CN204089444U - A kind of electrical servo system - Google Patents
A kind of electrical servo system Download PDFInfo
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- CN204089444U CN204089444U CN201420450418.8U CN201420450418U CN204089444U CN 204089444 U CN204089444 U CN 204089444U CN 201420450418 U CN201420450418 U CN 201420450418U CN 204089444 U CN204089444 U CN 204089444U
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 21
- 230000009467 reduction Effects 0.000 claims abstract description 20
- 238000009434 installation Methods 0.000 claims abstract description 14
- 230000010354 integration Effects 0.000 abstract description 3
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000011664 signaling Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
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Abstract
The utility model discloses a kind of electrical servo system, adopt the high integration structure of " three chamber one ", i.e. gear reduction unit chamber, motor installation cavity, driving governor and angular displacement sensor chamber.Adopt Pyatyi gear pair deceleration increasing to turn round, driving of parallel axes mode, angle displacement sensor is connected with output shaft, for reducing electrical servo system physical dimension, especially axial dimension, adopts the structure of motor shaft and rudderpost serrated vertical, i.e. horizontal installation.Slowed down by gear pair Pyatyi and export and utilize angular displacement sensor to carry out FEEDBACK CONTROL.Motor is slowed down by bevel gear and makes power shaft vertical with output shaft with break-in, and utilizes Pyatyi gear reduction, passes to steering wheel output shaft.This programme have integrated level high, export the features such as little, the superior performance of axial dimension, the demand for control of miniature missile can well be met, be particularly useful for the servomechanism of guided missile in output shaft direction requirements of installation space harshness and aircraft.
Description
Technical field
The utility model relates to servo system technical field, particularly the integrated small-sized electric servo system of one.
Background technology
Electrical servo system is the important component part of Missile Guidance And Control System, is also the actuator of Missile Guidance And Control System, and primarily of electric steering engine and driving governor composition, its system composing and working theory is shown in Fig. 1.When Electrodynamic Rudder System normally works, driving governor receives control command, control electric steering engine to rotate thus primary control surface deflection, while control surface deflection, position signalling is real-time transmitted to driving governor by feedback device, thus the correction completed control surface deflection angle, ensure rudder face within certain response time with certain precision convergence given angle value, make aircraft complete the aerial missions such as lifting, course and coordinate turn, finally make aircraft according to predetermined attitude and airline operation.
Electrical servo system is divided into rotary output and straight line to export two kinds of modes; Conventional rotary output electrical servo system mainly adopts harmonic speed reducer as transmission mechanism, output torque is probably in 3Nm ~ 100Nm scope, orthoscopic exports electrical servo system and mainly adopts roller (pearl) leading screw as straight line output mechanism, to drive control surface deflection by linkage.In practical application request, when output torque requires to be greater than 100Nm, general employing straight line electric servo system.The electric rudder system that output torque is less than 3Nm mainly adopts cluster gear gearing speed-reducer.
Many employing tail control layouts in current Missile Design, steering wheel can only be in nozzle and play in the annular space of wall, its structure can with reference to shown in Fig. 2, annular space is higher to electric steering engine output shaft direction dimensional requirement, require that steering wheel is little in the direction size of output shaft, but conventional harmonic speed reducer electrical servo system is difficult to satisfied axial installation dimension requirement in output shaft direction.
Utility model content
In view of this, the utility model provides a kind of electrical servo system solving above-mentioned contradiction, has the advantages that integrated level is high and output axial dimension is little, can well meet the demand for control of miniature missile.
For achieving the above object, the utility model provides following technical scheme:
A kind of electrical servo system, comprises casing, and is arranged on motor, gear reduction unit, steering wheel output shaft, angle displacement sensor and the driving governor in described casing;
Described gear reduction unit comprises the multi-stage speed-reducing gear shaft axially be arranged in parallel, and the wherein diameter of the output roller gear of previous stage reducing gear wheel shaft, is less than the diameter of the input roller gear of rear stage reducing gear wheel shaft; Input bevel gear on first order reducing gear wheel shaft is taken turns with the output bevel gear of described motor and engages, and the output roller gear of afterbody reducing gear wheel shaft engages with the input roller gear on steering wheel output shaft;
The axis of described reducing gear wheel shaft all perpendicular to the axis of the output shaft of described motor, the axis being axially parallel to described reducing gear wheel shaft of described steering wheel output shaft;
Described angle displacement sensor is connected to described steering wheel output shaft one end away from rudder face.
Preferably, each gear pair is in the setting of axially staggering of each reducing gear wheel shaft.
Preferably, described gear reduction unit comprises level Four reducing gear wheel shaft, output roller gear on first order reducing gear wheel shaft engages with the input roller gear on the reducing gear wheel shaft of the second level, output roller gear on the reducing gear wheel shaft of the second level engages with the input roller gear on third level reducing gear wheel shaft, output roller gear on third level reducing gear wheel shaft engages with the input roller gear on fourth stage reducing gear wheel shaft, and the output roller gear on fourth stage reducing gear wheel shaft engages with the input roller gear on described steering wheel output shaft.
Preferably, gear reduction unit chamber, motor installation cavity, driving governor and angular displacement sensor chamber is separated in described casing.
Preferably, the output of described steering wheel output shaft passes to rudder face by four directions and pin-and-hole structure.
As can be seen from above-mentioned technical scheme, the electrical servo system that the utility model provides, the secondary deceleration increasing of multi-stage gear is adopted to turn round, driving of parallel axes mode, angle displacement sensor is connected with steering wheel output shaft, for reducing electrical servo system physical dimension, especially axial dimension, adopt the structure of motor shaft and rudderpost serrated vertical.Exported by gear reduction and utilize angular displacement sensor to carry out FEEDBACK CONTROL.Motor is slowed down by bevel gear and makes power shaft vertical with output shaft with break-in, and utilizes multiple stage gear reduction, passes to steering wheel output shaft.Moment passes to rudder face by steering wheel output shaft, reaches control object.It is high and export the little feature of axial dimension that this programme has integrated level, can well meet the demand for control of miniature missile, is particularly useful for the servomechanism of guided missile in output shaft direction requirements of installation space harshness and aircraft.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is electrical servo system composition and working principle figure in prior art;
The steering wheel installing space figure that Fig. 2 provides for the utility model embodiment;
The installation diagram of the electrical servo system that Fig. 3 provides for the utility model embodiment;
Fig. 4 is the cutaway view along A-A cross section in Fig. 3.
Wherein, 1 is side plate, and 2 is motor, and 3 is casing, and 4 is cover plate, and 5 is steering wheel output shaft, and 6 is angle displacement sensor, and 7 is driving governor and angular displacement sensor chamber.
Embodiment
The utility model discloses a kind of electrical servo system, have the advantages that integrated level is high and output axial dimension is little, the demand for control of miniature missile can well be met.
Below in conjunction with the accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
Refer to Fig. 2-Fig. 4, the steering wheel installing space figure that Fig. 2 provides for the utility model embodiment; The installation diagram of the electrical servo system that Fig. 3 provides for the utility model embodiment; Fig. 4 is the cutaway view along A-A cross section in Fig. 3.
The electrical servo system that the utility model embodiment provides, its core improvement is,
Comprise casing 3, and be arranged on motor 2, gear reduction unit, steering wheel output shaft 5, angle displacement sensor 6 and the driving governor in casing 3;
Wherein, gear reduction unit comprises the multi-stage speed-reducing gear shaft axially be arranged in parallel, the output roller gear of previous stage reducing gear wheel shaft engages with the input roller gear of rear stage reducing gear wheel shaft, and the diameter of the output roller gear of previous stage reducing gear wheel shaft, be less than the diameter of the input roller gear of rear stage reducing gear wheel shaft, turn round to realize deceleration increasing; Input bevel gear on first order reducing gear wheel shaft I ' take turns I with the output bevel gear of motor 2 and engage, the output roller gear of afterbody reducing gear wheel shaft engages with the input roller gear on steering wheel output shaft 5;
The axis of multi-stage speed-reducing gear shaft all perpendicular to the axis of the output shaft of motor 2, the axis being axially parallel to multi-stage speed-reducing gear shaft of steering wheel output shaft 5;
Angle displacement sensor 6 is connected to steering wheel output shaft 5 one end away from rudder face; When electrical servo system normally works, driving governor receives control command, controls electric rotary thus primary control surface deflection, while control surface deflection, position signalling is real-time transmitted to driving governor by feedback device, thus completes the correction to control surface deflection angle.
As can be seen from above-mentioned technical scheme, the electrical servo system that the utility model embodiment provides, the secondary deceleration increasing of multi-stage gear is adopted to turn round, driving of parallel axes mode, angle displacement sensor is connected with steering wheel output shaft, for reducing electrical servo system physical dimension, especially axial dimension, adopt the structure of motor shaft and rudderpost serrated vertical.Exported by gear reduction and utilize angular displacement sensor to carry out FEEDBACK CONTROL.Motor is slowed down by bevel gear and makes power shaft vertical with output shaft with break-in, and utilizes multiple stage gear reduction, passes to steering wheel output shaft.Moment passes to rudder face by steering wheel output shaft, reaches control object.It is high and export the little feature of axial dimension that this programme has integrated level, can well meet the demand for control of miniature missile, is particularly useful for the servomechanism of guided missile in output shaft direction requirements of installation space harshness and aircraft.
In order to optimize above-mentioned technical scheme further, each gear pair is in the setting of axially staggering of each reducing gear wheel shaft, and its structure can with reference to shown in Fig. 4, to reduce overall dimensions.
In the specific embodiment that this programme provides, gear reduction unit comprises level Four reducing gear wheel shaft, output roller gear II on first order reducing gear wheel shaft and the input roller gear II on the reducing gear wheel shaft of the second level ' engage, output roller gear III on the reducing gear wheel shaft of the second level and the input roller gear III on third level reducing gear wheel shaft ' engage, output roller gear IV on third level reducing gear wheel shaft and the input roller gear IV on fourth stage reducing gear wheel shaft ' engage, output roller gear V on fourth stage reducing gear wheel shaft and the input roller gear V on steering wheel output shaft 5 ' engage, its structure can with reference to shown in Fig. 3 and Fig. 4, one end of reducing gear wheel shaft is arranged on the sidewall of casing 3, the other end is arranged on cover plate 4.Above level Four roller gear slows down, and add the bevel gear pair of motor 2 output, this programme realizes Pyatyi gear pair deceleration increasing and turns round.Certainly, those skilled in the art according to actual needs, can make suitable adjustment to slowing-down structure, such as increase and decrease reducing gear wheel shaft, or change the speed reducing ratio of each gear pair, do not repeat them here.
As preferably, the high integration structure that this electrical servo system adopts " three chamber one ", its structure with reference to shown in Fig. 3 and Fig. 4, can be separated into motor installation cavity, driving governor and angular displacement sensor chamber 7 in casing 3, make its interior layout more reasonable, avoid the interference between each several part.
In the specific embodiment that this programme provides, the output of steering wheel output shaft 5 passes to rudder face by four directions and pin-and-hole structure, and reach control object, its structure can with reference to shown in Fig. 4.
In sum, the electrical servo system that the utility model embodiment provides, adopts the high integration structure of " three chamber one ", i.e. gear reduction unit chamber, motor installation cavity, driving governor and angular displacement sensor chamber.Adopt Pyatyi gear pair deceleration increasing to turn round, driving of parallel axes mode, angle displacement sensor is connected with output shaft, for reducing electrical servo system physical dimension, especially axial dimension, adopts the structure of motor shaft and rudderpost serrated vertical, i.e. horizontal installation.Motor, gear reduction unit, transducer, controller are integrated in casing.Slowed down by gear pair Pyatyi and export and utilize angular displacement sensor to carry out FEEDBACK CONTROL.Motor is slowed down by bevel gear and makes power shaft vertical with output shaft with break-in, and utilizes level Four gear reduction, passes to steering wheel output shaft.Moment passes to rudder face by the four directions of output shaft and pin-and-hole, reaches control object.This programme have integrated level high, export the features such as little, the superior performance of axial dimension, the demand for control of miniature missile can well be met, be particularly useful for the servomechanism of guided missile in output shaft direction requirements of installation space harshness and aircraft.
In this specification, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the utility model.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein when not departing from spirit or scope of the present utility model, can realize in other embodiments.Therefore, the utility model can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (5)
1. an electrical servo system, is characterized in that,
Comprise casing (3), and be arranged on motor (2), gear reduction unit, steering wheel output shaft (5), angle displacement sensor (6) and the driving governor in described casing (3);
Described gear reduction unit comprises the multi-stage speed-reducing gear shaft axially be arranged in parallel, and the wherein diameter of the output roller gear of previous stage reducing gear wheel shaft, is less than the diameter of the input roller gear of rear stage reducing gear wheel shaft; Input bevel gear (I ') on first order reducing gear wheel shaft is taken turns (I) with the output bevel gear of described motor (2) and engages, and the output roller gear of afterbody reducing gear wheel shaft engages with the input roller gear on steering wheel output shaft (5);
The axis of described reducing gear wheel shaft all perpendicular to the axis of the output shaft of described motor (2), the axis being axially parallel to described reducing gear wheel shaft of described steering wheel output shaft (5);
Described angle displacement sensor (6) is connected to described steering wheel output shaft (5) one end away from rudder face.
2. electrical servo system according to claim 1, is characterized in that, each gear pair is in the setting of axially staggering of each reducing gear wheel shaft.
3. electrical servo system according to claim 2, it is characterized in that, described gear reduction unit comprises level Four reducing gear wheel shaft, output roller gear (II) on first order reducing gear wheel shaft engages with the input roller gear (II ') on the reducing gear wheel shaft of the second level, output roller gear (III) on the reducing gear wheel shaft of the second level engages with the input roller gear (III ') on third level reducing gear wheel shaft, output roller gear (IV) on third level reducing gear wheel shaft engages with the input roller gear (IV ') on fourth stage reducing gear wheel shaft, output roller gear (V) on fourth stage reducing gear wheel shaft engages with the input roller gear (V ') on described steering wheel output shaft (5).
4. electrical servo system according to claim 1, is characterized in that, is separated into gear reduction unit chamber, motor installation cavity, driving governor and angular displacement sensor chamber (7) in described casing (3).
5. electrical servo system according to claim 1, is characterized in that, the output of described steering wheel output shaft (5) passes to rudder face by four directions and pin-and-hole structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420450418.8U CN204089444U (en) | 2014-08-11 | 2014-08-11 | A kind of electrical servo system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420450418.8U CN204089444U (en) | 2014-08-11 | 2014-08-11 | A kind of electrical servo system |
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| CN204089444U true CN204089444U (en) | 2015-01-07 |
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| CN201420450418.8U Expired - Fee Related CN204089444U (en) | 2014-08-11 | 2014-08-11 | A kind of electrical servo system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104991442A (en) * | 2015-06-24 | 2015-10-21 | 北京工业大学 | Large-torque steering engine servo system driven by brushless motor |
| CN106787414A (en) * | 2017-01-11 | 2017-05-31 | 北京航空航天大学 | A kind of integrated electromechanical servo acting device of high power density |
| CN106808492A (en) * | 2017-03-30 | 2017-06-09 | 北京智控城服科技有限公司 | A kind of applied robot's joint motor |
| CN115320832A (en) * | 2022-07-28 | 2022-11-11 | 北京航天万润高科技有限公司 | Small gear train type steering engine and design method thereof |
-
2014
- 2014-08-11 CN CN201420450418.8U patent/CN204089444U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104991442A (en) * | 2015-06-24 | 2015-10-21 | 北京工业大学 | Large-torque steering engine servo system driven by brushless motor |
| CN104991442B (en) * | 2015-06-24 | 2018-03-13 | 北京工业大学 | High-torque Rudder Servo System based on brushless electric machine driving |
| CN106787414A (en) * | 2017-01-11 | 2017-05-31 | 北京航空航天大学 | A kind of integrated electromechanical servo acting device of high power density |
| CN106808492A (en) * | 2017-03-30 | 2017-06-09 | 北京智控城服科技有限公司 | A kind of applied robot's joint motor |
| CN115320832A (en) * | 2022-07-28 | 2022-11-11 | 北京航天万润高科技有限公司 | Small gear train type steering engine and design method thereof |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 611130 Changan Road, Liucheng, Wenjiang District, Chengdu, Sichuan Province, No. 198 Patentee after: SICHUAN AEROSPACE FENGHUO SERVO CONTROL TECHNOLOGY Co.,Ltd. Address before: 611100 Liucheng Road, Wenjiang, Sichuan, No. Changan Road, No. 198 Patentee before: SICHUAN FENGHUO MACHINERY FACTORY OF CHINA AEROSPACE SCIENCE AND TECHNOLOGY Corp. |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150107 |