CN115289187A - Self-locking servo rudder control transmission mechanism based on micro spiral transmission - Google Patents
Self-locking servo rudder control transmission mechanism based on micro spiral transmission Download PDFInfo
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- CN115289187A CN115289187A CN202210770580.7A CN202210770580A CN115289187A CN 115289187 A CN115289187 A CN 115289187A CN 202210770580 A CN202210770580 A CN 202210770580A CN 115289187 A CN115289187 A CN 115289187A
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- output shaft
- nut
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- transmission mechanism
- lead screw
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/24—Elements essential to such mechanisms, e.g. screws, nuts
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
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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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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H2025/2062—Arrangements for driving the actuator
- F16H2025/2075—Coaxial drive motors
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The utility model provides a from servo rudder accuse drive mechanism of locking-type based on miniature screw drive, including steering wheel casing, drive assembly, slip lead screw, the nut, output shaft and rudder piece axle, drive assembly drives slip lead screw and rotates around self axis, slip lead screw and nut cooperation form auto-lock drive mechanism, the spiral rotary motion of sliding lead screw is converted into the reciprocal linear motion of nut, the nut cooperates with the output shaft, convert the axial reciprocal linear motion of nut into the rotary motion of output shaft around self axis, and then drive the accurate angle deflection of rudder piece axle, whole compact, the quality is light and handy, bearing capacity and shock resistance are stronger.
Description
Technical Field
The invention relates to a self-locking servo rudder control transmission mechanism based on micro spiral transmission, and belongs to the technical field of servo mechanisms.
Background
As a most commonly used servo rudder control device of a small-diameter precision device, an electric steering engine directly influences the integral navigation attitude and track, and has the advantages of high control precision, small volume, light weight, good dynamic performance and the like. The electric steering engine is required to provide larger output load torque in the design stage, and meanwhile, the installation space is limited by the overall diameter and the size of a rudder piece, so that higher requirements are provided for the structural size, weight, strength, rigidity, precision and transmission ratio of a transmission mechanism. However, the existing self-locking transmission mechanism has the disadvantages of large required space, inflexible disassembly and assembly and limited use when meeting the requirements of high transmission ratio, high strength and high rigidity.
Disclosure of Invention
The technical problem solved by the invention is as follows: aiming at the problem of use limitation of the traditional self-locking transmission mechanism in the prior art, the self-locking servo rudder control transmission mechanism based on micro screw transmission is provided.
The technical scheme for solving the technical problems is as follows:
the utility model provides a from servo rudder accuse drive mechanism of locking-type based on miniature spiral transmission, includes steering wheel casing, drive assembly, slip lead screw, nut, output shaft, rudder piece axle, wherein:
the steering engine shell is evenly divided into module areas along the axial symmetry direction, a driving part mounting hole, a bearing mounting hole and an output shaft mounting hole are formed in each module area, the driving part is fixedly mounted in the driving part mounting hole through screws and keeps the axial direction of the driving part and the axial direction of the steering engine shell to be the same, a sliding lead screw is fixedly mounted in the bearing mounting hole through a bearing, the driving part and the sliding lead screw are mounted in a coaxial matching mode, the driving part is used for driving the sliding lead screw to rotate around the axis of the driving part, a groove friction guide mechanism is formed by matching of a nut and the steering engine shell, meanwhile, a self-locking transmission mechanism is formed by matching of the nut and the sliding lead screw, the self-locking transmission mechanism converts the spiral rotation motion of the sliding lead screw into the reciprocating linear motion of the nut, the output shaft is mounted in the output shaft mounting hole through the bearing and keeps the axial direction of the steering engine shell to be vertical to the axial direction of the nut and the output shaft, the nut is matched with the output shaft, the axial direction of the output shaft is vertical to the steering engine shell, the rudder sheet shaft is matched with the output shaft and the axial direction of the steering engine shell, and the rudder sheet shaft is driven to deflect the angle of the rudder when the output shaft rotates around the axis of the output shaft, and the rudder, and mechanical transmission change of the space and the angle is completed.
And a guide groove in the same direction as the steering engine shell in the axial direction is formed in the side wall of each module area of the steering engine shell, which is close to the output end, and is used for fixing the movement direction of the nut.
The sliding screw rod comprises a special-shaped hole, a pin shaft hole and a straight groove, the special-shaped hole and the pin shaft hole are both arranged at one end of the sliding screw rod and are used for being fixedly mounted with a driving part, and the other end of the sliding screw rod is arranged in the straight groove and is used for being matched with a manual rotating sliding screw rod to adjust the position of a nut.
The nut comprises a guide rod, a shifting rod and a boss, the guide rod is arranged in the radial direction of the nut shaft, the guide rod is matched with the guide groove to form a groove friction guide mechanism, the nut is mechanically limited around the self axis rotary motion and the linear motion stroke, the axial direction of the shifting rod and the axial direction of the sliding lead screw are vertically arranged in different spatial planes, and the shifting rod is integrally fixed with the nut through the connecting boss.
The plane of the boss is parallel to the central axis of the deflector rod.
The guide rod and the deflector rod are both subjected to local heat treatment process to improve the surface hardness and the wear resistance.
The output shaft contains shift fork, straight groove, dysmorphism flat, and the shift fork forms clearance fit's slip pair with the output shaft integration processing and is equipped with the straight groove opening, and the output shaft upper end is located to the straight groove for with rudder piece axle cooperation installation, the output shaft lower extreme is located to the dysmorphism flat, be used for with the real-time supervision output shaft rotation angle with the angle sensor cooperation.
The shifting fork and the output shaft adopt a local heat treatment process to improve the surface hardness and the wear resistance of the straight groove.
The sliding pair formed by the shifting fork and the shifting rod reduces the transmission clearance by controlling the size and the form and position tolerance.
The self-locking transmission mechanism modifies the angle between the power input and the power output by modifying the angle between the axis of the poking rod and the axis of the output shaft.
Compared with the prior art, the invention has the advantages that:
(1) According to the self-locking servo steering control transmission mechanism based on micro screw transmission, miniaturization and high performance of the self-locking servo steering control transmission mechanism are achieved through different transmission mechanism arrangement modes, the torque angle output and the structure self-locking function of a rudder piece shaft are achieved through the micro screw transmission mechanism, the bearing capacity of the servo steering control transmission mechanism is improved, and the application requirements of the electric steering engine transmission mechanism in a small-diameter precision device on form, space direction and space angle change in a limited space can be met;
(2) The invention adopts an integrated part structure, reduces the number of parts, simplifies the structure and simultaneously improves the rigidity, the positioning precision and the transmission precision of the system; the driving lever structure parallel to the surface of the connecting boss is adopted, so that the effect that the driving lever and a sliding lead screw rod are vertically arranged on different spatial planes is skillfully realized, the contact area and the local strength of the driving lever and the boss are increased, the bearing capacity of the transmission mechanism is improved, the requirements on strength, rigidity and dynamic performance are met, and the size reduction of the whole transmission mechanism is realized;
(3) The invention adopts the asymmetrical shifting fork and the special-shaped connecting boss structure, realizes the effect of increasing the output stroke to the maximum extent on the premise of improving the performance of the transmission mechanism as much as possible in a limited space, reduces the space occupancy of the transmission mechanism in a rudder system, improves the unit space energy efficiency, has strong applicability, strong bearing capacity and shock resistance, is convenient to use and maintain, and has high precision, high stability and high reliability.
Drawings
FIG. 1 is a schematic perspective view of the apparatus provided in the present invention;
FIG. 2 is a schematic structural view of a sliding lead screw provided by the present invention;
FIG. 3 is a schematic structural view of the nut provided by the present invention;
FIG. 4 is a schematic structural diagram of an output shaft provided by the present invention;
Detailed Description
The utility model provides a from servo rudder accuse drive mechanism of locking-type based on miniature spiral transmission, including the steering wheel casing, drive assembly, slip lead screw, the nut, output shaft and rudder piece axle, drive assembly drives slip lead screw and rotates around self axis, slip lead screw forms auto-lock drive mechanism with the nut cooperation, turn into the reciprocal linear motion of nut with the spiral rotary motion of slip lead screw, nut and output shaft cooperation, turn into the axial reciprocal linear motion of nut the rotary motion of output shaft around self axis, and then drive the accurate angle deflection of rudder piece axle, whole compact, the quality is light and handy, bearing capacity and shock resistance are stronger, concrete structure is as follows:
including steering wheel casing 1, drive component 2, slip lead screw 3, nut 4, output shaft 5, rudder piece axle 6, wherein:
the steering engine shell 1 is uniformly divided into 4 module areas according to axial symmetry, a driving part mounting hole, a bearing mounting hole and an output shaft mounting hole are formed in each module area, a driving part 2 is fixedly mounted in the driving part mounting hole through screws and keeps the axial direction of the driving part to be the same as the axial direction of the steering engine shell 1, a sliding lead screw 3 is fixedly mounted in the bearing mounting hole through a bearing, the driving part 2 and the sliding lead screw 3 are mounted in a coaxial matching mode, the driving part 2 drives the sliding lead screw 3 to rotate around the axial line of the driving part, a groove friction guide mechanism is formed by the nut 4 and the steering engine shell 1 in a matching mode, a self-locking transmission mechanism is formed by the nut 4 and the sliding lead screw 3 in a matching mode, the self-locking transmission mechanism converts the spiral rotating motion of the sliding lead screw 3 into the reciprocating linear motion of the nut 4, the output shaft 5 is fixedly mounted in the output shaft mounting hole through the bearing and keeps the axial direction of the output shaft to be vertical to the axial direction of the steering engine shell 1, the nut 4 is matched with the output shaft 5, the output shaft is converted into the rotating motion of the output shaft 5 around the axial direction of the steering engine shell, and the steering engine is driven to complete the change of the steering engine shaft direction and the steering angle of the steering engine. The side wall of each module area of the steering engine shell 1, which is close to the output end, is provided with a guide groove 11 which is in the same direction as the shell in the axial direction and is used for fixing the movement direction of the nut 4;
the sliding lead screw 3 comprises a special-shaped hole 31, a pin shaft hole 32 and a straight-line groove 33, the special-shaped hole 31 and the pin shaft hole 32 are both arranged at one end of the sliding lead screw 3 and are used for being fixedly installed with the driving part 2, and the straight-line groove 33 is arranged at the other end of the sliding lead screw 3 and is used for matching with the sliding lead screw 3 to be manually rotated to adjust the position of the nut 4;
the nut 4 comprises a guide rod 41, a shifting rod 42 and a boss 43, the guide rod 41 is arranged on the radial direction of the nut shaft, the guide rod 41 is matched with the guide groove 11 to form a groove friction guide mechanism, the rotation movement and linear movement stroke of the nut 4 around the axis of the nut 4 are mechanically limited, the axial direction of the shifting rod 42 and the axial direction of the sliding lead screw 3 are vertically arranged in different spatial planes, and the shifting rod 42 is integrally fixed with the nut 4 through the connecting boss 43;
the plane of the boss 43 is parallel to the central axis of the shift lever 42; the guide rod 41 and the deflector rod 42 both adopt a local heat treatment process to improve the surface hardness and the wear resistance;
the output shaft 5 comprises a shifting fork 51, a straight groove 52 and a special flat 53, the shifting fork 51 and the output shaft 5 are integrally processed and are provided with straight groove openings, the shifting fork 51 and the shifting rod 42 form a sliding pair in clearance fit, the straight groove 52 is arranged at the upper end of the output shaft 5 and is used for being matched and installed with the rudder piece shaft 6, and the special flat 53 is arranged at the lower end of the output shaft and is used for being matched with an angle sensor to monitor the rotating angle of the output shaft 5 in real time;
the shifting fork 51 and the output shaft 5 adopt a local heat treatment process to improve the surface hardness and the wear resistance of the straight groove; the shifting fork 51 and the shifting rod 42 form a sliding pair, and the transmission clearance is reduced by controlling the size and the form and position tolerance;
the self-locking transmission mechanism modifies the angle between the power input and the power output by modifying the angle between the axis of the shift lever 42 and the axis of the output shaft 5.
The following is further illustrated according to specific examples:
in the current embodiment, as shown in fig. 1 to 4, the self-locking servo rudder control transmission mechanism under micro screw transmission comprises a steering engine housing 1, a driving part 2, a sliding lead screw 3, a nut 4, an output shaft 5 and a rudder piece shaft 6;
the sliding lead screw 3 is positioned and installed in a bearing installation hole of the steering engine shell 1 through a bearing, the driving part 2 and the sliding lead screw 3 are coaxially installed to drive the sliding lead screw 2 to rotate around the axis of the sliding lead screw, the sliding lead screw 3 is matched with the nut 4 to form a self-locking transmission mechanism, and the spiral rotation motion of the sliding lead screw 3 is converted into the reciprocating linear motion of the nut 4; the nut 4 is matched with the output shaft 5, the axial reciprocating linear motion of the nut 4 is converted into the rotary motion of the output shaft 5 around the axis of the output shaft, and then the rudder piece shaft 6 is driven to deflect at an accurate angle, and the change of mechanical transmission on the form, the space direction and the space angle is realized.
As shown in fig. 2, the sliding lead screw 3 includes a shaped hole 31, a pin hole 32, and a straight groove 33, the shaped hole 31 and the pin hole 32 are used to be fixedly mounted to the driving part 2, and the straight groove 33 is used to manually rotate the sliding lead screw 3 using an adjusting tool to adjust the position of the nut 4.
FIG. 3a is an isometric view of FIG. 3; FIG. 3b is a top view; FIG. 3c is a front view; the nut 4 comprises a guide rod 41, a shifting rod 42 and a boss 43, the guide rod 41 is in surface contact with a guide groove on the steering engine shell 1, the kinematic pair realizes the limiting effect of the nut 4 on the rotation motion around the axis of the nut and the mechanical limiting effect of the linear motion stroke, the shifting rod 42 is axially and vertically arranged on different spatial planes with the axial direction of the sliding lead screw 3, the shifting rod and the nut are integrally fixed by connecting the boss 43, the plane of the boss 43 is parallel to the central axis of the shifting rod 42, and the guide rod 41 and the shifting rod 42 are both subjected to local heat treatment to improve the surface hardness and the wear resistance.
FIG. 4a is an isometric view of FIG. 4; FIG. 4b is a top view; the output shaft 5 comprises a shifting fork 51, an in-line groove 52 and a special-shaped flat 53, the shifting fork 51 and the output shaft 5 are integrally processed and are provided with a straight groove opening, a local heat treatment process is adopted to improve the surface hardness and the wear resistance of the straight groove, the shifting fork 51 and the shifting rod 42 form a sliding pair in clearance fit, the size and the form and position tolerance of the sliding pair are strictly controlled to reduce the transmission clearance of the sliding pair, the in-line groove 52 is used for being installed in a matched mode with the rudder piece shaft 6, and the special-shaped flat 53 is used for being matched with an angle sensor to monitor the rotation angle of the output shaft 5 in real time.
In the embodiment, the axial size of the rudder piece of the whole servo rudder control transmission mechanism is less than or equal to 10.5mm, and the weight is less than 90g.
In the embodiment, the driving component can provide 0.25Nm of torque for the rudder blade shaft 6 through the servo rudder control transmission mechanism, the deflection angle range of the rudder blade shaft 6 is-30 degrees to +30 degrees, and the angle deviation precision is less than or equal to 5 percent.
The embodiment result shows that the device can effectively realize the navigation motion control of the small-diameter precision device under the requirements of small space and high performance.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Those skilled in the art will appreciate that the details of the invention not described in detail in this specification are well within the skill of those in the art.
Claims (10)
1. The utility model provides a from locking-type servo rudder accuse drive mechanism based on miniature spiral transmission which characterized in that:
including steering wheel casing (1), drive component (2), slip lead screw (3), nut (4), output shaft (5), rudder piece axle (6), wherein:
the steering engine shell (1) is evenly divided into 4 module areas along an axial symmetry direction, each module area is internally provided with a driving part mounting hole, a bearing mounting hole and an output shaft mounting hole, a driving part (2) is fixedly mounted in the driving part mounting hole through a screw and keeps the axial direction of the driving part and the steering engine shell (1) in the same direction, a sliding lead screw (3) is positioned and mounted in the bearing mounting hole through a bearing, the driving part (2) and the sliding lead screw (3) are coaxially mounted in a matched manner, the driving part (2) is used for driving the sliding lead screw (3) to rotate around the axis of the driving part, a nut (4) is matched with the steering engine shell (1) to form a groove friction guide mechanism and is matched with the sliding lead screw (3) to form a self-locking transmission mechanism, the self-locking transmission mechanism converts the spiral rotation motion of the sliding lead screw (3) into the reciprocating linear motion of the nut (4), the output shaft (5) is positioned and mounted in the output shaft mounting hole through the bearing and keeps the axial direction vertical to the steering engine shell (1), the nut (4) is matched with the output shaft (5), the output shaft (6) and the steering engine shell drives the output shaft to deflect the rudder shaft (6) when the steering engine shell (1) rotates around the axis of the steering shaft, the mechanical transmission change of the spatial direction and the angle is completed.
2. The self-locking servo rudder control transmission mechanism based on micro screw transmission as claimed in claim 1, wherein:
the lateral wall of each module area of the steering engine shell (1) close to the output end is provided with a guide groove (11) which is axially in the same direction as the steering engine shell (1) and used for fixing the moving direction of the nut (4).
3. The self-locking servo rudder control transmission mechanism based on the micro spiral transmission is characterized in that:
the sliding screw rod (3) comprises a special-shaped hole (31), a pin shaft hole (32) and a straight groove (33), the special-shaped hole (31) and the pin shaft hole (32) are both arranged at one end of the sliding screw rod (3) and are used for being fixedly installed with a driving part (2), and the other end of the sliding screw rod (3) is arranged in the straight groove (33) and is used for being matched with a manual rotating sliding screw rod (3) to adjust the position of a nut (4).
4. The self-locking servo rudder control transmission mechanism based on micro screw transmission according to claim 3, characterized in that:
the nut (4) comprises a guide rod (41), a shifting rod (42) and a boss (43), the guide rod (41) is arranged on the radial direction of the nut shaft, the guide rod (41) is matched with the guide groove (11) to form a groove friction guide mechanism, the nut (4) is mechanically limited around the self axis rotation motion and the linear motion stroke, the shifting rod (42) is vertically arranged in different spatial planes in the axial direction and the sliding lead screw (3), and the shifting rod (42) is integrally fixed with the nut (4) through the connecting boss (43).
5. The self-locking servo rudder control transmission mechanism based on micro screw transmission according to claim 4, characterized in that:
the plane of the boss (43) is parallel to the central axis of the shift lever (42).
6. The self-locking servo rudder control transmission mechanism based on the micro spiral transmission is characterized in that:
the guide rod (41) and the deflector rod (42) adopt a local heat treatment process to improve the surface hardness and the wear resistance.
7. The self-locking servo rudder control transmission mechanism based on the micro spiral transmission is characterized in that:
output shaft (5) contain shift fork (51), straight groove (52), flat (53) of dysmorphism, shift fork (51) and output shaft (5) integration processing and be equipped with the straight flute opening, shift fork (51) and driving lever (42) form clearance fit's sliding pair, output shaft (5) upper end is located in straight groove (52) for with rudder piece axle (6) cooperation installation, the output shaft lower extreme is located in flat (53) of dysmorphism, be used for with the angle sensor cooperation with real-time supervision output shaft (5) rotation angle.
8. The self-locking servo rudder control transmission mechanism based on micro screw transmission according to claim 7, characterized in that:
the shifting fork (51) and the output shaft (5) adopt a local heat treatment process to improve the surface hardness and the wear resistance of the straight groove.
9. The self-locking servo rudder control transmission mechanism based on micro screw transmission according to claim 7, characterized in that:
the shifting fork (51) and the shifting rod (42) form a sliding pair, and the transmission clearance is reduced by controlling the size and the form and position tolerance.
10. The self-locking servo rudder control transmission mechanism based on micro screw transmission according to claim 7, characterized in that:
the self-locking transmission mechanism modifies the angle between the power input and the power output by modifying the angle between the axis of the deflector rod (42) and the axis of the output shaft (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210770580.7A CN115289187A (en) | 2022-06-30 | 2022-06-30 | Self-locking servo rudder control transmission mechanism based on micro spiral transmission |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210770580.7A CN115289187A (en) | 2022-06-30 | 2022-06-30 | Self-locking servo rudder control transmission mechanism based on micro spiral transmission |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115289187A true CN115289187A (en) | 2022-11-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210770580.7A Pending CN115289187A (en) | 2022-06-30 | 2022-06-30 | Self-locking servo rudder control transmission mechanism based on micro spiral transmission |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115289187A (en) |
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2022
- 2022-06-30 CN CN202210770580.7A patent/CN115289187A/en active Pending
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