RU2717327C1 - Control unit of unmanned controlled aircraft - Google Patents

Abstract

FIELD: aviation.

SUBSTANCE: invention relates to control of aircraft and can be used in guided missiles intended for planning of unmanned aerial vehicles. Proposed device comprises casing with radial partitions arranged in cross-like manner, rudder opening mechanism, electric motor and electronic control system. Between the walls of each radial partitions there is a steering machine with a steering wheel. Electric motor is located along the central axis of the steering unit. Each rudder is rigidly connected with the output shaft of the corresponding steering machine containing a cylindrical reduction gear with a motor. Each steering machine is arranged on its transverse axis with the possibility of rotation on this axis together with the rudder by the angle required for the rudder output into the working position under the action of the moment transmitted to the steering machine housing through the worm sector fixed on the body, which is engaged with the corresponding steering machine worm gear shaft. Each worm shaft is provided with possibility to receive torque through cylindrical gear transmission from electric motor. It is possible to issue control commands to steering machines by electronic control system.

EFFECT: ensuring synchronization of opening of rudders, reduction of overall dimensions and increase in reliability.

1 cl, 5 dwg

Description

The invention relates to the field of unmanned guided aircraft and can be used in guided missiles, planning guided unmanned objects.

Known steering blocks of unmanned controlled aircraft: "Flight control unit", US patent No. 5584448, publ. 12/17/1996 .; “Steering gear unit of a guided projectile”, RF patent No. 2138764, publ. September 27, 1999; "The air-dynamic block of the steering drive of a guided projectile", RF patent No. 2234670, publ. 20.08. 2004; "Steering gear unit of the guided projectile", RF patent No. 2285819, publ. 03/20/2005.

The listed analogues do not meet the requirements of synchronization of the disclosure of control surfaces (rudders), reliable transmission of continuously varying in time control moments, speed, size and weight.

The rocket flight control unit was selected as a prototype (US patent No. 5584448, “Flight control unit”, IPC F42B 10/14, published December 17, 1996, Convention priority December 2, 1993, Israel), as the closest analogue to the problem being solved and the most common attributes.

The known flight control unit comprises a cylindrical body with radial partitions arranged in a crosswise manner, between the walls of each of which a steering machine with a steering wheel is installed, and also includes a steering wheel opening mechanism, an electric motor, an electronic control system.

Rotary aerodynamic rudders are installed on the folding axes in the frame of the rocket body. Each steering wheel is driven by its own electric steering machine. The control torque from the electric motor to the steering wheel is transmitted through the gearbox and cam mechanism, which are located between the electric motor and the steering wheel. Disclosure of the steering wheel is carried out by a spring that displays the steering wheel in the working position (steering wheel opening).

The disadvantages of the known flight control unit as a whole and its steering mechanism (disclosure of the rudders) may include the following:

1. Each steering wheel is put into operation by a separate spring, which does not ensure synchronization of the output of all the steering wheels;

2. The spring leading the steering wheel to the working position is in a stretched (stressed) state during the entire storage period before use;

3. Separate arrangement of the control engine and the steering wheel, the presence of a gearbox and a cam mechanism between them leads to energy losses, in particular due to backlash, when transmitting a time-varying control torque to the steering wheel;

4. The presence of unavoidable assembly clearances in the mechanisms that provide the steering wheel rotation leads to spurious oscillations;

5. The mechanism contains many small parts, which negatively affects the reliability of its operation;

6. In general, the layout requires a relatively large size.

The task of the invention is the creation of a small-sized steering unit of increased reliability for a controlled aircraft, ensuring the synchronization of the disclosure of the rudders.

The technical result (effect) of the present invention is the location on the axis of the steering unit of one electric motor (instead of 4 according to the prototype), interacting with the rudders using a lowering cylindrical gearbox and a self-locking worm gear, which made it possible to ensure the synchronization of the disclosure of the rudders, reducing the overall mass characteristics and increasing reliability .

The specified technical result consists in the fact that in the steering block of a controlled aircraft, comprising a hull with radial partitions located crosswise therein, as well as a rudder opening mechanism, an electric motor and an electronic control system, moreover, a steering machine is installed between the walls of each of the radial partitions the steering wheel, according to the invention, the electric motor is located on the Central axis of the steering unit, with each steering wheel is rigidly connected with the output shaft of the corresponding steering machines containing a cylindrical gearbox with an engine, and each steering machine is placed on its transverse axis with the possibility of rotation on this axis together with the steering wheel at the angle required to bring the steering wheel into working position, under the influence of the torque transmitted to the steering gear housing through the worm mounted on its housing a sector meshed with the corresponding steering machine by a worm shaft, wherein each worm shaft receives torque through a spur gear from an electric motor, and control commands issued to steering cars by the electronic control system of the aircraft, which receives battery power along with the electric motor.

Arrangement on the axis of the steering unit of one electric motor interacting with the steering wheels of each steering machine using a lowering cylindrical gearbox and a self-locking worm gear, ensuring rigid connection of each steering wheel with the output shaft of the corresponding steering machine, placing each steering machine on its transverse axis with the possibility of rotation on this axis along with the steering wheel allowed to ensure the synchronization of the disclosure of the steering wheels, reducing the overall mass characteristics and improving reliability.

The use of a self-locking worm gear for translating the rudders into working position by turning the steering machine together with the steering wheel does not require a special locking device to prevent the reverse movement of the open steering wheel.

Rigid fastening of the steering wheel on the steering machine shaft, i.e. the exclusion of intermediate mechanisms between the steering machine shaft and the steering wheel, reduces the energy losses of the steering machine when the steering wheel is turned, the maximum overall and mass costs for placing the steering machine and steering wheel, and the overall reliability of the mechanism are improved. The exclusion of gaps and backlash, inevitable in the intermediate between the steering machine and the steering mechanisms, leads to improved controllability of the aircraft

Losses of energy during transmission of the moment from the shaft of the engine of the steering machine to the steering wheel are eliminated by a hard lowering cylindrical gearbox, which is part of the steering machine, which leads to a decrease in energy consumption and, accordingly, to a decrease in overall mass characteristics.

In addition, to further reduce the size and weight, the electronic control system and the power supply battery are located in free volumes between the radial partitions of the steering wheel housing.

The presence in the claimed invention of features that distinguish it from the prototype, allows us to consider it appropriate to the condition of "novelty."

New features that contain a distinctive part of the claims are not identified in the technical solutions for a similar purpose and in the technical solutions of related fields of technology. On this basis, we can conclude that the claimed invention meets the condition of "inventive step".

The invention is illustrated by drawings:

in FIG. 1 is a perspective view of a steering unit;

in FIG. 2 shows a general view of the steering unit;

in FIG. 3 shows a section of the steering unit by the mechanism for opening the rudders;

in FIG. 4 is a rear view of the steering unit;

in FIG. 5 shows a steering machine with a steering wheel rigidly mounted on its output shaft.

The drawings show the following items:

1 - Case;

2 - Steering machine;

3 - Steering wheel;

4 - Output shaft;

5 - the transverse axis;

6 - Worm sector;

7 - Electric motor;

8 - a gear wheel;

9 - Gear;

10 - Worm;

11 - Radial partitions;

12 - Electronic control system;

13 - Battery power;

14 - Power studs;

15 - Cover;

16 - steering gear housing;

17 - Spur gear;

18 - engine;

19 - Control chip

The proposed steering unit of a controlled aircraft (Fig. 1, Fig. 2) consists of a housing 1 with four steering mechanisms placed therein, a mechanism for opening the rudders in the operating position, consisting of a centrally located steering axle of the electric motor unit 7, gear 9, and four gears wheels 8, four worms 10, four worm sectors 6, each of which is rigidly connected to the housing 16 of the corresponding steering machine 2, electronic control system 12 of the aircraft, power supply 13, fasteners Nia unit in the product - the power pins 14, the damping compound.

The hull 1 is a hollow cylindrical structure with radial baffles 11 of different thicknesses that are crosswise located inside at an angle of 90 °. The electronic control system 12 of the aircraft and the power supply 13 are located in the free internal volumes of the hull between the radial baffles 11.

Each steering mechanism consists of a steering machine 2 with a steering wheel 3 fixed to the output shaft 4, a worm sector 6 engaged with the worm 10. Each steering gear 2 is mounted on an axis 5 with the possibility of rotation together with the steering wheel 3 relative to this axis 5.

A gear wheel 8 is fixed on the worm 10, which is meshed with a gear 9 mounted on the shaft of the electric motor 7. The specified cylindrical gear transmission is protected by a cover 15.

Each steering machine 2 (Fig. 5) is a housing 16 with a cylindrical gear 17 located therein, an engine 18 and a control microcircuit 19. The gear ratio of the gear 17 provides the required torque on the steering wheel 3. The control microcircuit 19 controls the steering movement of the steering wheel 3. In the housing 16 steering machine 2 made seats for the axis of rotation 5 of the steering machine 2 when opening the steering wheel 3. The disclosure of each steering wheel 3 is carried out by transmitting the torque of the electric motor 7 through gear 9, gears 8, worms 10 on ervyachnye sectors 6, wherein the two steering gears are rotated on axes 5, together with the handlebars 3 to the desired angle. In the open position, the steering machines 2 with the steering wheels 3 are fixed by means of self-locking worm gears (worm - worm sector).

Outside, on the housing 16 of the steering machine 2, a worm sector 6 is rigidly mounted, which is meshed with the worm 10 and is used to transmit torque to the housing 16 of the steering machine 2, which drives the steering wheel 3 into working position.

The electric motor 7 is located in the Central part of the housing 1, the longitudinal axis of the electric motor is aligned with the longitudinal axis of the housing 1. In the product, the steering unit is fixed by means of power pins 14.

The specified arrangement minimizes the overall mass characteristics of the steering unit and the aircraft as a whole, eliminates backlashes that are inevitable when transmitting control moments from the steering machines to the steering wheels through special mechanisms, due to the rigid connection of the steering wheels with the shafts of the steering machines, the steering wheels are locked in the open position without special locking devices due to worm gears, vibration is eliminated.

The location of the aircraft’s electronic control system and the power supply battery in the internal cavities of the steering unit casing allows minimizing power transmission lines, as well as using compounds protecting these elements from mechanical influences, while the steering unit is a universal design that can be used in various products.

The device operates as follows. To bring the rudders 3 to the operating position, the electric motor 7 is supplied with power from the battery 13. The torque from the electric motor 7 is transmitted via a gear 9 fixed to the output shaft of the electric motor 7 to the gears 8 connected to the worms 10. The worms 10 transmit torque to the worm sectors 6 rigidly mounted on the housing 16 of the corresponding steering machine 2, resulting in a simultaneous rotation of each steering machine 2 around its axis 5. The steering machines 2 rotate together with the steering wheels 3, each of which oryh rigidly fixed on the output shaft 4 corresponding to the steering apparatus 2. Rotating the steering gears 2 with rudders 3 is carried through the angle required for rudders O 3 in the working position. Fixing the rudders 3 in the working position is not required, because a self-locking worm gear prevents their reverse rotation. The control moments are transmitted to the steering wheels 3 by the steering machines 2 by the commands of the electronic control system 12 of the aircraft receiving electric power, like the steering machines 2, from the battery 13.

Thus, when using the proposed steering unit, the synchronization of the disclosure of the rudders will be ensured, overall weight and mass characteristics will be reduced, and reliability will be increased.

The placement in free volumes (quarters) of the housing of the inventive steering unit of the components of the electronic control system and the battery, as well as the use for connecting the components of the unit to each other and for fixing the unit in the product of internal longitudinal power pins that do not require additional housing volumes for fasteners, allows reduce its overall mass characteristics and increase reliability by minimizing electrical circuits.

In addition, filling with the compound free volumes between the partitions of the steering wheel housing leads to a reduction in possible vibration shock loads.

The information presented indicates the fulfillment of the following set of conditions when using the claimed invention:

- the claimed steering unit of a controlled aircraft is intended for use in guided missiles planning guided unmanned objects;

- the claimed steering unit of a controlled aircraft when used is able to ensure synchronization of the disclosure of the rudders, reduce overall weight characteristics and improve reliability.

- for the inventive steering unit of a controlled aircraft in the form in which it is described in the claims, the possibility of implementation using the means and methods described in the application and known prior to the priority date is confirmed.

Therefore, the claimed steering unit of a controlled aircraft meets the condition of "industrial applicability".

Claims (2)

1. The steering unit of an unmanned aerial vehicle, comprising a housing with radial baffles located crosswise therein, a rudder opening mechanism, an electric motor and an electronic control system, wherein a steering machine with a steering wheel is installed between the walls of each of the radial baffles, characterized in that the electric motor is located in the central the axis of the steering unit, wherein each steering wheel is rigidly connected to the output shaft of the corresponding steering machine comprising a cylindrical gearbox with an engine, each steering machine is placed on its transverse axis with the possibility of rotation on this axis together with the steering wheel at an angle required to bring the steering wheel into working position, under the action of the moment transmitted to the steering gear housing through the worm sector fixed to the housing, engaged with the corresponding steering gear a worm shaft, while each worm shaft is provided with the possibility of receiving torque through a cylindrical gear from an electric motor, and the electronic control system is made with possible Stu issuing control commands and receipt with an electric power from the battery. 2. The steering unit according to claim 1, characterized in that the electronic control system and the battery are located in free volumes between the radial partitions of the housing.

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