray pipe throat part 3, a combustion chamber 4, a ball screw driving mechanism and a connecting rod transmission mechanism combustion chamber;
the spray pipe 2 and the spray pipe throat 3 are connected in a spherical manner, so that the freedom degree of the full-axis swing of the spray pipe is ensured;
the nozzle throat 3 and the combustion chamber 4 are connected by flanges, so that the connection strength and the air tightness of the device are ensured;
the ball screw transmission mechanism comprises a motor shell 18, a motor rotor 17, a magnetoelectric encoder 19, a coupler 16, a screw 13, a screw nut 14, a screw support 5, a linear bearing 15 and a parallel guide rod 20, wherein the servo motor rotor 17 is connected with the screw 13 through the coupler 16, the motor rotor 17 rotates to drive the screw 13 to rotate, the screw 13 is in threaded fit with the screw nut 14, the linear bearing 15 is installed between the screw nut 14 and the parallel guide rod 20, and the screw 13 rotates to drive the screw nut 14 to perform linear motion along the parallel guide rod.
The connecting rod linkage mechanism comprises a cross universal joint 12, a linkage rod 11, a spherical connecting rod A8 and a spherical connecting rod B9, two rotating shafts are respectively connected with a linear bearing 15 and a transmission rod 9, the spherical connecting rod A8 and the rotating shaft end of the spherical connecting rod B9 are fixedly connected through a hexagon bolt 21, the spherical ends of the spherical connecting rod A8 and the spherical connecting rod B9 are spherically connected with the spray pipe 2, the relative positions of the transmission rod 9, the spherical connecting rod A8 and the spherical connecting rod B9 are adjusted before installation, and after the hexagonal bolt 21 is fixedly connected, the relative positions of the transmission rod, the spherical connecting rod A8 and.
The ball screw transmission mechanism and the connecting rod linkage mechanism are connected through a cross universal joint 12, and the linear motion of a linear bearing 15 in the ball screw mechanism changes the space angle of the connecting rod linkage mechanism and the deflection angle of the spray pipe 2 in one direction.
The two sets of ball screw transmission mechanisms and the two sets of connecting rod linkage mechanisms are matched with each other to work in a coordinated mode, any spatial deflection angle of the spray pipe 2 is given, and the spatial position and the spatial angle of the connecting rod 9 which are uniquely determined correspond to each other, so that the spatial position and the spatial angle can be uniquely determined by the positions of the two linear bearings 15.
The motor rotor 17 drives the screw 13 to rotate and convert the rotation into linear motion of a screw nut 14, the screw nut 14 drives the universal joint 12 to linearly move through a linear bearing 15, the universal joint 12 is linked with a link mechanism, and the link mechanism is driven to push one side of the spray pipe 2; two sets of ball screw transmission and connecting rod linkage mechanisms are respectively installed and matched at 90 degrees and push the spray pipe 2 to any given direction in space.
Combine fig. 1 and 2
The thrust vector full-axis swinging spray pipe mechanism comprises a spray pipe outer cover 1, a spray pipe 2, a spray pipe throat part 3 and a combustion chamber 4, wherein the spray pipe 2 and the spray pipe throat part 3 are in spherical connection, so that the full-axis swinging freedom degree of the spray pipe is ensured, and a lubricating material is filled in the connection part, so that the air tightness is ensured and the friction is reduced; the nozzle throat 3 and the combustion chamber 4 are connected by flanges, so that the connection strength and the air tightness of the device are ensured.
With reference to FIGS. 3, 4, 5 and 6
The thrust vector full-axis swinging spray pipe mechanism comprises two sets of ball screw transmission mechanisms and two sets of connecting rod linkage mechanisms, and is installed and matched at 90 degrees.
Referring to fig. 5 and 6, the ball screw transmission mechanism includes a motor housing 18, a motor rotor 17, a magnetoelectric encoder 19, a coupler 16, a ball screw 13, a screw nut 14, and a screw support 5, one end of the servo motor rotor 17 is fixed on a bottom plane of the screw support, the motor is a high-speed dc brushless motor, an output shaft of the motor can be fixedly connected with the magnetoelectric encoder 19, and the magnetoelectric encoder 19 can measure a rotation angular velocity of the output shaft of the servo motor in real time. An output shaft at the other end of the servo motor rotor 17 is connected with a ball screw through a coupler 16, and in order to avoid the influence of machining precision on installation precision, the coupler is of a cross-shaped slider structure. The servo motor realizes the feedback control of the closed loop position of the lead screw nut. In order to ensure the parallel motion of the screw nut, a parallel guide rod is arranged on the screw support, and a linear bearing is arranged between the parallel guide rod and the screw nut in order to reduce friction. For convenient installation, the servo motor, the ball screw and the parallel guide rod are all installed on the screw support, and the screw support is integrally installed in a screw support hole of the spray pipe outer cover and fastened through screws.
Referring to fig. 4, the link linkage mechanism includes a cross universal joint 12, a linkage rod 11, a spherical link A8, a spherical link B9, and a transmission rod 9 is fixedly connected with the rotating shaft ends of the spherical link A8 and the spherical link B9 through a hexagon bolt 21, and the relative positions of the three are not changed, so that the connection rod can be regarded as a connection rod which can stably connect the spray pipe 2 and the cross universal joint 12 and can be adjusted in length in advance.
Referring to fig. 3, the two screw supports 5 are installed at an angle of 90 degrees, and the outer surfaces of the screw supports 5 and the inner surface of the spray pipe outer cover have the same radian, so that complete attachment is ensured. A plane formed by the central axis of the screw 13 and the central axis of the outer cover of the spray pipe is vertical to the linear bearing, and when the spray pipe does not swing, the connecting rod linkage mechanism is positioned in the plane formed by the central axis of the screw and the central axis of the outer cover of the spray pipe.
When the servo motor linear motion mechanism works, two servo motors rotate, the rotating speed of the motors is measured by the magneto-electric encoders 19 on the motors, the output shafts of the motors rotate screw shafts of ball screws through couplers 16, the screw shafts rotate to drive screw nuts to linearly move along parallel guide rods, linear bearings 15 are connected with the screw nuts 14 and the parallel guide rods 20, and the two motors drive the two linear bearings to linearly move; the translation of the two linear bearings 15 drives the two sets of link mechanisms to rotate through the cross universal joint 12, the connecting rod 9 drives the spherical connecting rods 8 and 9 fixedly connected with the connecting rod 9 to move together, the spherical connecting rods 8 and 9 are in spherical connection with the spray pipe, and the two sets of link mechanisms are respectively pushed from the 90-degree side surface of the spray pipe to determine that the spray pipe swings to any angle in space; the swinging angle of the spray pipe is detected by a potentiometer, and the angle positioning of the full-axis swinging spray pipe can be realized through a stable control algorithm.
And determining a space swing angle, solving the stroke required by the two ball screws and the rotation angle required by the two motors which are uniquely corresponding by the motor controller, tracking a rotation instruction by a motor servo control loop, and feeding back the posture of the spray pipe to realize closed-loop stable control of the system.
Claims (5)
1. The thrust vector full-axis swinging spray pipe driven by the cooperation of the ball screw is characterized by comprising a spray pipe outer cover (1), a spray pipe (2), a spray pipe throat part (3), a gas chamber (4), a ball screw driving mechanism and a connecting rod transmission mechanism;
the spray pipe (2) and the spray pipe throat part (1) are connected in a spherical manner, so that the freedom degree of the full-axis swing of the spray pipe is ensured;
the nozzle throat (3) and the combustion chamber (4) are connected by flanges, so that the connection strength and the air tightness of the device are ensured;
the ball screw driving mechanism comprises a motor shell (18), a motor rotor (17), a coupler (16), a ball screw (13), a screw nut (14), a linear bearing (15), a parallel guide rod (20) and a screw support (5); the motor rotor (17) is connected with a ball screw (13) through a coupler (16), the parallel guide rod (11) is installed on the screw support (5), and the linear bearing (15) is connected with a screw nut (14) and a parallel guide rod (20); the motor rotor (17) rotates to drive the ball screw (13), the screw nut (14) is in threaded fit with the ball screw (13), the rotation of the ball screw (13) is converted into linear motion of the screw nut (14), and then the linear motion of the linear bearing (15) is realized;
the connecting rod transmission mechanism comprises a cross universal joint (12), a connecting rod (11), a ball end connecting rod (6) and a ball end connecting rod (7), one end of a cross shaft of the cross universal joint (12) is connected with a rotating pair of a linear bearing (15), the other end of the cross shaft of the cross universal joint (12) is connected with a rotating pair of the connecting rod (11), the connecting rod (11) is fixedly connected with a spherical connecting rod A (8) and a spherical connecting rod B (9), and the spherical ends of the spherical connecting rods (8) and (9) are fixed on the movable spray pipe (2); the linear bearing (15) moves linearly to drive the cross universal joint (12), the cross universal joint (12) drives the connecting rod transmission rods (8), (9) and (11) to rotate, and the spatial positions of the spherical bearings (7) and (10) are changed;
the two sets of ball screw driving mechanisms and the connecting rod transmission mechanisms are arranged and matched with each other according to 90 degrees, the two motor rotors (17) move to drive the spray pipe (2) to swing around one point on the axis of the engine in all directions, and the lateral force in any direction is provided.
2. The thrust vector full-axis swinging nozzle driven by the cooperation of the ball screws as claimed in claim 1, wherein the relative positions of the linkage connecting rod (11) and the spherical connecting rod A (8) and the spherical connecting rod B (9) are fixed through a hexagon bolt (21), and the action length of the connecting rod transmission mechanism can be changed by adjusting the installation angle of the linkage connecting rod (11) relative to the hexagon bolt (21); the spherical ends of the spherical connecting rods (8) and (9) are concentrically connected with spherical bearings (7) and (10) fixed on the side surface of the movable spray pipe (2).
3. The ball screw co-driven thrust vector full axis pendulum nozzle of claim 1, wherein the coupling (16) is of a Oldham type construction.
4. Ball screw co-driven thrust vectoring full axis oscillating nozzle according to claim 1, characterised in that the spherical connection between the spherical connecting rod (8) (9) and the nozzle (2) does not limit the rotational freedom of the nozzle (2) itself.
5. The thrust vector full-axis swinging nozzle driven by the ball screw in a coordinated mode according to claim 1, characterized in that the outer surface of the ball screw support (5) is tangent to the inner surface of the nozzle housing (1), and threaded holes are formed in the periphery of the support (5) and fixedly connected to the inner wall surface of the nozzle housing (1) through screws.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010152019.3A CN111322912A (en) | 2020-03-06 | 2020-03-06 | Thrust vector all-axis swinging spray pipe driven by ball screw in cooperation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010152019.3A CN111322912A (en) | 2020-03-06 | 2020-03-06 | Thrust vector all-axis swinging spray pipe driven by ball screw in cooperation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111322912A true CN111322912A (en) | 2020-06-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010152019.3A Pending CN111322912A (en) | 2020-03-06 | 2020-03-06 | Thrust vector all-axis swinging spray pipe driven by ball screw in cooperation |
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| CN (1) | CN111322912A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112412662A (en) * | 2020-11-17 | 2021-02-26 | 哈尔滨工程大学 | Combined thrust vectoring nozzle system and projectile body with same |
| CN114111464A (en) * | 2021-11-12 | 2022-03-01 | 沈阳航天新光集团有限公司 | Normal phase double-shaft swinging device |
| CN114308951A (en) * | 2021-11-08 | 2022-04-12 | 四川省宜宾源泉矿泉水有限公司 | High-pressure flushing device of drinking water barrel |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2036669A (en) * | 1978-12-07 | 1980-07-02 | Bayern Chemie Gmbh Flugchemie | Thrust vectoring nozzle |
| US6067793A (en) * | 1996-12-26 | 2000-05-30 | Sener, Ingenieria Y Sistemas, S.A. | Variable geometry axisymmetric nozzle with 2-d thrust vectoring intended for a gas turbine engine |
| US6378781B1 (en) * | 1999-05-13 | 2002-04-30 | Industria De Turbo Propulsores S.A. | Exit area control mechanism for convergent divergent nozzles |
| CN107448325A (en) * | 2017-07-13 | 2017-12-08 | 燕山大学 | A kind of big swing angle vector spray hybrid mechanism |
| CN109184947A (en) * | 2018-10-11 | 2019-01-11 | 西北工业大学 | A kind of Integral rotary convergence vector spray |
-
2020
- 2020-03-06 CN CN202010152019.3A patent/CN111322912A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2036669A (en) * | 1978-12-07 | 1980-07-02 | Bayern Chemie Gmbh Flugchemie | Thrust vectoring nozzle |
| US6067793A (en) * | 1996-12-26 | 2000-05-30 | Sener, Ingenieria Y Sistemas, S.A. | Variable geometry axisymmetric nozzle with 2-d thrust vectoring intended for a gas turbine engine |
| US6378781B1 (en) * | 1999-05-13 | 2002-04-30 | Industria De Turbo Propulsores S.A. | Exit area control mechanism for convergent divergent nozzles |
| CN107448325A (en) * | 2017-07-13 | 2017-12-08 | 燕山大学 | A kind of big swing angle vector spray hybrid mechanism |
| CN109184947A (en) * | 2018-10-11 | 2019-01-11 | 西北工业大学 | A kind of Integral rotary convergence vector spray |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112412662A (en) * | 2020-11-17 | 2021-02-26 | 哈尔滨工程大学 | Combined thrust vectoring nozzle system and projectile body with same |
| CN114308951A (en) * | 2021-11-08 | 2022-04-12 | 四川省宜宾源泉矿泉水有限公司 | High-pressure flushing device of drinking water barrel |
| CN114308951B (en) * | 2021-11-08 | 2023-08-25 | 四川省宜宾源泉矿泉水有限公司 | High-pressure flushing device of drinking water bucket |
| CN114111464A (en) * | 2021-11-12 | 2022-03-01 | 沈阳航天新光集团有限公司 | Normal phase double-shaft swinging device |
| CN114111464B (en) * | 2021-11-12 | 2023-11-07 | 沈阳航天新光集团有限公司 | Positive intersection double-shaft swinging device |
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Application publication date: 20200623 |