CN113602344B - Position rotary-change external wheel steering mechanism - Google Patents
Position rotary-change external wheel steering mechanism Download PDFInfo
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- CN113602344B CN113602344B CN202110927850.6A CN202110927850A CN113602344B CN 113602344 B CN113602344 B CN 113602344B CN 202110927850 A CN202110927850 A CN 202110927850A CN 113602344 B CN113602344 B CN 113602344B
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- rotary transformer
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- rotary
- transformer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/16—Extraterrestrial cars
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Abstract
A position rotary-transformer external wheel steering mechanism belongs to the field of deep space exploration and comprises a speed reducer assembly, a shell, an output shaft, an outer spacer sleeve, an inner spacer sleeve, an outer ring adjusting gasket, an outer ring pressing ring, a bearing sealing ring, an inner ring pressing gasket, an L support, a rotary-transformer contact pin, a position rotary transformer, a rotary-transformer support, a rotary-transformer adjusting gasket and a rotary-transformer sealing ring; the speed reducer assembly is used as a power source for outputting, the flexible gear is used for outputting power, the flexible gear drives the L support to rotate and simultaneously drives the rotary variable contact pin to move, the shell is externally provided with a mechanical interface through threads and is relatively fixed, the rotary variable rotor moves to realize position measurement and calculation through the control unit, the L support is used for outputting power through a threaded hole, and meanwhile, the L support is provided with a particle removing hole structure and corresponds to 96 degrees of the limit angle position when moving to the position interfering with the rotary variable support. The invention can realize 65Nm rated output of the whole machine when the mass is 850 g. The position rotating deformation accounts for 3.3 percent of the mass of the whole machine. The output of +/-96 degrees can be realized.
Description
Technical Field
The invention belongs to the field of deep space exploration, and particularly relates to a wheel steering mechanism suitable for a planet rover. In particular, the design of the light and small wheel steering mechanism with the position rotation external mode is realized.
Background
The human craving for resources outside the ground is stronger along with the improvement of science and technology and the use of earth resources, and the acquisition of resources outside the ground becomes a hot direction of research of various countries.
The design difficulty of the wheel steering mechanism of the planet rover is that the weight is light and the bearing is large, the rotary transformer for measuring the position of the driving mechanism for the space is designed with the joint in an integrated mode at present, the diameter of the rotary transformer is equivalent to that of the driving mechanism, and the mass of the rotary transformer occupied by the mechanism is large.
Disclosure of Invention
The invention aims to solve the problem of large design quality of a built-in rotary transformer, and provides a wheel steering mechanism with a position rotary transformer arranged externally.
A position rotary-transformer external wheel steering mechanism comprises a speed reducer assembly, a shell, an output shaft, an outer spacer bush, an inner spacer bush, an outer ring adjusting gasket, an outer ring pressing ring, a bearing sealing ring, an inner ring pressing gasket, an L support, a rotary-transformer contact pin, a position rotary transformer, a rotary-transformer support, a rotary-transformer adjusting gasket and a rotary-transformer sealing ring;
the speed reducer assembly consists of a motor, a 2K-H planetary speed reducer and a harmonic speed reducer, is a content of industry common knowledge and is not a protection point of the patent technology, and is not described repeatedly, the speed reducer assembly is connected with a shell through threads, the shell and an output shaft are supported and installed through paired angular contact ball bearings, the output shaft is connected with a harmonic speed reducer flexible gear in the speed reducer assembly, the angular contact paired angular contact ball bearings are supported through an outer spacer and an inner spacer, an outer ring adjusting gasket and an outer ring pressing ring are fixedly connected with the shell through screws, a bearing sealing ring is nested and installed in the outer ring pressing ring, and the bearing sealing ring is in contact with an L support to form dynamic sealing; the inner ring compression gasket is fixedly connected with the L-shaped support through a screw and an output shaft, the rotary transformer contact pin is connected with the output shaft through a screw, the rotor of the position rotary transformer is axially installed with the rotary transformer contact pin, axial position adjustment is carried out through the rotary transformer adjustment gasket, the rotor of the position rotary transformer is fastened through double nuts, the rotary transformer sealing ring is installed between the rotary transformer adjustment gasket and the position rotary transformer, and the stator of the position rotary transformer is fixedly connected with the shell through the rotary transformer support; the rotary transformer support is fixedly connected with the stator of the position rotary transformer through a screw, is positioned through the matching of a first groove of the rotary transformer support and an outer ring pressing ring, and is mechanically and fixedly connected with a threaded hole of the shell through the screw.
The widths of the outer spacer bush and the inner spacer bush are both 4.5mm, and the thickness difference between the outer spacer bush and the inner spacer bush is not more than 4 mu m;
a first rotary-change support avoiding structure is reserved on the outer ring adjusting gasket, a second rotary-change support avoiding hole structure is reserved on the outer ring pressing ring, and the thickness of the outer ring adjusting gasket is polished to enable the face of the outer ring pressing ring to be pressed against the matched angular contact ball bearing in the shell to be less than or equal to 5 microns, or the reserved gap to be less than or equal to 10 microns;
the bearing sealing ring is nested in the groove of the outer ring pressing ring and is contacted with the L-shaped bracket to form dynamic sealing.
The inner ring pressing gasket and the L-shaped support are fixedly connected with the output shaft through screws, and pre-tightening force is applied to the paired angular contact bearings.
The rotary transformer contact pin is connected with an output shaft through a screw, the thickness of a rotary transformer adjusting gasket is adjusted, the axial distance deviation between a stator and a rotor of the position rotary transformer is not more than 0.1mm, and meanwhile, a rotary transformer sealing ring is installed in a groove of the rotary transformer adjusting gasket and used for preventing dust from entering the position rotary transformer.
The device comprises a shell, a speed reducer assembly, a flexible gear, an L support, a threaded hole and a particle removing hole, wherein the shell is externally provided with a mechanical interface through threads and is relatively fixed, the position of the flexible gear is measured and calculated through a control unit, the L support is subjected to power output through the threaded hole, and the L support is provided with a particle removing hole structure and corresponds to 96 degrees in a limiting angle position when moving to an interference position with the rotary variable support.
The invention has the beneficial effects that:
1. when the mass is 850g, the 65Nm rated output of the whole machine can be realized.
2. The position rotating deformation accounts for 3.3 percent of the mass of the whole machine.
3. The output of +/-96 degrees can be realized.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a cross-sectional view of the present invention;
FIG. 3 is a perspective view of the retarder assembly of the present invention;
FIG. 4 is a cross-sectional view of the retarder assembly of the present invention;
FIG. 5 is a perspective view of the present invention with the rotational support hidden;
FIG. 6 is a perspective view of the housing of the present invention;
FIG. 7 is a perspective view of the outer ring spacer of the present invention;
FIG. 8 is a perspective view of the outer ring clamp of the present invention;
FIG. 9 is a perspective view of an L-bracket of the present invention;
FIG. 10 is a perspective view of a rotationally variable pin of the present invention;
FIG. 11 is a perspective view of a rotational change stand of the present invention;
FIG. 12 is a perspective view of a rotating seal ring of the present invention;
fig. 13 is a 96 ° angle view of the wheel steering mechanism.
Detailed Description
As shown in fig. 1 to 12, an external wheel steering mechanism of a position resolver comprises a reducer assembly 1, a housing 2, an output shaft 3, an outer spacer 4, an inner spacer 5, an outer ring adjusting gasket 6, an outer ring pressing ring 7, a bearing seal ring 8, an inner ring pressing gasket 9, an L bracket 10, a resolver pin 11, a position resolver 12, a resolver bracket 13, a resolver adjusting gasket 14 and a resolver seal ring 15;
the reducer assembly 1 consists of a motor, a 2K-H planetary reducer and a harmonic reducer, is a content of industry common knowledge, is not a protection point of the patent technology, and is not described in detail, the reducer assembly 1 is connected with a shell 2 through threads, the shell 2 and an output shaft 3 are supported and installed through paired angular contact ball bearings, the output shaft 3 is connected with a harmonic reducer flexible gear in the reducer assembly 1, the paired angular contact ball bearings are supported through an outer spacer 4 and an inner spacer 5 at intervals, an outer ring adjusting gasket 6 and an outer ring pressing ring 7 are fixedly connected with the shell 2 through screws, a bearing sealing ring 8 is nested and installed in the outer ring pressing ring 7, and the bearing sealing ring 8 is in contact with an L support 10 to form dynamic sealing; the inner ring compression gasket 9 and the L-shaped support 10 are fixedly connected with the output shaft 3 through screws, the rotary transformer pin 11 is connected with the output shaft 3 through screws, a rotor of the position rotary transformer 12 is axially installed with the rotary transformer pin 11, axial position adjustment is carried out through the rotary transformer adjusting gasket 14, the rotor and the rotary transformer pin are fastened through double nuts, the rotary transformer sealing ring 15 is installed between the rotary transformer adjusting gasket 14 and the position rotary transformer 12, and a stator of the position rotary transformer 12 is fixedly connected with the shell 2 through the rotary transformer support 13; the rotary transformer support 13 is fixedly connected with a stator of the position rotary transformer 12 through a screw, is positioned through the matching of a first groove 13-1 of the rotary transformer support 13 and the outer ring pressing ring 7, and is mechanically and fixedly connected with a threaded hole 2-2 of the shell 2 through a screw.
The widths of the outer spacer 4 and the inner spacer 5 are both 4.5mm, and the thickness difference between the two is not more than 4 mu m;
a first rotary transformer support avoidance structure 6-1 is reserved on the outer ring adjusting gasket 6, a second rotary transformer support avoidance hole structure 7-1 is reserved on the outer ring pressing ring 7, and the thickness of the outer ring adjusting gasket 6 is polished, so that the inner ring and the outer ring of the shell 2 are tightly pressed by 7-2 pairs of paired angular contact ball bearings of the outer ring pressing ring 7 to be less than or equal to 5 microns, or the reserved gap is less than or equal to 10 microns;
the bearing sealing ring 8 is nested in the groove 7-3 of the outer ring pressing ring 7, and the bearing sealing ring 8 is in contact with the L-shaped bracket 10 to form dynamic sealing.
The inner ring pressing gasket 9 and the L support 10 are fixedly connected with the output shaft 3 through screws, and pre-tightening force is applied to the paired angular contact bearings, and the specific implementation method is that the inner ring pressing amount of the bearings is guaranteed to be 20-50 mu m by grinding the inner ring pressing gasket 9, and the pressing surface is a protruding circular ring 10-1 of the L support 10.
The rotary transformer pin 11 is connected with the output shaft 3 through a screw, the axial distance deviation between the stator and the rotor of the position rotary transformer 12 is not more than 0.1mm by adjusting the thickness of the rotary transformer adjusting gasket 14, and meanwhile, a rotary transformer sealing ring 15 is installed in a groove of the rotary transformer adjusting gasket 14 and used for preventing dust from entering the position rotary transformer 12.
The method is characterized in that an attached drawing 1 is used as a zero position of a wheel steering mechanism, a speed reducer assembly 1 is used as a power source to output, a flexible gear is used for power output, the flexible gear drives an L support 10 to rotate and drives a rotary transformer pin 11 to move, a shell 2 provides a mechanical interface for the outside through threads 2-1 and is relatively fixed, the rotary transformer rotor moves to realize position measurement through a control unit, the L support 10 carries out power output through a threaded hole 10-2, meanwhile, the L support 10 is provided with a particle removing hole structure 10-3, and when the L support 10 moves to a position interfering with a rotary transformer support 13, the position corresponds to a limit angle position of the L support 10, and corresponds to 96 degrees as shown in fig. 13.
Sixthly, simulating protection points
(1) The position rotary transformer is external, the rotary transformer is small in size and light in weight, and the weight of the whole mechanism is reduced.
(2) An output shaft angle output of ± 96 ° can be obtained.
Claims (5)
1. The utility model provides a position changes external wheel steering mechanism soon which characterized in that: the device comprises a speed reducer assembly (1), a shell (2), an output shaft (3), an outer spacer sleeve (4), an inner spacer sleeve (5), an outer ring adjusting gasket (6), an outer ring pressing ring (7), a bearing sealing ring (8), an inner ring pressing gasket (9), an L support (10), a rotary transformer pin (11), a position rotary transformer (12), a rotary transformer support (13), a rotary transformer adjusting gasket (14) and a rotary transformer sealing ring (15);
the speed reducer assembly (1) consists of a motor, a 2K-H planetary speed reducer and a harmonic speed reducer, the speed reducer assembly (1) is in threaded connection with a shell (2), the shell (2) and an output shaft (3) are supported and installed through paired angular contact ball bearings, the output shaft (3) is connected with a harmonic speed reducer flexible wheel in the speed reducer assembly (1), the paired angular contact ball bearings are supported through an outer spacer (4) and an inner spacer (5) at intervals, an outer ring adjusting gasket (6) and an outer ring pressing ring (7) are fixedly connected with the shell (2) through screws, a bearing sealing ring (8) is nested and installed in the outer ring pressing ring (7), and the bearing sealing ring (8) is in contact with an L-shaped bracket (10) to form dynamic sealing; the inner ring compression gasket (9) is fixedly connected with the L support (10) through a screw and an output shaft (3), the rotary transformer pin (11) is connected with the output shaft (3) through a screw, a rotor of the position rotary transformer (12) is axially installed with the rotary transformer pin (11), axial position adjustment is carried out through a rotary transformer adjusting gasket (14) and is fastened through double nuts, a rotary transformer sealing ring (15) is installed between the rotary transformer adjusting gasket (14) and the position rotary transformer (12), and a stator of the position rotary transformer (12) is fixedly connected with the shell (2) through a rotary transformer support (13); the rotary transformer support (13) is fixedly connected with a stator of the position rotary transformer (12) through a screw, is matched with the outer ring pressing ring (7) through a first groove (13-1) of the rotary transformer support (13) for positioning, and is mechanically and fixedly connected with a threaded hole (2-2) of the shell (2) through a screw;
the inner ring pressing gasket (9) and the L support (10) are fixedly connected with the output shaft (3) through screws, and pre-tightening force is applied to the paired angular contact bearings, the specific implementation method is that the inner ring pressing gasket (9) is polished to ensure that the pressing amount of the inner ring of the bearing is 20-50 mu m, and the pressing surface is a protruding circular ring (10-1) of the L support (10).
2. The position-changing external wheel steering mechanism according to claim 1, wherein: the widths of the outer spacer (4) and the inner spacer (5) are both 4.5mm, and the thickness difference between the two is not more than 4 mu m.
3. The position-changing external wheel steering mechanism according to claim 1, wherein: a first rotary-change support avoiding structure (6-1) is reserved on the outer ring adjusting gasket (6), and a second rotary-change support avoiding hole structure (7-1) is reserved on the outer ring pressing ring (7).
4. The position-changing external wheel steering mechanism according to claim 1, wherein: the bearing sealing ring (8) is nested in a groove (7-3) of the outer ring pressing ring (7), and the bearing sealing ring (8) is in contact with the L-shaped support (10) to form dynamic sealing.
5. A position rotary external wheel steering mechanism according to claim 1, wherein: and a rotational change sealing ring (15) is arranged in the groove of the rotational change adjusting gasket (14) and used for preventing dust from entering the inside of the position rotational change (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110927850.6A CN113602344B (en) | 2021-08-13 | 2021-08-13 | Position rotary-change external wheel steering mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110927850.6A CN113602344B (en) | 2021-08-13 | 2021-08-13 | Position rotary-change external wheel steering mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113602344A CN113602344A (en) | 2021-11-05 |
| CN113602344B true CN113602344B (en) | 2022-06-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110927850.6A Active CN113602344B (en) | 2021-08-13 | 2021-08-13 | Position rotary-change external wheel steering mechanism |
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| Country | Link |
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| CN (1) | CN113602344B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001010516A (en) * | 1999-05-03 | 2001-01-16 | Leopold Kostal Gmbh & Co Kg | Steering system of automobile |
| CN203416120U (en) * | 2013-08-27 | 2014-01-29 | 安徽安凯汽车股份有限公司 | Installation structure for rotary transformer of direct-drive motor of electric passenger car |
| CN103817694A (en) * | 2014-02-28 | 2014-05-28 | 浙江大学 | Flexible joint controlled in mixing mode |
| CN204029989U (en) * | 2013-11-27 | 2014-12-17 | 上海宇航系统工程研究所 | A kind of integrated general satellite antenna directing mechanism driven unit |
| CN204358035U (en) * | 2014-12-09 | 2015-05-27 | 上海宇航系统工程研究所 | Adapt to the high-torque weight ratio driving joint of lunar surface environment |
| CN209444758U (en) * | 2018-10-29 | 2019-09-27 | 广东省机械研究所 | A kind of direct-drive type harmonic speed reducer transmission device |
| CN112743569A (en) * | 2021-02-02 | 2021-05-04 | 珞石（北京）科技有限公司 | Compact light-weight high-performance force-controlled robot servo joint |
-
2021
- 2021-08-13 CN CN202110927850.6A patent/CN113602344B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001010516A (en) * | 1999-05-03 | 2001-01-16 | Leopold Kostal Gmbh & Co Kg | Steering system of automobile |
| CN203416120U (en) * | 2013-08-27 | 2014-01-29 | 安徽安凯汽车股份有限公司 | Installation structure for rotary transformer of direct-drive motor of electric passenger car |
| CN204029989U (en) * | 2013-11-27 | 2014-12-17 | 上海宇航系统工程研究所 | A kind of integrated general satellite antenna directing mechanism driven unit |
| CN103817694A (en) * | 2014-02-28 | 2014-05-28 | 浙江大学 | Flexible joint controlled in mixing mode |
| CN204358035U (en) * | 2014-12-09 | 2015-05-27 | 上海宇航系统工程研究所 | Adapt to the high-torque weight ratio driving joint of lunar surface environment |
| CN209444758U (en) * | 2018-10-29 | 2019-09-27 | 广东省机械研究所 | A kind of direct-drive type harmonic speed reducer transmission device |
| CN112743569A (en) * | 2021-02-02 | 2021-05-04 | 珞石（北京）科技有限公司 | Compact light-weight high-performance force-controlled robot servo joint |
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| CN113602344A (en) | 2021-11-05 |
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