A high-power disc steering gear with automatic clearance adjustment and its control system

Abstract

The present invention discloses a high-power disk-type steering gear capable of automatically adjusting the gap, which includes a single-stage bevel gear pair transmission group in series of one or more stages: the single-stage bevel gear pair transmission group includes a fixed rudder disk, a movable rudder disk, a cylindrical housing, an annular housing cover, a cylindrical component and two bevel gears; the present invention also discloses a steering gear control system, which includes a rotary motor, a rotary motor driver, an angle encoder, a current sensor, a linear motor, a linear motor driver, a displacement sensor, a pressure sensor, a temperature sensor, a power supply module and a calculation and control module; the steering gear of the present invention can achieve automatic gap adjustment, and at the same time, a series of multi-stage bevel gear pair transmission groups are used for transmission, so that the superposition of speeds can be achieved, and thus a greater output power can be achieved, realizing higher power performance of large underwater submersibles. The control system of the present invention realizes high-precision holding ability, and at the same time, the control of backlash can reduce the impact during transmission, thereby reducing noise and improving transmission efficiency.

Description

Technical Field

[0001] The present invention relates to the field of underwater vehicles, and more particularly, to a disc servo that uses multi-motor input and multi-stage bevel gear reduction groups to achieve high-power output and can adaptively adjust the gap to achieve low noise and high energy utilization rate. Background Art

[0002] Nowadays, with the rapid development of the marine industry and the continuous strengthening of the territorial defense awareness of countries around the world, each country is striving to improve the stealth of underwater vehicles. Reducing noise, compressing volume, and improving acoustic stealth performance have evolved into a revolution in submarine design. In recent years, new concepts such as "quiet submarines", "noise-free speed", and "stealth submarines" have continuously emerged, reflecting the development trends in this field. The servo is an important part of the underwater vehicle control system and also an important source of submarine noise. Reducing the servo noise is an important way to improve the stealth performance of underwater vehicles, and most of the noise comes from the impact caused by low mechanical accuracy in the servo transmission, which also brings corresponding energy losses and is the culprit for system heating and overload. In current servos, the gear pair is often installed with a fixed axis, and the gear backlash almost completely depends on the machining accuracy and assembly accuracy of transmission parts, greatly increasing the complexity of manufacturing and assembly processes. At the same time, as the gear wear accumulates continuously, the backlash will further increase, reducing the control accuracy and also weakening the long-term stability of the mechanical system. In addition, the servo drive of underwater submersibles is mostly concentrated at the rear side of the fuselage, resulting in a crowded space. The current parallel arrangement of the axes of multi-stage gear sets greatly restricts the design of the transmission scheme and is also not conducive to achieving higher power output in a narrow space. Summary of the Invention

[0003] The object of the present invention is to solve the problems existing in the existing servo solutions, such as low efficiency, high noise, heating, and limited design space, which do not meet the requirements of stealth operation, precise control, and power improvement of underwater vehicles in China. A new solution is proposed to achieve a high-performance underwater vehicle servo, servo control system, and method with low noise and vibration and reasonable space utilization.

[0004] The automatically adjustable gap high-power disc servo of the present invention includes at least one single-stage bevel gear pair transmission group: the single-stage bevel gear pair transmission group includes a fixed steering wheel, a moving steering wheel, a cylindrical housing, an annular housing cover, a cylindrical component, and two bevel gears; the fixed steering wheel and the moving steering wheel are coaxially arranged, and on the outer peripheral regions of the adjacent surfaces of the two steering wheels, umbrella-shaped bevel teeth are respectively arranged along the radial direction inward; the cylindrical housing is fixed to the fixed steering wheel and is used to limit the fixed steering wheel and the moving steering wheel in the direction of approaching each other along the axis; the annular housing cover is arranged at the other end of the moving steering wheel relative to the fixed steering wheel and is fixedly connected to the cylindrical housing, and is used to limit the fixed steering wheel and the moving steering wheel in the direction of moving away from each other along the axis;

[0005] The two bevel gears are coaxially arranged between the fixed rudder disc and the movable rudder disc, and are simultaneously engaged with the umbrella-shaped bevel teeth on the fixed rudder disc and the movable rudder disc; the cylindrical component is connected between the two bevel gears, and includes a rotary motor, a linear motor and a slip ring; the rotary motor is used to drive the two bevel gears to rotate along their own axes; the linear motor is used to drive the entire cylindrical component to axially expand and contract to adjust the distance between the two bevel gears. The linear motor and the rotary motor are coaxially installed, and the power lines and control lines of the two motors are led out through the slip ring arranged between the two motors; the linear motor can feedback its axial force; a plurality of mounting holes are distributed on the fixed rudder disc and the movable rudder disc along the circumferential direction. The steering gear is provided with a plurality of single-stage bevel gear pair transmission groups connected in series along the axis, and the fixed rudder disc of the next-stage single-stage bevel gear pair transmission group is coaxially and fixedly connected to the movable rudder disc of the previous-stage single-stage bevel gear pair transmission group.

[0006] The steering gear control system of the present invention includes: a rotary motor, a rotary motor driver, an angle encoder, a current sensor, a linear motor, a linear motor driver, a displacement sensor, a pressure sensor, a temperature sensor, a power supply module and a calculation control module; the power supply module is used to supply power to the entire control system; the rotary motor is powered and controlled by the rotary motor driver; the angle encoder and the current sensor are installed on the rotary motor and send the collected signals to the calculation control module, so that the calculation control module obtains the angle, angular velocity and torque parameters of the rotary motor; the linear motor is powered and controlled by the linear motor driver; the displacement sensor and the pressure sensor are installed on the linear motor and send the collected signals to the calculation control module, so that the calculation control module obtains the displacement, linear velocity and output force parameters of the linear motor; the temperature sensor is used to send the temperature data of the material to the calculation control module, so that the calculation control module obtains the thermal expansion and contraction effect compensation parameters of the material; when the calculation control module detects abnormal data of any sensor, it stops the system output by controlling the rotary motor driver and the linear motor driver.

[0007] The beneficial effects of the present invention:

[0008] (1) For the electric steering gear of the present invention, a transmission-gap adjustment integrated structure based on bevel gear pairs is adopted for transmission, and automatic gap adjustment can be realized.

[0009] (2) For the electric steering gear of the present invention, a series of multi-stage bevel gear pair transmission groups are adopted for transmission, thereby realizing the superposition of speeds, so that a larger output power can be achieved, and higher power performance of a large underwater submersible can be realized. Compared with the method of improving the output power by parallel connection of motors, this series connection method does not have the problems of asynchronism of driving elements and insignificant improvement of the overall output power inherent in the former.

[0010] (3) The servo with dynamically adjustable gap adopting the control system and control method of the present invention can achieve a high precision retention ability. At the same time, the control of the backlash can reduce the impact during the transmission process, thereby reducing noise and improving the transmission efficiency. Brief Description of the Drawings

[0011] The present invention will be further described below in conjunction with the drawings and embodiments.

[0012] Figure 1 Structural diagram of the control system of the present invention;

[0013] Figure 2 Schematic diagram of the overall structure of the servo with an automatically adjustable bevel gear pair clearance;

[0014] Figure 3 Schematic diagram of the partial structure of the servo with an automatically adjustable bevel gear pair clearance;

[0015] Figure 4 Schematic diagram of the improved PID control principle of the rotary motor and the linear motor in the servo with an automatically adjustable bevel gear pair clearance.

[0016] Reference numerals: 1 - bevel gear Ⅰ, 2 - bevel gear Ⅱ, 3 - fixed rudder disc, 4 - movable rudder disc, 5 - rotary motor, 6 - conductive slip ring, 7 - linear motor. Detailed Description of the Embodiments

[0017] Embodiment 1

[0018] As Figure 2 , 3 shown, a high-power disc-type servo with automatically adjustable gap in this embodiment includes a single-stage bevel gear pair transmission group: the single-stage bevel gear pair transmission group includes a fixed rudder disc 3, a movable rudder disc 4, a cylindrical housing, an annular housing cover, a cylindrical component, and two bevel gears (including bevel gear Ⅰ 1 and bevel gear Ⅱ 2); the fixed rudder disc 3 and the movable rudder disc 4 are coaxially arranged, and umbrella-shaped bevel teeth extending radially inward are respectively arranged on the outer peripheral regions of the adjacent surfaces of the two rudder discs, that is, both large rudder discs can serve as the large bevel teeth of the bevel gear transmission pair; a plurality of mounting holes are distributed along the circumferential direction on the fixed rudder disc 3 and the movable rudder disc 4 for fixed assembly with other parts; the cylindrical housing is fixed to the fixed rudder disc 3, and it is used to limit the movement of the fixed rudder disc 3 and the movable rudder disc 4 in the direction close to each other along the axis; to prevent the movable rudder disc 4 from moving along the axis towards the fixed rudder disc 3 when rotating coaxially relative to the fixed rudder disc 3; the annular housing cover is arranged at the other end of the movable rudder disc 4 relative to the fixed rudder disc 3 and is fixedly connected to the cylindrical housing, and it is used to limit the movement of the fixed rudder disc 3 and the movable rudder disc 4 in the direction away from each other along the axis, so as to prevent the movable rudder disc 4 from moving along the axis away from the large fixed rudder disc 3.

[0019] The two bevel gears are coaxially arranged between the fixed rudder disc 3 and the moving rudder disc 4, and their umbrella surfaces face outward relative to the axis of the large rudder disc, and are simultaneously meshed with the umbrella-shaped bevel teeth on the fixed rudder disc 3 and the moving rudder disc 4.

[0020] The cylindrical component is connected between the two bevel gears, and it includes a rotary motor 5, a slip ring 6 and a linear motor 7; the two bevel gears Ⅰ1 and Ⅱ2 and the cylindrical component are coaxially installed in the order of bevel gear Ⅱ2, rotary motor 5, slip ring 6, linear motor 7, bevel gear Ⅰ1; the rotary motor 5 is used to drive the two bevel gears to rotate along their own axes; the linear motor 7 is used to drive the entire cylindrical component to axially expand and contract to adjust the distance between the two bevel gears. The movement axes of the two motors (the rotation axis of the rotary motor 5 and the moving normal line of the moving motor) are coaxially installed; the power lines and control lines of the two motors are both led out through the slip ring 6 arranged between the two motors; the single-stage bevel gear pair transmission group of this embodiment realizes transmission through the following mechanism. The fixed rudder disc 3, the housing, and the housing cover are installed and fixed in a certain place, and the rotary motor 5 rotates, so that the two back-to-back installed bevel gears rotate in opposite directions along the same axis. Both bevel gears are meshed with the fixed rudder disc 3 and the moving rudder disc 4 through bevel gear pairs, so that the moving rudder disc 4 rotates relative to the axis of the fixed rudder disc 3. Since the number of bevel teeth on the moving rudder disc 4 is much more than the number of bevel teeth on the bevel gear, the torque of the rotary steering gear can be greatly increased to meet the requirement of large torque output of the underwater submersible.

[0021] The single-stage bevel gear pair transmission group of this embodiment realizes automatic backlash adjustment through the following mechanism. The linear motor 7 adopts a current control method and can sense the axial force during the operation of the steering gear, and this axial force is the axial force received by the bevel gear. Through the force analysis of the rotary motor 5, the theoretical axial force on the bevel gear can be obtained. This theoretical axial force is compared with the actual axial force sensed on the linear motor 7, and the linear motor 7 performs axial movement, thereby realizing automatic backlash adjustment.

[0022] Embodiment Two

[0023] This embodiment uses two series-connected single-stage bevel gear pair transmission groups for transmission, and the fixed rudder disc 3 of the lower-stage single-stage bevel gear pair transmission group is coaxially and fixedly connected to the moving rudder disc 4 of the upper-stage single-stage bevel gear pair transmission group through circumferentially distributed mounting holes. By using two series connection methods, a wider speed range can be achieved. When the rotational movement directions of the two single-stage bevel gear pair transmission groups are the same, the whole mechanism speeds up. The speed-up movement realizes the superposition of speeds, so that a greater output power can be achieved, and higher power performance of the large underwater submersible can be realized. Compared with the method of improving the output power by parallel connection of motors, this series connection method does not have the problems of asynchronism of the driving elements and insignificant improvement of the overall output power inherent in the former.

[0024] Embodiment Three

[0025] As shown Figure 1 in the figure, the control system for a dynamically adjustable gap servo mechanism in this embodiment can ensure that the servo mechanism has a persistent accuracy retention ability under large load and large disturbance environments. The control system includes: a rotary motor, a rotary motor driver, an angle encoder, a current sensor, a linear motor, a linear motor driver, a displacement sensor, a pressure sensor, a temperature sensor, a power supply module, and a calculation and control module; the power supply module is used to supply power to the entire control system; the rotary motor is powered and controlled by the rotary motor driver; the angle encoder and the current sensor are installed on the rotary motor and send the collected signals to the calculation and control module, so that the calculation and control module obtains the angle, angular velocity, and torque parameters of the rotary motor; the linear motor is powered and controlled by the linear motor driver; the displacement sensor and the pressure sensor are installed on the linear motor and send the collected signals to the calculation and control module, so that the calculation and control module obtains the displacement, linear velocity, and output force parameters of the linear motor; the temperature sensor is used to send the temperature data of the material to the calculation and control module, so that the calculation and control module obtains the thermal expansion and contraction effect compensation parameters of the material; when the calculation and control module detects abnormal data of any sensor, it stops the system output by controlling the rotary motor driver and the linear motor driver, so that the control system has a certain safety guarantee function.

[0026] Embodiment Four

[0027] This embodiment introduces a control method for a dynamically adjustable gap servo mechanism. First, briefly describe the principle of automatically adjusting the bevel gear pair during the operation of the servo mechanism. As shown Figure 2 and Figure 3 in the figure, the bevel gear set with the function of automatically adjusting the gap can have but is not limited to the following transmission forms: the entire servo mechanism transmission mechanism includes a large fixed gear 3, a large moving gear 4, and two small bevel gears (1, 2). Umbrella-shaped bevel teeth are machined on the adjacent end faces of the two steering wheels; the umbrella surfaces of the two small bevel gears (1, 2) face outward and are coaxially installed back to back. The two small bevel gears are respectively meshed with the umbrella-shaped bevel teeth of the two steering wheels for transmission. The two small bevel gears (1, 2) are coaxially installed and connected to a central shaft 6; the connection assembly is also installed on the same central shaft 6, and the axis of the central shaft 6 is perpendicular to the axes of the two steering wheels. A rotary motor 5 and a linear motor 7 are also installed on the central shaft: the rotary motor 5 is used to drive the two small bevel gears (1, 2) to rotate around their own axes, and the linear motor 7 is used to adjust the distance between the two small bevel gears (1, 2). The rotation of the rotary motor 5 drives the relative rotation between the two small bevel gears, and relies on the bevel gear pair to drive the relative rotation of the large moving gear relative to the large fixed gear (the large fixed gear should be fixedly arranged); during the rotation process, the linear motor 7 can be controlled according to the sensor information, so as to control the gap between the bevel gear pairs.

[0028] For the above-mentioned mechanism with automatic adjustment of bevel gear pair clearance, in order to find the functional relationship between the torque and axial force on the central axis, the following force analysis can be performed. The two small bevel gears are small bevel gear 1 and small bevel gear 2, large fixed gear 3, and large movable gear 4. Then the gear meshing relationship is formed by gear 1-3, gear 2-3, gear 1-4, and gear 2-4. For any pair, the relative relationship between the axial force and the circumferential force on the small bevel gear can be obtained based on the force analysis. Now take gear 1-2 as an example for explanation.

[0029] For gear 1, the number of teeth is z1 and the pitch circle radius is d 1 , the average pitch circle diameter is d m1 , the dividing cone angle is δ 1 , tooth width is b 1 , pressure angle is α, tooth width coefficient is φ R1 The circumferential force is F t1 The axial force is F a1 , the torque is T 1 , the gear ratio between gear pairs 1-3 is μ 1-3 , the cone distance is R 1-3 . Based on the knowledge of mechanical principles, we have the following formula:

[0030] F a1 =F t1 ·tanα·sinδ 1 ,

[0031]

[0032] d m1 =d 1 (1-0.5φ R1 ),

[0033]

[0034] Combining the above formulas, we can get the axial force F on the small bevel gear 1 in the gear pair 1-3: a1 and torque T 1 Similarly, we can get the relationship between the axial force and torque of small bevel gear 1 in gear pair 1-4, the relationship between the axial force and torque of small bevel gear 2 in gear pair 2-3, and the relationship between the axial force and torque of small bevel gear 2 in gear pair 2-4. Since one axial force corresponds to one torque, the four pairs of force-torque are in a superposition relationship, so the final relationship between the torque and axial force acting on the central axis is F a1 and T 1 relationship.

[0035] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered within the scope of the claims of the present invention.

Claims

1. A high-power disk-type steering gear with automatic backlash adjustment, characterized in that, it includes at least one single-stage bevel gear pair transmission group: the single-stage bevel gear pair transmission group includes a fixed steering wheel, a movable steering wheel, a cylindrical housing, an annular housing cover, a cylindrical component and two bevel gears; The fixed steering wheel and the movable steering wheel are coaxially arranged, and umbrella-shaped bevel teeth extending radially inward are respectively arranged in the outer peripheral regions of the adjacent surfaces of the two steering wheels; The cylindrical housing is fixed to the fixed steering wheel and is used to limit the fixed steering wheel and the movable steering wheel in the direction of approaching each other along the axis; the annular housing cover is arranged at the other end of the movable steering wheel relative to the fixed steering wheel and is fixedly connected to the cylindrical housing, and is used to limit the fixed steering wheel and the movable steering wheel in the direction of moving away from each other along the axis; The two bevel gears are coaxially arranged between the fixed steering wheel and the movable steering wheel and are simultaneously engaged with the umbrella-shaped bevel teeth on the fixed steering wheel and the movable steering wheel; the cylindrical component is connected between the two bevel gears and includes a rotary motor, a linear motor and a slip ring; the rotary motor is used to drive the two bevel gears to rotate along their own axes; the linear motor is used to drive the entire cylindrical component to expand and contract axially to adjust the distance between the two bevel gears; the slip ring is used to connect the external wires to the rotary motor and the linear motor respectively to prevent the wires from winding around the cylindrical component during the operation of the steering gear and causing mechanical limitation.

2. The high-power disk-type steering gear with automatic backlash adjustment according to claim 1, characterized in that: The linear motor can feedback its axial force.

3. The high-power disk-type steering gear with automatic backlash adjustment according to claim 2, characterized in that: The steering gear is provided with a plurality of single-stage bevel gear pair transmission groups connected in series along the axis, and the fixed steering wheel of the next-stage single-stage bevel gear pair transmission group is coaxially fixedly connected to the movable steering wheel of the previous-stage single-stage bevel gear pair transmission group.

4. A control system for controlling the steering gear according to any one of claims 1-3, characterized in that, it includes: a rotary motor, a rotary motor driver, an angle encoder, a current sensor, a linear motor, a linear motor driver, a displacement sensor, a pressure sensor, a temperature sensor, a power supply module and a calculation and control module; The power supply module is used to supply power to the entire control system; The rotary motor is powered and controlled by the rotary motor driver; the angle encoder and the current sensor are installed on the rotary motor and send the collected signals to the calculation and control module, so that the calculation and control module obtains the angle, angular velocity and torque parameters of the rotary motor; The linear motor is powered and controlled by the linear motor driver; the displacement sensor and the pressure sensor are installed on the linear motor and send the collected signals to the calculation and control module, so that the calculation and control module obtains the displacement, linear velocity and output force parameters of the linear motor; The temperature sensor is used to send the temperature data of the material to the calculation and control module, so that the calculation and control module obtains the compensation parameters for the thermal expansion and contraction effect of the material; When the calculation and control module detects abnormal data of any sensor, it stops the system output by controlling the rotary motor driver and the linear motor driver.

Images