CN113839515A - Dual-redundancy roller screw pair actuator with anti-reversion mechanism - Google Patents
Dual-redundancy roller screw pair actuator with anti-reversion mechanism Download PDFInfo
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- CN113839515A CN113839515A CN202111158069.3A CN202111158069A CN113839515A CN 113839515 A CN113839515 A CN 113839515A CN 202111158069 A CN202111158069 A CN 202111158069A CN 113839515 A CN113839515 A CN 113839515A
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- output shaft
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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
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
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- Engineering & Computer Science (AREA)
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Abstract
The invention provides a dual-redundancy roller screw pair actuator with an anti-reversion mechanism, which comprises: the device comprises a brushless motor (1), a differential gear train (2), an anti-reversion mechanism (3), a fixed-axis gear train (4), a roller screw pair (5) and an output shaft (6); the brushless motor (1) is connected with the differential gear train (2), and an input shaft of the anti-reversion mechanism (3) is connected with an output shaft of the differential gear train (2) and rotates along with the output shaft of the differential gear train (2); an output shaft of the anti-reverse mechanism (3) is connected with the roller screw pair (5) through the ordinary gear train (4), the roller screw pair (5) is connected with an output shaft (6) of the actuator, and the output shaft of the anti-reverse mechanism (3) is used for driving the output shaft (6) to do telescopic motion. The problem of current ball can not auto-lock and trapezoidal screw transmission inefficiency is solved.
Description
Technical Field
The invention belongs to the technical field of mechanical structure design, and particularly relates to a dual-redundancy roller screw pair actuator with an anti-reversion mechanism.
Background
Electric drive has become the inevitable trend of field development no matter military aircraft or civil unmanned aerial vehicle etc. at present stage, compares conventional hydraulic drive, pneumatic drive, and its power easily obtains, cost is with low costs, the reliability is high, use maintenance convenience, accessibility are good, have apparent advantage.
The existing linear electric driver widely uses a trapezoidal screw or a ball screw as a transmission pair, the trapezoidal screw has a self-locking advantage but belongs to sliding friction transmission and is low in efficiency, and the ball screw belongs to rolling friction transmission and is high in efficiency but does not have a self-locking condition, so that the application scene is limited.
Disclosure of Invention
The invention provides a dual-redundancy roller screw pair actuator with an anti-reversion mechanism, which solves the problems that the existing ball screw cannot be self-locked and the trapezoidal screw transmission efficiency is low.
The invention provides a dual-redundancy roller screw pair actuator with an anti-reversion mechanism, which comprises: the device comprises a first brushless motor 1, a differential gear train 2, an anti-reversion mechanism 3, a fixed-axis gear train 4, a roller screw pair 5 and an output shaft 6;
the first brushless motor 1 is connected with the differential gear train 2, and an input shaft of the anti-reversion mechanism 3 is connected with an output shaft of the differential gear train 2 and rotates along with the output shaft of the differential gear train 2;
the output shaft of the anti-reverse mechanism 3 is connected with the roller screw pair 5 through the ordinary gear train 4, the roller screw pair 5 is connected with the output shaft 6 of the actuator, and the output shaft of the anti-reverse mechanism 3 drives the output shaft 6 to move in a telescopic mode through the ordinary gear train 4.
Optionally, the fixed gear train 4 includes: a dead axle pinion 201 and a duplicate gear 401 which are connected in a meshing manner;
the output shaft of the anti-reverse mechanism 3 is meshed with the dead axle pinion 201, and the duplicate gear 401 is meshed with the input gear of the roller screw pair 5.
Optionally, the actuator further includes: a linear potentiometer 7; and a slider 8;
the output shaft 6 is fixedly provided with a sliding block 8, the sliding block 8 is provided with a U-shaped groove, and a potentiometer sliding block 702 of the linear potentiometer 7 is clamped in the U-shaped groove and moves along with the output shaft 6.
Optionally, the actuator further includes: a photoelectric switch assembly 9 and a housing 10;
two photoelectric switch assemblies 9 are arranged on the shell 10 and are respectively positioned at two extreme positions of the output shaft 6.
Optionally, the actuator further includes: two limiting blocks 11;
the housing 10 is provided with two limiting blocks 11, and the two limiting blocks are respectively located at two extreme positions of the sliding block 10 on the output shaft 6.
Optionally, the differential gear train 2 includes: a dead axle pinion 201, a gearwheel 202a, a gearwheel 202b, a planet pinion 203, a planet carrier 204, a bearing 205, a circlip 206, a differential gear output shaft 207 and a bearing 209;
the rotation of the big gear 202 drives 6 planetary pinions 203 which are meshed with each other pairwise to rotate, so that the planet carrier 204 is driven to rotate to output torque, the planet carrier 204 is connected with a differential gear train output shaft 207 through a spline, an anti-reversion mechanism 3 is installed on the differential gear train output shaft 207, bearings 205 are installed at two end parts of the big gear 202b, elastic check rings 206 are installed on the differential gear train output shaft 207 and used for axial positioning of the bearings 205, and bearings 209 are installed at end bosses of the differential gear train output shaft 207; the bull gear 202a and the bull gear 202b are both arranged on a differential gear train output shaft 207 and are meshed with the planet pinion 203; when the actuator works, the rotation speed is simultaneously input to the large gear 202a and the large gear 202b, and the rotation speed generated by the differential gear train 2 is 2 times that of the large gear 202a or the large gear 202 b.
Optionally, the anti-reverse mechanism 3 includes: an output restriction shaft 301, a bush 302, a rectangular spring 303, and an input restriction shaft 304;
the rectangular spring 303 is clamped in the output limiting shaft 301 and the input limiting shaft 304, the output limiting shaft 301 is fixedly connected with a dead axle pinion 403 through a positioning pin, the input limiting shaft 304 is fixedly connected with a differential gear train output shaft 207, and the bushing 302 is fixed in 4 threaded holes 1001 of the shell 10 through 4 screws 305; when the differential gear train output shaft 207 rotates, the output limiting shaft 301 drives the rectangular spring 303 to be tensioned inwards, and the rectangular spring 303 drives the input limiting shaft 304 to output torque to the fixed shaft pinion 403; when the fixed-axis pinion 403 bears torque, the output limiting shaft 301 rotates reversely, so that the rectangular spring 303 relaxes outwards and rubs against the inner wall of the bushing 302, and the elastic force generated by the rectangular spring 303 is enough to overcome the torque on the fixed-axis pinion 403, so that the torque is not transmitted to the input limiting shaft 304 any more, and the anti-reverse function is realized.
Optionally, the actuator further includes: a second brushless motor 19;
the output shaft gear 101 of the second brushless motor 19 is meshed with the large gear 202b of the differential gear train 2, and the output shaft gear 102 of the first brushless motor 1 is meshed with the large gear 202a of the differential gear train 2.
The invention provides a dual-redundancy roller screw pair actuator with an anti-reversion mechanism, which is a multi-limiting method for the limit position of an output shaft consisting of a linear potentiometer, a photoelectric switch assembly and a mechanical limit block, and a high-strength guide rail is designed on a shell, so that the smooth operation of a sliding block is ensured, and the position information acquisition precision is improved.
Drawings
FIG. 1 is a first schematic diagram of the structure of a dual-redundancy roller screw pair actuator with an anti-reversion mechanism of the invention;
FIG. 2 is a second schematic structural view of the dual redundant roller screw assembly actuator with the anti-reverse mechanism of the present invention;
FIG. 3 is a schematic diagram of the differential gear train of the present invention;
FIG. 4 is a schematic structural view of the anti-reverse mechanism of the present invention;
FIG. 5 is a schematic structural view of the ordinary gear train of the present invention;
FIG. 6 is a schematic view of the output shaft of the present invention;
FIG. 7 is a schematic structural view of the joint assembly of the present invention;
FIG. 8 is a schematic structural view of the housing of the present invention;
description of reference numerals:
1-a first brushless motor; 2-differential gear train; 3-anti-reversion mechanism;
4-ordinary gear train; 5-roller screw pair; 6-output shaft;
7-a linear potentiometer; 8, a sliding block; 9-an opto-electronic switching assembly;
10-a housing; 11-a limiting block; 12-a joint assembly;
13-end cap; 14-a wire; 15-an electrical connector;
16-a guide rail; 17-a bushing; 18-a screw;
19-a second brushless motor; 101-output shaft gear; 102 — an output shaft gear;
1601 — a through hole; 202 a-gearwheel; 202 b-bull gear;
203-planet pinion; 204-a planet carrier; 205-a bearing;
206-circlip; 207-differential gear train output shaft; 208-a bearing;
209-bearing; 301 — output limit shaft; 302-a bushing;
303-rectangular spring; 304 — input limit shaft; 305-screws;
401 — duplicate gear; 403-dead axle pinion; 404-a bearing;
601-output shaft limit boss; 602-a boss; 701-a through hole;
702 — a slider; 801-a through hole; 802-baffle plate;
901-through holes; 1001-threaded hole; 1101-a through hole;
1201-knuckle bearing; 1202-lock washer; 1203-round nut.
Detailed Description
The dual-redundancy roller screw pair actuator with the anti-reversion mechanism provided by the invention is further explained in detail below.
Referring to fig. 1-8, the invention provides a dual-redundancy roller screw actuator applying an anti-reverse mechanism, which comprises a first brushless motor 1, a differential gear train 2, an anti-reverse mechanism 3, a fixed-axis gear train 4, a roller screw pair 5, an output shaft 6, a linear potentiometer 7, a slider 8, a photoelectric switch group 9, a housing 10, a limiting block 11, a joint assembly 12, an end cover 13, a lead 14, an electric connector 15, a guide rail 16, a bushing 17, a screw 18 and a second brushless motor 19.
The first brushless motor 1 and the second brushless motor 19 are disposed on two sides of the differential gear train 2, and are screwed to the housing 10 through 4 screws 18. The two brushless motors are driven to work simultaneously through the external controller, the dual-redundancy function is achieved, when the first brushless motor 1 breaks down, the second brushless motor 19 can be driven independently to achieve extending and retracting of the output shaft 6, and vice versa.
The differential gear train 2 is mainly composed of a large gear 202a, a large gear 202b, a planet pinion 203, a planet carrier 204, a bearing 205, an elastic retainer ring 206, an output shaft 207 and a bearing 209. The rotation of the large gear 202 drives 6 planetary pinions 203 which are meshed with each other pairwise to rotate, so that the planetary carrier 204 is driven to rotate to output torque, the planetary carrier 204 is connected with the differential gear train output shaft 207 through a spline, the anti-reversion mechanism 3 is installed on the differential gear train output shaft 207, the bearings 205 are installed at two end parts of the large gear 202b, the elastic check rings 206 are installed on the output shaft 207 and used for axially positioning the bearings 205, and the bearings 209 are installed at end bosses of the output shaft 207. When the actuator works, the rotation speed is simultaneously input to the large gear 202a and the large gear 202b, and the rotation speed generated by the differential gear train 2 is 2 times that of the large gear 202a or the large gear 202 b.
The anti-reverse mechanism 3 is characterized in that a rectangular spring 303 is clamped in a front output limiting shaft 301 and a rear output limiting shaft 301 and an input limiting shaft 304, the output limiting shaft 301 is fixedly connected with a dead axle pinion 201 through a positioning pin, the input limiting shaft 304 is fixedly connected with a differential gear train output shaft 207, and a bushing 302 is fixed in 4 threaded holes 1601 of a shell 10 through 4 screws 305. When the output shaft rotates, the output limiting shaft 301 drives the rectangular spring 303 to tension inwards, and the rectangular spring 303 drives the input limiting shaft 304 to output torque to the fixed-shaft pinion 201; when the fixed-axis pinion 201 bears torque, the output limiting shaft 301 rotates reversely, so that the rectangular spring 303 relaxes outwards and rubs against the inner wall of the bushing 302, and the elastic force generated by the rectangular spring 303 is enough to overcome the torque on the fixed-axis pinion 201, so that the torque is not transmitted to the input limiting shaft 304 any more, and the anti-reverse function is realized. The torque generated by the output end of the differential gear train is small, and the backstop has the characteristics of small volume, light weight, small backstop torque and the like, so that the backstop is arranged at the output end of the differential gear train and is integrally designed with the dead axle pinion 201, the mounting space of the backstop mechanism is saved, backstopping is easy to realize, and the backstopping effect is good.
In the fixed-axis gear train 4, the fixed-axis pinion 403 drives the duplicate gear 401 to rotate, the duplicate gear 401 drives the roller screw pair 5 with the gear to rotate, so that speed reduction and torque increase are realized, and the bearing 404 is arranged at the boss at the end part of the fixed-axis pinion 403.
The roller screw pair 5 converts the rotary motion of the ordinary gear train 4 into the linear motion of the screw. Compared with the traditional ball screw pair, the roller screw pair 5 has the advantages of greatly improved bearing capacity, high reliability, long service life, small vibration, low noise and the like.
One end of the output shaft 6 is in threaded connection with the joint component 12, and the other end of the output shaft is in follow-up with the ball screw assembly 5 through the boss 601 of the inner cavity of the output shaft.
The linear potentiometer 7 is installed on the shell 10 through 12 through holes 701, and the potentiometer sliding block 702 is installed in a U-shaped groove of the sliding block 8 and used for sending an actuating signal and an electric stroke position signal.
The photoelectric switch assembly 8 is mounted on the housing 10 through 4 through holes 801 and is used for sending a mechanical stroke position signal of the roller screw pair 5.
The limiting block 11 is installed on the housing 10 through 4 through holes 1101.
The slide block 8 is mounted on the upper boss 602 of the output shaft 6 through 2 through holes 801, and a light blocking sheet 802 is arranged on the slide block and used for blocking the photoelectric switch assembly 8 when the output shaft 6 is at the extending and retracting limit position. When the actuator normally works, the output shaft 6 drives the sliding block 8 to do linear motion, the sliding block 8 drives the potentiometer sliding block 702 to move, through the actuation information of the output shaft 6 of the potentiometer sliding block 702, when a required electrical stroke is achieved, the linear potentiometer 7 sends an in-place signal to the controller, the controller controls the brushless motor to stop rotating, when the linear potentiometer 7 breaks down and the controller does not acquire a position signal, the in-place signal is judged through the photoelectric switch assembly 8 at the moment, the brushless motor stops rotating, when the linear potentiometer 7 and the photoelectric switch assembly 8 simultaneously break down and do not send the in-place signal, the sliding block 8 mechanically collides the limiting block 11 to stop moving the output shaft 6, at the moment, the controller reports the fault information, an electrical loop is disconnected, and the brushless motor stops working.
The bushing 11 is mounted on the end cover 13 for improving the wear resistance of the mounting interface.
The joint assembly 12 is wrapped with the knuckle bearing 1201, the external thread at the root part of the joint assembly is screwed into the internal thread of the cavity of the output shaft 6, the output shaft 6 and the joint assembly 12 are locked through the locking washer 1202, and the round nut 1202 is tightened after locking, so that the joint assembly 12 cannot be separated from the output shaft 6.
The wire 14 connects the first brushless motor 1, the second brushless motor 19, the linear potentiometer 7 and the photoelectric switch assembly 8 together to form an electric loop.
The electrical connector 15 is used for power supply of the actuator and electrical information transmission.
The guide rail 16 is installed on the shell 10 through 12 through holes 1601 and is made of high-strength steel 9Cr18, passivation treatment is conducted on the surface, the wear resistance is improved, a good guiding effect is achieved, smooth operation of the sliding block 8 is guaranteed, and the position acquisition precision is improved.
Claims (8)
1. A dual redundancy roller screw pair actuator with an anti-reversion mechanism is characterized by comprising: the device comprises a first brushless motor (1), a differential gear train (2), an anti-reversion mechanism (3), a fixed-axis gear train (4), a roller screw pair (5) and an output shaft (6);
the first brushless motor (1) is connected with the differential gear train (2), and an input shaft of the anti-reversion mechanism (3) is connected with an output shaft of the differential gear train (2) and rotates along with the output shaft of the differential gear train (2);
the output shaft of the anti-reverse mechanism (3) passes through the ordinary gear train (4) and is connected with the roller screw pair (5), the roller screw pair (5) is connected with the output shaft (6) of the actuator, and the output shaft of the anti-reverse mechanism (3) passes through the ordinary gear train (4) to drive the output shaft (6) to move in a stretching way.
2. Actuator according to claim 1, wherein the ordinary gear train (4) comprises: a fixed-axis pinion (201) and a duplicate gear (401) which are connected in a meshing manner;
an output shaft of the anti-reverse mechanism (3) is in meshed connection with the dead axle pinion (201), and the duplicate gear (401) is in meshed connection with an input gear of the roller screw pair (5).
3. The actuator according to claim 1, further comprising: a linear potentiometer (7); and a slider (8);
the output shaft (6) is fixedly provided with a sliding block (8), the sliding block (8) is provided with a U-shaped groove, and a potentiometer sliding block (702) of the linear potentiometer (7) is clamped in the U-shaped groove and moves along with the output shaft (6).
4. The actuator according to claim 1, further comprising: an optoelectronic switch assembly (9) and a housing (10);
two photoelectric switch assemblies (9) are arranged on the shell (10) and are respectively positioned at two limit positions of the output shaft (6).
5. The actuator according to claim 4, further comprising: two limit blocks (11);
the shell (10) is provided with two limiting blocks (11) which are respectively positioned at two limit positions of the sliding block (10) on the output shaft (6).
6. Actuator according to claim 4, wherein the differential gear train (2) comprises: a dead axle pinion (201), a gearwheel (202a), a gearwheel (202b), a planet pinion (203), a planet carrier (204), a bearing (205), an elastic retainer ring (206), a differential gear train output shaft (207) and a bearing (209);
the rotation of the big gear (202) drives 6 planet pinions (203) which are meshed with each other pairwise to rotate, so that the planet carrier (204) is driven to rotate to output torque, the planet carrier (204) is connected with a differential gear train output shaft (207) through a spline, an anti-reversion mechanism (3) is installed on the differential gear train output shaft (207), bearings (205) are installed at two end parts of the big gear (202b), elastic check rings (206) are installed on the differential gear train output shaft (207) and used for axially positioning the bearings (205), and the bearings (209) are installed at end bosses of the differential gear train output shaft (207); the bull gear (202a) and the bull gear (202b) are both arranged on an output shaft (207) of the differential gear train and are meshed with the planetary pinion (203); when the actuator works, the rotating speeds are simultaneously input to the large gear (202a) and the large gear (202b), and the rotating speed generated by the differential gear train (2) is 2 times that of the large gear (202a) or the large gear (202b) respectively.
7. Actuator according to claim 6, wherein the anti-reversion mechanism (3) comprises: an output limit shaft (301), a bush (302), a rectangular spring (303), and an input limit shaft (304);
the rectangular spring (303) is clamped in the output limiting shaft (301) and the input limiting shaft (304), the output limiting shaft (301) is fixedly connected with a dead axle pinion (403) through a positioning pin, the input limiting shaft (304) is fixedly connected with a differential gear train output shaft (207), and the bushing (302) is fixed in 4 threaded holes (1001) of the shell (10) through 4 screws (305); when the differential gear train output shaft (207) rotates, the output limiting shaft (301) drives the rectangular spring (303) to be tensioned inwards, and the rectangular spring (303) drives the input limiting shaft (304) to output torque to the fixed-shaft pinion (403); when the fixed-axis pinion (403) bears torque, the output limiting shaft (301) rotates reversely to enable the rectangular spring (303) to relax outwards and rub against the inner wall of the bushing (302), and further the elastic force generated by the rectangular spring (303) is enough to overcome the torque on the fixed-axis pinion (403), so that the torque is not transmitted to the input limiting shaft (304) any more, and the anti-reverse function is achieved.
8. The actuator according to claim 1, further comprising: a second brushless motor (19);
an output shaft gear (101) of the second brushless motor (19) is meshed with a large gear (202b) of the differential gear train (2), and an output shaft gear (102) of the first brushless motor (1) is meshed with a large gear (202a) of the differential gear train (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111158069.3A CN113839515A (en) | 2021-09-30 | 2021-09-30 | Dual-redundancy roller screw pair actuator with anti-reversion mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111158069.3A CN113839515A (en) | 2021-09-30 | 2021-09-30 | Dual-redundancy roller screw pair actuator with anti-reversion mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113839515A true CN113839515A (en) | 2021-12-24 |
Family
ID=78967793
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111158069.3A Pending CN113839515A (en) | 2021-09-30 | 2021-09-30 | Dual-redundancy roller screw pair actuator with anti-reversion mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113839515A (en) |
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| CN1922418A (en) * | 2004-02-24 | 2007-02-28 | 利纳克有限公司 | A linear actuator comprising an overload clutch |
| CN101253350A (en) * | 2005-09-02 | 2008-08-27 | 利纳克有限公司 | Actuator |
| CN103944307A (en) * | 2013-12-13 | 2014-07-23 | 上海舜拓电机有限公司 | Slide-block-type linear driver |
| CN107425649A (en) * | 2016-05-23 | 2017-12-01 | 北京自动化控制设备研究所 | A kind of double remaining electromechanical actuators based on motor speed synthesis |
| US20190390751A1 (en) * | 2017-02-13 | 2019-12-26 | Linak A/S | Linear actuator |
| CN112211974A (en) * | 2020-09-25 | 2021-01-12 | 兰州万里航空机电有限责任公司 | Backstop for aviation electric actuator |
| CN212744913U (en) * | 2020-05-19 | 2021-03-19 | 无锡市宏霸机电设备有限公司 | Electric push rod with self-locking function |
| CN112664633A (en) * | 2020-12-11 | 2021-04-16 | 北京自动化控制设备研究所 | High-power dual-redundancy linear output electric actuating mechanism |
| CN213585435U (en) * | 2020-10-26 | 2021-06-29 | 宁波海仕凯驱动科技有限公司 | Motor and linear actuator with torsional spring self-locking mechanism |
-
2021
- 2021-09-30 CN CN202111158069.3A patent/CN113839515A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1922418A (en) * | 2004-02-24 | 2007-02-28 | 利纳克有限公司 | A linear actuator comprising an overload clutch |
| CN101253350A (en) * | 2005-09-02 | 2008-08-27 | 利纳克有限公司 | Actuator |
| CN103944307A (en) * | 2013-12-13 | 2014-07-23 | 上海舜拓电机有限公司 | Slide-block-type linear driver |
| CN107425649A (en) * | 2016-05-23 | 2017-12-01 | 北京自动化控制设备研究所 | A kind of double remaining electromechanical actuators based on motor speed synthesis |
| US20190390751A1 (en) * | 2017-02-13 | 2019-12-26 | Linak A/S | Linear actuator |
| CN212744913U (en) * | 2020-05-19 | 2021-03-19 | 无锡市宏霸机电设备有限公司 | Electric push rod with self-locking function |
| CN112211974A (en) * | 2020-09-25 | 2021-01-12 | 兰州万里航空机电有限责任公司 | Backstop for aviation electric actuator |
| CN213585435U (en) * | 2020-10-26 | 2021-06-29 | 宁波海仕凯驱动科技有限公司 | Motor and linear actuator with torsional spring self-locking mechanism |
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