Redundant transmission device and steering gear system having the same

Abstract

The embodiment of the present application provides a redundant transmission device and a steering gear system having the same, wherein the redundant transmission device is used to converge the power flow of three motors to the same output actuator, including a three-gear mechanism, a first two-way overrunning clutch, a second two-way overrunning clutch, a first brake, a planetary gear mechanism, a fourth gear and a second brake. The first motor is isolated when a fault occurs in the first motor by setting the first two-way overrunning clutch; the second motor is isolated when a fault occurs in the second motor by setting the second two-way overrunning clutch; the first motor and the second motor are isolated at the same time when both the first motor and the second motor fail by setting the first brake; the third motor is isolated when a fault occurs in the third motor by setting the second brake, thereby realizing a three-redundant transmission driven by three motors, thereby improving the reliability of the steering gear system.

Description

Technical Field

[0001] The present application relates to the technical field of flight control systems, and in particular to a redundant transmission device and a steering gear system having the same. Background Art

[0002] In various types of aircraft in the aerospace industry, the servo system is an indispensable key component of the flight control system. Its reliability directly determines whether the aircraft can operate normally. In order to improve the reliability of the servo system, redundancy technology has become an important development direction. Redundancy technology is a technology that can improve the reliability of the system by adding additional resources to the system and reasonably selecting and allocating the resources in the system to ensure that the entire system will not fail when a subsystem fails.

[0003] At present, most commonly used servo systems are dual-redundancy transmissions, which mainly focus on the dual-redundancy design of the drive circuit (such as the speed integration of dual motors, the force integration of dual motors) or the dual-redundancy design of the motor windings. Therefore, how to increase the redundancy of the servo system to improve the reliability of the servo system has become a technical problem that needs to be urgently solved in this field. Summary of the invention

[0004] The purpose of the embodiment of the present application is to provide a redundant transmission device and a steering gear system having the same, so as to realize a triple redundant transmission driven by three motors, thereby improving the reliability of the steering gear system. The specific technical solution is as follows:

[0005] An embodiment of the first aspect of the present application provides a redundant transmission device for converging the power flow of three motors to the same output actuator, wherein the three motors include a first motor, a second motor and a third motor, and the redundant transmission device includes: a three-gear mechanism, wherein the three-gear mechanism includes a first gear, a second gear and a third gear, wherein the second gear is arranged between the first gear and the third gear, and the first gear and the third gear are both engaged with the second gear; a first two-way overrunning clutch, wherein the input end of the first two-way overrunning clutch is connected to the output end shaft of the first motor, and the output end of the first two-way overrunning clutch is connected to the first gear shaft; a second two-way overrunning clutch, wherein the input end of the second two-way overrunning clutch is connected to the output end shaft of the second motor The first and second gears are connected to each other via a first brake, the output end of the first brake is connected to the second gear shaft; a planetary gear mechanism, the planetary gear mechanism includes a sun gear, a planetary gear, an outer gear ring and a planetary carrier, wherein the planetary gear is meshed with the sun gear, the sun gear is coaxially connected to the second gear, the planetary gear is mounted on the planetary carrier, the outer gear ring is coaxially connected to the planetary carrier and the output actuator, and the outer gear ring is arranged between the planetary carrier and the output actuator; a fourth gear, the fourth gear is meshed with the outer gear ring; a second brake, the input end of the second brake is connected to the output end shaft of the third motor, and the output end of the second brake is connected to the fourth gear shaft.

[0006] According to the redundant transmission device provided in the embodiment of the first aspect of the present application, when the first motor, the second motor and the third motor are all operating normally, the power flows output by the first motor and the second motor can be converged on the second gear by means of a three-gear mechanism, and the power flow output by the third motor can be transmitted to the outer ring gear of the planetary gear mechanism by means of the fourth gear. Since the second gear is coaxially connected to the sun gear of the planetary gear mechanism, the sun gear is meshed with the planetary gear, and the planetary carrier for mounting the planetary gear is coaxially connected to the outer ring gear, it can be understood that the power flows output by the first motor and the second motor can be transmitted to the planetary gear after being converged, and converged with the power flow output by the third motor through the shaft connecting the planetary carrier and the outer ring gear, and then transmitted to the output actuator connected to the shaft. Moreover, by setting a first two-way overrunning clutch, the first motor can be isolated when the first motor fails; by setting a second two-way overrunning clutch, the second motor can be isolated when the second motor fails; by setting a first brake connected to the second gear shaft of the three-gear mechanism, the second gear can be braked when both the first motor and the second motor fail, so as to isolate the first motor from the second motor at the same time; by setting a second brake connected to the third motor and the fourth gear shaft, when the third motor fails, the second brake can lock the shaft connected to the third motor and brake the fourth gear at the same time, so as to isolate the third motor, thereby reducing the impact of the failure of each motor on the overall system. That is, by using the redundant transmission device provided in the embodiment of the present application, a three-redundant transmission driven by three motors can be realized, thereby improving the reliability of the overall system.

[0007] In some embodiments of the present application, the redundant transmission device also includes a ball screw, which is arranged between the outer ring gear and the output actuator, and the ball screw is configured to convert the rotational displacement of the shaft connecting the planetary carrier and the outer ring gear into a linear displacement and transmit it to the output actuator.

[0008] An embodiment of the second aspect of the present application provides a steering gear system, including a first motor, a second motor, a third motor, the redundant transmission device provided in the embodiment of the first aspect of the present application, and an output actuator.

[0009] According to the servo system provided by the embodiment of the second aspect of the present application, when the first motor, the second motor and the third motor are all operating normally, the power flows output by the first motor and the second motor can be converged on the second gear by means of a three-gear mechanism, and the power flow output by the third motor can be transmitted to the outer ring gear of the planetary gear mechanism by means of a fourth gear. Since the second gear is coaxially connected to the sun gear of the planetary gear mechanism, the sun gear is meshed with the planetary gear, and the planetary carrier for mounting the planetary gear is coaxially connected to the outer ring gear, it can be understood that the power flows output by the first motor and the second motor can be transmitted to the planetary gear after being converged, and converged with the power flow output by the third motor through the shaft connecting the planetary carrier and the outer ring gear, and then transmitted to the output actuator connected to the shaft. Moreover, by setting a first two-way overrunning clutch, the first motor can be isolated when the first motor fails; by setting a second two-way overrunning clutch, the second motor can be isolated when the second motor fails; by setting a first brake connected to the second gear shaft of the three-gear mechanism, the second gear can be braked when both the first motor and the second motor fail, so as to isolate the first motor from the second motor at the same time; by setting a second brake connected to the third motor and the fourth gear shaft, when the third motor fails, the second brake can lock the shaft connected to the third motor and brake the fourth gear at the same time, so as to isolate the third motor, thereby reducing the impact of the failure of each motor on the overall steering gear system. That is, by using the steering gear system provided by the embodiment of the present application, a three-motor-driven three-redundant transmission can be realized, thereby improving the reliability of the overall steering gear system.

[0010] In some embodiments of the present application, the servo system also includes a first position sensor, a second position sensor, a third position sensor and a fourth position sensor, wherein the first position sensor is connected to the first motor; the second position sensor is connected to the second motor; the third position sensor is connected to the third motor; and the fourth position sensor is connected to the output actuator.

[0011] In some embodiments of the present application, the steering gear system further includes a fifth position sensor, and the fifth position sensor is connected to the second gear included in the redundant transmission device. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0013] Figure 1 A working principle diagram of a redundant transmission device provided in an embodiment of the present application;

[0014] Figure 2 This is a diagram showing the main structure of a steering gear system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0015] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0016] refer to Figure 1 As shown, an embodiment of the first aspect of the present application provides a redundant transmission device for converging the power flows of three motors to the same output actuator, the three motors including a first motor 100, a second motor 200 and a third motor 300, the redundant transmission device including a three-gear mechanism 40, a first two-way overrunning clutch 50, a second two-way overrunning clutch 60, a first brake 70, a planetary gear mechanism 80, a fourth gear 90 and a second brake 110.

[0017] Specifically, the three-gear mechanism 40 includes a first gear 41, a second gear 42 and a third gear 43, wherein the second gear 42 is arranged between the first gear 41 and the third gear 43, and the first gear 41 and the third gear 43 are both meshed with the second gear 42; the input end of the first two-way overrunning clutch 50 is connected to the output end shaft of the first motor 100, and the output end of the first two-way overrunning clutch 50 is connected to the first gear 41 shaft; the input end of the second two-way overrunning clutch 60 is connected to the output end shaft of the second motor 200, and the output end of the second two-way overrunning clutch 60 is connected to the third gear 43 shaft; the output end of the first brake 70 is connected to the The second gear 42 is axially connected; the planetary gear mechanism 80 includes a sun gear 81, a planetary gear 82, an outer ring gear 83 and a planet carrier 84, wherein the planetary gear 82 is meshed with the sun gear 81, the sun gear 81 is coaxially connected to the second gear 42, the planetary gear 82 is mounted on the planet carrier 84, the outer ring gear 83 is coaxially connected to the planet carrier 84 and the output actuator 500, and the outer ring gear 83 is arranged between the planet carrier 84 and the output actuator 500; the fourth gear 90 is meshed with the outer ring gear 83; the input end of the second brake 110 is connected to the output end shaft of the third motor 300, and the output end of the second brake 110 is connected to the fourth gear 90 shaft.

[0018] According to the redundant transmission device provided in the embodiment of the first aspect of the present application, when the first motor 100, the second motor 200, and the third motor 300 are all operating normally, the three-gear mechanism 40 can be used to converge the power flows output by the first motor 100 and the second motor 200 on the second gear 42, and the fourth gear 90 can be used to transmit the power flow output by the third motor 300 to the outer ring gear 83 of the planetary gear mechanism 80. Since the second gear 42 is coaxially connected to the sun gear 81 of the planetary gear mechanism 80, the sun gear 81 is meshed with the planetary gear 82, and the planetary carrier 84 for mounting the planetary gear 82 is coaxially connected to the outer ring gear 83, it can be understood that the power flows output by the first motor 100 and the second motor 200 can be transmitted to the planetary gear 82 after convergence, and converge with the power flow output by the third motor 300 through the shaft connecting the planetary carrier 84 and the outer ring gear 83, and then transmitted to the output actuator 500 connected to the shaft. Moreover, by setting the first two-way overrunning clutch 50, the first motor 100 can be isolated when the first motor 100 fails; by setting the second two-way overrunning clutch 60, the second motor 200 can be isolated when the second motor 200 fails; by setting the first brake 70 connected to the second gear shaft 42 of the three-gear mechanism 40, the second gear 42 can be braked when both the first motor 100 and the second motor 200 fail, so as to achieve isolation of the first motor 100 and the second motor 200 at the same time; by setting the second brake 110 connected to the third motor 300 and the fourth gear 90 shaft, when the third motor 300 fails, the second brake 110 can lock and brake the shaft connected to the third motor 300, and brake the fourth gear 90 at the same time, so as to achieve isolation of the third motor 300, thereby reducing the impact of the failure of each motor on the overall system. That is, by applying the redundant transmission device provided in the embodiment of the present application, the three-redundant transmission driven by three motors can be realized, thereby improving the reliability of the overall system.

[0019] In some embodiments of the present application, the redundant transmission device also includes a ball screw 120, which is arranged between the outer ring gear 83 and the output actuator 500. The ball screw 120 is configured to convert the rotational displacement of the shaft connecting the planetary carrier 84 and the outer ring gear 83 into a linear displacement and transmit it to the output actuator 500, so that the redundant transmission device can be suitable for the output end that needs to output a linear stroke.

[0020] refer to Figure 1 and Figure 2 As shown, an embodiment of the second aspect of the present application provides a steering gear system, including a first motor 100, a second motor 200, a third motor 300, a redundant transmission device provided according to the embodiment of the first aspect of the present application, and an output actuator 500.

[0021] According to the servo system provided by the embodiment of the second aspect of the present application, when the first motor 100, the second motor 200, and the third motor 300 are all operating normally, the three-gear mechanism 40 can be used to converge the power flows output by the first motor 100 and the second motor 200 on the second gear 42, and the fourth gear 90 can be used to transmit the power flow output by the third motor 300 to the outer ring gear 83 of the planetary gear mechanism 80. Since the second gear 42 is coaxially connected to the sun gear 81 of the planetary gear mechanism 80, the sun gear 81 is meshed with the planetary gear 82, and the planetary carrier 84 for mounting the planetary gear 82 is coaxially connected to the outer ring gear 83, it can be understood that the power flows output by the first motor 100 and the second motor 200 can be transmitted to the planetary gear 82 after convergence, and converge with the power flow output by the third motor 300 through the shaft connecting the planetary carrier 84 and the outer ring gear 83, and then transmitted to the output actuator 500 connected to the shaft. Moreover, by setting the first two-way overrunning clutch 50, the first motor 100 can be isolated when the first motor 100 fails; by setting the second two-way overrunning clutch 60, the second motor 200 can be isolated when the second motor 200 fails; by setting the first brake 70 connected to the second gear shaft 42 of the three-gear mechanism 40, the second gear 42 can be braked when both the first motor 100 and the second motor 200 fail, so as to achieve isolation of the first motor 100 and the second motor 200 at the same time; by setting the second brake 110 connected to the third motor 300 and the fourth gear 90 shaft, when the third motor 300 fails, the second brake 110 can lock the shaft connected to the third motor 300 and brake the fourth gear 90 at the same time, so as to achieve isolation of the third motor 300, thereby reducing the influence of the failure of each motor on the overall steering gear system. That is, by using the steering gear system provided by the embodiment of the present application, the three-motor driven three-redundant transmission can be realized, thereby improving the reliability of the overall steering gear system.

[0022] In some embodiments of the present application, the servo system further includes a first position sensor 130, a second position sensor 140, a third position sensor 150, and a fourth position sensor 160. Among them, the first position sensor 130 is connected to the first motor 100; the second position sensor 140 is connected to the second motor 200; the third position sensor 150 is connected to the third motor 300; the fourth position sensor 160 is connected to the output actuator 500. When it is necessary to adjust the output stroke of the servo system, the external controller for controlling the servo system can obtain the position data collected by the position sensors connected to each motor and the output actuator 500, and based on the servo control instruction calculated from the position data, drive the motors of the servo system to work at a desired speed, so that the output actuator 500 of the servo system can output a desired stroke amount. It can be seen that by connecting position sensors to each motor and the output actuator 500 of the servo system, it is beneficial to realize the automatic control of the servo system.

[0023] Furthermore, the servo system may further include a fifth position sensor 170, and the fifth position sensor 170 may be connected to the second gear 42 included in the redundant transmission device provided in the embodiment of the first aspect of the present application. Since the power flows output by the first motor 100 and the second motor 200 converge on the second gear 42, it can be understood that the position data of the second gear 42 can reflect the displacement amount transmitted to the output end when the first motor 100 and / or the second motor 200 work. By obtaining the position data collected by the position sensors connected to each motor and the output actuator 500, and combining the position data of the second gear 42 collected by the fifth position sensor 170, the external controller can further improve the control accuracy of the servo system, thereby improving the control effect and enabling the output actuator 500 to more accurately output a desired stroke amount.

[0024] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.

[0025] The various embodiments of the present application are described in a related manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0026] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A redundant transmission device, It is characterized in that The device is used to gather power flows of three motors to the same output actuator, wherein the three motors include a first motor, a second motor and a third motor, and the redundant transmission device includes: A three-gear mechanism, the three-gear mechanism comprising a first gear, a second gear and a third gear, wherein the second gear is arranged between the first gear and the third gear, and the first gear and the third gear are both meshed with the second gear; A first two-way overrunning clutch, wherein an input end of the first two-way overrunning clutch is connected to an output end shaft of the first motor, and an output end of the first two-way overrunning clutch is connected to the first gear shaft; A second two-way overrunning clutch, wherein the input end of the second two-way overrunning clutch is connected to the output end shaft of the second motor, and the output end of the second two-way overrunning clutch is connected to the third gear shaft; a first brake, wherein an output end of the first brake is connected to the second gear shaft; A planetary gear mechanism, the planetary gear mechanism comprising a sun gear, planetary gears, an outer gear ring and a planet carrier, wherein the planetary gear is meshed with the sun gear, the sun gear is coaxially connected to the second gear, the planetary gear is mounted on the planet carrier, the outer gear ring is coaxially rotatably connected to the planet carrier, the outer gear ring is coaxially connected to the planet carrier and the output actuator, and the outer gear ring is arranged between the planet carrier and the output actuator; a fourth gear meshing with the outer gear ring; A second brake, wherein the input end of the second brake is connected to the output end shaft of the third motor, and the output end of the second brake is connected to the fourth gear shaft.

2. The redundant transmission device according to claim 1, It is characterized in that The redundant transmission device also includes a ball screw, which is arranged between the outer gear ring and the output actuator, and the ball screw is configured to convert the rotational displacement of the shaft connecting the planet carrier and the outer gear ring into a linear displacement and transmit it to the output actuator.

3. A steering gear system, It is characterized in that The invention comprises a first motor, a second motor, a third motor, a redundant transmission device according to any one of claims 1 to 2, and an output actuator.

4. The steering gear system according to claim 3, It is characterized in that The steering gear system further includes a first position sensor, a second position sensor, a third position sensor and a fourth position sensor, wherein: The first position sensor is connected to the first motor; the second position sensor is connected to the second motor; the third position sensor is connected to the third motor; and the fourth position sensor is connected to the output actuator.

5. The steering gear system according to claim 4, It is characterized in that The steering gear system further includes a fifth position sensor, and the fifth position sensor is connected to the second gear included in the redundant transmission device.

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