CN114394222A

CN114394222A - Integrated steering engine

Info

Publication number: CN114394222A
Application number: CN202111661659.8A
Authority: CN
Inventors: 黄学梁; 周超; 王金星; 张华�; 曹兴帅; 王顺伟; 蒋安策
Original assignee: Casicc Intelligent Robot Co ltd
Current assignee: Casicc Intelligent Robot Co ltd
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2022-04-26

Abstract

An integrated steering engine, comprising: a housing sealingly disposed; one end of the output shaft is arranged in the shell, and the other end of the output shaft is arranged outside the shell and used for outputting kinetic energy outwards; a transfer rod shaft disposed within the housing; a power plant for providing kinetic energy; the first transmission device is arranged in the shell and is used for transmitting the kinetic energy provided by the power device to the transmission shaft; a second transmission disposed within the housing for transferring kinetic energy of the transfer shaft to the output shaft. Through the integrated design of the power device and the steering engine power output device, the assembly error of the motor is reduced, the assembly precision of a steering engine system is improved, the utilization rate of the steering engine structure space is effectively improved, the steering engine structure is more compact, and the unit mass power is high.

Description

Integrated steering engine

Technical Field

The application relates to a steering engine transmission field, concretely relates to integration steering engine.

Background

The steering engine system is a final executing mechanism of attitude control systems such as an aircraft, a ship aircraft and the like, converts control instruction information into mechanical motion, guarantees accurate three-dimensional track orientation and ensures that the aircraft navigates according to an appointed motion state. The performance of the steering engine directly influences the final performance of related aircrafts and ship aircrafts. High moment of torsion steering engine system can divide into electrodynamic type and fluid pressure type according to its actuating mechanism's drive mode, and although fluid pressure type steering engine system simple structure often receives the alternating stress influence, and long-term the use has the risk of revealing, and fluid pressure type steering engine system often needs some accessory equipment in addition, for example various valves, defeated oil pipe way etc. and overall quality and volume are comparatively huge. With the development of aerospace technology and ship technology, the research on various advanced guidance and navigation technologies has higher and higher requirements on the comprehensive performance of a steering engine system, and the steering engine system is promoted to develop towards the directions of continuously reducing the volume and the mass, continuously enhancing the bearing capacity, continuously improving the control performance and the like. Compared with the traditional hydraulic steering engine or pneumatic steering engine, the electric steering engine has the advantages of simplicity, reliability, good manufacturability, convenience in use and maintenance, low cost, easiness in control and the like. However, the underwater working condition of the ocean is very severe, the phenomena of external high pressure, corrosion, seawater impact and the like cannot be avoided, and the requirements of the underwater vehicle on the size and the weight of a steering engine system are very severe, so that the research on the electric steering engine system related to the development of the severe environment resistant miniaturized electric servo steering engine system is very necessary, and the research on the miniaturization, the light weight and the high torque of the steering engine system has wide technical prospect and practical requirements.

Disclosure of Invention

The invention aims to provide an integrated steering engine, which adopts the specific technical scheme that:

an integrated steering engine, comprising: a housing sealingly disposed; one end of the output shaft is arranged in the shell, and the other end of the output shaft is arranged outside the shell and used for outputting kinetic energy outwards; a transfer rod shaft disposed within the housing; a power plant for providing kinetic energy; the first transmission device is arranged in the shell and is used for transmitting the kinetic energy provided by the power device to the transmission shaft; a second transmission disposed within the housing for transferring kinetic energy of the transfer shaft to the output shaft.

Optionally, the periphery of the dowel shaft is provided with threads, and the second transmission device comprises: the screw rod nut is arranged on the outer peripheral side thread of the transmission shaft in a threaded fit manner; and one end of the shifting fork rotating shaft is fixedly arranged at one end of the output shaft, which is positioned in the shell, and the other end of the shifting fork rotating shaft is connected with the screw rod nut in a shifting manner.

The transmission rod shaft is set to be a screw rod shaft, the screw rod nut is turned on the screw rod shaft, and when the screw rod shaft rotates, the screw rod nut moves in the axis direction of the screw rod shaft and stirs the shifting fork rotating shaft. The design of screw-thread fit converts the rotational kinetic energy of the rotary motion into the linear displacement kinetic energy moving along the axis of the screw shaft, and the design of shifting fork rotating shaft shifting the screw nut converts the linear displacement kinetic energy into the rotational kinetic energy, so that the kinetic energy can be kept stable in the continuous conversion process when the kinetic energy is given, unexpected factors such as sudden speed increase or speed reduction can not occur, and when limit limitation is performed, only a limiting part needs to be arranged on the moving path of the screw nut of the screw shaft.

Optionally, a pin is fixedly arranged on the outer peripheral side of the screw nut, the shifting fork rotating shaft is arranged in a U shape facing one end of the screw nut, and the pin is arranged in the U shape of the shifting fork rotating shaft.

Therefore, when the lead screw nut is used for shifting the shifting fork rotating shaft, the lead screw nut cannot generate hard impact with the shifting fork rotating shaft to cause abrasion.

Optionally, a guide block is fixedly arranged on the outer peripheral side of the screw rod nut, a guide groove is formed in the inner wall of the shell, the guide block is in sliding fit with the guide groove, and the guide groove is parallel to the axis of the dowel shaft. This prevents the spindle nut from rotating along the spindle shaft, and during rotation of the spindle shaft all kinetic energy of the rotary motion is converted into kinetic energy of a linear motion along its axis.

Optionally, the power device comprises a driving motor and a rotary transformer mounted on the driving motor for providing smooth and high-control-precision rotational kinetic energy.

Optionally, the method further includes: the driving controller is positioned in the shell and is electrically connected with the power device; the integrated controller is positioned outside the shell; the driving controller and the integrated controller are electrically connected through the plug connector and are used for providing high-precision control signals for the power device. Therefore, when the steering engine is controlled, the steering engine can be controlled at a certain distance, for example, the steering engine working place is underwater, and the steering engine can be controlled on the water surface or in a special control room.

Optionally, an angle sensor is arranged at one end of the output shaft, which is located in the housing, and used for feeding back the motion angle in real time. The motion angle of the output shaft is fed back in real time, so that the stability of the output signal and the stability of the mechanical performance of each component in the steering engine can be mastered at any time, and faults of the steering engine can be conveniently found and processed in time.

Optionally, one end of the output shaft, which is located outside the housing, is provided with a threaded hole for pulling up the output shaft. The output shaft is more convenient to overhaul.

Optionally, an airtight joint is arranged on the side wall of the shell and used for detecting the air tightness of the steering engine. Therefore, the steering engine can be assembled and tested after final assembly is completed, and unqualified products are prevented from flowing out.

Optionally, a watertight connector is arranged on the side wall of the shell and used for detecting the water tightness of the steering engine. Therefore, the steering engine can be assembled and tested after final assembly is completed, and unqualified products are prevented from flowing out.

Optionally, the first transmission device includes: the motor gear is integrally arranged on the rotating shaft of the driving motor; a transmission gear; the transmission rod gear is fixedly arranged at one end of the transmission rod shaft; the motor gear transmits the rotation kinetic energy to the transmission rod gear through the transmission gear.

The technical scheme of the invention has the following beneficial technical effects: through the integrated design of the power device and the steering engine power output device, the assembly error of the motor is reduced, the assembly precision of a steering engine system is improved, the utilization rate of the steering engine structure space is effectively improved, the steering engine structure is more compact, and the unit mass power is high.

Drawings

FIG. 1 is a schematic structural diagram of the embodiment of the present application after final assembly is completed;

FIG. 2 is a schematic view of the first housing cover panel in an embodiment of the present application as viewed after it is removed;

FIG. 3 is a schematic view of a structure of an embodiment of the present application, as viewed after the second cover plate is removed;

the device comprises a shell, an output shaft, a shifting fork rotating shaft, a transmission rod gear, a transmission gear, a bearing end cover, a water-tight connector, a first shell cover plate and a second shell cover plate, wherein the shell is 1, the output shaft is 2, the shifting fork rotating shaft is 3, the transmission rod shaft is 4, the lead screw gear is 5, the driving motor is 6, the transmission gear is 7, the lead screw nut is 8, the pin is 9, the guide block is 10, the bearing end cover is 11, the air-tight connector is 12, the water-tight connector is 13, the first shell cover plate is 14, and the second shell cover plate is 15.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

An integrated steering engine, comprising:

a housing 1, the housing 1 being hermetically sealed. Specifically, the casing 1 includes a pressure-resistant casing 1 main body, one of the surfaces of the pressure-resistant casing 1 main body is an opening surface provided with an opening, and the other surface thereof is a bearing surface for supporting a bearing. This opening face is used for final assembly steering wheel, uses first shell apron 14 sealed after final assembly is accomplished. The bearing surface is used for supporting the shaft parts of the steering engine, and the second casing cover plate 15 is used for sealing after the related parts are assembled.

And one end of the output shaft 2 is arranged in the shell 1, and the other end of the output shaft 2 is arranged outside the shell 1 and used for outputting kinetic energy outwards. Specifically, the output shaft 2 is located at one end of the housing 1 and used for receiving kinetic energy to be transmitted, and the output shaft 2 receives the kinetic energy and then transmits the kinetic energy to one end of the housing 1. The end of the output shaft 2 outside the housing 1 is provided with a square hole for more favorable output of kinetic energy and a threaded hole for more convenient pulling up of the output shaft 2. An angle sensor is arranged at one end of the output shaft 2, which is positioned in the shell 1, and is used for feeding back a motion angle in real time and mastering whether each performance of the steering engine is normal or not in real time.

A transfer lever shaft 4, the transfer lever shaft 4 being disposed within the housing 1. Specifically, the transfer rod shaft 4 may be provided as a screw shaft, and both ends thereof are supported by a bearing surface of the pressure-resistant casing 1 main body and a side wall surface opposite to the bearing surface, respectively, and the supporting position of the side wall surface is sealed by a bearing end cover 11, so as to ensure that the casing 1 does not affect the sealing performance by supporting the screw shaft.

And the power device is used for providing kinetic energy. Specifically, the power plant includes a driving motor 6 and a resolver installed on the driving motor 6 for providing smooth and high control precision rotational kinetic energy.

The first transmission device is arranged in the shell 1 and is used for transmitting the kinetic energy provided by the power device to the transmission shaft 4. Specifically, the driving motor 6 is arranged in the main body of the pressure-resistant casing 1, a rotating shaft of the driving motor 6 is supported by a bearing surface of the main body of the pressure-resistant casing 1, a gear of the motor 6 is fixedly arranged at one end, penetrating through the bearing surface, of the rotating shaft of the driving motor 6, and a screw rod gear 5 is fixedly arranged at one end, penetrating through the bearing surface, of a screw rod shaft. The inner ring of the screw rod gear 5 adopts splines to limit the screw rod gear 5 to rotate relative to the screw rod shaft, and two sides of the screw rod shaft are respectively provided with a limiting block to limit the screw rod gear 5 to move in the axial direction of the screw rod shaft. A transmission gear 7 is arranged between the motor 6 gear and the screw rod gear 5, the motor 6 gear is meshed with the transmission gear 7, and the transmission gear 7 is meshed with the screw rod gear 5.

A second transmission means, arranged in the housing 1, for transmitting the kinetic energy of the transfer shaft 4 to said output shaft 2. Specifically, the screw rod nut 8 is arranged on the outer peripheral side of the screw rod shaft in a threaded fit mode, the shifting fork rotating shaft 3 is arranged on the outer peripheral side of the screw rod shaft in a threaded fit mode, one end of the shifting fork rotating shaft 3 is fixedly arranged at one end, located in the shell 1, of the output shaft 2, and the other end of the shifting fork rotating shaft is connected with the screw rod nut 8 in a shifting mode. The periphery of the screw rod nut 8 is fixedly provided with a pin 9, one end of the shifting fork rotating shaft 3 facing the screw rod nut 8 is set to be U-shaped, and the pin 9 is arranged in the U-shaped of the shifting fork rotating shaft 3. The outer periphery of the screw rod nut 8 is fixedly provided with a guide block 10, the inner wall of the shell 1 is provided with a guide groove, the guide block 10 is in sliding fit with the guide groove, and the guide groove is parallel to the axis of the dowel shaft 4.

The driving controller is positioned in the shell 1 and is electrically connected with the power device; the integrated controller is positioned outside the shell 1; the driving controller and the integrated controller are electrically connected through the plug connector and are used for providing high-precision control signals for the power device.

All power devices and the exterior structure of the integrated steering engine disclosed by the application are subjected to integrated thermal design, the overall transfer thermal resistance of the steering engine system is small, the heat dissipation surface area is large, and the heat dissipation effect is good. When the final assembly is completed, the airtight connector 12 provided on the side wall of the housing 1 is used for airtight detection, and the watertight connector 13 provided on the side wall of the housing 1 is used for watertight detection.

When the steering engine is required to work, a control signal is input into the integrated controller, the integrated controller transmits the signal to the driving controller through the plug connector, and the driving controller controls the driving motor 6 to execute the signal. The motor 6 generates rotation kinetic energy according to the signal, the rotation kinetic energy is transmitted to the transmission gear 7 through the motor 6 gear, and the transmission gear 7 is transmitted to the screw shaft gear. Since the spindle gear is fixedly arranged on the spindle shaft, the spindle shaft rotates as the spindle gear 5 rotates. When the screw shaft rotates, the screw nut 8 can only do linear motion along the axis of the screw shaft under the action of the guide block 10. When the feed screw nut 8 moves linearly, the pin 9 arranged on the feed screw nut stirs the shifting fork rotating shaft 3 to swing along the fixed position of the shifting fork rotating shaft 3 and the output shaft 2. When the shifting fork rotating shaft 3 swings, the output shaft 2 is driven to rotate along with the swinging amplitude. Finally, the kinetic energy is output by the square hole of the output shaft 2. After the motor 6 outputs the rotational kinetic energy, the rotational kinetic energy is converted and amplified for a plurality of times to finally obtain the precise kinetic energy with large torque, so that the unit mass power of the steering engine is greatly improved.

Claims

1. An integration steering wheel which characterized in that includes:

the shell (1), the shell (1) is sealed;

one end of the output shaft (2) is arranged in the shell (1), and the other end of the output shaft (2) is arranged outside the shell (1) and used for outputting kinetic energy outwards;

a transfer shaft (4), the transfer shaft (4) being disposed within the housing (1);

a power plant for providing kinetic energy;

a first transmission device arranged in the housing (1) for transmitting the kinetic energy provided by the power device to the transfer lever shaft (4);

a second transmission means disposed within the housing (1) for transferring kinetic energy of the transfer shaft (4) to the output shaft (2).

2. The integrated steering engine according to claim 1, wherein the outer periphery of the transmission shaft (4) is provided with a thread, and the second transmission device comprises:

the screw rod nut (8) is arranged on the outer peripheral side thread of the transmission shaft (4) in a threaded fit mode;

the shifting fork rotating shaft (3), one end of the shifting fork rotating shaft (3) is fixedly arranged at one end of the output shaft (2) which is positioned in the shell (1), and the other end of the shifting fork rotating shaft (3) is connected with the screw rod nut (8) in a shifting mode.

3. The integrated steering engine according to claim 2, wherein a pin (9) is fixedly arranged on the outer peripheral side of the lead screw nut (8), one end of the shifting fork rotating shaft (3) facing the lead screw nut (8) is arranged in a U shape, and the pin (9) is arranged in the U shape of the shifting fork rotating shaft (3).

4. The integrated steering engine according to claim 2, wherein a guide block (10) is fixedly arranged on the outer periphery of the lead screw nut (8), a guide groove is arranged on the inner wall of the housing (1), the guide block (10) is in sliding fit with the guide groove, and the guide groove is parallel to the axis of the transmission shaft (4).

5. The integrated steering engine according to claim 1, wherein the power device comprises a driving motor (6) and a rotary transformer mounted on the driving motor (6) for providing rotary kinetic energy.

6. The integrated steering engine of claim 1, further comprising:

the driving controller is positioned in the shell (1) and is electrically connected with the power device;

the integrated controller is positioned outside the shell (1);

the driving controller and the integrated controller are electrically connected through the plug connectors and are used for providing control signals for the power device.

7. The integrated steering engine according to claim 6, characterized in that an angle sensor is arranged at one end of the output shaft (2) in the housing (1) for feeding back a motion angle.

8. The integrated steering engine according to claim 1, wherein an airtight joint is arranged on the side wall of the housing (1) and used for detecting the airtightness of the housing (1).

9. The integrated steering engine according to claim 1, wherein a threaded hole is formed in one end of the output shaft (2) located outside the housing (1) and used for pulling up the output shaft (2).

10. The integrated steering engine of claim 5, wherein the first transmission comprises:

the motor gear is arranged on a rotating shaft of the driving motor (6);

a transmission gear (7);

the screw rod gear (5), the said screw rod gear (5) is fixedly arranged on one end of the transfer lever shaft (4);

the motor gear transmits the rotation kinetic energy to the screw rod gear (5) through the transmission gear (7).