CN112539118B - Serial-type self-locking electromechanical servo mechanism - Google Patents
Serial-type self-locking electromechanical servo mechanism Download PDFInfo
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- CN112539118B CN112539118B CN202011181308.2A CN202011181308A CN112539118B CN 112539118 B CN112539118 B CN 112539118B CN 202011181308 A CN202011181308 A CN 202011181308A CN 112539118 B CN112539118 B CN 112539118B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02K—JET-PROPULSION PLANTS
- F02K9/00—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof
- F02K9/08—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof using solid propellants
- F02K9/32—Constructional parts; Details not otherwise provided for
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02K—JET-PROPULSION PLANTS
- F02K9/00—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof
- F02K9/96—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof characterised by specially adapted arrangements for testing or measuring
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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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- 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
- H02K7/08—Structural association with bearings
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/102—Structural association with clutches, brakes, gears, pulleys or mechanical starters with friction brakes
- H02K7/1021—Magnetically influenced friction brakes
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- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
A tandem type self-locking electromechanical servo mechanism adopts tandem type layout and sequentially comprises a front lug, an actuator assembly, a self-locking module, a servo motor and a rear lug which are coaxially arranged from front to back; the front support lug is connected with the actuator assembly through threads arranged on the front support lug, and the actuator assembly, the self-locking module, the servo motor and the rear support lug are coaxially connected in series through screws; the servo motor receives the driving signal and outputs the rotary motion with variable direction and variable rotating speed, the actuator assembly converts the rotary motion into linear motion, the displacement parameter is measured, and the self-locking module locks the motor shaft of the servo motor in a power-off state to realize the locking of the output position of the servo mechanism.
Description
Technical Field
The invention relates to a series self-locking electromechanical servo mechanism which is used for controlling thrust vectors of a carrier rocket liquid hydrogen liquid oxygen engine.
Background
The servo mechanism is an important device or system of the carrier rocket and is used for realizing thrust vector control of each substage. The main carrier rockets at home and abroad mostly use an electro-hydraulic servo mechanism with a servo valve as a core. A series of first, second and third substages of a main rocket long-mark third-number A in China all adopt electro-hydraulic servo mechanisms, wherein a hydraulic locking mechanism is integrated in the third substage, and the locking function of a swing engine of the first-stage flight section, the second-stage flight section and the third-stage glide section is realized. With the increasing demand for high density launch in the commercial aerospace market and the increasing competition in the market, new launch vehicles focus on rapid test launch and mass production capabilities. At present, the new generation of medium-sized carrier rocket plans in China change a test launching mode from three stages (hierarchical assembly, hierarchical test and hierarchical transportation) into three stages (overall horizontal assembly, overall horizontal test and overall horizontal transportation), and the three stages are characterized in that the rocket is horizontally and integrally assembled and horizontally tested in a technical factory building, the whole rocket is horizontally transported to a launching place after the test is finished, then the rocket is launched vertically, and the test launching preparation time can be greatly reduced. The traditional electro-hydraulic servo mechanism is complex in structure and long in manufacturing period, and in addition, due to inevitable trace leakage, the hydraulic locking mechanism is difficult to realize long-time zero position locking of a liquid rocket engine with large thrust in a horizontal state, and the requirements of batch production and three-dimensional translation are difficult to meet.
With the development of electric drive technology in recent years, an electromechanical servo mechanism taking a servo motor and a lead screw transmission mechanism as a core is rapidly developed in the field of aerospace, and has the characteristics of simple structure and short manufacturing period. One to four stages of European 'Wright star' rockets flying first 2012 adopt electromechanical servo mechanisms, and solid engines are adopted in the first, second and third stages. The solid rocket engine has better zero position holding capacity and has no special requirement on zero position locking. The three-stage electromechanical servo mechanism is adopted for the first-flying rocket in 9 months in 2015 in China, but the thrust of an engine is small, the power of the servo mechanism is low, only dozens of watts exist, and the design is easy to realize. The U.S. centaur liquid hydrogen liquid oxygen top grade single engine configuration employs an electromechanical servo mechanism, but there is no report on horizontal testing and use. The high-thrust liquid rocket engine has large rotational inertia, so that the locking moment tested in the horizontal direction is large, and a special locking mechanism needs to be designed; in addition, the natural frequency of the structure is low, and a proper structure resonance suppression control strategy needs to be adopted. In both of the above aspects, electromechanical servos have certain advantages.
The invention provides a design scheme of a high-power electromechanical servo mechanism with a zero locking function. Aiming at the requirement of the zero self-locking function, a series electromechanical servo mechanism with an independent electromagnetic self-locking module is adopted, and the servo mechanism has the advantages of simple structure, small overall dimension and capability of realizing the reliable zero locking function under the condition of meeting the narrow installation space of a liquid engine.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the defects in the prior art are overcome, the serial self-locking electromechanical servo mechanism is provided, and the function of long-time large-torque zero position locking is realized.
The technical solution of the invention is as follows:
a series self-locking electromechanical servo mechanism adopts a series layout, and comprises a front support lug (1), an actuator component (2), a self-locking fixed die block (3), a servo motor (4) and a rear support lug (5) which are coaxially arranged from front to back in sequence;
the front support lug (1) is connected with the actuator assembly (2) through threads arranged on the front support lug (1), and the actuator assembly (2), the self-locking fixed die block (3), the servo motor (4) and the rear support lug (5) are coaxially connected in series through screws;
the servo motor (4) receives the driving signal and outputs the rotary motion with variable direction and variable rotating speed, the actuator assembly (2) converts the rotary motion into linear motion, the displacement parameter is measured, and the self-locking module (3) locks the motor shaft of the servo motor (4) in a power-off state to realize the locking of the output position of the servo mechanism.
Further, the self-locking module (3) comprises an electromagnetic lock (31), a set screw (32), a transmission shaft assembly (33), a small locking nut (34), a front end shell (35), an electric connector assembly (36), a first sleeve (37), a flat key (38) and an adjusting gasket (39);
the stator of the electromagnetic lock (31) is fixed on the transmission shaft assembly (33) through a screw, and the moving plate of the electromagnetic lock (31) is installed on the first sleeve (37) through a set screw (32); the first sleeve (37) is mechanically connected with the transmission shaft assembly (33) through a flat key (38); adjusting a locking clearance a of the electromagnetic lock by replacing adjusting gaskets (39) with different thicknesses, axially locking and fixing a moving plate of the electromagnetic lock (31) by using two small locking nuts (34) after the locking clearance a is adjusted, and welding and connecting a power line of the electromagnetic lock (31) with an electric connector (36); the front end housing (35) is connected with the transmission shaft assembly (33) through screws, and provides an external interface of the front end of the self-locking module (3).
Further, the drive shaft assembly (33) comprises: the locking device comprises a transmission shaft (331), a large locking nut (332), an angular contact bearing (333), a second sleeve (334) and a rear end shell (335);
the input end of the transmission shaft (331) is connected with the servo motor (4) by a mechanical interface, and the output end of the transmission shaft is connected with the actuator assembly (2); inner rings of a pair of angular contact bearings (333) are fixed on a transmission shaft (331) through two large locking nuts (332), outer rings of the angular contact bearings (333) are fixed on a rear end shell (335) through a second sleeve (334), and the transmission shaft (331) is axially fixed relative to the rear end shell (335) and can freely rotate.
Further, the actuator assembly (2) comprises a lead screw (21), a lead screw nut (22), an output ejector rod (23), an angular contact bearing (24), a lead screw locking nut (25), a sliding bearing (26), an ejector rod locking nut (27) and an actuator shell (28);
the input end of the screw rod (21) is connected with the transmission shaft (331) by a mechanical interface, and the output end of the screw rod is connected with the screw rod nut (22); inner rings of a pair of angular contact bearings (24) are fixed on a lead screw (21) by two lead screw locking nuts (25), and outer rings of the angular contact bearings (24) are fixed on an actuator shell (28) by a self-locking module (3), so that the lead screw (21) is axially fixed relative to the actuator shell (28) and can freely rotate; the outer side of the screw nut (22) is connected with the output ejector rod (23) through a mechanical interface and is axially fixed by an ejector rod locking nut (27), the inner side of the screw nut (22) is in threaded connection with the screw rod (21), when the screw rod (21) rotates, the screw nut (22) moves linearly to realize conversion of motion modes, the screw nut (22) further pushes or pulls the screw rod ejector rod (23) to output linear motion, and the sliding bearing (26) is used for supporting the screw rod ejector rod (23) to bear load radial force.
Further, the electromagnetic lock (31) comprises a power line (311), a coil (312), a permanent magnet (313), an armature (314), a reed (315) and a rotor (316);
when the power line (311) is not connected with an external power supply, the permanent magnet (313) attracts the armature (314) to cling to the surface of the stator to realize locking; when the power line (311) is connected with an external power supply, the coil (312) generates an electromagnetic field in the direction opposite to that of the permanent magnet (313) through current, the stator loses magnetism outwards, the armature (314) is separated from the surface of the stator under the pulling force of the reed (315) to realize unlocking, the reed (315) is connected with the armature (314) and the rotor (316), and the rotor (316) is connected with the locking rotating shaft to realize locking and unlocking outwards.
Furthermore, the self-locking module (3) is provided with an independent interface structure and is connected with the servo motor in a coaxial series mode through a spigot structure of the rear end shell (335); the actuator components are connected in series through the front end shell (35) to form a series servo mechanism, or the actuator components are connected in parallel to form a parallel servo mechanism.
Further, the transmission shaft (331) is provided with an input and output interface, and the interface form can adopt a flat key connection, a spline connection, a flange connection or a rectangular interface.
Furthermore, the front support lug (1) is connected with the actuator assembly (2) by threads, and the installation length of the servo mechanism is finely adjusted by adjusting the screwed-in length of the threads; the installation length of the servo mechanism is adjusted in a large range by replacing different rear lugs (5); the front support lug (1) and the rear support lug (5) are installed in a mode that a joint bearing is matched with a pin shaft so as to adapt to certain installation angle deviation.
Further, electromagnetic locks (31) with different locking torques realize different locking forces through the conversion of the actuator assembly.
Furthermore, the self-locking electromechanical servo mechanism adopts a serial structure to ensure that the overall shape envelope is in a long column shape, and the maximum section size does not exceed 125mm multiplied by 83 mm.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention adopts a serial layout structure of the servo motor, the self-locking module and the actuator assembly, cancels a middle gear reduction mechanism, reduces transmission clearance, avoids gear locking faults, simultaneously lengthens the appearance of the servo mechanism, and is more suitable for being applied to a liquid rocket engine with a long and narrow installation space;
(2) the invention introduces the electromagnetic lock in the electromechanical servo mechanism aiming at the zero locking requirement, and adopts the structure that the brake directly locks the motor shaft in the prior electromechanical servo locking structure, the structural design is simple, and a certain locking requirement can be realized, but because the servo motor needs to ensure that the motor rotor shaft has a certain axial moving space in order to ensure the stable operation of the motor rotor during the design, the play of the rotor shaft can influence the locking effect of the permanent magnetic brake, even the situation that the locking cannot be realized occurs. Therefore, the self-locking module with an independent transmission structure is adopted, and the locking function of the motor shaft is realized under the condition that the play space of the motor rotor shaft is not influenced.
(3) In the application of the conventional permanent magnet friction plate type brake, the air gap is adjusted by adjusting the integral adjusting gasket under the stator, the operation is complex, and the invention realizes the single-side accurate brake gap adjustment by adding the connecting sleeve, so that the brake locking structure is more reliable.
(4) The self-locking module adopted in the invention has an independent interface structure, can realize independent assembly and debugging, can realize a modularized matching relation with the servo motor after being subjected to certain generalization with a servo motor interface, and can realize the application of the servo motor with a series locking torque under the condition of being provided with different brakes.
Drawings
FIG. 1 is a schematic diagram of a tandem self-locking electromechanical servo mechanism;
FIG. 2 is a view of a tandem servo structure;
FIG. 3 is a diagram of a self-locking mold block;
FIG. 4 is a block diagram of an actuator assembly;
FIG. 5 is a schematic view of a driveshaft assembly construction;
FIG. 6 is a schematic illustration of a drive shaft interface;
fig. 7 is a schematic diagram of an electromagnetic lock.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
The invention provides a tandem type self-locking electromechanical servo mechanism which mainly comprises a servo motor, a self-locking module, an actuator assembly and the like, wherein the overall layout structure diagram is shown in figures 1 and 2, the self-locking module structure is shown in figure 3, and the actuator assembly is shown in figure 4.
The invention is mainly characterized in that:
1. the serial layout structure of the servo motor, the self-locking module and the actuator assembly is adopted, an intermediate gear reduction mechanism is omitted, the transmission clearance is reduced, the gear locking fault is avoided, the servo mechanism is lengthened in appearance, and the liquid rocket engine with the long and narrow installation space is more suitable for being applied to the liquid rocket engine with the long and narrow installation space;
2. the permanent magnet friction plate type brake (electromagnetic lock) is introduced into the electromechanical servo mechanism according to the zero locking requirement, and in the existing electromechanical servo locking structure, the structure that the brake directly locks the motor shaft is adopted, so that the structural design is simple, a certain locking requirement can be realized, but because the servo motor needs to ensure that the motor rotor shaft has a certain axial moving space for ensuring the stable operation of the motor rotor during the design, the locking effect of the permanent magnet brake can be influenced by the play of the rotor shaft, and even the situation that the locking cannot be realized occurs. Therefore, the self-locking module with an independent transmission structure is adopted, and the locking function of the motor shaft is realized under the condition that the play space of the motor rotor shaft is not influenced.
3. In the application of the prior permanent magnet friction plate type brake, the air gap is adjusted by adjusting the integral adjusting gasket under the stator, the operation of the mode is complex, and the invention realizes the single-side accurate braking gap adjustment by increasing the connecting sleeve, so that the locking structure of the brake is more reliable.
4. The self-locking module adopted in the invention has an independent interface structure, can realize independent assembly and debugging, can realize a modularized matching relation with the servo motor after being subjected to certain generalization with a servo motor interface, and can realize the application of the servo motor with a series locking torque under the condition of being provided with different brakes.
Specifically, as shown in fig. 1 and fig. 2, the tandem type self-locking electromechanical servo mechanism provided by the invention adopts a tandem type layout, and comprises a front lug 1, an actuator assembly 2, a self-locking fixed module 3, a servo motor 4 and a rear lug 5 which are coaxially arranged from front to back in sequence;
the front support lug 1 is connected with the actuator assembly 2 through threads arranged on the front support lug 1, and the actuator assembly 2, the self-locking fixed die block 3, the servo motor 4 and the rear support lug 5 are coaxially connected in series through screws;
the servo motor 4 receives the driving signal and outputs the rotary motion with variable direction and variable rotating speed, the actuator assembly 2 converts the rotary motion into linear motion and measures displacement parameters, and the self-locking fixed die block 3 locks the motor shaft of the servo motor 4 in a power-off state to realize the locking of the output position of the servo mechanism.
As shown in fig. 3, the self-locking fixed module 3 comprises an electromagnetic lock 31, a set screw 32, a transmission shaft assembly 33, a small lock nut 34, a front end housing 35, an electric connector assembly 36, a first sleeve 37, a flat key 38 and an adjusting gasket 39;
the stator of the electromagnetic lock 31 is fixed on the transmission shaft assembly 33 through a screw, and the moving plate of the electromagnetic lock 31 is arranged on the first sleeve 37 through a set screw 32; the first socket 37 is mechanically connected to the drive shaft assembly 33 by a flat key 38; the locking clearance a of the electromagnetic lock is adjusted by replacing the adjusting gaskets 39 with different thicknesses, after the locking clearance a is adjusted, the movable piece of the electromagnetic lock 31 is axially locked and fixed by using two small locking nuts 34, and the power line of the electromagnetic lock 31 is connected with the electric connector 36 in a welding way; the front housing 35 is screwed to the drive shaft assembly 33 to provide an external interface from the front of the locking module 3.
As shown in fig. 5, the drive shaft assembly 33 includes: a transmission shaft 331, a lock nut 332, an angular contact bearing 333, a second sleeve 334, and a rear end housing 335;
the input end of the transmission shaft 331 is connected with the servo motor 4 by a mechanical interface, and the output end is connected with the actuator assembly 2; inner rings of a pair of angular contact bearings 333 are fixed to the drive shaft 331 by two lock nuts 332, and outer rings of the angular contact bearings 333 are fixed to the rear end housing 335 by a second sleeve 334, so that the drive shaft 331 is axially fixed to the rear end housing 335 and can freely rotate.
As shown in fig. 4, the actuator assembly 2 includes a lead screw 21, a lead screw nut 22, an output carrier 23, an angular contact bearing 24, a lead screw lock nut 25, a slide bearing 26, a carrier lock nut 27, and an actuator housing 28;
the input end of the screw 21 is connected with the transmission shaft 331 by a mechanical interface, and the output end is connected with the screw nut 22; inner rings of a pair of angular contact bearings 24 are fixed on the screw 21 by two screw locking nuts 25, and outer rings of the angular contact bearings 24 are fixed on the actuator shell 28 by the self-locking fixed die block 3, so that the screw 21 is axially fixed and can freely rotate relative to the actuator shell 28; the outer side of the screw nut 22 is connected with the output ejector rod 23 through a mechanical interface and is axially fixed by the ejector rod locking nut 27, the inner side of the screw nut 22 is in threaded connection with the screw rod 21, when the screw rod 21 rotates, the screw nut 22 moves linearly to realize conversion of motion modes, the screw nut 22 further pushes or pulls the screw ejector rod 23 to perform linear motion output, and the sliding bearing 26 is used for supporting the screw ejector rod 23 to bear load radial force.
As shown in fig. 7, the electromagnetic lock 31 includes a power supply line 311, a coil 312, a permanent magnet 313, an armature 314, a reed 315, and a rotor 316;
when the power line 311 is not connected with an external power supply, the permanent magnet 313 attracts the armature 314 to be tightly attached to the surface of the stator, so that locking is realized; when the power line 311 is connected with an external power supply, the coil 312 generates an electromagnetic field in a direction opposite to that of the permanent magnet 313 through current, so that the stator loses magnetism to the outside, the armature 314 is separated from the surface of the stator under the pulling force of the reed 315 to realize unlocking, the reed 315 is connected with the armature 314 and the rotor 316, and the rotor 316 is connected with the locking rotating shaft to realize locking and unlocking to the outside. The electromagnetic locks 31 with different locking torques realize different locking forces through the conversion of the actuator components.
The self-locking module 3 is provided with an independent interface structure and is connected with the servo motor in a coaxial series manner through a spigot structure of the rear-end shell 335; the actuator assemblies are connected in series through the front end housing 35 to form a series-connected servo mechanism, or the actuator assemblies are connected in parallel to form a parallel-connected servo mechanism.
As shown in fig. 6, the transmission shaft 331 has an input/output interface, which may be in the form of a flat key connection, a spline connection, a flange connection, or a rectangular interface.
The front lug 1 is connected with the actuator assembly 2 by threads, and the installation length of the servo mechanism is finely adjusted by adjusting the screwed-in length of the threads; the installation length of the servo mechanism is adjusted in a large range by replacing different rear lugs 5; the front lug 1 and the rear lug 5 are installed in a mode that a joint bearing is matched with a pin shaft so as to adapt to certain installation angle deviation.
The self-locking electromechanical servo mechanism adopts a serial structure to ensure that the overall shape envelope is in a long column shape, and the maximum section size does not exceed 125mm multiplied by 83 mm.
Example (b):
in this embodiment, a tandem self-locking electromechanical servo mechanism is provided, as shown in fig. 1, in the tandem self-locking electromechanical servo mechanism, a servo motor 4 receives a driving signal and outputs a rotational motion with a variable direction and a variable rotational speed, and a lead screw 21 and a lead screw nut 22 convert the rotational motion into a linear motion and output the linear motion through a lead screw ejector rod 23; the electromagnetic lock 31 locks the transmission shaft 331 in a power-off state to realize the locking of the output position of the servo mechanism;
as shown in fig. 2, in the tandem type self-locking electromechanical servo mechanism, a front support lug 1 is connected with an actuator assembly 2 through a thread arranged on the front support lug 1, and the actuator assembly 2, a self-locking fixed die block 3, a servo motor 4 and a rear support lug 5 are coaxially connected in series through screws; the overall installation length of the servo mechanism can be finely adjusted by adjusting the screwing length of the threads between the front support lug 1 and the actuator assembly 2, and the servo mechanism can be suitable for different installation lengths by replacing the rear support lugs 5 with different lengths; the installation interfaces of the front support lug 1 and the rear support lug 5 adopt a mode of matching a joint bearing with a pin shaft, and the joint bearing has 3 directions of rotational freedom degrees and can adapt to angle deviation in the installation process.
As shown in fig. 3, the stator of the electromagnetic lock 31 is fixed on the transmission shaft assembly 33 by a screw, and the moving plate of the electromagnetic lock 31 is mounted on the first sleeve 37 by a set screw 32; the first socket 37 is mechanically connected to the drive shaft assembly 33 by a flat key 38; the locking clearance a of the electromagnetic lock is adjusted by replacing the adjusting gaskets 39 with different thicknesses, after the locking clearance a is adjusted, the movable piece of the electromagnetic lock 31 is axially locked and fixed by using two small locking nuts 34, and the power line of the electromagnetic lock 31 is connected with the electric connector 36 in a welding way; the front housing 35 is screwed to the drive shaft assembly 33 to provide an external interface from the front of the locking module 3.
As shown in fig. 4, the input end of the screw 21 is connected to the transmission shaft 331 by a mechanical interface, and the output end is connected to the screw nut 22; inner rings of a pair of angular contact bearings 24 are fixed on the screw 21 by two screw locking nuts 25, and outer rings of the angular contact bearings 24 are fixed on the actuator shell 28 by the self-locking fixed die block 3, so that the screw 21 is axially fixed and can freely rotate relative to the actuator shell 28; the outer side of the screw nut 22 is connected with the output ejector rod 23 through a mechanical interface and is axially fixed by the ejector rod locking nut 27, the inner side of the screw nut 22 is in threaded connection with the screw rod 21, when the screw rod 21 rotates, the screw nut 22 moves linearly to realize conversion of motion modes, further the screw nut 22 pushes/pulls the screw ejector rod 23 to perform linear motion output, and the sliding bearing 26 is used for supporting the screw ejector rod 23 to bear load radial force.
As shown in fig. 5 and 6, the input end of the transmission shaft 331 is connected to the servo motor 4 by using a mechanical interface, and the output end is connected to the actuator assembly 2, wherein the interface can be in the form of flat key connection, spline connection, flange connection or rectangular interface; inner rings of a pair of angular contact bearings 333 are fixed to the drive shaft 331 by two lock nuts 332, and outer rings of the angular contact bearings 333 are fixed to the rear end housing 335 by a second sleeve 334, so that the drive shaft 331 is axially fixed to the rear end housing 335 and can freely rotate.
As shown in fig. 7, when the power line 311 of the electromagnetic lock 31 is not connected with an external power supply, the permanent magnet 313 attracts the armature 314 to cling to the surface of the stator, so as to realize locking; when the power line 311 is connected with an external power supply, the coil 312 generates an electromagnetic field in a direction opposite to that of the permanent magnet 313 through current, so that the stator loses magnetism to the outside, the armature 314 is separated from the surface of the stator under the pulling force of the reed 315 to realize unlocking, the reed 315 is connected with the armature 314 and the rotor 316, and the rotor 316 is connected with the locking rotating shaft to realize locking and unlocking to the outside.
Claims (9)
1. The utility model provides a serial-type self-locking electromechanical servo mechanism which characterized in that: the electromechanical servo mechanism adopts a serial layout, and is sequentially provided with a front support lug (1), an actuator assembly (2), a self-locking fixed die block (3), a servo motor (4) and a rear support lug (5) which are coaxially arranged from front to back;
the front support lug (1) is connected with the actuator assembly (2) through threads arranged on the front support lug (1), and the actuator assembly (2), the self-locking fixed die block (3), the servo motor (4) and the rear support lug (5) are coaxially connected in series through screws;
the servo motor (4) receives the driving signal and outputs the rotary motion with variable direction and variable rotating speed, the actuator assembly (2) converts the rotary motion into linear motion and measures displacement parameters, and the self-locking module (3) locks the motor shaft of the servo motor (4) in a power-off state to realize the locking of the output position of the servo mechanism;
the self-locking module (3) comprises an electromagnetic lock (31), a set screw (32), a transmission shaft assembly (33), a small locking nut (34), a front end shell (35), an electric connector assembly (36), a first sleeve (37), a flat key (38) and an adjusting gasket (39);
the stator of the electromagnetic lock (31) is fixed on the transmission shaft assembly (33) through a screw, and the moving plate of the electromagnetic lock (31) is installed on the first sleeve (37) through a set screw (32); the first sleeve (37) is mechanically connected with the transmission shaft assembly (33) through a flat key (38); adjusting a locking gap (a) of the electromagnetic lock by replacing adjusting gaskets (39) with different thicknesses, axially locking and fixing a moving plate of the electromagnetic lock (31) by using two small locking nuts (34) after the locking gap (a) is adjusted, and welding and connecting a power line of the electromagnetic lock (31) with an electric connector assembly (36); the front end housing (35) is connected with the transmission shaft assembly (33) through screws, and provides an external interface of the front end of the self-locking module (3).
2. The tandem self-locking electromechanical servo mechanism of claim 1, wherein: the driveshaft assembly (33) comprises: the locking device comprises a transmission shaft (331), a large locking nut (332), an angular contact bearing (333), a second sleeve (334) and a rear end shell (335);
the input end of the transmission shaft (331) is connected with the servo motor (4) by a mechanical interface, and the output end of the transmission shaft is connected with the actuator assembly (2); inner rings of a pair of angular contact bearings (333) are fixed on a transmission shaft (331) through two large locking nuts (332), outer rings of the angular contact bearings (333) are fixed on a rear end shell (335) through a second sleeve (334), and the transmission shaft (331) is axially fixed relative to the rear end shell (335) and can freely rotate.
3. A tandem self-locking electromechanical servo mechanism according to claim 2, wherein: the actuator assembly (2) comprises a lead screw (21), a lead screw nut (22), an output ejector rod (23), an angular contact bearing (24), a lead screw locking nut (25), a sliding bearing (26), an ejector rod locking nut (27) and an actuator shell (28);
the input end of the screw rod (21) is connected with the transmission shaft (331) by a mechanical interface, and the output end of the screw rod is connected with the screw rod nut (22); inner rings of a pair of angular contact bearings (24) are fixed on a lead screw (21) by two lead screw locking nuts (25), and outer rings of the angular contact bearings (24) are fixed on an actuator shell (28) by a self-locking module (3), so that the lead screw (21) is axially fixed relative to the actuator shell (28) and can freely rotate; the outer side of the screw nut (22) is connected with the output ejector rod (23) through a mechanical interface and is axially fixed by an ejector rod locking nut (27), the inner side of the screw nut (22) is in threaded connection with the screw rod (21), when the screw rod (21) rotates, the screw nut (22) moves linearly to realize conversion of motion modes, the screw nut (22) further pushes or pulls the output ejector rod (23) to output linear motion, and the sliding bearing (26) is used for supporting the output ejector rod (23) to bear load radial force.
4. The tandem self-locking electromechanical servo mechanism of claim 1, wherein: the electromagnetic lock (31) comprises a power line (311), a coil (312), a permanent magnet (313), an armature (314), a reed (315) and a rotor (316);
when the power line (311) is not connected with an external power supply, the permanent magnet (313) attracts the armature (314) to cling to the surface of the stator to realize locking; when the power line (311) is connected with an external power supply, the coil (312) generates an electromagnetic field in the direction opposite to that of the permanent magnet (313) through current, the stator loses magnetism outwards, the armature (314) is separated from the surface of the stator under the pulling force of the reed (315) to realize unlocking, the reed (315) is connected with the armature (314) and the rotor (316), and the rotor (316) is connected with the locking rotating shaft to realize locking and unlocking outwards.
5. A tandem self-locking electromechanical servo mechanism according to claim 2, wherein: the self-locking module (3) is provided with an independent interface structure and is connected with the servo motor in a coaxial series mode through a spigot structure of the rear end shell (335); the actuator components are connected in series through the front end shell (35) to form a series servo mechanism, or the actuator components are connected in parallel to form a parallel servo mechanism.
6. A tandem self-locking electromechanical servo mechanism according to claim 2, wherein: the transmission shaft (331) is provided with an input interface and an output interface, and the interface form can adopt a flat key connection, a spline connection, a flange connection or a rectangular interface.
7. The tandem self-locking electromechanical servo mechanism of claim 1, wherein: the front support lug (1) is connected with the actuator assembly (2) by threads, and the installation length of the servo mechanism is finely adjusted by adjusting the screwed-in length of the threads; the installation length of the servo mechanism is adjusted in a large range by replacing different rear lugs (5); the front support lug (1) and the rear support lug (5) are installed in a mode that a joint bearing is matched with a pin shaft so as to adapt to certain installation angle deviation.
8. The tandem self-locking electromechanical servo mechanism of claim 1, wherein: electromagnetic locks (31) with different locking torques realize different locking forces through the conversion of an actuator assembly.
9. The tandem self-locking electromechanical servo mechanism of claim 1, wherein: the self-locking electromechanical servo mechanism adopts a serial structure to ensure that the overall shape envelope is in a long column shape, and the maximum section size does not exceed 125mm multiplied by 83 mm.
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| CN113700814B (en) * | 2021-07-16 | 2023-05-09 | 北京精密机电控制设备研究所 | Electromechanical actuator and method for forced unlocking of fuzzy jam fault of transmission mechanism |
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