CN115842457A - Electric actuating device with whole-course mechanical self-locking function and control method thereof - Google Patents
Electric actuating device with whole-course mechanical self-locking function and control method thereof Download PDFInfo
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- CN115842457A CN115842457A CN202211498605.9A CN202211498605A CN115842457A CN 115842457 A CN115842457 A CN 115842457A CN 202211498605 A CN202211498605 A CN 202211498605A CN 115842457 A CN115842457 A CN 115842457A
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Abstract
The invention relates to the technical field of ship devices, in particular to an electric actuating device with a whole-course mechanical self-locking function and a control method thereof. The device has the full-range mechanical self-locking characteristic, and can keep the load to work at a specific position even under the condition of power failure; the device has the capacity of bearing external pressure and self-sealing, and can meet the application occasions of certain depth, certain output force and only electric drive under water; the device is driven by electric power, has low working noise, high mechanism integration level and small occupied total space resources, is beneficial to total information integrated control, and is particularly suitable for full electric submersible vehicles such as unmanned submersible vehicles, special submersible vehicles and small submersible vehicles; the control method of the device is provided, the movement speed of the push rod can be adjusted by adjusting the rotating speed of the torque motor according to the actual working environment, the running displacement of the mechanism is detected through the encoder, and the maximum working stroke of the push rod is set.
Description
Technical Field
The invention relates to the technical field of ship devices, in particular to an electric actuating device with a whole-course mechanical self-locking function and a control method thereof.
Background
At present, a hydraulic system is generally adopted in the submersible. The hydraulic system has the following problems:
1) The hydraulic system has large vibration noise and is mainly embodied in four aspects: firstly, mechanical vibration caused by the work of a hydraulic pump station; secondly, the hydraulic pipeline cannot avoid impact in the start-stop stage of a user, so that transient noise of the pipeline is caused; thirdly, the supply of hydraulic oil is required to be adjusted along with the change of the operation working condition of a user, so that the throttle noise is inevitable; fourthly, hydraulic oil in the hydraulic pipeline can easily excite the pipeline to vibrate.
2) The number of pipes is large. The hydraulic system has many and dispersed pipelines and valves, occupies a large amount of overall space resources, and is not beneficial to overall integration and optimization. The large-volume hydraulic system and pipeline are difficult to arrange for some newly-developed products such as unmanned submersible vehicles, special submersible vehicles, small submersible vehicles and other full-electric submersible vehicles.
3) The realization of information-based integrated control is difficult, and if the remote centralized control is realized by hydraulic control, a large number of hydraulic valves, pipelines and the like are required to be added, so that the overall burden is increased.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the electric execution device with the whole-course mechanical self-locking function and the control method thereof have the advantages of stable load, low working noise, high integration level, less occupied total space resources, convenience in control and suitability for all-electric submersible vehicles such as unmanned submersible vehicles, special submersible vehicles and small submersible vehicles.
In order to solve the technical problems, the invention adopts the technical scheme that:
an electric actuating device with a whole-course mechanical self-locking function comprises a power mechanism, an actuating mechanism and a guide mechanism, wherein the power mechanism comprises a torque motor 4, and a motor shell 3 is arranged outside the torque motor 4; the actuator comprises a trapezoidal lead screw 7 and a push rod 8, the trapezoidal lead screw 7 is in threaded connection with a lead screw nut 6, the lead screw nut 6 is fixedly connected with the push rod 8, and an actuator shell 9 is arranged outside the push rod 8; the guide mechanism comprises a guide shell 10;
the torque motor 4 directly drives the trapezoidal lead screw 7 to rotate through a key, and the rotation motion of the trapezoidal lead screw 7 is converted into the reciprocating linear motion of the push rod 8 through the matching of the guide shell 10 and the anti-rotation key on the push rod 8.
Furthermore, the end part of the motor shell 3 is provided with an installation cover plate 1, the motor shell 3 is fixedly connected with the actuating mechanism shell 9 through bolts, and the actuating mechanism shell 9 is fixedly connected with the guide shell 10 through bolts.
Furthermore, sealing elements 11 are arranged at the joints of the installation cover plate 1 and the motor shell 3, the joints of the motor shell 3 and the actuating mechanism shell 9, and the joints of the actuating mechanism shell 9 and the guide shell 10.
Furthermore, a bearing 5 is installed at a boss of the trapezoidal lead screw 7 and used for bearing the push-pull force of the push rod 8, and an encoder 2 is installed at the tail end of the trapezoidal lead screw 7 and used for recording the stroke of the push rod 8 and generating a displacement signal.
Furthermore, two waterproof cable connectors 12 are installed in the middle of the motor housing 3 and are respectively used for connecting a power cable and a control cable.
Further, the trapezoidal screw 7 and the push rod 8 are in a full-range mechanical self-locking structure, specifically, the trapezoidal screw 7 can drive the push rod 8 to perform reciprocating linear motion through rotation, and the push rod 8 cannot reversely drive the trapezoidal screw 7 to act.
Furthermore, static seals are adopted at the joint of the installation cover plate 1 and the motor shell 3, the joint of the motor shell 3 and the actuating mechanism shell 9, and the joint of the actuating mechanism shell 9 and the guide shell 10.
Further, the push rod 8 and the guide shell 10 are in dynamic sealing.
Based on the same inventive concept, the application also provides a control method of the electric actuating device with the whole-course mechanical self-locking function, the electric actuating device is adopted, and the control method specifically comprises the following steps:
s1, presetting the maximum working stroke Lmax of the electric actuating device in advance according to the space size of the device;
s2, setting the rotating speed W of the torque motor in advance according to the preset working speed V of the push rod;
s3, monitoring the displacement distance L of the push rod in real time through an encoder;
and S4, when L is larger than Lmax, the torque motor automatically stops running, and the trapezoidal screw rod and the push rod are self-locked.
Based on the same inventive concept, the application also provides a small submersible vehicle, wherein the electric actuating device with the whole-course mechanical self-locking function is arranged in the small submersible vehicle.
Compared with the prior art, the invention has the following main advantages:
1. the device has the full-range mechanical self-locking characteristic, and can keep the load to work at a specific position even under the condition of power failure;
2. the device has the capacity of bearing external pressure and self-sealing, and can meet the application occasions of certain depth, certain output force and only electric drive under water;
3. the device is driven by electric power, has low working noise, high mechanism integration level and small occupied total space resources, is beneficial to total information integrated control, and is particularly suitable for full electric submersible vehicles such as unmanned submersible vehicles, special submersible vehicles and small submersible vehicles;
4. the control method of the device is provided, the movement speed of the push rod can be adjusted by adjusting the rotating speed of the torque motor according to the actual working environment, the running displacement of the mechanism is detected through the encoder, and the maximum working stroke of the push rod is set.
Drawings
FIG. 1 is a schematic view of a retracted state of an electric actuator according to the present invention;
fig. 2 is a schematic structural diagram of an electric actuator in an extended state according to the present invention.
In the figure: 1. installing a cover plate; 2. an encoder; 3. a motor housing; 4. a torque motor; 5. a bearing; 6. a lead screw nut; 7. a trapezoidal lead screw; 8. a push rod; 9. an actuator housing; 10. a guide housing; 11. a sealing element; 12. a cable connector is provided.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the respective embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
It should be noted that, according to the implementation requirement, each step/component described in the present application can be divided into more steps/components, and two or more steps/components or partial operations of the steps/components can be combined into new steps/components to achieve the purpose of the present invention.
1. Electric actuator with whole-course mechanical self-locking function
As shown in fig. 1 to 2, the electric actuator with a full-range mechanical self-locking function provided by the invention is mainly formed by integrating an installation cover plate 1, an encoder 2, a motor housing 3, a torque motor 4, a bearing 5, a screw nut 6, a trapezoidal screw 7, a push rod 8, an actuator housing 9, a guide housing 10, a sealing element 11, a cable connector 12 and the like.
According to the scheme, the structural relationship of the components is as follows: installation apron 1, motor housing 3 and actuating mechanism shell 9 link together through the bolt admittedly, installation apron 1 and motor housing 3 junction, motor housing 3 and actuating mechanism shell 9 junction, actuating mechanism shell and direction casing 10 junction all set up sealing element 11, including the axial, radial double-deck O type sealing washer, guarantee the static seal characteristic, push rod 8 sets up sealing element 11 with direction casing 10 junction, adopt double-deck piston rod dynamic seal, adopt the stet seal ladder circle GSJ for the axle for the first way, the second adopts the Y shape circle GUR for the axle.
The torque motor 4 directly drives the trapezoidal lead screw 7 to rotate through a key, the lead screw nut 6 is connected with the push rod 8 through a bolt, and the rotating motion of the trapezoidal lead screw 7 is converted into the reciprocating linear motion of the push rod 8 through the matching of the anti-rotation key on the guide shell 10 and the push rod 8. The trapezoidal screw 7 is designed to have a full-range mechanical self-locking function, and can only drive the screw to rotate through the torque motor 4, so as to drive the push rod to be pushed out or retracted, but can not move reversely through the push rod, so that the mechanism can also keep the load at a specified working position under the condition of power failure.
The bearing 5 is arranged at the boss of the trapezoidal screw 7 and used for bearing the push-pull force of the push rod 8, and the encoder 2 is arranged at the tail end and used for recording the stroke of the push rod 8 and transmitting a displacement signal. And 2 waterproof cable connectors 12 are arranged in the middle of the motor shell 3 and are used for respectively completing the connection of a power supply, a control signal and a feedback signal.
Furthermore, sealing elements 11 are arranged at the joints of the mounting cover plate 1, the motor shell 3, the actuating mechanism shell 9 and the push rod 8, so that the static sealing performance and the dynamic sealing performance of the electric actuating mechanism are ensured; meanwhile, the mechanism adopts an integral pressure-resistant design, and the motor shell 3 and the actuating mechanism shell 9 can bear the water pressure of a certain depth.
Furthermore, the torque motor 4 directly drives the trapezoidal screw 7 to rotate, and the screw nut 6 drives the push rod to realize reciprocating linear motion under the matching of the guide shell 10 and the anti-rotation key on the push rod 8, so that the full-range mechanical self-locking function is realized; the bearing 5 is arranged at the shaft shoulder of the trapezoidal screw 7 and used for transmitting the thrust of the push rod 8; the encoder 2 can monitor the running displacement of the mechanism in real time, and the mechanism can automatically stop when reaching the maximum working stroke. The cable connector 12 completes the connection of the power supply, the control signal and the feedback signal.
2. Control method
Based on the same inventive concept, the embodiment of the present application further provides a control method for the electric actuator with a full-range mechanical self-locking function, and the electric actuator as described above is adopted, and specifically includes the following steps:
s1, presetting the maximum working stroke Lmax of the electric actuating device in advance according to the space size of the device;
s2, setting the rotating speed W of the torque motor in advance according to the preset working speed V of the push rod;
s3, monitoring the displacement distance L of the push rod in real time through an encoder;
and S4, when L is larger than Lmax, the torque motor automatically stops running, and the trapezoidal screw rod and the push rod are self-locked.
In summary, the electric actuator with a full-stroke mechanical self-locking function and the control method thereof of the present invention are:
1. the device has the full-range mechanical self-locking characteristic, and can keep the load to work at a specific position even under the condition of power failure;
2. the device has the capacity of bearing external pressure and self-sealing, and can meet the application occasions of certain depth, certain output force and only electric drive under water;
3. the device is driven by electric power, has low working noise, high mechanism integration level and small occupied total space resources, is beneficial to total information integrated control, and is particularly suitable for full electric submersible vehicles such as unmanned submersible vehicles, special submersible vehicles and small submersible vehicles;
4. the control method of the device is provided, the movement speed of the push rod can be adjusted by adjusting the rotating speed of the torque motor according to the actual working environment, the running displacement of the mechanism is detected through the encoder, and the maximum working stroke of the push rod is set.
Based on the same inventive concept, the embodiment of the application also provides a small submersible vehicle, wherein the electric actuating device with the whole-course mechanical self-locking function is arranged in the small submersible vehicle.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. An electric actuating device with a whole-course mechanical self-locking function comprises a power mechanism, an actuating mechanism and a guide mechanism, and is characterized in that the power mechanism comprises a torque motor (4), and a motor shell (3) is arranged outside the torque motor (4); the actuator comprises a trapezoidal lead screw (7) and a push rod (8), the trapezoidal lead screw (7) is in threaded connection with a lead screw nut (6), the lead screw nut (6) is fixedly connected with the push rod (8), and an actuator shell (9) is arranged outside the push rod (8); the guide mechanism comprises a guide housing (10);
the torque motor (4) directly drives the trapezoidal lead screw (7) to rotate through keys, and the rotating motion of the trapezoidal lead screw (7) is converted into the reciprocating linear motion of the push rod (8) through the matching of the guide shell (10) and the anti-rotating keys on the push rod (8).
2. The electric actuating device with the whole range of mechanical self-locking function according to claim 1, wherein the end of the motor housing (3) is provided with a mounting cover plate (1), the motor housing (3) and the actuating mechanism housing (9) are fixedly connected together through bolts, and the actuating mechanism housing (9) and the guide housing (10) are fixedly connected together through bolts.
3. The electric actuating device with the whole mechanical self-locking function according to claim 2, wherein sealing elements (11) are arranged at the joint of the mounting cover plate (1) and the motor shell (3), the joint of the motor shell (3) and the actuating mechanism shell (9), and the joint of the actuating mechanism shell (9) and the guide shell (10).
4. The electric actuating device with the whole-stroke mechanical self-locking function according to claim 1, wherein a bearing (5) is mounted at a boss of the trapezoidal lead screw (7) and used for bearing a push-pull force of the push rod (8), and an encoder (2) is mounted at the tail end of the trapezoidal lead screw (7) and used for recording the stroke of the push rod (8) and generating a displacement signal.
5. The electric actuating device with the whole mechanical self-locking function according to claim 1, wherein two waterproof cable connectors (12) are arranged in the middle of the motor shell (3) and are respectively used for connecting a power cable and a control cable.
6. The electric actuator with the whole range mechanical self-locking function according to claim 1, wherein the trapezoidal lead screw (7) and the push rod (8) are of a whole range mechanical self-locking structure, specifically, the trapezoidal lead screw (7) can drive the push rod (8) to move in a reciprocating linear manner through rotation, and the push rod (8) cannot drive the trapezoidal lead screw (7) to move reversely.
7. The electric actuating device with the whole mechanical self-locking function according to claim 3, wherein static seals are adopted at the joint of the mounting cover plate (1) and the motor shell (3), the joint of the motor shell (3) and the actuating mechanism shell (9), and the joint of the actuating mechanism shell (9) and the guide shell (10).
8. The electric actuating device with the whole range of mechanical self-locking as recited in claim 1, characterized in that the push rod (8) and the guide shell (10) adopt dynamic sealing.
9. A control method of an electric actuating device with a whole-course mechanical self-locking function adopts the electric actuating device with the whole-course mechanical self-locking function of any one of claims 1 to 8, and is characterized by comprising the following steps:
s1, presetting the maximum working stroke Lmax of the electric actuating device in advance according to the space size of the device;
s2, setting the rotating speed W of the torque motor in advance according to the preset working speed V of the push rod;
s3, monitoring the displacement distance L of the push rod in real time through an encoder;
and S4, when L is larger than Lmax, the torque motor automatically stops running, and the trapezoidal screw rod and the push rod are self-locked.
10. A small-sized submersible vehicle, characterized in that an electric actuating device with full range mechanical self-locking as claimed in any one of claims 1 to 8 is arranged in the submersible vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211498605.9A CN115842457A (en) | 2022-11-28 | 2022-11-28 | Electric actuating device with whole-course mechanical self-locking function and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211498605.9A CN115842457A (en) | 2022-11-28 | 2022-11-28 | Electric actuating device with whole-course mechanical self-locking function and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115842457A true CN115842457A (en) | 2023-03-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211498605.9A Pending CN115842457A (en) | 2022-11-28 | 2022-11-28 | Electric actuating device with whole-course mechanical self-locking function and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115842457A (en) |
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2022
- 2022-11-28 CN CN202211498605.9A patent/CN115842457A/en active Pending
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