Symmetrical connecting rod servo driving device

Abstract

A symmetrical connecting rod servo driving device relates to the technical field of steering engines and comprises a driving mechanism, a motor, a gear reducing mechanism and a rudder shaft rocker arm mechanism. An output shaft of the motor is in transmission connection with a gear reduction mechanism, a rudder shaft rocker arm mechanism is arranged on the side, away from the motor, of the gear reduction mechanism and comprises a base, an inner cavity of the base is rotationally connected with a rudder shaft, and a shaft body of the rudder shaft is provided with a crank. A self-locking mechanism capable of locking the rudder shaft is arranged at the bottom of the inner cavity of the seat body; a driving mechanism is arranged on one side of the motor, the driving mechanism comprises a shell, a lead screw is rotationally connected into the shell, and the lead screw is in corresponding transmission connection with an output gear of the gear reduction mechanism; the structure is simple, the motor and the driving mechanism are arranged in parallel, the overall size is effectively reduced, and the whole is compact and small; a self-locking mechanism capable of locking the rudder shaft is arranged at the bottom of the inner cavity of the seat body, namely, the rudder shaft can be locked through the self-locking mechanism when the rudder shaft stops rotating, and external force is prevented from being transmitted to the driving mechanism through the rudder shaft.

Description

Technical Field

[0001] The invention relates to the technical field of steering gears, and in particular to a symmetrical connecting rod servo drive device. Background Art

[0002] As is known, the servo drive mechanism is used to drive the movement of the regulated object. When the regulated object is in linear motion, the servo drive mechanism needs to convert the rotational motion of the motor into the linear motion of the regulated object; when the regulated object is in rotational motion, the servo drive mechanism needs to convert the speed of the motor into a speed that meets the requirements of the regulated object. At present, the control accuracy of servo drive mechanisms at home and abroad is generally required to be no more than 0.2°, and with the precise control of drones, the demand for small-volume and high-precision servo drive mechanisms is becoming more and more urgent; A Chinese patent (publication number: CN207053315U) discloses a long and narrow servo structure; the patent includes a servo motor, a first-stage reduction mechanism is connected to the output shaft of the servo motor, and then the rotation output by the servo motor is converted into the swing of the final output shaft through a two-stage conversion; in actual use, it is found that the patent structure is relatively large, and the overall volume cannot be further reduced under the premise of ensuring the output torque, and it cannot be applied to smaller equipment; it is also found that its ball screw pair has the problem of eccentric load force, and it is easy to get stuck accidentally during use; in addition, the rudder shaft of the patent structure cannot achieve self-locking, and most of the existing servos with self-locking adopt a worm gear mechanism to transmit the drive, but the worm gear mechanism has low transmission efficiency and large friction resistance during startup; the above defects are problems that need to be urgently solved by technical personnel in this field. Summary of the invention

[0003] In order to overcome the deficiencies in the background technology, the present invention discloses a symmetrical connecting rod servo drive device.

[0004] In order to achieve the above-mentioned invention object, the present invention adopts the following technical scheme: A symmetrical connecting rod servo drive device comprises a driving mechanism, a motor, a gear reduction mechanism and a rudder shaft rocker arm mechanism; the output shaft of the motor is transmission-connected with the gear reduction mechanism, and the rudder shaft rocker arm mechanism is provided on the side of the gear reduction mechanism facing away from the motor, the rudder shaft rocker arm mechanism comprises a seat body, the inner cavity of the seat body is rotationally connected with the rudder shaft, and the shaft body of the rudder shaft is provided with a crank; the bottom of the inner cavity of the seat body is provided with a self-locking mechanism capable of locking the rudder shaft; one side of the motor is provided with a driving mechanism, and the driving mechanism comprises a shell, and a lead screw is rotationally connected in the shell, and the lead screw is transmission-connected with the output gear of the gear reduction mechanism in correspondence, and the lead screw body is threadedly connected with a nut corresponding to the shell for sliding fit, and connecting rods are hinged on both sides of the nut, and the other ends of the two connecting rods are respectively hinged to the cranks.

[0005] Preferably, the self-locking mechanism comprises a locking disk coaxially fastened with the rudder shaft, and a locking sleeve coaxially movably sleeved with the rudder shaft, the locking sleeve having an end corresponding to the locking disk being provided with a trumpet-shaped guide flange; a plurality of notches are provided at circumferential intervals on the surface of the locking disk, a friction block is hinged in the notch, and a torsion spring for deflecting the friction block and extending out of the locking disk is provided at the corresponding hinged position of the friction block and the locking disk, and adjacent friction blocks are arranged oppositely; an electromagnet capable of driving the locking sleeve away from the locking disk along the rudder shaft is fastened with the end of the seat body corresponding to the locking sleeve facing away from the locking disk, the electromagnet is provided with a fixing sleeve for movably inserting the locking sleeve, and the outer wall of the locking sleeve and the inner wall of the fixing sleeve are slidably fitted by a spline; a reset spring for resetting the locking sleeve and locking the rudder shaft is provided between the locking sleeve and the electromagnet.

[0006] Preferably, the friction block disc surface is provided with an arc groove, and the locking disc is provided with a limit pin for limiting the deflection angle of the friction block at a position corresponding to the arc groove.

[0007] Preferably, a pressure plate is sleeved on one end of the rudder shaft corresponding to the locking plate with a notch, and is threadedly connected with a locking nut for clamping the pressure plate.

[0008] Preferably, a bending portion is provided at one end of the connecting rod corresponding to the hinged connection with the crank.

[0009] Preferably, an opening is provided at one end of the shell away from the rudder shaft rocker arm mechanism, and an end cover is installed at a position corresponding to the opening.

[0010] Preferably, one end of the lead screw is rotatably connected to the end cover via an angular contact ball bearing, and a gasket for eliminating the assembly clearance of the angular contact ball bearing is provided at a position of the end cover corresponding to the angular contact ball bearing.

[0011] Preferably, an angle encoder for detecting the rotation angle of the rudder shaft is provided in the seat body.

[0012] Due to the adoption of the above-mentioned technical solution, the present invention has the following beneficial effects: The present invention discloses a symmetrical connecting rod servo drive device with a simple structure. A driving mechanism is provided on one side of a motor, and the parallel arrangement of the motor and the driving mechanism effectively reduces the overall volume, making the overall structure compact and small. The symmetrical arrangement of the two connecting rods can effectively prevent one side of the nut from being subjected to force and causing jamming or unbalanced load wear, thereby further improving the transmission stability performance of the screw nut pair. The connecting rod and the crank cooperate to form a crank-connecting rod mechanism, which can effectively increase the output torque and bearing capacity of the rudder shaft; a self-locking mechanism that can lock the rudder shaft is provided at the bottom of the inner cavity of the seat body, that is, when the rudder shaft stops rotating, the rudder shaft can be locked by the self-locking mechanism to prevent external force from being transmitted to the driving mechanism through the rudder shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 is a structural schematic diagram of the driving mechanism; Figure 3 It is a structural schematic diagram of the rudder shaft rocker arm mechanism; Figure 4 It is a structural schematic diagram of the self-locking mechanism; Figure 5 Schematic diagram of the internal structure of the self-locking mechanism; Figure 6 A top view of the locking disk.

[0014] In the figure: 1. driving mechanism; 1-1. housing; 1-2. lead screw; 1-3. nut; 1-4. connecting rod; 1-5. end cover; 1-6. angular contact ball bearing; 2. motor; 3. gear reduction mechanism; 4. rudder shaft rocker mechanism; 4-1. seat body; 4-2. rudder shaft; 4-3. crank; 5. self-locking mechanism; 5-1. locking plate; 5-2. locking sleeve; 5-3. friction block; 5-4. arc groove; 5-5. limit pin; 5-6. electromagnet; 5-7. reset spring; 5-8. pressure plate; 5-9. locking nut. DETAILED DESCRIPTION

[0015] The present invention can be explained in detail through the following embodiments. The purpose of disclosing the present invention is to protect all technical improvements within the scope of the present invention. In the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "front", "back", "left", "right", etc. indicating directions or positional relationships, they only correspond to the drawings of the present application for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific direction.

[0016] Embodiment 1, in combination with Figures 1 to 3 A symmetrical connecting rod servo drive device comprises a driving mechanism 1, a motor 2, a gear reduction mechanism 3 and a rudder shaft rocker mechanism 4; the output shaft of the motor 2 is drivingly connected to the gear reduction mechanism 3, and the rudder shaft rocker mechanism 4 is arranged on the side of the gear reduction mechanism 3 away from the motor 2, and the rudder shaft rocker mechanism 4 comprises a seat body 4-1, the housing of the gear reduction mechanism 3 is correspondingly and tightly connected to the seat body 4-1, and the housing of the motor 2 is correspondingly and tightly connected to the housing of the gear reduction mechanism 3, so that the motor 2 can output power; the inner cavity of the seat body 4-1 is rotatably connected to the rudder shaft 4-2, and the shaft body of the rudder shaft 4-2 is provided with a crank 4-3; a self-locking mechanism 5 capable of locking the rudder shaft 4-2 is arranged at the bottom of the inner cavity of the seat body 4-1, that is, when the rudder shaft 4-2 stops rotating, the rudder shaft 4-2 can be locked by the self-locking mechanism 5 to prevent external force from being transmitted to the driving mechanism 1 through the rudder shaft 4-2; A driving mechanism 1 is provided on one side of the motor 2. The motor 2 and the driving mechanism 1 are arranged in parallel to effectively reduce the overall volume, making the overall compact and small; the driving mechanism 1 includes a shell 1-1, and the shell 1-1 is correspondingly and tightly connected to the seat body 4-1; a lead screw 1-2 is rotatably connected in the shell 1-1, and the lead screw 1-2 is correspondingly and transmission-connected to the output gear of the gear reduction mechanism 3, and the rod of the lead screw 1-2 is threadedly connected to a nut 1-3 that slides in cooperation with the shell 1-1, that is, the lead screw 1-2 and the nut 1-3 cooperate to form a lead screw. The ball screw pair is preferably a ball screw pair, which has high transmission efficiency, stable transmission and high transmission accuracy; connecting rods 1-4 are hinged on both sides of the nut 1-3, and the other ends of the two connecting rods 1-4 are respectively hinged to the crank 4-3; the symmetrical arrangement of the two connecting rods 1-4 can effectively prevent one side of the nut 1-3 from being stuck or worn due to eccentric load, and further improve the transmission stability of the screw nut pair; the connecting rod 1-4 cooperates with the crank 4-3 to form a crank-connecting rod mechanism, which can effectively increase the output torque and bearing capacity of the rudder shaft 4-2; When in use, the motor 2 drives the gear reduction mechanism 3, the gear reduction mechanism 3 outputs power to drive the lead screw 1-2, the lead screw 1-2 drives the nut 1-3, the nut 1-3 drives the connecting rod 1-4 to drive the crank 4-3, and the crank 4-3 drives the rudder shaft 4-2 to rotate.

[0017] Embodiment 2, in combination with Figures 4 to 6 , a symmetrical connecting rod servo drive device, which is different from Example 1 in that, on the basis of Example 1, the self-locking mechanism 5 comprises a locking disk 5-1 coaxially fastened to the rudder shaft 4-2, and a locking sleeve 5-2 coaxially movably sleeved with the rudder shaft 4-2, and the locking sleeve 5-2 is provided with a trumpet-shaped guide flange at one end corresponding to the locking disk 5-1; the locking disk 5-1 disk surface is provided with a plurality of notches at intervals along the circumferential direction, and a friction block 5-3 is hingedly connected in the notch, and a torsion spring for deflecting the friction block 5-3 and extending out of the locking disk 5-1 is provided at the position where the friction block 5-3 is hinged to the locking disk 5-1, and adjacent friction blocks 5-3 are arranged opposite to each other, that is, adjacent friction blocks 5-3 are arranged in an "eight" shape; Working principle: When the locking sleeve 5-2 moves away from the locking disk 5-1 along the rudder shaft 4-2, the friction block 5-3 is separated from the locking sleeve 5-2, and the lock is realized at this time, and the driving mechanism 1 can drive the rudder shaft 4-2 to rotate; when the locking sleeve 5-2 moves in the opposite direction along the rudder shaft 4-2, the friction block 5-3 shrinks inwardly under the action of the guide flange of the locking sleeve 5-2, until the friction block 5-3 and the inner wall of the locking sleeve 5-2 are in friction contact, and the lock state is reached at this time, and no matter the rudder shaft 4-2 is running forward or turning over, it will receive the corresponding friction force between the friction block 5-3 and the locking sleeve 5-2; An electromagnet 5-6 capable of driving the locking sleeve 5-2 away from the locking disk 5-1 is fastened to the end of the seat body 4-1 corresponding to the locking sleeve 5-2 away from the locking disk 5-1. The electromagnet 5-6 is provided with a fixing sleeve capable of movably inserting the locking sleeve 5-2, and the outer wall of the locking sleeve 5-2 and the inner wall of the fixing sleeve are slidably matched through splines, which can effectively limit the axial rotation of the locking sleeve 5-2. The electromagnet 5-6 is a prior art, so its structure and working pressure are not described in detail in this embodiment. A reset spring 5-7 for resetting the locking sleeve 5-2 and locking the rudder shaft 4-2 is provided between the locking sleeve 5-2 and the electromagnet 5-6. When the electromagnet 5-6 is energized to generate magnetic attraction, it can attract the locking sleeve 5-2 to move along the rudder shaft 4-2 away from the locking plate 5-1, thereby achieving the purpose of unlocking the rudder shaft 4-2; when the electromagnet 5-6 loses its electromagnetic attraction, the locking sleeve 5-2 moves along the rudder shaft 4-2 close to the locking plate 5-1 under the action of the reset spring 5-7, so that the friction block 5-3 and the inner wall of the locking sleeve 5-2 are in friction contact again, thereby achieving the purpose of automatically locking the rudder shaft 4-2.

[0018] The friction block 5-3 is provided with an arc groove 5-4 on its disk surface, and a limit pin 5-5 for limiting the deflection angle of the friction block 5-3 is provided at a position corresponding to the arc groove 5-4 on the locking disk 5-1. That is, the deflection angle of the friction block 5-3 can be limited by the limit pin 5-5 to prevent the friction block 5-3 from deflecting too much when in the unlocked state, causing the locking sleeve 5-2 to be unable to reset, and thus failing to achieve the locking action.

[0019] The end of the rudder shaft 4-2 corresponding to the locking plate 5-1 with a notch is sleeved with a pressure plate 5-8, and is threadedly connected with a locking nut 5-9 for clamping the pressure plate 5-8, that is, the pressure plate 5-8 can effectively prevent the friction block 5-3 from accidentally detaching from the locking plate 5-1.

[0020] Embodiment 3, in combination with Figure 1 A symmetrical connecting rod servo drive device, based on embodiment 1 or 2, the connecting rod 1-4 and the crank 4-3 are hinged at one end thereof and provided with a bending portion, which can effectively prevent the crank 4-3 from deflecting and transitioning, causing the connecting rod 1-4 and the crank 4-3 to be accidentally stuck.

[0021] Embodiment 4, in combination with Figure 1, a symmetrical connecting rod servo drive device, based on any one of embodiments 1 to 3, an opening is provided at one end of the shell 1-1 away from the rudder shaft rocker mechanism 4, and an end cover 1-5 is installed at a position corresponding to the opening, and grease can be injected into the shell 1-1 through the end cover 1-5 to ensure the stability and smoothness of the operation of the drive mechanism 1; one end of the screw 1-2 is rotatably connected to the end cover 1-5 through an angular contact ball bearing 1-6, and a gasket for eliminating the assembly gap of the angular contact ball bearing 1-6 is provided at a position of the end cover 1-5 corresponding to the angular contact ball bearing 1-6, which can effectively eliminate the axial clearance of the screw 1-2, effectively improve the transmission accuracy of the drive mechanism 1, and thereby improve the rotation accuracy of the rudder shaft 4-2; further, an angle encoder for monitoring the rotation angle of the rudder shaft 4-2 is provided in the seat body 4-1, and the rotation angle of the rudder shaft 4-2 is monitored in real time by the angle encoder and fed back to the control system, further improving the rotation accuracy of the rudder shaft 4-2.

[0022] The parts of the present invention that are not described in detail are prior art. It is obvious to those skilled in the art that the present invention is not limited to the details of the above-mentioned exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention; therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and it is intended that all changes that fall within the meaning and scope of equivalent elements are included in the present invention.

Claims

1. A symmetrical connecting rod servo drive device, characterized in that: The invention comprises a driving mechanism (1), a motor (2), a gear reduction mechanism (3) and a rudder shaft rocker mechanism (4); the output shaft of the motor (2) is drivingly connected to the gear reduction mechanism (3); a rudder shaft rocker mechanism (4) is provided on a side of the gear reduction mechanism (3) facing away from the motor (2); the rudder shaft rocker mechanism (4) comprises a seat body (4-1); a rudder shaft (4-2) is rotatably connected to the inner cavity of the seat body (4-1); a crank (4-3) is provided on the shaft body of the rudder shaft (4-2); a self-actuating mechanism capable of locking the rudder shaft (4-2) is provided at the bottom of the inner cavity of the seat body (4-1); A locking mechanism (5); a driving mechanism (1) is provided on one side of the motor (2), the driving mechanism (1) comprising a housing (1-1), a lead screw (1-2) being rotatably connected inside the housing (1-1), the lead screw (1-2) being transmission-connected to an output gear of a gear reduction mechanism (3), a nut (1-3) correspondingly slidingly matched with the housing (1-1) being threadedly connected to the shaft of the lead screw (1-2), connecting rods (1-4) being hinged on both sides of the nut (1-3), and the other ends of the two connecting rods (1-4) being hinged to the cranks (4-3) respectively.

2. The symmetrical connecting rod servo drive device according to claim 1, characterized in that: The self-locking mechanism (5) comprises a locking disk (5-1) coaxially and tightly connected to the rudder shaft (4-2), and a locking sleeve (5-2) coaxially and movably sleeved on the rudder shaft (4-2), and one end of the locking sleeve (5-2) corresponding to the locking disk (5-1) is provided with a trumpet-shaped guide flange; the locking disk (5-1) is provided with a plurality of notches at intervals along the annular direction, and a friction block (5-3) is hingedly connected in the notch, and a torsion spring for deflecting the friction block (5-3) and extending out of the locking disk (5-1) is provided at the corresponding hinged position of the friction block (5-3) and the locking disk (5-1), and adjacent friction blocks (5 -3) are arranged relatively; an electromagnet (5-6) capable of driving the locking sleeve (5-2) away from the locking disk (5-1) is fastened to an end of the seat body (4-1) corresponding to the locking sleeve (5-2) away from the locking disk (5-1), the electromagnet (5-6) being capable of driving the locking sleeve (5-2) along the rudder shaft (4-2) away from the locking disk (5-1); the electromagnet (5-6) is provided with a fixing sleeve capable of enabling the locking sleeve (5-2) to be movably inserted, and the outer wall of the locking sleeve (5-2) and the inner wall of the fixing sleeve are slidably engaged via splines; a reset spring (5-7) for resetting the locking sleeve (5-2) and locking the rudder shaft (4-2) is provided between the locking sleeve (5-2) and the electromagnet (5-6).

3. The symmetrical connecting rod servo drive device according to claim 2, characterized in that: The friction block (5-3) is provided with an arc-shaped groove (5-4) on its disk surface, and a limit pin (5-5) for limiting the deflection angle of the friction block (5-3) is provided at a position of the locking disk (5-1) corresponding to the arc-shaped groove (5-4).

4. The symmetrical connecting rod servo drive device according to claim 2, characterized in that: A pressure plate (5-8) is sleeved on one end of the rudder shaft (4-2) corresponding to the locking plate (5-1) with a notch, and is threadedly connected with a locking nut (5-9) for pressing the pressure plate (5-8).

5. The symmetrical connecting rod servo drive device according to claim 1, characterized in that: A bending portion is provided at one end of the connecting rod (1-4) corresponding to the hinged end of the crank (4-3).

6. The symmetrical connecting rod servo drive device according to claim 1, characterized in that: An opening is provided at one end of the housing (1-1) that is away from the rudder shaft rocker arm mechanism (4), and an end cover (1-5) is installed at a position corresponding to the opening.

7. The symmetrical connecting rod servo drive device according to claim 6, characterized in that: One end of the lead screw (1-2) is rotatably connected to the end cover (1-5) via an angular contact ball bearing (1-6); a gasket for eliminating assembly clearance of the angular contact ball bearing (1-6) is provided at a position of the end cover (1-5) corresponding to the angular contact ball bearing (1-6).

8. The symmetrical connecting rod servo drive device according to claim 1, characterized in that: An angle encoder for monitoring the rotation angle of the rudder shaft (4-2) is arranged in the seat body (4-1).

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