Integrated electromechanical servo mechanism tightly attached to bulkhead

Abstract

The invention relates to an integrated electromechanical servo mechanism tightly attached to a bulkhead, and belongs to the technical field of aerospace electromechanical servo mechanisms. Comprising a servo controller, n servo actuators, n servo cables and a cabin wall, the servo controller is of a horizontally-placed circular ring structure. The n servo actuators are evenly installed on the upper surface of the servo controller in the axial direction. The servo controller is connected with the n servo actuators through the n servo cables; the servo actuators are in one-to-one correspondence with the servo cables; the bulkhead is of a cylindrical structure which is vertically arranged in the axial direction. The cabin wall is arranged on the outer walls of the servo controller and the n servo actuators in a sleeving mode. N is a positive integer, and 2 < = n < = 4; integrated installation of the servo actuator and the servo controller is achieved through a simple mechanical assembly relation, overall cable routing of the servo mechanism is neat and concise, and the overall installation manufacturability of the servo mechanism is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of aerospace electromechanical servo mechanisms and relates to an integrated electromechanical servo mechanism close to a cabin wall. BACKGROUND

[0002] Electromechanical servo mechanisms are widely used in control systems in the field of aerospace. Compared with hydraulic servo systems, electromechanical servo systems have the characteristics of simple system composition, miniaturization, light weight, high specific power, and the like. In addition, they also have the advantages of maintenance-free and convenient disassembly and repair. Integrated and miniaturized servo mechanisms have the advantages of simple cable connection, high power-to-weight ratio, high space utilization rate, and the like. As one of the important development directions of electromechanical servo mechanisms, integrated servo mechanisms have a series of advantages, but also have problems such as complex internal wiring, high assembly difficulty, and inconvenient single-machine testing, which need to be solved urgently.

[0003] The disclosed patent

A high-power-density electro-hydraulic servo integrated machine, CN 116906415 A

[0004] The disclosed patent

An integrated missile rudder cabin, CN 216745741 U

[0005] The technical problem solved by the application is to overcome the shortcomings of the prior art and provide an integrated electromechanical servo mechanism close to a cabin wall. The integrated installation of the servo actuator and the servo controller is realized through a simple mechanical assembly relationship, the overall cable wiring of the servo mechanism is regular and simple, and the installation process of the overall servo mechanism is improved.

[0006] The technical solution of the application is as follows:

[0007] An integrated electromechanical servo mechanism close to a cabin wall comprises a servo controller, n servo actuators, n servo cables and a cabin wall.

[0008] The servo controller is a horizontally placed ring structure; n servo actuators are uniformly installed on the upper surface of the servo controller in the axial direction; the servo controller is connected with the n servo actuators through n servo cables; the servo actuators correspond to the servo cables one by one; the bulkhead is an axially vertically placed cylindrical structure; the bulkhead is sleeved on the outer wall of the servo controller and the n servo actuators; n is a positive integer, and 2≤n≤4.

[0009] In the integrated electromechanical servo mechanism close to the bulkhead, the n servo actuators are located at the edges of the upper surface of the servo controller; the n servo actuators are fixedly connected with the inner wall of the bulkhead.

[0010] In the integrated electromechanical servo mechanism close to the bulkhead, the cross section of the servo actuator is a sector structure; the outer side wall of the servo actuator is an arc surface, which realizes adaptive fitting with the inner wall of the bulkhead; the inner side wall of the servo actuator is an arc surface structure.

[0011] In the integrated electromechanical servo mechanism close to the bulkhead, a through hole is arranged at the center of the servo controller; the curvature of the inner side wall of the servo actuator corresponds to the curvature of the through hole of the servo controller, so that the servo actuator is installed on the ring surface of the servo controller; the radial width of the servo actuator is 88-90mm.

[0012] In the integrated electromechanical servo mechanism close to the bulkhead, the height of the servo controller is 19-21mm; the upper surface of the servo controller is provided with n through holes; the n through holes are uniformly distributed in the circumferential direction; the positions of the through holes correspond to the servo actuators one by one; the diameter of the through hole is 4.4-4.6mm.

[0013] In the integrated electromechanical servo mechanism close to the bulkhead, the servo actuator comprises an upper shell, a lower shell, a servo motor, a speed reducer, a screw pair, an angular displacement sensor and a yoke output structure.

[0014] The upper shell and the lower shell are both shell structures with a sector cross section; the upper shell is installed on the top of the lower shell; the upper shell and the lower shell are butt jointed to form a closed space; the servo motor is arranged in the inner cavity of the upper shell; the output shaft of the upper shell is arranged downward; the speed reducer is arranged in the inner cavity of the upper shell; the screw pair is arranged in the inner cavity of the lower shell; the yoke output structure is axially and horizontally arranged at the side wall of the lower shell; the servo motor, the speed reducer, the screw pair and the yoke output structure are sequentially butt jointed; the angular displacement sensor is installed on the yoke output structure.

[0015] In the integrated electromechanical servo mechanism close to the bulkhead, the servo motor sequentially drives the speed reducer, the screw pair and the yoke output structure to rotate; the angular displacement sensor measures the rotation angle of the yoke output structure.

[0016] In the integrated electromechanical servo mechanism close to the cabin wall, the bottom of the lower shell is provided with a threaded hole; each servo actuator is fixed and connected with the corresponding through hole through the threaded hole.

[0017] In the integrated electromechanical servo mechanism close to the cabin wall, the outer wall of the upper shell is provided with a mounting hole and a positioning hole; each servo actuator is aligned relative to the inner wall of the cabin wall through the positioning hole; and each servo actuator is fixed and connected with the inner wall of the cabin wall through the mounting hole.

[0018] In the integrated electromechanical servo mechanism close to the cabin wall, the servo cable realizes the electrical connection between the servo controller and the servo actuator within the installation envelope size; and the servo cable is arranged in the wiring groove on the side of the electromechanical actuator, thereby saving space.

[0019] The beneficial effects of the present application compared with the prior art are:

[0020] (1) The radial size of the integrated servo mechanism designed by the present application is within 88-90mm, and compared with the existing integrated and cabin rudder integrated servo mechanism, the space utilization is significantly improved, and the installation space is saved;

[0021] (2) The mechanical and electrical connection between each single machine of the servo mechanism designed by the present application is simple, and compared with the existing integrated and integrated servo mechanism, the servo mechanism has better assembly process, and is convenient for disassembly, maintenance and single machine debugging;

[0022] (3) The cabin installation interfaces of the servo actuator designed by the present application are distributed symmetrically, the installation stress distribution is more uniform, in addition, n servo actuators are connected together by 1 servo controller, the overall stiffness of the servo mechanism is further improved, and compared with the existing integrated and cabin rudder integrated servo, the reliability of the servo mechanism installation is effectively improved;

[0023] (4) The total weight of the servo mechanism designed by the present application is less than 4kg, and compared with the existing integrated and cabin rudder integrated servo mechanism, the weight is greatly reduced;

[0024] (5) The electrical connection between the single machines of the servo mechanism designed by the present application is simple, and compared with the existing integrated and cabin rudder integrated servo, the assembly process of the servo mechanism is improved, and the problem of complex wiring of the servo cable in the cabin is also avoided, thereby saving a lot of space for the wiring of other cables in the cabin. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is a whole schematic view of the integrated electromechanical servo mechanism of the present application;

[0026] Figure 2 It is a docking schematic view of the servo controller and the servo actuator of the present application;

[0027] Figure 3 The schematic diagram of the servo controller of the present application is shown in the figure;

[0028] Figure 4 The schematic diagram of the servo actuator of the present application is shown in the figure;

[0029] Figure 5 The schematic diagram of the bottom of the lower shell of the present application is shown in the figure. DETAILED DESCRIPTION

[0030] The present application is further described below in combination with examples.

[0031] The present application provides an integrated electromechanical servo mechanism close to the bulkhead, the servo actuator adopts the form of installation along the curved surface of the bulkhead, fully utilizes the space in the cabin, and reduces the radial size of the servo mechanism as a whole; the integrated installation of the servo actuator and the servo controller is realized through a simple mechanical assembly relationship, so that the cable routing of the servo mechanism as a whole is regular and simple, and the installation process of the servo mechanism as a whole is improved; the servo controller and the servo actuator are simple to disassemble, and are convenient for maintenance and single machine debugging.

[0032] The integrated electromechanical servo mechanism close to the bulkhead, as shown in Figure 1 , Figure 2 , specifically comprises a servo controller 2, n servo actuators 1, n servo cables 3 and a bulkhead. The servo controller 2 is a horizontally placed circular ring structure; the n servo actuators 1 are uniformly installed on the upper surface of the servo controller 2 in the axial direction; the servo controller 2 is connected with the n servo actuators 1 through the n servo cables 3; the servo actuator 1 corresponds to the servo cable 3 one by one; the bulkhead is an axially vertically placed cylindrical structure; the bulkhead is sleeved on the outer wall of the servo controller 2 and the n servo actuators 1; n is a positive integer, and 2≤n≤4.

[0033] The n servo actuators 1 are all located at the edge of the upper surface of the servo controller 2; the n servo actuators 1 are fixedly connected with the inner wall of the bulkhead. The cross section of the servo actuator 1 is a fan-shaped structure; the outer side wall of the servo actuator 1 is an arc surface, which realizes adaptive fitting with the inner wall of the bulkhead; the inner side wall of the servo actuator 1 is an arc surface structure.

[0034] As shown in Figure 3 , a through hole is arranged at the axis of the servo controller 2; the inner side wall arc of the servo actuator 1 corresponds to the arc of the through hole of the servo controller 2, so as to realize the installation of the servo actuator 1 on the circular ring surface of the servo controller 2; the radial width of the servo actuator 1 is 88-90mm. The height of the servo controller 2 is 19-21mm; the upper surface of the servo controller 2 is provided with n through holes 14; the n through holes 14 are uniformly distributed in the circumferential direction; the positions of the through holes 14 correspond to the servo actuators 1 one by one; the diameter of the through hole 14 is 4.4-4.6mm.

[0035] As Figure 4 shown, the servo actuator 1 includes an upper housing 4, a lower housing 5, a servo motor 6, a reducer, a screw pair, an angular displacement sensor 9 and a yoke output structure 10. Among them, the upper housing 4 and the lower housing 5 are both housing structures with a fan-shaped cross section; the upper housing 4 is installed on the top of the lower housing 5; the upper housing 4 and the lower housing 5 are butt jointed to form a sealed space; the servo motor 6 is arranged in the inner cavity of the upper housing 4; the output shaft of the upper housing 4 is arranged downward; the reducer is arranged in the inner cavity of the upper housing 4; the screw pair is arranged in the inner cavity of the lower housing 5; the yoke output structure 10 is arranged horizontally at the side wall of the lower housing 5; the servo motor 6, the reducer, the screw pair and the yoke output structure 10 are sequentially butt jointed; the angular displacement sensor 9 is installed on the yoke output structure 10. The servo motor 6 sequentially drives the reducer, the screw pair and the yoke output structure 10 to rotate; the angular displacement sensor 9 realizes the measurement of the rotation angle of the yoke output structure 10.

[0036] As Figure 5 shown, the bottom of the lower housing 5 is provided with a threaded hole 11; each servo actuator 1 is realized by the threaded hole 11 to be butt jointed and fixedly connected with the corresponding through hole 14.

[0037] The outer side wall of the upper housing 4 is provided with a mounting hole 12 and a positioning hole 13; each servo actuator 1 realizes the alignment relative to the inner wall of the cabin wall through the positioning hole 13; each servo actuator 1 realizes the butt joint and fixation with the inner wall of the cabin wall through the mounting hole 12.

[0038] The servo cable 3 realizes the electrical connection of the servo controller 2 with the servo actuator 1 within the installation envelope size; the servo cable 3 is arranged in the line groove 15 on the side of the electromechanical actuator 1, thereby saving space.

[0039] Embodiment

[0040] As Figure 4 shown, the servo actuator 1 is designed in a split form of the upper housing 4 and the lower housing 5, the internal servo motor 6, the reducer, the screw pair, the angular displacement sensor 9 and the yoke output structure 10 are compactly designed and arranged, the flat design of the servo actuator is realized, the servo actuator profile curve is fitted to the cabin wall, the radial installation size is compressed to 9mm, and the space utilization is improved. The servo actuator is connected and installed with the cabin wall through six M5 mounting holes 12 and two Ф5 positioning holes 13, the mounting holes are evenly distributed on the arc surface of the servo actuator, the whole servo actuator is relatively evenly installed on the cabin wall, there is no cantilever structure of the servo motor, and the installation reliability of the servo actuator is effectively improved.

[0041] As Figure 3As shown, the servo controller 2 adopts a circular ring type, flat design, the inner diameter of the circular ring is basically coincided with the inner arc surface of the servo actuator, without increasing the radial space; the internal structure of the servo controller is compact, and the height of the whole controller is only 20mm; the servo controller is connected with the four M4 threaded holes 11 on the servo actuator through four Φ4.5 (countersunk Φ) through holes 14, and is installed on the servo actuator, which is simple to install and convenient to disassemble, debug and maintain the whole or single servo mechanism.

[0042] As shown in Figure 1 The whole servo mechanism is shown in the schematic diagram: after the four servo actuators 1 and the servo controller 2 are installed integrally through mechanical connection, the overall rigidity of the servo mechanism is further improved, the four servo cables 3 of the servo controller 2 are used to realize simple electrical connection with the servo actuators 1 within the installation envelope of the servo mechanism, and the cables are designed with reasonable length and are attached to the side wiring groove 15 of the electromechanical actuator, so that the assembly process of the servo mechanism is improved, and the complex wiring problem of the servo mechanism cable in the cabin is avoided, and a large amount of space is saved for wiring of other cables in the cabin.

[0043] The present application provides an integrated servo mechanism closely fitted to the cabin wall, through the flat design of the servo actuator and the flat circular ring design of the servo controller, the servo actuator is closely fitted to the cabin wall during installation, and the servo controller is installed to be consistent with the inner and outer envelope of the servo actuator after installation, so that the radial size of the servo mechanism is maximized, and the space utilization is effectively improved.

[0044] The present application divides the servo controller and the servo actuator into simple module relationship through simple electrical and mechanical connection, and simplifies the cable connection between the modules. On the one hand, the cable connection is completed within the servo installation envelope, which effectively avoids the complex wiring in the cabin and improves the assembly process; on the other hand, through simple mechanical assembly design, the disassembly flexibility of the servo mechanism is effectively improved, and the difficulty of installation, single machine debugging and maintenance of the servo mechanism in the cabin is greatly reduced.

[0045] Compared with the existing servo mechanism installation method, the mounting holes and positioning pins of the servo actuator on the cabin wall in the present application are uniformly distributed, and the servo motor does not have a cantilever structure, which improves the installation reliability of the servo actuator, and on this basis, when the servo controller is installed on the four actuators through mechanical connection, the whole servo system forms a whole, and the overall rigidity of the servo mechanism is further improved.

[0046] Although the present application has been disclosed with reference to the preferred embodiments, it is not intended to limit the present application, and any person skilled in the art can make possible changes and modifications to the technical solutions of the present application using the disclosed methods and technical contents without departing from the spirit and scope of the present application. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application without departing from the technical solutions of the present application shall fall within the protection scope of the technical solutions of the present application.

Claims

1. An integrated electromechanical actuator for close-coupled bulkhead applications, characterized by: The application relates to a servo control system, which comprises a servo controller (2), n servo actuators (1), n servo cables (3) and a bulkhead. The servo controller (2) is a horizontally placed ring structure; the n servo actuators (1) are uniformly arranged on the upper surface of the servo controller (2) in the axial direction; the servo controller (2) is connected with the n servo actuators (1) through the n servo cables (3); the servo actuators (1) correspond to the servo cables (3) one by one; the bulkhead is a vertically placed cylindrical structure; the bulkhead is sleeved on the outer wall of the servo controller (2) and the n servo actuators (1); n is a positive integer, and 2<=n<=4.

2. An integrated electromechanical actuator for close-coupled cabin walls according to claim 1, wherein: The n servo actuators (1) are located at the edges of the upper surface of the servo controller (2); the n servo actuators (1) are fixedly connected with the inner wall of the bulkhead.

3. An integrated electromechanical actuator for close-coupled wall applications according to claim 2, wherein: The cross section of the servo actuator (1) is a sector structure; the outer wall of the servo actuator (1) is an arc surface, which is adapted to the inner wall of the bulkhead; the inner wall of the servo actuator (1) is an arc surface structure.

4. An integrated electromechanical actuator for close-coupled cabin walls according to claim 3, wherein: The servo controller (2) is provided with a through hole at the center; the inner wall arc of the servo actuator (1) corresponds to the arc of the through hole of the servo controller (2), so that the servo actuator (1) is arranged on the ring surface of the servo controller (2); the radial width of the servo actuator (1) is 88-90mm.

5. The integrated electromechanical actuator of claim 1, wherein: The height of the servo controller (2) is 19-21mm; the upper surface of the servo controller (2) is provided with n through holes (14); the n through holes (14) are uniformly distributed in the circumferential direction; the positions of the through holes (14) correspond to the servo actuators (1) one by one; the diameter of the through hole (14) is 4.4-4.6mm.

6. An integrated electromechanical actuator for close-coupled wall applications according to claim 5, wherein: The servo actuator (1) comprises an upper shell (4), a lower shell (5), a servo motor (6), a speed reducer, a screw pair, an angle displacement sensor (9) and a yoke output structure (10). The upper shell (4) and the lower shell (5) are both shell structures with sector cross sections; the upper shell (4) is arranged on the top of the lower shell (5); the upper shell (4) and the lower shell (5) are connected to form a closed space; the servo motor (6) is arranged in the inner cavity of the upper shell (4); the output shaft of the upper shell (4) is arranged downward; the speed reducer is arranged in the inner cavity of the upper shell (4); the screw pair is arranged in the inner cavity of the lower shell (5); the yoke output structure (10) is arranged horizontally on the side wall of the lower shell (5) in the axial direction; the servo motor (6), the speed reducer, the screw pair and the yoke output structure (10) are sequentially connected; the angle displacement sensor (9) is arranged on the yoke output structure (10).

7. An integrated electromechanical actuator for close-coupled wall applications according to claim 6, wherein: The servo motor (6) sequentially drives the speed reducer, the screw pair and the yoke output structure (10) to rotate; the angle displacement sensor (9) measures the rotation angle of the yoke output structure (10).

8. An integrated electromechanical actuator for close-coupled wall applications according to claim 6, wherein: The bottom of the lower shell (5) is provided with a threaded hole (11); each servo actuator (1) is connected with the corresponding through hole (14) through the threaded hole (11).

9. The integrated electromechanical actuator of claim 6, wherein: The outer side wall of the upper shell (4) is provided with a mounting hole (12) and a positioning hole (13); each servo actuator (1) is aligned with respect to the inner wall of the bulkhead through the positioning hole (13); and each servo actuator (1) is fixed to the inner wall of the bulkhead through the mounting hole (12).

10. The integrated electromechanical actuator of claim 1, wherein: The servo cable (3) realizes the electrical connection between the servo controller (2) and the servo actuator (1) within the installation envelope size; the servo cable (3) is arranged in the wiring groove (15) on the side of the electromechanical actuator (1), thereby saving space.

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