CN219513902U

CN219513902U - Full-stroke cycle telescopic dual-redundancy electromechanical actuator with piston cylinder

Info

Publication number: CN219513902U
Application number: CN202223464090.9U
Authority: CN
Inventors: 匡克焕; 王虎成; 韩瑞美; 邹波
Original assignee: SICHUAN LINGFENG AVIATION HYDRAULIC MACHINERY CO Ltd
Current assignee: SICHUAN LINGFENG AVIATION HYDRAULIC MACHINERY CO Ltd
Priority date: 2022-12-25
Filing date: 2022-12-25
Publication date: 2023-08-11
Anticipated expiration: 2032-12-25

Abstract

The full-stroke cyclic telescopic dual-redundancy electromechanical actuator of the piston cylinder provided by the utility model has the advantages of simple structure, safety and reliability, and the utility model is realized by the following technical scheme: the two axial sides of the parallel outer cylinder are provided with a main motor and an auxiliary motor which are mutually backup, the step shaft at the end of the main screw cylinder bears the load of the main screw cylinder through a main screw nut, the cross-linked auxiliary screw at the back end of the bearing in the main screw nut bears the load of the auxiliary screw, the gear transmission shaft is matched with the end spline in the spline guide groove of the hollow inner wall of the auxiliary screw through the hollow pipeline of the main screw cylinder, the auxiliary screw is integrated together through the auxiliary screw nut inlaid in the hollow inner wall of the piston cylinder and the piston cylinder, so that the load of the piston cylinder is sequentially transmitted to the auxiliary screw, the main screw nut, the main screw cylinder and the thrust angular contact ball bearing in the same direction and finally transmitted to the outer cylinder, and the two main screw cylinders can be driven by the main motor, the auxiliary screw cylinder can be driven by the auxiliary motor 1, and the relatively independent transmission chain works in the whole process.

Description

Full-stroke cycle telescopic dual-redundancy electromechanical actuator with piston cylinder

Technical Field

The utility model relates to the technical field of electromechanical servo actuation, in particular to a double-redundancy working structure applied to an all-motor electric actuator, and more particularly relates to an innovative structure capable of improving the safety and task reliability of the all-motor electric actuator, wherein under the working condition that one motor of the actuator fails or a transmission chain is jammed, the other motor and a transmission part can complete the full-stroke extending and retracting piston cylinder working cycle action.

Background

In the prior art, there are two main forms of electric actuators: electromechanical actuators (EMA) and electro-hydrostatic actuators (EHA). The electromechanical actuator EMA is used as a linear motion actuator and is an energy conversion device for realizing linear reciprocating motion or swinging motion of less than 360 degrees of a working mechanism. The electromechanical actuator integrates and miniaturizes the motor, the outer cylinder component, the reduction gearbox, the ball screw pair, the piston cylinder component and other transmission components, the detection device and the controller, and overcomes the defects inherent in the traditional hydraulic system, so that the novel integrated actuating system has small volume, light weight and high efficiency. Especially, the permanent magnet brushless direct current motor is used as a power source of the EMA, so that the digitization and integration of the servo actuating system are easy to realize, and the universality and maintainability of the actuating system are greatly improved. At present, a retraction actuating mechanism of a large-scale aircraft mainly adopts a hydraulic actuator to provide actuating force, and after the pressure of a bypass valve (or an exhaust valve) is released under the condition that a power source fails, an undercarriage is freely put down and locked by self gravity and auxiliary aerodynamic force to realize emergency lowering. The mechanical lock is a steel ball lock, which consists of steel ball, locking slot, conical piston, spring, etc. The movement is stopped at a defined position to prevent the movement caused by external force, and is usually locked by a mechanical lock in the actuator cylinder. The self-locking is to add the self-locking function of the appointed position on the servo actuator, and meanwhile, the actuator is ensured to have high reliability. When receiving a control instruction from an electronic controller of the engine, controlling the on-off of hydraulic oil to lock the actuator at a specific position in the stroke. In the working process, the piston is required to be locked at positions except the stretching and shrinking limiting positions under special conditions such as oil breaking and the like, and the traditional actuator can only lock the piston at the two ends. The hydraulic actuating cylinder can freely extend out of the outer cylinder by unloading hydraulic pressure when the landing gear is in emergency release, and the electric actuating cylinder piston cylinder can only drive the screw rod to rotate to extend out of the piston when in emergency release, so that the energy consumption is relatively high under the condition of dead weight or wind load driving, the landing gear can not be smoothly locked at the release position, and even the landing gear can be blocked in the emergency release process. And therefore cannot meet the requirements of high reliability on board an aircraft.

In order to meet the development of the future aircraft towards high mobility, ultra-high speed and high power, the hydraulic system of the aircraft is developing towards high pressure, high power, variable pressure, intellectualization, integration and redundancy. However, by adopting the hydraulic actuating system, the total weight of the flight control system is increased due to the fact that the whole body of the aircraft is fully distributed with the hydraulic pipelines, so that the attacked area of the aircraft is increased. In certain applications where high safety and task reliability are required, for example, in electromechanical actuators for aircraft leading edge flaps and lifting wing movements, it is required that the actuators must have dual redundancy for normal operation. In order to obtain high reliability, most EMA applied to steering engines developed abroad at present adopts double redundancy, and electromechanical actuators of high-power steering engines often adopt four redundancy. The mechanical four-redundancy structure system is characterized in that the volume of a single motor can be small, the motor is designed to have low rotational inertia, the rapidity is improved, motor faults and thermal fault isolation are easy, but the mechanical four-redundancy mechanical actuation system has the defects that the mechanical structure is too complex, three groups of differential gear devices are needed for transmission, the volume and the weight are increased, the efficiency is reduced, and a large number of gears are coupled to cause the increase of the control dead zone and the reduction of the control performance of the system. The redundancy of the conventional electromechanical actuator is usually designed as a motor for backing up one, and when the main motor fails, the standby motor works to realize the emergency lowering of the piston cylinder, but the problem of single-point failure of the clamping plug of the screw rod pair cannot be solved, and the task reliability is low, so that the practicability is poor. The system adopts the main and main double-channel working modes, and has outstanding advantages in performance, but increases the difficulty of balance control and management among channels. Similar to the problem of force dispute caused by the fact that a plurality of actuators push the control surface simultaneously, the double-redundancy permanent magnet brushless motor also has the phenomenon of dispute generated when electromagnetic torque generated by each of the 1-redundancy motor and the 2-redundancy motor is overlapped, and the phenomenon is generated due to rotor position anti-lock signals among redundancy.

Disclosure of Invention

The utility model aims to provide a scheme which has a simple structure, is safe and reliable and can realize backup work redundancy under the condition of only power energy supply. The problem that a conventional dual-redundancy electromechanical actuator cannot solve single-point faults of a clamping plug of a screw pair is solved, and full-electric dual-redundancy normal operation is realized.

The technical scheme adopted for solving the technical problems is as follows: a piston cylinder full stroke cycle telescoping dual redundancy electromechanical actuator comprising: the main motor 1 and the auxiliary motor 13 which are mutually backed up on two axial sides of the outer cylinder 3 are meshed with a transmission gear pair of the main screw cylinder 4 through two-phase staggered transmission gear trains, a gear transmission shaft 15 meshed with an auxiliary transmission gear 14, an auxiliary screw cylinder 8 sleeved on external spline teeth of the gear transmission shaft 15 and rotating together, and a piston cylinder 11 which performs telescopic motion in the outer cylinder 3, and the device is characterized in that: a main brake 9 is assembled on a brake motor shaft of a main motor 1 with an output gear, a secondary brake 12 is assembled on a brake motor shaft of a secondary motor 13, the main motor 1 is meshed with a main screw cylinder 4 through a main transmission gear 2, the main screw cylinder 4 is matched with a main screw nut 6, a secondary screw cylinder 8 stopped by a bearing accommodating cavity bearing is sleeved, the secondary screw cylinder 8 is meshed with a secondary screw nut 10 restrained in a ring groove of a piston cylinder 11 to form two motion cavities isolated by the secondary screw nut 10, and the piston cylinder 11 is driven to do telescopic motion in the motion cavity of an outer cylinder 3; the auxiliary motor 13 drives the gear transmission shaft 15 and the auxiliary screw cylinder 8 to rotate together through the auxiliary transmission gear 14, the auxiliary screw nut 10 is matched with the auxiliary screw cylinder 8, the external spline of the cylinder at the shaft end of the gear transmission shaft 15 is utilized to drive the auxiliary screw nut 10 to do telescopic motion along the circumferential spline guide groove of the auxiliary screw cylinder, and then the piston cylinder 11 is driven to do telescopic motion, so that the main screw cylinder 4 can be driven by the main motor 1, the auxiliary screw cylinder 8 can be driven by the auxiliary motor 11 to form two relatively independent transmission chains, and a dual-redundancy emergency retraction control mechanism for the piston cylinder to complete the full-stroke circulation work extension and retraction motion is formed.

Compared with the prior art, the utility model has the following gain effects:

aiming at the structural type of a parallel/active dual redundancy system, the utility model adopts the driving gear pair of the main screw cylinder 4 meshed by two-phase staggered driving gear trains at two axial sides of the parallel outer cylinder 3, the main motor 1 serving as a main power source, the auxiliary motor 13 serving as an emergency power source, the gear transmission shaft 15 meshed with the auxiliary transmission gear 14, the auxiliary screw cylinder 8 sleeved on the external spline teeth of the gear transmission shaft 15 and driven by the gear transmission shaft 15 to rotate together, the auxiliary screw nut 10 sleeved on the external spiral rollaway of the auxiliary screw cylinder 8 and the piston cylinder 11 doing telescopic movement in the outer cylinder 3, and has simple structure, safety and reliability. Theoretical analysis and experiments prove that the parallel staggered transmission gear train is meshed with the transmission gear pair of the main screw barrel 4, so that torque fighting phenomenon among double redundancy motors can be eliminated, and the requirements of a multi-electric and all-electric aircraft electric actuating system can be met.

According to the utility model, the auxiliary screw cylinder 8 which can bear load and can be driven to rotate freely is axially assembled on the main screw nut 6, so that the main screw cylinder 4 can be driven by the main motor 1, the auxiliary screw cylinder 8 can be driven by the auxiliary motor 13, two relatively independent transmission chains are formed, and the two transmission chains are integrated together by the piston cylinder 10. When the main motor 1 works normally, the auxiliary motor 13 backs up, and when the main motor 1 fails or a transmission chain where the main motor 1 is located is blocked, the auxiliary motor 13 can independently complete the task of extending and retracting the piston cylinder in a full stroke, so that the backup working redundancy can be realized under the condition of only power energy supply. Therefore, the problem that a conventional electromechanical actuator cannot solve the problem of single-point fault caused by the blocking of the screw pair is solved. Experiments prove that. The output of the two brushless direct current motors with the electric dual redundancy structure is further combined with an auxiliary screw nut 10 embedded in the hollow inner wall of a piston cylinder 11 through an auxiliary screw cylinder 8 and is integrated by the piston cylinder 10 to form a dual redundancy electromechanical actuating system by sequentially transmitting the load of the piston cylinder to the auxiliary screw cylinder 8, a main screw nut 6, the main screw cylinder 4 and a thrust angular contact ball bearing 5 in the same direction and finally transmitting the load to an outer cylinder 3 to form two relatively independent transmission chains. Therefore, the wire shape of the electrical redundancy structure is good, the efficiency is high, the problem that the prior system is difficult to isolate high temperature and short circuit faults can be solved, and the device has the advantages of small volume and simple structure compared with a mechanical redundancy system. The dual redundancy quick release control mechanism integrates the characteristics of two redundancy structures, so that the comprehensive performance of the system can be optimized. The scheme has the advantages that: when a certain channel fails, only the corresponding brake is needed to lock the corresponding failure channel, so that the failure is isolated conveniently. And a clutch is not needed, so that the reliability of the whole machine is improved.

Drawings

FIG. 1 is a cross-sectional view of a piston cylinder of a full stroke cyclic telescoping dual redundancy electromechanical actuator in a retracted state.

Fig. 2 is a schematic diagram of the spline engagement of the drive shaft and the lead screw of fig. 1.

In the figure: the device comprises a main motor 1, a main transmission gear 2, an outer cylinder 3, a main lead screw cylinder 4, a thrust angular contact ball bearing 5, a main lead screw nut 6, a bidirectional thrust angular contact ball bearing 7, a pair of lead screws 8, a main brake 9, a pair of nuts 10, a piston cylinder 11, a pair of brakes 12, a pair of motors 13, a pair of transmission gears 14 and a gear transmission shaft 15.

The utility model will be further described with reference to the drawings and examples, without thereby restricting the utility model to the scope of the examples. All such concepts should be considered as being generic to the disclosure herein and to the scope of the utility model.

Detailed Description

See fig. 1 and 2. In a preferred embodiment described below, a piston-cylinder full-stroke cyclic telescoping dual-redundancy electromechanical actuator comprises: the main motor 1 and the auxiliary motor 13 which are mutually backed up on two axial sides of the outer cylinder 3 are meshed with a transmission gear pair of the main screw cylinder 4 through two-phase staggered transmission gear trains, a gear transmission shaft 15 meshed with an auxiliary transmission gear 14, an auxiliary screw cylinder 8 sleeved on external spline teeth of the gear transmission shaft 15 and rotating together, and a piston cylinder 11 which performs telescopic motion in the outer cylinder 3, wherein: a main brake 9 is assembled on a brake motor shaft of a main motor 1 with an output gear, a secondary brake 12 is assembled on a brake motor shaft of a secondary motor 13, the main motor 1 is meshed with a main screw cylinder 4 through a main transmission gear 2, the main screw cylinder 4 is matched with a main screw nut 6, a secondary screw cylinder 8 stopped by a bearing accommodating cavity bearing is sleeved, the secondary screw cylinder 8 is meshed with a secondary screw nut 10 restrained in a ring groove of a piston cylinder 11 to form two motion cavities isolated by the secondary screw nut 10, and the piston cylinder 11 is driven to do telescopic motion in the motion cavity of an outer cylinder 3; the auxiliary motor 13 drives the gear transmission shaft 15 and the auxiliary screw cylinder 8 to rotate together through the auxiliary transmission gear 14, the auxiliary screw nut 10 is matched with the auxiliary screw cylinder 8, the external spline of the cylinder at the shaft end of the gear transmission shaft 15 is utilized to drive the auxiliary screw nut 10 to do telescopic motion along the circumferential spline guide groove of the auxiliary screw cylinder, and then the piston cylinder 11 is driven to do telescopic motion, so that the main screw cylinder 4 can be driven by the main motor 1, the auxiliary screw cylinder 8 can be driven by the auxiliary motor 11 to form two relatively independent transmission chains, and a dual-redundancy emergency retraction control mechanism for the piston cylinder to complete the full-stroke circulation work extension and retraction motion is formed.

The step shaft necking cylinder at the end of the main screw rod cylinder 4 is sleeved with the main screw rod nut 6 through the thrust angular contact ball bearing 5 assembled by the bearing accommodating cavity of the outer cylinder 3 to bear the load of the main screw rod cylinder 4, and the back end of the bi-directional thrust angular contact ball bearing 7 coaxially assembled in the hollow step hole of the main screw rod nut 6 is connected with the auxiliary screw rod cylinder 8 to bear the load of the auxiliary screw rod cylinder 8.

The gear transmission shaft 15 is in spline fit with the end in a spline guide groove of the hollow inner wall of the auxiliary screw barrel 8 through a hollow pipeline of the main screw barrel 4, the auxiliary screw barrel 8 is integrated by the piston barrel 10 through an auxiliary screw nut 10 embedded in the hollow inner wall of the piston barrel 11, and loads of the piston barrel are sequentially transmitted to the auxiliary screw barrel 8, the main screw nut 6, the main screw barrel 4 and the thrust angular contact ball bearing 5 in the same direction, and finally transmitted to the outer barrel 3.

During normal operation, the main brake 9 releases the brake, the main motor 1 works, the auxiliary motor 13 does not work, the auxiliary brake 12 brakes, the main screw cylinder 4 drives the main screw nut 6 and the auxiliary screw cylinder 8 to move, and the auxiliary screw cylinder 8 drives the auxiliary screw nut 10 and the sleeved piston cylinder 11 to extend and retract.

During normal operation, the main motor 1 works, the auxiliary motor 13 backs up, when the main motor 1 fails or the transmission chain where the main motor 1 is positioned is jammed, the auxiliary motor 13 can independently complete the task of extending and retracting the piston cylinder in full stroke,

if the main motor fails or the transmission chain is blocked in the moving process, the main brake 9 is powered off the main motor 1, the main brake 9 locks the main motor shaft, the auxiliary motor 13 works, the auxiliary brake 12 controls the auxiliary brake 12 to release the brake, the auxiliary motor 13 drives the gear transmission shaft 15 to rotate through the auxiliary transmission gear 14, the auxiliary screw barrel 8 which is in spline engagement with the gear transmission shaft 15 is driven to synchronously rotate, and the auxiliary screw nut 10 and the sleeved piston barrel 11 are driven to extend and retract against the load.

While embodiments of the present utility model have been illustrated and described above, the embodiments of the present utility model have been described in detail, and the description of the embodiments is only for aiding in the understanding of the present utility model; also, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the utility model, and the scope of the utility model is not to be construed as limited by the appended claims. The scope of the utility model is defined by the appended claims and equivalents thereof.

Claims

1. A piston cylinder full stroke cycle telescoping dual redundancy electromechanical actuator comprising: the parallel outer cylinder (3) is a main motor (1) and an auxiliary motor (13) which are backed up mutually at two axial sides, a transmission gear pair of a main screw cylinder (4) is meshed through a two-phase staggered transmission gear train, a gear transmission shaft (15) meshed with an auxiliary transmission gear (14), an auxiliary screw cylinder (8) sleeved on external spline teeth of the gear transmission shaft (15) and rotating together, and a piston cylinder (11) which performs telescopic motion in the outer cylinder (3), and is characterized in that: a main brake (9) is assembled on a brake motor shaft of a main motor (1) with an output gear, a secondary brake (12) is assembled on a brake motor shaft of a secondary motor (13), the main motor (1) is meshed with a main screw cylinder (4) through a main transmission gear (2), the main screw cylinder (4) is matched with a main screw nut (6), a secondary screw cylinder (8) which is stopped by a bearing accommodating cavity bearing is sleeved, the secondary screw cylinder (8) is meshed with a secondary screw nut (10) which is restrained in a ring groove of a piston cylinder (11), two movement cavities which are isolated by the secondary screw nut (10) are formed, and the piston cylinder (11) is driven to do telescopic movement in the movement cavity of the outer cylinder (3); the auxiliary motor (13) drives the gear transmission shaft (15) and the auxiliary screw cylinder (8) to rotate together through the auxiliary transmission gear (14), the auxiliary screw nut (10) is matched with the auxiliary screw cylinder (8), the external spline of the shaft end of the gear transmission shaft (15) is utilized, the auxiliary screw nut (10) is driven to do telescopic motion along the circumferential spline guide groove of the auxiliary screw cylinder, and then the piston cylinder (11) is driven to do telescopic motion, so that the main screw cylinder (4) can be driven by the main motor (1), the auxiliary screw cylinder (8) can be driven by the auxiliary motor (13) to form the dual-redundancy emergency retraction control mechanism for the piston cylinder to complete the full-stroke circulation work extension and retraction motion.

2. The piston cylinder full stroke cycle telescoping dual redundancy electromechanical actuator of claim 1, wherein: the step shaft necking cylinder at the end of the main screw rod cylinder (4) is sleeved with the main screw rod nut (6) through a thrust angular contact ball bearing (5) assembled by a bearing accommodating cavity of the outer cylinder (3) to bear the load of the main screw rod cylinder (4), and the back end of the bidirectional thrust angular contact ball bearing (7) coaxially assembled in a hollow step hole of the main screw rod nut (6) is connected with the auxiliary screw rod cylinder (8) to bear the load of the auxiliary screw rod cylinder (8).

3. The piston cylinder full stroke cycle telescoping dual redundancy electromechanical actuator of claim 1, wherein: the gear transmission shaft (15) is matched with an end spline in a spline guide groove of the hollow inner wall of the auxiliary screw barrel (8) through a hollow pipeline of the main screw barrel (4), the auxiliary screw barrel (8) is integrated through an auxiliary screw nut (10) embedded in the hollow inner wall of the piston barrel (11) by the piston barrel (11), and loads of the piston barrel are sequentially transmitted to the auxiliary screw barrel (8), the main screw nut (6), the main screw barrel (4) and the thrust angular contact ball bearing (5) in the same direction, and finally transmitted to the outer barrel (3).

4. The piston cylinder full stroke cycle telescoping dual redundancy electromechanical actuator of claim 1, wherein: the main motor (1) fails or the transmission chain where the main motor is positioned is jammed, and the auxiliary motor (13) independently completes the task of extending and retracting the piston cylinder in a full stroke.

5. The piston cylinder full stroke cycle telescoping dual redundancy electromechanical actuator of claim 1, wherein: the main brake (9) is powered off the main motor (1), the main brake (9) locks a main motor shaft, the auxiliary motor (13) works, the auxiliary brake (12) controls the auxiliary brake (12) to release braking, the auxiliary motor (13) drives the gear transmission shaft (15) to rotate through the auxiliary transmission gear (14), the auxiliary screw barrel (8) which is in spline engagement with the gear transmission shaft (15) is driven to synchronously rotate, and the auxiliary screw nut (10) and the sleeved piston barrel (11) are driven to overcome the extension and retraction of a load.