CN215333952U

CN215333952U - Cross axle type gimbal seat with three bearing

Info

Publication number: CN215333952U
Application number: CN202121730675.3U
Authority: CN
Inventors: 不公告发明人
Original assignee: Sichuan Xinghe Power Space Technology Co ltd; Beijing Xinghe Power Equipment Technology Co Ltd; Galactic Energy Beijing Space Technology Co Ltd
Current assignee: Sichuan Xinghe Power Space Technology Co ltd; Beijing Xinghe Power Equipment Technology Co Ltd; Galactic Energy Beijing Space Technology Co Ltd
Priority date: 2021-07-28
Filing date: 2021-07-28
Publication date: 2021-12-28
Anticipated expiration: 2031-07-28

Abstract

The utility model provides a three-bearing force-bearing cross-shaped gimbal seat, which comprises: the device comprises a cross shaft and two bases connected with the cross shaft; the cross shaft comprises a shaft body and two supporting shafts orthogonally arranged on the shaft body, wherein the shaft body is provided with middle supporting parts on two side surfaces without the supporting shafts, and the middle supporting parts are provided with guide surfaces protruding outwards; the two bases are identical in structure and are respectively rotatably connected with the two supporting shafts, each base comprises a base plate and two supports symmetrically arranged on the base plate, the two supports are respectively connected with two ends of the corresponding supporting shafts, a middle sliding part is formed between the two supports, and sliding surfaces matched with corresponding guide surfaces are formed on the middle sliding part. The two supports and the two half shafts of the corresponding supporting shafts are respectively matched to form a first cylindrical surface sliding bearing and a second cylindrical surface sliding bearing, and the middle supporting part and the middle sliding part are matched to form a third cylindrical surface sliding bearing. The utility model can directly transfer force and improve the stability of the bearing.

Description

Cross axle type gimbal seat with three bearing

Technical Field

The utility model relates to a gimbal seat, in particular to a three-bearing force-bearing cross-shaped gimbal seat.

Background

The gimbal serves as a pivot for transmitting thrust of a carrier rocket engine to an rocket body and needs to have double functions of bearing and swinging. The cross axle type gimbal is generally suitable for a rocket engine with 50-100 ton thrust, the upper part and the lower part of the gimbal are respectively connected with a frame and a thrust chamber to transfer thrust, and the adjustment of the thrust vector of the rocket engine in any direction is realized through the bidirectional swinging of cross axles which are orthogonal to each other.

The existing cross axle type gimbal usually consists of an upper base, a lower base and a cross axle, wherein the upper base and the lower base both consist of a bottom plate and two supporting seats, as shown in fig. 1 and 2. One shaft of the cross shaft is respectively installed with the two groups of supports, then the cross shaft and the bottom plate are assembled together to form a swing pair, and the other shaft in the direction orthogonal to the shaft forms the other swing pair in the same way. When the gimbal base works, the two swinging pairs in the orthogonal directions swing to form a swinging angle in any spatial direction in a combined mode. Almost all thrust generated by the engine is transmitted to the arrow body through the gimbal, the direction of the thrust transmission of the gimbal is transmitted to the lower base through the thrust chamber, the lower base is transmitted to the upper base through the cross shaft, and finally the upper base transmits the thrust to the arrow body through the rack.

The conventional cross-axle type gimbal usually adopts a cylindrical surface sliding bearing in the design process, the bearing is quite simple in structure, and lubrication is realized by spraying a solid coating between the axle and the hole. Because the shaft bending deformation is large due to the large span of the cross shaft, and the cylindrical sliding bearing is sensitive to the deformation of the shaft, the structural design of the cross shaft needs to fully consider the bearing clearance. When the bearing clearance is small, the deflection of the shaft end is larger than the bearing clearance, the shaft end is blocked, and the swinging of the gimbal is influenced. When the bearing clearance increases, the bearing contact angle formed by the shaft and the bore decreases accordingly, resulting in an increase in the maximum contact stress, which in turn causes a series of strength problems and even breaks the lubrication, leading to the gluing of the bearing. The problems of jamming and gluing can affect the work of the bearing matching surface, and are not beneficial to the stable control of the thrust vector of the gimbal. In general, in the design of a bearing, the structural rigidity of a shaft is improved by increasing the size of the shaft, and the strength of the bearing is improved by reducing the bearing clearance as much as possible. However, in the actual design process, due to the non-linear effect of the lubricating coating, the bearing clearance is often verified and improved by static tests and swing tests, which increase the design cycle and cost. In addition, the gimbal seat is usually limited by a swing angle, the gimbal seat is limited by motion interference between the supports under a general condition, and under the action of huge thrust, the impact of the supports can influence the assembly stability and the stability of bearing matching, so that interference factors are brought to the work of the gimbal seat.

SUMMERY OF THE UTILITY MODEL

In view of the above technical problems, the present invention provides a three-bearing cross-shaped gimbal mount for solving at least one of the above technical problems.

The technical scheme adopted by the utility model is as follows:

the embodiment of the utility model provides a three-bearing force-bearing cross-shaped gimbal seat, which comprises: the device comprises a cross shaft and two bases connected with the cross shaft; the cross shaft comprises a shaft body, a first supporting shaft and a second supporting shaft, wherein the first supporting shaft and the second supporting shaft are orthogonally arranged on the shaft body; wherein the first support shaft comprises two half shafts connected with the first side surface and the second side surface respectively; the second support shaft includes two half shafts connected to the third side surface and the fourth side surface, respectively; a first middle supporting part extending along the second direction is formed on the fifth side surface, and a circular arc-shaped first guide surface protruding upwards is formed on the first middle supporting part; a second middle supporting part extending along the first direction is formed on the sixth side surface, and a circular arc-shaped second guide surface protruding downwards is formed on the second middle supporting part; the structure of two bases is the same, include respectively with first supporting shaft with first base and the second base that the second supporting shaft rotates to be connected, every base includes that base plate and symmetry set up two supports on the base plate, two supports are formed with the mounting hole of being connected with two semi-axles of the supporting shaft that corresponds respectively, be formed with middle sliding part between two supports, be formed with on the middle sliding part with the convex glide plane of the spigot surface matched with that corresponds, two supports and two semi-axles of the supporting shaft that correspond cooperate respectively and form first cylinder slide bearing and second cylinder slide bearing, middle supporting part with middle sliding part cooperation forms third cylinder slide bearing.

The cross shaft type leveling seat with the three bearing forces provided by the embodiment of the utility model adopts a three bearing structure, and three bearing forces are respectively formed from the two ends of the cross shaft and the middle part of the shaft body, so that the axial rigidity of an engine is better, and the thrust transfer is more direct; and the bearing part is arranged in the middle of the shaft body, so that the bending deformation generated by the large span of the cross shaft is changed, the problems of blocking and gluing of the cylindrical surface sliding bearing are reduced, and the working environment of the bearing is improved. In addition, the utility model forms a limit structure by the arc length difference between the guide surface on the middle support part of the shaft body and the sliding surface on the base, when the base swings to the maximum design angle, the limit surface of the sliding part of the base can interfere with the shaft body of the cross shaft, thereby playing a limit role.

Drawings

Fig. 1 and 2 are schematic structural views of a conventional gimbal;

fig. 3 is a schematic structural diagram of a gimbal according to an embodiment of the present invention.

Detailed Description

In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The technical idea of the utility model is to provide a three-bearing force-bearing cross-shaped gimbal seat to overcome the defects of the gimbal seat shown in fig. 1 and 2. As shown in fig. 3, an embodiment of the present invention provides a three-bearing cross-axle type gimbal, including: cross 1 and two bases connected to cross 1. The specific structure of the spider and base of the present invention is described below with reference to fig. 3, respectively.

In an embodiment of the present invention, the cross shaft 1 may include a shaft body 101 and a first support shaft 102 and a second support shaft (not shown) orthogonally provided on the shaft body. Specifically, as shown in fig. 3, the shaft body 101 may include first and second lateral sides disposed along a first direction a-a, third and fourth lateral sides disposed along a second direction B-B, and fifth and sixth lateral sides disposed along a third direction C-C, the first, second, and third directions being perpendicular to each other, as shown in fig. 3. In the configuration shown in fig. 3, the first direction is the front-rear direction, the second direction is the left-right direction, and the third direction is the up-down direction. The first side surface and the second side surface, the third side surface and the fourth side surface, and the fifth side surface and the sixth side surface are respectively arranged symmetrically with respect to the center of the shaft body.

Wherein the first support shaft may comprise two half-shafts (i.e. a front half-shaft and a rear half-shaft) connected to the first side face and the second side face, respectively. The second support shaft may include two half shafts (i.e., a left half shaft and a right half shaft) (not shown) connected to the third side surface and the fourth side surface, respectively. A first middle supporting part 103 extending along the second direction is formed on the fifth side surface at a middle position, and a first guide surface 104 in the shape of an arc protruding upwards is formed on the first middle supporting part; the sixth side surface is formed with a second intermediate support portion 105 extending in the first direction at a middle position, and the second intermediate support portion is formed with a second guide surface (not shown) in the shape of an arc protruding downward. That is, in the embodiment of the present invention, the first guide surface 104 and the second guide surface 105 are orthogonally arranged.

In the embodiment of the present invention, the shaft body and the support shaft may be integrally formed, and may be formed by any conventional method, and the present invention is not particularly limited.

In the embodiment of the present invention, the two bases have the same structure and include the first base 2 and the second base 3 rotatably connected to the first support shaft and the second support shaft, respectively, that is, the first base 2 is disposed above the shaft body and the second base 3 is disposed below the shaft body as viewed from the positional relationship shown in fig. 3. As shown in fig. 3, each of the bases includes a base plate and two supports symmetrically disposed on the base plate, and the two supports are respectively formed with mounting holes connected to the two half shafts of the corresponding support shaft. An intermediate sliding part is formed between the two supports of the base plate, particularly in the middle of the two supports, and an arc sliding surface matched with the corresponding guide surface is formed on the intermediate sliding part, so that when the base is subjected to moment, the intermediate sliding part can rotate along the guide surface of the intermediate supporting part.

In the embodiment of the utility model, the support is detachably connected with the base plate so as to facilitate the installation of the supporting shaft. A lubricating layer is provided in the mounting hole to ensure relative movement between the mounting hole and the support shaft. In addition, lubricating layers are also provided on the guide surfaces and the sliding surfaces to ensure relative movement between the intermediate sliding portion and the intermediate bearing portion.

In the embodiment of the present invention, the cross is different from the cross shown in fig. 1 and 2 in that the shaft body is provided with the intermediate support portion formed with the circular arc-shaped guide surface. The mount is different from the mounts shown in fig. 1 and 2 in that an intermediate sliding portion having a circular arc-shaped sliding surface is formed between the holders. In this way, the gimbal provided by the embodiment of the present invention may form a three-bearing force-bearing structure, that is, a first cylindrical sliding bearing and a second cylindrical sliding bearing formed by two bearings and two half shafts of the corresponding supporting shaft respectively, and a third cylindrical sliding bearing formed by an intermediate supporting part and an intermediate sliding part.

Further, the guide surface and the slide surface may be located on a cylindrical body having the axis of the corresponding support shaft as the center of rotation, so that the base can be surely swung stably.

Further, the arc length of the guide surface is slightly smaller than that of the sliding surface so that the intermediate sliding portion can be rotated to a specified position. The arc length of the guide surface and the arc length of the sliding surface are determined based on the maximum swing amplitude of the base swing around the axis of the corresponding support shaft. In one example, the maximum oscillation amplitude of the base about the axis of the corresponding bearing shaft does not exceed 10 °.

Further, with continued reference to fig. 3, the intermediate sliding portion is further formed with a stopper surface extending along both ends of the sliding surface. And stop surfaces connected with two sides of the guide surface are respectively formed on the fifth side surface and the sixth side surface.

In the embodiment of the utility model, the limiting surface is used for contacting with the corresponding stop surface to limit the base in the swinging process of the base. Preferably, when the limit surface is in a superposed state with the corresponding stop surface, the limit of the base is realized. That is, when the side surface of the shaft body is a flat surface, the stopper surface is also formed as a flat surface so that stable stopper can be performed. In the embodiment of the utility model, the limit is performed by the interference of the limit surface of the middle sliding part of the base and the shaft body, so that compared with a mode of performing limit by a support and a bottom plate in the prior art, the disturbance of the limit on the bearing support can be avoided, and the stability of the bearing support can be improved.

Specifically, the first mount 2 may include a first substrate 201 and two first supports 202 disposed on the first substrate. The two first supports 202 are detachably connected to the first substrate 201, for example, detachably connected by bolts or the like, so as to connect with the cross shaft. First mounting holes are formed in the two first supports 202 respectively, and the two first mounting holes are rotatably connected with the front half shaft and the rear half shaft respectively to form a first upper cylindrical surface sliding bearing and a second upper cylindrical surface sliding bearing. Specifically, each first mounting hole is clearance-fitted with the corresponding axle shaft, and a lubricating layer, for example, a solid lubricating coating, may be formed on the mounting holes to ensure relative movement between the first mounting hole and the corresponding axle shaft. When installing front axle and rear axle on first base, can all or a first support dismantles earlier two first supports, then put into corresponding mounting hole respectively with two semi-axles, later through the bolt etc. with first support fixed to first base on can.

Further, a first intermediate sliding portion 203 is formed between the two first supporting seats, a first sliding surface 204 matched with the first guiding surface 104 is formed on the first intermediate sliding portion 203, and the first guiding surface on the shaft body and the first sliding surface on the first supporting seat are matched with each other to form a third upper cylindrical surface sliding bearing. The first intermediate sliding portion 203 may be formed to extend along the axis of the second support shaft.

In the embodiment of the utility model, the first guide surface and the first sliding surface are located on a cylindrical body having the axis of the second support shaft as the center of rotation. In the process of swinging the first base 2, when the arc length of the first guide surface 104 is slightly smaller than the arc length of the first sliding surface 204, as shown in fig. 3, when a preset maximum swinging angle is reached, the limiting surface 205 of the first middle sliding portion 203 interferes with the stopping surface of the corresponding first middle supporting portion, and the interference prevents the first base from continuously swinging, thereby limiting the first base.

In an embodiment of the present invention, a lubricating layer, for example, a sprayable solid lubricating coating, may be formed between the first guide surface and the first sliding surface to ensure relative movement therebetween.

In an embodiment of the present invention, the arc length of the first guide surface and the arc length of the first sliding surface may be determined based on a maximum amplitude of the swing of the first base about the axis of the second support shaft. The maximum amplitude can be determined according to actual conditions, and the present invention is not particularly limited. In a preferred embodiment, the maximum amplitude of the first mount oscillation does not exceed 10 °. In the present invention, the width and thickness of the first intermediate sliding portion and the first intermediate supporting portion are not particularly limited and may be determined according to actual circumstances.

In the embodiment of the utility model, the first base can only swing back and forth around the second supporting shaft in a fixed axis reciprocating manner through the first upper cylindrical surface sliding bearing, the second upper cylindrical surface bearing and the third upper cylindrical surface bearing in a swinging process. When the swing angle reaches the maximum swing angle, the outer edge of the first middle sliding part interferes with the cross shaft, so that the limiting effect is achieved.

Similarly, the second mount 3 may include a second base plate 301 and two second standoffs 302 disposed on the second base plate. The two second supports 302 are detachably connected to the second base plate 301, for example, detachably connected by bolts or the like, so as to connect with the cross shaft. The two second support bases 302 are respectively formed with second mounting holes, and the two second mounting holes are respectively rotatably connected with the left half shaft and the right half shaft to form a first lower cylindrical surface sliding bearing and a second lower cylindrical surface sliding bearing. Specifically, each second mounting hole is clearance-fitted with the corresponding axle shaft, and a lubricating layer, for example, a sprayable solid lubricating coating, may be formed on the mounting holes to ensure relative movement between the second mounting holes and the corresponding axle shafts. When installing left axle and right axle on the second base, can all or a first support dismantles two second supports earlier, then put into corresponding mounting hole respectively with two axles, later through fixed to the second base plate of second support on can through bolt etc..

Further, a second intermediate sliding portion 303 is formed between the two second supports, the second intermediate sliding portion 303 is formed with a circular arc-shaped second sliding surface (not shown) matched with the second guiding surface, and the second guiding surface on the shaft body and the second sliding surface on the second base are matched with each other to form a third lower cylindrical surface sliding bearing. The second intermediate sliding portion 303 may be formed to extend along the axis of the first support shaft.

In an embodiment of the present invention, the second guide surface and the second sliding surface are located on a cylindrical body having the axis of the first support shaft as the center of rotation. The arc length of the second guide surface is slightly smaller than that of the second sliding surface, so that in the swinging process of the second base, when a preset maximum swinging angle is reached, the limiting surface (not shown) of the second middle sliding part 303 interferes with the corresponding stop surface to prevent the second base from continuously swinging, and the effect of limiting the second base is achieved.

In an embodiment of the utility model, a lubricating layer, for example, a sprayable solid lubricating coating, may be formed between the second guide surface and the second sliding surface to ensure relative movement therebetween.

In an embodiment of the utility model, the arc length of the second guide surface and the arc length of the second sliding surface may be determined based on a maximum amplitude of oscillation of the second mount about the axis of the first support shaft. The maximum amplitude can be determined according to actual conditions, and the present invention is not particularly limited. In a preferred embodiment, the maximum amplitude of oscillation of the second mount does not exceed 10 °. In the present invention, the width and thickness of the second intermediate sliding portion and the second intermediate supporting portion are not particularly limited and may be determined according to actual circumstances.

In the embodiment of the utility model, the second base can only swing around the first supporting shaft in a left-right reciprocating dead axle manner through the first lower cylindrical surface sliding bearing, the second lower cylindrical surface bearing and the third lower cylindrical surface bearing in the swinging process. When the swing angle reaches the maximum swing angle, the outer edge of the second middle sliding part interferes with the cross shaft, so that the limiting effect is achieved. Thus, the two bases of the utility model can synthesize the swing of any angle in space through the change of different angles.

One application scenario of the three-bearing force-bearing cross-shaped gimbal provided by the embodiment of the utility model is on an engine of a carrier rocket. In this application scenario, the first mount is connected to the frame and the second mount is connected to the thrust chamber of the engine. In this application scenario, when the thrust of the thrust chamber needs to be transmitted to the frame, the thrust acting on the second base may be directly transmitted to the first base, that is, directly transmitted to the frame, through the third lower cylindrical sliding bearing and the third upper cylindrical sliding bearing in the middle, and this force transmission mode, as compared with the force transmission mode shown in fig. 1 and 2 without the third cylindrical sliding bearing, has at least the following advantages: 1) the axial rigidity of the engine is better, the thrust transmission path is more direct, and the force transmission is more stable. 2) Thrust of the engine is shared through three bearing forces, so that bending deformation of the cross shaft is reduced, the problems of blocking and gluing of the cylindrical bearing are reduced, the working environment of the bearing is improved, and the specific pressure and the stress of the bearing are greatly reduced. In addition, in the swing process of the base, the outer edge of the middle sliding part and the shaft body are interfered to limit, and compared with the structure shown in fig. 1 and 2, the structure does not need to limit through the movement interference between the supports, so that the influence of the impact of the supports on the assembly stability and the bearing matching stability can be avoided, namely the disturbance of the limit on the bearing support is avoided.

The above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A three-bearing-force cross axle type gimbal seat is characterized by comprising: the device comprises a cross shaft and two bases connected with the cross shaft;

the cross shaft comprises a shaft body, a first supporting shaft and a second supporting shaft, wherein the first supporting shaft and the second supporting shaft are orthogonally arranged on the shaft body; wherein the first support shaft comprises two half shafts connected with the first side surface and the second side surface respectively; the second support shaft includes two half shafts connected to the third side surface and the fourth side surface, respectively; a first middle supporting part extending along the second direction is formed on the fifth side surface, and a circular arc-shaped first guide surface protruding upwards is formed on the first middle supporting part; a second middle supporting part extending along the first direction is formed on the sixth side surface, and a circular arc-shaped second guide surface protruding downwards is formed on the second middle supporting part;

the structure of two bases is the same, include respectively with first supporting shaft with second supporting shaft rotates first base and the second base of connecting, and every base includes that base plate and symmetry set up two supports on the base plate, two supports are formed with the mounting hole of being connected with two semi-axles of the supporting shaft that corresponds respectively, be formed with middle sliding part between two supports, be formed with on the middle sliding part with the cambered glide plane of the guiding surface matched with circular arc that corresponds, two supports and two semi-axles of the supporting shaft that corresponds cooperate respectively and form first cylinder slide bearing and second cylinder slide bearing, middle supporting part with middle sliding part cooperation forms third cylinder slide bearing.

2. The triple bearing, spider gimbal mount of claim 1, wherein the guide and sliding surfaces are on a cylinder centered on the axis of the corresponding support shaft.

3. The triple-bearing spider gimbal mount of claim 2, wherein the arc length of the guide surface is slightly less than the arc length of the sliding surface.

4. The triple-bearing spider gimbal mount of claim 3, wherein the arc length of the guide surface and the arc length of the sliding surface are determined based on a maximum oscillation amplitude of the base about the axis of the corresponding support shaft.

5. The triple-bearing cross-axle gimbal according to claim 4, wherein the maximum oscillation amplitude of the base about the axis of the corresponding support axle does not exceed 10 °.

6. The three-bearing cross-shaped gimbal mount of claim 1, wherein the intermediate sliding portion further has two limiting surfaces formed thereon and extending along two ends of the sliding surface;

two stop surfaces connected with two sides of the guide surface are formed on the fifth side surface and the sixth side surface respectively;

the limiting surface is used for being in contact with the corresponding stop surface to limit the base in the swinging process of the base.

7. The triple-bearing cross-axle gimbal mount of claim 6, wherein the base is restrained when the restraining surface and the corresponding stop surface are in registration.

8. The three-bearing, spidery gimbal mount of claim 1, in which the support is removably attached to the base plate.

9. The triple-bearing cross-axle gimbal according to claim 1, wherein the support has a mounting hole formed therein for connection to a bearing axle, and a lubricating layer is disposed in the mounting hole.

10. The triple bearing, cross-axle gimbal according to claim 1, wherein the guide and sliding surfaces are provided with a lubricating layer.