A vector yaw mechanism and a stratospheric airship containing the same

Abstract

The present invention discloses a vector yaw mechanism and a stratospheric airship comprising the same. The vector yaw mechanism comprises a base plate (1), an arc guide rail (2), a slider (3), an I-beam (4), a worm mounting seat (5), a motor mounting seat (6), a worm wheel (7), a worm (8), a servo motor (9), a coupling (10), a main propulsion motor bracket (11) and a driver dovetail support frame (12). The present invention drives the arc guide rail slider to rotate through a worm gear transmission mechanism, thereby realizing the yaw function of the vector mechanism, providing a new vector yaw mechanism, having the characteristics of compact structure, light weight, high reliability, etc., being adaptable to strong vibration, large load and working environment of -70℃~55℃, and improving the anti-overturning performance of the vector yaw device.

Description

Technical Field

[0001] The invention belongs to the technical field of airship power drive, and in particular relates to a vector yaw mechanism and a stratospheric airship comprising the same. Background Art

[0002] The yaw mechanism has the advantages of variable mechanical design structure and strong adaptability to functional environments, and has a wide range of applications. The general yaw mechanism is mainly used in the field of wind power generation, and its functions are realized through gear transmission and hydraulic control, which leads to its large size, excessive weight, and complex mechanical structure, and it cannot be applied to the power drive field with limited structural weight. In the field of power drive technology for airships, no similar yaw mechanism has been found.

[0003] Therefore, a yaw mechanism with a new structure is urgently needed.

[0004] The above information disclosed in this Background section is only for enhancement of understanding of the background of the invention and therefore it may contain information that does not form the prior art that is already known to a person of ordinary skill in the art. Summary of the invention

[0005] The present invention provides a vector yaw mechanism and a stratospheric airship comprising the same, thereby overcoming one or more problems caused by limitations and defects of the prior art at least to a certain extent.

[0006] Other features and advantages of the present invention will become apparent from the following detailed description, or may be learned in part by practice of the present invention.

[0007] According to a first aspect of the present invention, a vector yaw mechanism is disclosed, characterized in that it comprises: a base plate, an arc guide rail, a slider, an I-beam, a worm mounting seat, a motor mounting seat, a worm wheel, a worm, a servo motor, a coupling, a main propulsion motor bracket and a driver dovetail bracket;

[0008] The arc guide rail is fixed on the upper surface of the base plate;

[0009] The slider is arranged on the arc guide rail, and the I-beam is located above the slider; the main propulsion motor bracket is arranged on the I-beam;

[0010] The worm mounting seat and the motor mounting seat are arranged at mounting holes on the upper surface of the base plate;

[0011] The worm mounting seat is provided with the worm mounting hole, and the worm passes through the axis of the worm mounting seat mounting hole, thereby being fixed to the worm mounting seat;

[0012] One end of the worm is fixedly connected to the output shaft of the servo motor through the coupling;

[0013] The worm gear is fixed to the lower surface of the cylindrical boss of the main propulsion motor bracket.

[0014] According to an exemplary embodiment of the present invention, the arc guide rail is fixed to the base plate through the mounting holes on the upper surface of the base plate.

[0015] According to an exemplary embodiment of the present invention, a positioning ring is provided on the upper surface of the base plate, and the arc guide rail is reliably positioned by the positioning ring on the upper surface of the base plate.

[0016] According to an exemplary embodiment of the present invention, the rotation of the servo motor drives the worm and the worm wheel to rotate, thereby driving the main propulsion motor bracket fixedly connected to the worm wheel to rotate in a circular manner.

[0017] According to an exemplary embodiment of the invention, the worm meshes with a worm wheel.

[0018] According to an exemplary embodiment of the present invention, the circular arc guide rail is fixed to the upper surface of the base plate, and the slider is slidably connected to the circular arc guide rail to slide in a circle on the circular arc guide rail.

[0019] According to an exemplary embodiment of the present invention, a portion of the circular arc guide rail is nested in the slider.

[0020] According to an example embodiment of the present invention, two rows of eight protrusions are provided on the upper surface of the main thrust motor bracket, and main thrust motor mounting holes are provided on the upper surface of the protrusions. The main thrust motor is fixedly connected to the main thrust motor bracket through the main thrust motor mounting holes.

[0021] According to an exemplary embodiment of the present invention, four angle irons are arranged on both sides of the driver dovetail bracket, and the angle irons are provided with driver mounting holes. The driver is fixedly connected to the driver dovetail bracket through the angle iron mounting holes.

[0022] According to an exemplary embodiment of the present invention, an I-beam mounting hole is provided on the lower surface of the main propulsion motor bracket, and the main propulsion motor bracket is fixed to the I-beam through the mounting hole.

[0023] According to an exemplary embodiment of the present invention, the cylindrical boss of the main propulsion motor bracket and the positioning ring on the upper surface of the base plate are coaxial.

[0024] According to a second aspect of the present invention, a stratospheric airship is disclosed, characterized in that it comprises any of the aforementioned vector yaw mechanisms.

[0025] According to an exemplary embodiment of the present invention, the stratospheric airship is a rigid stratospheric airship.

[0026] According to an exemplary embodiment of the present invention, the stratospheric airship is a soft stratospheric airship.

[0027] The beneficial effects of the present invention are:

[0028] 1. The vector yaw mechanism of the present invention realizes yaw rotation through worm gear transmission and arc guide rail and slider rotation, which is a new yaw form with low energy consumption.

[0029] 2. The present invention has the characteristics of light weight, compact structure and high reliability, and is suitable as a power system for realizing the yaw motion of an aircraft.

[0030] 3. The upper surface of the base plate of the present invention is provided with an arc guide rail positioning ring, which has high concentricity, is easy to install and has the advantages of reliable positioning.

[0031] 4. The present invention adopts a slider embedded in a sliding connection arc guide rail positioning ring to reduce the axial movement of the turbine.

[0032] 5. The present invention increases the diameter of the turbine and reduces the circumferential swing amplitude of the turbine caused by the clearance between the turbine and worm gear. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The above and other objects, features and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.

[0034] Figure 1 A schematic structural diagram of the present invention is shown.

[0035] Figure 2 A schematic diagram showing the installation of components on the upper surface of the base plate of the present invention is shown.

[0036] Figure 3 The schematic diagram of the transmission principle of the present invention is shown.

[0037] Figure 4 A schematic diagram of the base plate of the present invention is shown.

[0038] In the figure: 1 is a base plate; 2 is an arc guide rail; 3 is a slider; 4 is an I-beam; 5 is a worm mounting seat; 6 is a motor mounting seat; 7 is a worm wheel; 8 is a worm; 9 is a servo motor; 10 is a coupling; 11 is a main thrust motor bracket; 12 is a driver dovetail bracket. DETAILED DESCRIPTION

[0039] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that the description of the present invention will be more comprehensive and complete and to fully convey the concepts of the example embodiments to those skilled in the art. The accompanying drawings are merely schematic illustrations of the present invention and are not necessarily drawn to scale.

[0040] In addition, the described features, structures or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present invention. However, those skilled in the art will appreciate that the technical solution of the present invention may be practiced while omitting one or more of the specific details, or other methods, components, steps, etc. may be adopted. In other cases, known structures, methods, implementations or operations are not shown or described in detail to avoid obscuring various aspects of the present invention.

[0041] The technical problem to be solved by the present invention is to provide a vector yaw mechanism, which can achieve a stable yaw function within a certain range under severe environmental conditions between -70°C and 55°C, strong vibration, and heavy load.

[0042] The technical problem to be solved by the present invention is achieved by the following structure: a vector yaw mechanism, including a base plate, an arc guide rail, a slider, an I-beam, a worm mounting seat, a motor mounting seat, a worm wheel, a worm, a servo motor, a coupling, a main propulsion motor bracket and a driver dovetail bracket.

[0043] The technical solution of the present invention is: a host computer sends instructions to a driver and a servo motor to determine the angle and direction of rotation. After the servo motor receives the instructions, the output shaft of the servo motor drives the worm to rotate, and the worm drives the worm wheel to rotate through the meshing area with the worm wheel. The worm wheel is fixedly connected to the main push motor bracket, and the main push motor bracket is fixedly connected to the slider through an I-beam. The slider and the circular guide rail are nested and connected, so that when the worm wheel rotates, it drives the slider to move back and forth in a circular motion on the circular guide rail, thereby realizing the yaw function of the mechanism.

[0044] The invention increases the diameter of the turbine and reduces the circumferential swing amplitude of the turbine caused by the clearance between the turbine and worm gear.

[0045] Furthermore, an arc guide rail is arranged on the upper surface of the base plate, and is reliably positioned by a positioning ring on the upper surface of the base plate; the arc guide rail, the worm mounting seat and the motor mounting seat are fixed through the mounting holes of the base plate, thereby realizing a fixed connection between the base plate and the arc guide rail, the worm mounting seat and the motor mounting seat.

[0046] Furthermore, the slider is located above the circular arc guide rail and is nested and slidably connected with the circular arc guide rail to realize circular rotation; an I-beam mounting hole is arranged on the top of the slider, thereby reducing the axial movement of the turbine caused by the dynamic imbalance of the propeller.

[0047] Preferably, the arc guide rail and the slider are both THK models.

[0048] Further, an I-beam is located above the slider, and the I-beam is fixedly connected to the slider through a mounting hole arranged at the top of the slider.

[0049] Furthermore, the main push motor bracket is located above the I-beam, and the lower surface of the main push motor bracket is provided with mounting holes, thereby realizing a fixed connection between the main push motor bracket and the I-beam.

[0050] Furthermore, the motor mounting seat is provided with a servo motor mounting hole, and the servo motor output shaft passes through the axis of the motor mounting seat mounting hole, thereby realizing a fixed connection between the servo motor and the motor mounting seat.

[0051] Furthermore, the worm mounting seat is provided with a worm mounting hole, and the worm passes through the axis of the worm mounting seat mounting hole, thereby achieving fixation with the worm mounting seat; one end of the worm is fixedly connected to the servo motor output shaft through a coupling.

[0052] Furthermore, a mounting hole is provided at the rear of the main push motor bracket, and the driver dovetail bracket passes through the main push motor bracket mounting hole, thereby realizing a fixed connection between the driver dovetail bracket and the main push motor mounting hole.

[0053] Furthermore, the upper surface of the main push motor bracket is provided with two rows of eight protrusions, and the upper surface of the protrusions is provided with main push motor mounting holes, and the main push motor passes through the main push motor mounting holes to achieve fixed connection with the main push motor bracket.

[0054] The further instructions received by the vector yaw mechanism come from the servo motor host computer control software. The instructions can realize the circular reciprocating operation of the vector yaw mechanism within the range of ±45°. When the instructions stop, the servo motor output shaft stops rotating, the worm gear transmission mechanism stops meshing, and the machine stops, and it has a self-locking function.

[0055] The vector yaw mechanism has a limit function. Each time the machine is turned on, it needs to return to the zero position and touch the zero position switch. When it moves to the maximum angle, it touches the limit switch.

[0056] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0057] According to a first embodiment of the present invention, a vector yaw mechanism is disclosed, such as Figure 1-4 As shown, it includes: a base plate 1, an arc guide rail 2, a slider 3, an I-beam 4, a worm mounting seat 5, a motor mounting seat 6, a worm wheel 7, a worm 8, a servo motor 9, a coupling 10, a main push motor bracket 11 and a driver dovetail bracket 12;

[0058] The upper surface of the bottom plate 1 is provided with a positioning ring, and the arc guide rail 2 is reliably positioned on the upper surface of the bottom plate 1 through the positioning ring on the upper surface of the bottom plate 1, and is fixed through the mounting holes on the upper surface of the bottom plate 1;

[0059] The slider 3 is arranged on the arc guide rail 2, and the I-beam 4 is located above the slider 3; the main push motor bracket 11 is arranged on the I-beam 4;

[0060] The worm mounting seat 5 and the motor mounting seat 6 are arranged at mounting holes on the upper surface of the base plate 1;

[0061] The worm mounting seat 5 is provided with a mounting hole for the worm 8, and the worm 8 passes through the axis of the mounting hole for the worm mounting seat 5, thereby being fixed to the worm mounting seat 5;

[0062] One end of the worm 8 is fixedly connected to the output shaft of the servo motor 9 through the coupling 10;

[0063] The worm gear 7 is fixed to the lower surface of the cylindrical boss of the main propulsion motor bracket 11 .

[0064] According to an exemplary embodiment of the present invention, the servo motor 9 rotates to drive the worm 8 and the worm wheel 7 to rotate, thereby driving the main propulsion motor bracket 11 fixedly connected to the worm wheel 7 to rotate in a circular manner.

[0065] According to an exemplary embodiment of the present invention, the circular arc guide rail 2 is fixed to the upper surface of the base plate 1 , and the slider 3 is slidably connected to the circular arc guide rail 2 to slide in a circle on the circular arc guide rail 2 .

[0066] According to an exemplary embodiment of the present invention, the upper surface of the main propulsion motor bracket 11 is provided with two rows of eight protrusions and a main propulsion motor mounting hole. The main propulsion motor is fixedly connected to the main propulsion motor bracket 11 through the main propulsion motor mounting hole.

[0067] According to an exemplary embodiment of the present invention, four angle irons are arranged on both sides of the driver dovetail bracket 12 , and the angle irons are provided with driver mounting holes. The driver is fixedly connected to the driver dovetail bracket 12 through the angle iron mounting holes.

[0068] According to an exemplary embodiment of the present invention, the main propulsion motor bracket 11 has an I-beam mounting hole disposed on its lower surface, and is fixed to the I-beam 4 through the mounting hole.

[0069] According to an exemplary embodiment of the present invention, the cylindrical boss of the main propulsion motor bracket 11 and the positioning ring on the upper surface of the base plate 1 are coaxial.

[0070] Specifically, the present invention provides a vector yaw mechanism device, such as Figure 1-2 As shown, it includes a base plate 1, an arc guide rail 2, a slider 3, an I-beam 4, a worm mounting seat 5, a motor mounting seat 6, a worm wheel 7, a worm 8, a servo motor 9, a coupling 10, a main push motor bracket 11 and a driver dovetail bracket 12.

[0071] like Figure 2 , Figure 4 As shown, the arc guide rail 2 is positioned circumferentially by a positioning ring protruding from the upper surface of the base plate 1 and is fixed to the base plate 1 by bolts.

[0072] like Figure 2 As shown, the slider 3 is nested and connected with the circular arc guide rail 2 to achieve circular rotation; the mounting holes on the lower surface of the I-beam 4 and the mounting holes on the upper surface of the slider 3 are fixed by bolts.

[0073] The arc guide rail and the slider may both be THK models, but the present invention is not limited thereto, and may also be other types of arc guide rails and sliders.

[0074] like Figure 2 As shown, the mounting holes of the worm mounting seat 5 and the motor mounting seat 6 are fixedly connected to the mounting holes on the upper surface of the base plate 1 by bolts; the servo motor 9 is fixedly connected to the motor mounting seat 6 by bolts; the worm 8 is installed in the worm mounting seat 5 through a bearing, and the worm 8 is connected to the output shaft of the servo motor 9 by a coupling 10.

[0075] like Figure 3 As shown, the main propulsion motor bracket 11 is fixedly connected to the mounting holes on the upper surface of the I-beam 4 by bolts.

[0076] like Figure 1 As shown, the main push motor bracket 11 and the driver dovetail bracket 12 are fixedly connected by bolts. The upper surface of the main push motor bracket 11 is provided with 8 bumps for installing and fixing the main push motor; similarly, a total of four angle irons are provided on both sides of the driver dovetail bracket 12, and the angle irons are provided with driver installation holes.

[0077] like Figure 3 As shown, the worm gear 7 is fixedly connected to the protruding truncated cone at the bottom of the main propulsion motor bracket 11 by bolts.

[0078] like Figure 1 , Figure 3 As shown, the use method and working principle of the present invention are as follows: the bottom plate 1 is fixed to the tail of the airship, and after the driver obtains the steering command, the servo motor 9 rotates, and the worm 8 is driven to rotate through the coupling 10, the worm and worm gear are meshed, and the worm gear 7 rotates; the main propulsion motor bracket 11 fixedly connected to the worm gear 7 is fixedly connected to the slider 3 through the I-beam 4, and the slider 3 and the circular arc guide rail 2 are nested. Then, when the worm gear 7 rotates, it drives the slider 3 to move in a circle on the circular arc guide rail 2, and at the same time drives the main propulsion motor bracket 11 and the driver dovetail bracket 12 to rotate, so as to achieve the vector yaw function. Figure 2 , Figure 3 As shown, the present invention adopts a sliding connection between the slider 3 and the circular arc guide rail 2 to reduce the axial movement of the turbine 7; the present invention increases the diameter of the turbine 7 and reduces the circumferential swing amplitude of the turbine 7 caused by the clearance of the turbine worm pair.

[0079] According to a second embodiment of the present invention, a stratospheric airship (not shown) is disclosed, wherein the stratospheric airship comprises the vector yaw mechanism of the first embodiment.

[0080] The stratospheric airship is a hard stratospheric airship or a soft stratospheric airship.

[0081] The beneficial effects of the present invention are:

[0082] 1. The vector yaw mechanism of the present invention realizes yaw rotation through worm gear transmission and arc guide rail and slider rotation, which is a new yaw form with low energy consumption.

[0083] 2. The present invention has the characteristics of light weight, compact structure and high reliability, and is suitable as a power system for realizing the yaw motion of an aircraft.

[0084] 3. The upper surface of the base plate of the present invention is provided with an arc guide rail positioning ring, which has high concentricity, is easy to install and has the advantages of reliable positioning.

[0085] 4. The present invention adopts a slider embedded in a sliding connection arc guide rail positioning ring to reduce the axial movement of the turbine.

[0086] 5. The present invention increases the diameter of the turbine and reduces the circumferential swing amplitude of the turbine caused by the clearance between the turbine and worm gear.

[0087] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed by the present invention. The specification and examples are to be considered exemplary only, and the true scope and spirit of the present invention are indicated by the following claims.

[0088] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A vector yaw mechanism, characterized in that: include: Base plate (1), arc guide rail (2), slide block (3), I-beam (4), worm mounting seat (5), motor mounting seat (6), worm wheel (7), worm (8), servo motor (9), coupling (10), main push motor bracket (11) and driver dovetail bracket (12); The arc guide rail (2) is fixed on the upper surface of the base plate (1); The slider (3) is arranged on the circular arc guide rail (2), and the I-beam (4) is located above the slider (3); the main propulsion motor bracket (11) is arranged on the I-beam (4); The worm mounting seat (5) and the motor mounting seat (6) are arranged at mounting holes on the upper surface of the base plate (1); The worm mounting seat (5) is provided with a mounting hole for the worm (8), and the worm (8) passes through the axis of the mounting hole of the worm mounting seat (5), thereby being fixed to the worm mounting seat (5); One end of the worm (8) is fixedly connected to the output shaft of the servo motor (9) via the coupling (10); The worm gear (7) is fixed to the lower surface of the cylindrical boss of the main propulsion motor bracket (11); The servo motor (9) rotates to drive the worm (8) and the worm wheel (7) to rotate, thereby driving the main propulsion motor bracket (11) fixedly connected to the worm wheel (7) to rotate in a circular manner; The circular arc guide rail (2) is fixed to the upper surface of the base plate (1), and the sliding block (3) is slidably connected to the circular arc guide rail (2) so as to slide in a circle on the circular arc guide rail (2); A portion of the circular arc guide rail (2) is nested in the slider (3); The upper surface of the main propulsion motor bracket (11) is provided with two rows of eight protrusions, the upper surfaces of the protrusions are provided with main propulsion motor mounting holes, and the main propulsion motor passes through the main propulsion motor mounting holes to achieve fixed connection with the main propulsion motor bracket (11); Four angle irons are arranged on both sides of the driver dovetail bracket (12), and the angle irons are provided with driver mounting holes, and the driver is fixedly connected to the driver dovetail bracket (12) through the angle iron mounting holes; The main propulsion motor bracket (11) is provided with an I-beam mounting hole on its lower surface, and is fixed to the I-beam (4) via the mounting hole; The cylindrical boss of the main propulsion motor bracket (11) and the positioning ring on the upper surface of the base plate (1) are coaxial.

2. A stratospheric airship, characterized in that: It includes the vector yaw mechanism as claimed in claim 1.

3. The stratospheric airship according to claim 2, characterized in that: The stratospheric airship is a hard stratospheric airship or a soft stratospheric airship.

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