Unlocking and driving method of rotating rudder wing

Abstract

This invention relates to a method for unlocking and driving a rotating rudder, belonging to the field of servo control motor technology. It solves the problem in existing technologies where unlocking the rudder requires a new power unit, resulting in a less compact overall layout and larger space occupation. This invention uses an electric servo rotating rudder with an integrated unlocking mechanism to unlock and drive the rudder, including the following steps: Step S1: In the initial state, the lower cover assembly is limited by the lead screw assembly; the rudder is limited by the lower cover assembly; Step S2: Unlock the lower cover assembly; Step S3: Unlock the rudder; Step S4: Drive the rudder to rotate using a drive motor. This invention achieves both unlocking and rotating the rudder using a single drive motor.

Description

Technical Field

[0001] The present invention relates to the technical field of servo-controlled steering gears, and in particular to a method for unlocking and driving a rotating rudder wing. Background Art

[0002] In the development of guided actuators, the technical trend in recent years has been to use motor servo systems to replace pneumatic servo systems. Compared with pneumatic servo systems, the main advantages of motor servo systems are small size, excellent dynamic performance, and no need for air circulation systems.

[0003] The existing rudder-type steering gear, in order to adapt to the spatial layout of the shells, usually the motor and the rudder wing rotation center are arranged at 90 degrees.

[0004] In the existing servo layout, bevel gear transmission is usually adopted, and some products also adopt the screw fork form. However, the unlocking and driving of the rudder wings require separate driving mechanisms. When the servo unlocks the rudder wings, a new power unit (such as an electromagnetic pin puller) is required, resulting in the overall space layout being not compact enough and occupying a large space. Summary of the invention

[0005] In view of the above analysis, the present invention aims to provide a method for unlocking and driving a rotating rudder wing, so as to solve the problem that a new power unit is required when the existing servo unlocks the rudder wing, resulting in the overall spatial layout being not compact enough and occupying a large space.

[0006] The purpose of the present invention is mainly achieved through the following technical solutions:

[0007] A method for unlocking and driving a rotary rudder wing, which uses an electric servo rotary servo with an integrated unlocking mechanism to unlock and drive the rudder wing, comprises the following steps:

[0008] Step S1: In the initial state, the lower cover assembly is limited by the screw assembly; the rudder wing is limited by the lower cover assembly;

[0009] Step S2: unlocking the lower cover assembly;

[0010] Step S3: unlock the rudder wing;

[0011] Step S4: The driving motor drives the rudder wing to rotate.

[0012] Furthermore, in step S1, the rudder lock plate of the lower hood assembly is inserted into the locking groove of the rudder wing to limit the rotation of the rudder wing, and the rudder wing is in a locked state; when the rudder wing is in the locked state, the output shaft cannot rotate; the output shaft and the shift fork are fixed as one, and the displacement of the ball screw nut is limited by the shift fork.

[0013] Furthermore, in step S2, the driving motor drives the trapezoidal lead screw of the lead screw assembly to move so that the trapezoidal lead screw moves out of the rudder lock hole of the rudder lock pin, thereby unlocking the lower hood assembly.

[0014] Furthermore, in step S2, the method of unlocking the lower cover assembly is:

[0015] Step S21: the driving motor drives the transmission gear to rotate via the motor gear fixedly connected to the motor output shaft;

[0016] Step S22: The transmission gear is fixedly connected to the trapezoidal screw nut and rotates synchronously; the trapezoidal screw is sleeved inside the ball screw and cannot rotate due to shape limitation; when the trapezoidal screw nut rotates, it can drive the trapezoidal screw to move relative to the machine body;

[0017] Step S23: the trapezoidal screw rod is displaced upward and then moved out of the rudder lock hole; the lower hood assembly is unlocked.

[0018] Furthermore, in step S3, the unlocking process of the rudder wing includes:

[0019] Step S31: when the lower cover assembly is unlocked, the rudder lock pin moves out of the lock hole of the rudder lock rod under the elastic force of the second spring, thereby releasing the limit on the rudder lock rod;

[0020] Step S32: the rudder lock bar is displaced under the action of the first spring, and the rudder lock plate is driven to displace at the same time;

[0021] Step S33: the rudder lock plate is displaced so that the rudder lock boss on the rudder lock plate is moved out of the locking groove of the rudder wing, thereby completing the unlocking of the rudder wing.

[0022] Furthermore, after the rudder wing is unlocked, the torsion spring drives the rudder wing to rotate relative to the rudder wing mounting seat, so that the rudder wing is unfolded; after the rudder wing is unfolded, it can be deflected under the drive of the output shaft.

[0023] Furthermore, in step S4, the rotation process of the rudder wing includes:

[0024] Step S41: the driving motor drives the transmission gear to rotate via the motor gear;

[0025] Step S42: the transmission gear drives the ball screw to rotate; when the ball screw rotates, the ball screw nut moves relative to the ball screw, and the ball screw nut drives the shift fork to deflect;

[0026] Step S43: When the shift fork is deflected, the output shaft is fixed to the shift fork as a whole, and the shift fork rotates synchronously; the output shaft drives the rudder wing to rotate, thereby realizing the rotation drive of the rudder wing.

[0027] Furthermore, an output shaft feedback gear is fixedly arranged on the shift fork, and the output shaft feedback gear is coaxial with the output shaft; a terminal feedback transfer gear is rotatably installed on the body, and the terminal feedback transfer gear is meshed with the output shaft feedback gear.

[0028] Furthermore, the output shaft feedback gear is connected to a potentiometer, and the potentiometer is used to monitor the deflection angle of the terminal feedback adapter gear.

[0029] Furthermore, the electric servo rotary steering gear also includes: a controller component, which is used to receive the angle information collected by the potentiometer and control the drive motor; the controller component receives the drive signal transmitted by the host computer, and then controls the drive motor to unlock and drive the rudder wing.

[0030] Furthermore, the driving method further includes step S5: feedback control.

[0031] Furthermore, in step S5, the feedback control process is:

[0032] Step S51: when the output shaft drives the rudder wing to rotate, the terminal feedback adapter gear meshes with the output shaft feedback gear for transmission;

[0033] Step S52: The deflection angle of the terminal feedback transfer gear is monitored by a potentiometer to obtain the deflection angle of the output shaft and the rudder wing;

[0034] Step S53: According to the feedback result of the potentiometer, the driving motor drives the rudder wing to further deflect, and the deflection angle of the rudder wing is adjusted.

[0035] The technical solution of the present invention can achieve at least one of the following effects:

[0036] 1. The unlocking and driving method of the rotating rudder wing of the present invention realizes two-stage transmission through a screw assembly provided with a trapezoidal screw and a ball screw. When the rudder wing is locked, the lower cover assembly and the rudder wing are unlocked by the displacement of the trapezoidal screw; when the rudder wing is unlocked, the ball screw nut is driven to displace by the ball screw, thereby driving the shift fork to deflect, and finally realizing the deflection of the output shaft and the rudder wing. The present invention integrates the unlocking and driving of the rudder wing inside a steering gear, and the unlocking and driving of the rudder wing can be realized by a driving motor, which saves the space of the steering gear and makes the control more precise.

[0037] 2. The unlocking and driving method of the rotating rudder wing of the present invention locks the rudder wing through the lower cover assembly, and innovatively adopts a multi-stage spring pin structure composed of a first spring, a second spring, a locking rudder rod, and a locking rudder pin to lock the rudder wing. The driving motor of the servo itself drives the trapezoidal screw to move, thereby realizing the unlocking of the locking rudder pin and the locking rudder rod, and the locking rudder rod is driven by the spring to move, thereby realizing the unlocking of the rudder wing, without the need for an independent power source.

[0038] 3. The unlocking and driving method of the rotating rudder wing of the present invention adopts the method of meshing the terminal feedback adapter gear with the output shaft feedback gear to monitor the rotation angle of the output shaft, and provides real-time feedback on the deflection angle of the rudder wing, thereby improving the servo accuracy of the system.

[0039] 4. The electric servo rotary servo with integrated unlocking mechanism of the present invention has the functions of unlocking the folded rudder wings and high-dynamic and high-precision servo-driven rudder wing rotation. After receiving the command signal from the host computer, the controller component can complete the unlocking of the rudder wings and can quickly and accurately control the deflection of the rudder wings within the specified time.

[0040] In the present invention, the above-mentioned technical solutions can also be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the subsequent description, and some advantages can become obvious from the description, or can be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the contents particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The drawings are only for the purpose of illustrating particular embodiments and are not to be considered limiting of the present invention. Like reference symbols denote like components throughout the drawings.

[0042] Figure 1 It is a structural schematic diagram of an electric servo rotary steering gear with an integrated unlocking mechanism of the present invention;

[0043] Figure 2 for Figure 1 A cross-sectional view of the electric servo rotary servo with an integrated unlocking mechanism in the AA direction;

[0044] Figure 3 for Figure 1 A cross-sectional view of the electric servo rotary servo with an integrated unlocking mechanism in the BB direction;

[0045] Figure 4 It is a structural schematic diagram of a screw rod assembly of an electric servo rotary steering gear with an integrated unlocking mechanism of the present invention;

[0046] Figure 5 for Figure 4 A cross-sectional view of the screw assembly in the CC direction;

[0047] Figure 6 It is a structural schematic diagram of the unlocking mechanism of the electric servo rotary steering gear with integrated unlocking mechanism of the present invention;

[0048] Figure 7 A partial cross-sectional view of a lower cover assembly of an electric servo rotary servo with an integrated unlocking mechanism of the present invention;

[0049] Figure 8 This is a diagram showing the connection state between the electric servo rotary steering engine and the rudder wing of the integrated unlocking mechanism of the present invention;

[0050] Fig. 9 is a side view of the rudder wing;

[0051] Fig.10 This is the front view of the rudder wing;

[0052] Fig.11 The figure is a flow chart of the method for unlocking and driving the rotating rudder wing of the present invention.

[0053] Reference numerals:

[0054] 1. Drive motor; 2. Machine body; 3. Terminal feedback transfer gear; 4. Controller assembly; 5. Lower cover assembly; 6. Screw assembly; 7. Disc spring; 8. Potentiometer; 9. First bearing cover; 10. Shift fork; 11. Output shaft; 12. Second bearing cover; 13. Output shaft feedback gear; 14. Motor gear; 15. Feedback shaft; 16. First bearing; 17. Second bearing; 18. Rudder wing; 19. Rudder wing mounting seat; 20. Torsion spring;

[0055] 5-1. Lower engine cover; 5-2. Rudder lock bar; 5-3. Rudder lock cover plate; 5-4. Rudder lock plate; 5-5. First spring; 5-6. Second spring; 5-7. Rudder lock pin; 5-8. Adjustment pad; 5-9. Rudder lock hole;

[0056] 6-1. Transmission gear; 6-2. Trapezoidal screw nut; 6-3. Sleeve; 6-4. Third spring; 6-5. Push pin; 6-6. Ball screw; 6-7. Ball screw nut; 6-8. Trapezoidal screw; 6-9. Fork slider; 6-10. Third bearing; 6-11. Fourth bearing; 6-12. Fifth bearing; 6-13. Sixth bearing.

[0057] 18-1. Locking slot. DETAILED DESCRIPTION

[0058] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0059] Example 1

[0060] A specific embodiment of the present invention provides a method for unlocking and driving a rotary rudder wing, which uses an electric servo rotary servo with an integrated unlocking mechanism to unlock and drive the rudder wing 18, including the following steps, see Fig.11 :

[0061] Step S1: In the initial state, the lower cover assembly 5 is limited by the screw assembly 6; the rudder wing 18 is limited by the lower cover assembly 5;

[0062] Step S2: unlocking the lower cover assembly 5;

[0063] Step S3: unlocking the rudder wing 18;

[0064] Step S4: the driving motor 1 drives the rudder wing 18 to rotate.

[0065] In this embodiment, the lower cover assembly 5 is used as a locking mechanism to lock the rudder wing 18; the screw assembly 6 is used as an unlocking mechanism to lock / unlock the lower cover assembly 5. After the lower cover assembly 5 is unlocked, the rudder wing 18 is automatically unlocked. At this time, the screw assembly 6 is used as a transmission mechanism to drive the rudder wing 18 to rotate; when the rudder wing 18 rotates, the deflection angle of the rudder wing 18 is monitored through the output feedback assembly, and feedback control is implemented.

[0066] [1] Step S1:

[0067] In a specific embodiment of the present invention, in the step S1, the locking rudder plate 5-4 of the lower hood assembly 5 is inserted into the locking groove 18-1 of the rudder wing 18 to limit the rotation of the rudder wing 18, and the rudder wing 18 is in a locked state; when the rudder wing 18 is in a locked state, the output shaft 11 cannot rotate; the output shaft 11 and the shift fork 10 are fixed as a whole, and the displacement of the ball screw nut 6-7 is limited by the shift fork 10.

[0068] In a specific implementation of the present invention, in step S2, the driving motor 1 drives the trapezoidal screw 6-8 of the screw assembly 6 to move, so that the trapezoidal screw 6-8 is moved out of the locking hole 5-9 of the locking pin 5-7, thereby unlocking the lower hood assembly 5-1.

[0069] When the lower cover assembly 5 is in locked state:

[0070] The end cylinder of the trapezoidal screw rod 6-8 is inserted into the rudder lock hole 5-9, and the displacement of the rudder lock pin 5-7 is limited by the trapezoidal screw rod 6-8; the second spring 5-6 is arranged between the rudder lock pin 5-7 and the body 2, and is in a compressed state. The end of the rudder lock pin 5-7 is inserted into the lock hole of the rudder lock rod 5-2; the rudder lock pin 5-7 limits the displacement of the rudder lock rod 5-2, and the first spring 5-5 is in a compressed state.

[0071] In addition, a rudder lock plate 5-4 is installed at the end of the rudder lock bar 5-2, and the rudder lock boss of the rudder lock plate 5-4 is clamped in the locking groove 18-1 of the rudder wing 18, so that the rudder wing 18 cannot rotate, thereby locking the rudder wing 18. The rudder wing 18 can only be unlocked after the lower cover assembly 5 is unlocked.

[0072] Further, after receiving the command signal from the host computer, the controller component 4 controls the drive motor 1 to unlock the lower cover component 5 and the rudder wing 18. After the rudder wing 18 is unlocked, the controller component 4 can control the drive motor 1 to drive the rudder wing 18 to rotate and control the deflection angle of the rudder wing 18 according to the command of the host computer.

[0073] 【2】Step S2

[0074] In a specific implementation of the present invention, in step S2, the method of unlocking the lower cover assembly 5 is:

[0075] Step S21: The driving motor 1 drives the transmission gear 6-1 to rotate via the motor gear 14 fixedly connected to the motor output shaft;

[0076] Step S22: The transmission gear 6-1 is fixedly connected to the trapezoidal screw nut 6-2 and rotates synchronously; the trapezoidal screw 6-8 is sleeved inside the ball screw 6-6 and cannot rotate due to shape limitation; when the trapezoidal screw nut 6-2 rotates, it can drive the trapezoidal screw 6-8 to move relative to the body 2;

[0077] Step S23: The trapezoidal screw rod 6-8 moves upward and then moves out of the rudder lock hole 5-9; the lower engine cover assembly 5-1 is unlocked.

[0078] 【3】Step S3

[0079] In a specific implementation of the present invention, in step S3, the unlocking process of the rudder wing 18 includes:

[0080] Step S31: When the lower cover assembly 5-1 is unlocked, the trapezoidal screw rod 6-8 moves out of the rudder lock hole 5-9, and the rudder lock pin 5-7 moves out of the lock hole of the rudder lock rod 5-2 under the elastic force of the second spring 5-6, thereby releasing the limit on the rudder lock rod 5-2;

[0081] Step S32: the locking rudder bar 5-2 is displaced under the action of the first spring 5-5, and at the same time drives the locking rudder plate 5-4 to displace:;

[0082] Step S33: the rudder lock plate 5 - 4 is displaced so that the rudder lock boss on the rudder lock plate 5 - 4 is moved out of the locking groove 18 - 1 of the rudder wing 18 , thereby completing the unlocking of the rudder wing 18 .

[0083] Furthermore, after the rudder wing 18 is unlocked, the torsion spring 20 drives the rudder wing 18 to rotate relative to the rudder wing mounting seat 19 so that the rudder wing 18 is unfolded; after the rudder wing 18 is unfolded, it can deflect under the drive of the output shaft 11.

[0084] 【4】Step S4

[0085] In step S4, the rotation process of the rudder wing 18 includes:

[0086] Step S41: driving the motor 1 to drive the transmission gear 6-1 to rotate via the motor gear 14;

[0087] Step S42: the transmission gear 6-1 drives the ball screw 6-6 to rotate; when the ball screw 6-6 rotates, the ball screw nut 6-7 moves relative to the ball screw 6-6, and at the same time, the ball screw nut 6-7 drives the shift fork 10 to deflect;

[0088] Step S43 : when the shift fork 10 deflects, the output shaft 11 is fixed to the shift fork 10 as a whole, and the shift fork 10 rotates synchronously; the output shaft 11 drives the rudder wing 18 to rotate, thereby realizing the rotation drive of the rudder wing 18 .

[0089] Furthermore, the ball screw nut 6-7 drives the shift fork 10 to deflect in the following manner:

[0090] Specifically, Figure 4 As shown, the fork sliders 6-9 are fixedly arranged on both sides of the ball screw nut 6-7. Further, the fork 10 is a U-shaped structure, and a slide groove is arranged on one side of the fork 10; the fork slider 6-9 is arranged inside the slide groove of the fork 10; when the fork slider 6-9 moves up and down along the axis direction of the ball screw 6-6, it can slide inside the slide groove of the fork 10 at the same time, thereby driving the fork 10 to deflect.

[0091] Preferably, the slide groove is a U-shaped groove, the fork slider 6-9 is a cylindrical structure, and the diameter of the fork slider 6-9 is equal to the width of the U-shaped groove. The ball screw nut 6-7 slides in the slide groove of the fork 10 through the fork slider 6-9 and rotates relatively at the same time, driving the fork 10 to deflect.

[0092] like Figure 8 As shown, the installation method of the rudder wing 18 is:

[0093] Two rudder wing mounting seats 19 are respectively installed at both ends of the output shaft 11, and the two rudder wings 18 are rotatably mounted on the two rudder wing mounting seats 19. Fig. 9 , Fig.10As shown, a torsion spring 20 is arranged between the rudder wing 18 and the rudder wing mounting seat 19. Specifically, after the rudder wing 18 is unlocked, the torsion spring 20 drives the rudder wing 18 to rotate relative to the rudder wing mounting seat 19, and the rudder wing 18 is automatically unfolded under the elastic force of the torsion spring 20. After the rudder wing 18 is unfolded, it can rotate under the drive of the output shaft 11.

[0094] In a specific implementation of the present invention, an output shaft feedback gear 13 is fixedly provided on the shift fork 10 , and the output shaft feedback gear 13 is coaxial with the output shaft 11 ; a terminal feedback transfer gear 3 is rotatably installed on the body 2 , and the terminal feedback transfer gear 3 is meshed with the output shaft feedback gear 13 .

[0095] In a specific implementation of the present invention, the output shaft feedback gear 13 is connected to a potentiometer 8 , and the potentiometer 8 is used to monitor the deflection angle of the terminal feedback adapter gear 3 .

[0096] In a specific implementation of the present invention, the electric servo rotary steering gear further includes: a controller component, the controller component is used to receive the angle information collected by the potentiometer 8 and control the drive motor 1; the driving method also includes step S5: feedback control.

[0097] 【5】Step S5

[0098] In step S5, the feedback control process is:

[0099] Step S51: when the output shaft 11 drives the rudder wing 18 to rotate, the terminal feedback adapter gear 3 is meshed with the output shaft feedback gear 13 for transmission;

[0100] Step S52: The deflection angle of the terminal feedback transfer gear 3 is monitored by the potentiometer 8, so as to obtain the deflection angle of the output shaft 11 and the rudder wing 18;

[0101] Step S53: According to the feedback result of the potentiometer 8 , the driving motor 1 drives the rudder wing 18 to further deflect, and the deflection angle of the rudder wing 18 is adjusted.

[0102] Furthermore, the upper computer determines whether the rudder wing 18 is deflected into place based on the feedback result of the potentiometer 8; if so, the drive motor 1 remains stationary; otherwise, an adjustment instruction is sent to the controller component 4, and the controller component 4 controls the drive motor 1 to rotate, thereby adjusting the deflection angle of the rudder wing 18 relative to the body 2.

[0103] Specifically, the controller component 4 receives the angle information collected by the potentiometer 8, and adjusts the deflection angle of the rudder 18 by controlling the speed, rotation direction (forward / reverse) and angular displacement output by the drive motor 1.

[0104] Specifically, the deflection direction of the rudder wing 18 is controlled by controlling the rotation direction of the drive motor 1. Further, the rotation angle of the rudder wing 18 is controlled by controlling the output angular displacement (number of turns) of the drive motor 1, thereby finally achieving the angle adjustment of the rudder wing 18.

[0105] Example 2

[0106] A specific embodiment of the present invention, as Figure 1-10 As shown, an electric servo rotary servo with an integrated unlocking mechanism is provided, which is used to implement the unlocking and driving method of the rotary rudder wing of Example 1. The electric servo rotary servo of this embodiment includes: a driving motor 1, a body 2, a lower cover assembly 5, a screw assembly 6, a shift fork 10 and an output shaft 11.

[0107] like Figure 1 As shown, the driving motor 1 is fixedly installed above the machine body 2.

[0108] like Figure 2 As shown, the drive motor 1 can drive the shift fork 10 to deflect through the screw assembly 6. Figure 3 As shown, the output shaft 11 is rotatably mounted on the machine body 2 , and the shift fork 10 is fixedly connected to the output shaft 11 ; when the shift fork 10 is deflected, the output shaft 11 rotates relative to the machine body 2 .

[0109] The driving motor 1 drives the screw assembly 6 to move, thereby causing the shift fork 10 to deflect, and the shift fork 10 drives the output shaft 11 to rotate, thereby realizing the angular displacement output of the steering gear.

[0110] Specifically, the output shaft 11 is rotatably mounted on the body 2 through two first bearings 16. Figure 3 Further, the first bearing cover plate 9 and the second bearing cover plate 12 are installed on the outer sides of the two first axes 16 ; and the first bearing cover plate 9 and the second bearing cover plate 12 are both fixedly connected to the machine body 2 .

[0111] like Figure 8 As shown, the two ends of the output shaft 11 are respectively connected to two rudder wings 18. When the output shaft 11 is driven by the driving motor 1 to rotate, it can drive the rudder wings 18 to deflect.

[0112] The following is a three-part introduction to the integrated unlocking mechanism electric servo rotary steering gear of this embodiment:

[0113] Part 1: Screw assembly 6

[0114] In this embodiment, Figure 2 , Figure 4 , Figure 5 As shown, the screw assembly 6 includes: a first screw nut mechanism and a second screw nut mechanism;

[0115] The first screw nut mechanism comprises: a ball screw 6-6 and a ball screw nut 6-7;

[0116] The second screw nut mechanism comprises: a trapezoidal screw 6-8 and a trapezoidal screw nut 6-2;

[0117] The trapezoidal screw 6-8 is sleeved inside the ball screw 6-6 and can slide relatively; the first screw nut mechanism is used to drive the fork 10 to rotate; the second screw nut mechanism is used to lock / unlock the lower cover assembly 5.

[0118] Specifically, the lower end cylindrical section of the trapezoidal screw rod 6-8 can be inserted into the rudder locking hole 5-9 of the lower cover assembly 5 to lock the lower cover assembly 5; when the lower end cylindrical section of the trapezoidal screw rod 6-8 is moved out of the rudder locking hole 5-9, the lower cover assembly 5 is unlocked.

[0119] Specifically, the ball screw nut 6-7 is screwed onto the outside of the ball screw 6-6 to form a first screw nut pair; when the ball screw 6-6 rotates, the ball screw nut 6-7 can be displaced along the axis of the ball screw 6-6. When the ball screw nut 6-7 is displaced relative to the ball screw 6-6, the shift fork 10 can be driven to rotate.

[0120] like Figure 4 As shown, the trapezoidal lead screw nut 6-2 is screwed onto the outside of the trapezoidal lead screw 6-8 by means of threads to form a second lead screw nut pair.

[0121] Specifically, Figure 5 As shown, the screw assembly 6 also includes: a transmission gear 6-1, which is rotatably mounted on the machine body 2; a motor gear 14 is fixedly mounted on the output shaft of the drive motor 1; the transmission gear 6-1 is meshed with the motor gear 14 for transmission. In addition, the transmission gear 6-1 is fixedly connected to the trapezoidal screw nut 6-2.

[0122] Specifically, the trapezoidal lead screw nut 6-2 is disposed above the ball screw 6-6 and rotates synchronously with the transmission gear 6-1.

[0123] In this embodiment, Figure 5As shown, the trapezoidal screw 6-8 is sleeved inside the ball screw 6-6; and the trapezoidal screw 6-8 and the ball screw 6-6 can only slide relative to each other through shape limitation, but cannot rotate relative to each other. Specifically, the trapezoidal screw 6-8 includes a threaded rod and a columnar portion; the threaded rod is sleeved inside the trapezoidal screw nut 6-2 through a thread, and the columnar portion is slidably sleeved inside the ball screw 6-6. Specifically, the cross-section of the columnar portion is elliptical or rectangular; so that the trapezoidal screw 6-8 and the ball screw 6-6 can only slide relative to each other, but cannot rotate relative to each other.

[0124] In the initial state, the lower cover assembly 5 is in a locked state.

[0125] Before the lower cover assembly 5 is unlocked: when the driving motor 1 drives the transmission gear 6-1 to rotate through the motor gear 14, the trapezoidal screw nut 6-2 rotates synchronously with the transmission gear 6-1, the trapezoidal screw 6-8 slides relative to the ball screw 6-6, and the ball screw 6-6 and the ball screw nut 6-7 remain stationary. In other words, when the trapezoidal screw nut 6-2 rotates, the trapezoidal screw 6-8 can move along its own axis; when the trapezoidal screw 6-8 moves, the lower cover assembly 5 can be unlocked.

[0126] After the lower cover assembly 5 is unlocked: when the driving motor 1 drives the transmission gear 6-1 to rotate, the trapezoidal screw nut 6-2, the trapezoidal screw 6-8 and the ball screw 6-6 rotate synchronously as a whole, and the ball screw nut 6-7 moves up and down.

[0127] In order to ensure the consistency of the movement of the ball screw 6-6 and the trapezoidal screw 6-8 after the lower cover assembly 5 is unlocked, the screw assembly 6 of this embodiment also includes: a push pin 6-5 and a third spring 6-4.

[0128] Specifically, the push pin 6-5 of the ball screw is slidably installed in the first slot of the ball screw 6-6 through the third spring 6-4; the side of the trapezoidal screw 6-8 is provided with a second slot; when the first slot is aligned with the second slot, the push pin 6-5 can be inserted into the second slot, and the ball screw 6-6 and the trapezoidal screw 6-8 are combined into one. At this time, the ball screw 6-6 and the trapezoidal screw 6-8 move synchronously, and when the driving motor 1 drives the trapezoidal screw nut 6-2 to rotate, the trapezoidal screw nut 6-2, the trapezoidal screw 6-8 and the ball screw 6-6 act as a whole, and the three components rotate synchronously.

[0129] Specifically, the push pin 6-5 and the third spring 6-4 are installed in the first groove on the side of the ball screw 6-6; a protruding mounting portion is provided on the side of the ball screw 6-6, and a mounting screw sleeve 6-3 is provided on the outside of the mounting portion, and the push pin 6-5 and the third spring 6-4 are confined in the first groove by the screw sleeve 6-3.

[0130] Specifically, when the trapezoidal screw rod 6-8 is stuck in the rudder lock hole 5-9, the third spring 6-4 is in a compressed state, and the push pin 6-5 is pressed against the side surface of the trapezoidal screw rod 6-8 under the elastic force of the third spring 6-4.

[0131] Specifically, when the trapezoidal screw rod 6-8 slides upward and disengages from the rudder lock hole 5-9, the first clamping groove is aligned with the second clamping groove. Moreover, when the trapezoidal screw rod 6-8 moves upward to the maximum stroke, that is, when the trapezoidal screw rod 6-8 slides upward and disengages from the rudder lock hole 5-9, the trapezoidal screw rod 6-8 contacts the lower end surface of the transmission gear 6-1.

[0132] Furthermore, if Figure 2 , Figure 5 As shown, the screw assembly 6 also includes: a third bearing 6-10, a fourth bearing 6-11, a fifth bearing 6-12 and a sixth bearing 6-13. Specifically, the transmission gear 6-1 is rotatably mounted on the machine body 2 through the third bearing 6-10. The trapezoidal screw nut 6-2 is rotatably mounted on the machine body 2 through the fourth bearing 6-11 and is fixedly connected to the transmission gear 6-1. The upper end of the ball screw 6-6 is rotatably connected to the machine body 2 through the fifth bearing 6-12, and the lower end is rotatably connected to the machine body 2 through the sixth bearing 6-13.

[0133] Furthermore, a disc spring 7 is arranged between the upper side of the transmission gear 6-1 and the body 2. The disc spring 7 is used to compress the transmission gear 6-1, facilitate the installation of the transmission gear 6-1 and limit the axial displacement of the transmission gear 6-1.

[0134] Part 2: Lower cover assembly 5

[0135] In a specific embodiment of the present invention, Figure 6 , Figure 7 As shown, the lower engine cover assembly 5 includes: a lower engine cover 5-1, a locking rudder bar 5-2, a first spring 5-5, a second spring 5-6 and a locking rudder pin 5-7.

[0136] Specifically, the rudder lock bar 5-2 and the rudder lock pin 5-7 are both slidably installed inside the lower cover 5-1, and the rudder lock pin 5-7 is vertically clamped in the lock hole of the rudder lock bar 5-2; a first spring 5-5 is arranged between the rudder lock bar 5-2 and the lower cover 5-1, and when the rudder lock pin 5-7 is engaged with the lock hole, the first spring 5-5 is in a compressed state;

[0137] Specifically, Figure 6 , Figure 7 As shown, the second spring 5-6 is sleeved on the outside of the rudder lock pin 5-7; a rudder lock hole 5-9 is provided on the rudder lock pin 5-7, and the end of the trapezoidal screw rod 6-8 can be inserted into the rudder lock hole 5-9; when the trapezoidal screw rod 6-8 is inserted into the rudder lock hole 5-9, the second spring 5-6 is in a compressed state.

[0138] like Figure 6 , Figure 7 As shown, the lower engine cover assembly is composed of the lower engine cover 5-1 and also includes: a rudder lock cover plate 5-3 and an adjustment pad 5-8. Specifically, the rudder lock rod 5-2 is arranged in the first rod groove on the lower cover plate 5-1, and the end of the rudder lock rod 5-2 is provided with a spring mounting hole, and the first spring 5-5 is installed in the spring mounting hole. In order to prevent the rudder lock rod 5-2 from being separated from the lower cover plate 5-1, the rudder lock cover plate 5-3 is fixedly installed below the lower cover plate 5-1; the rudder lock cover plate 5-3 is provided with a through hole, and the lower end of the rudder lock rod 5-2 passes through the through hole and can slide relatively. A limiting portion is provided at the upper end of the rudder lock rod 5-2, and the limiting portion cannot pass through the through hole on the rudder lock cover plate 5-3. The rudder lock rod 5-2 is slidably installed in the first rod groove on the lower cover plate 5-1, as shown in FIG. Figure 6 shown.

[0139] Specifically, the rudder lock pin 5-7 is arranged in the second rod groove on the lower cover plate 5-1, and the second spring 5-6 is sleeved on the outside of the rudder lock pin 5-7 and pressed tightly between the end of the rudder lock pin 5-7 and the lower cover plate 5-1; an adjusting pad 5-8 is fixedly arranged at the end of the second rod groove, and the adjusting pad 5-8 is used to limit the displacement of the rudder lock pin 5-7. When the trapezoidal screw rod 6-8 moves out of the rudder lock hole 5-9, the elastic force of the second spring 5-6 pushes the rudder lock pin 5-7 to move until the rudder lock pin 5-7 contacts the adjusting pad 5-8, and the rudder lock pin 5-7 stops moving.

[0140] The electric servo rotary servo with integrated unlocking mechanism of this embodiment locks the rudder wing 18 through the lower cover assembly 5. Furthermore, the end of the locking rudder bar 5-2 is fixedly mounted with the locking rudder plate 5-4; when the locking rudder plate 5-4 is engaged with the rudder wing 18, the rudder wing 18 is in a locked state.

[0141] Specifically, two rudder locking bosses are provided at the end of the rudder locking plate 5-4, and locking grooves 18-1 are provided at the ends of the two rudder wings 18. The rudder locking bosses are engaged with the locking grooves 18-1 to lock the rudder wings 18. Figure 8 shown.

[0142] In this embodiment, when the trapezoidal screw rod 6-8 is engaged with the rudder lock hole 5-9, the lower cover assembly 5 is in a locked state, and the rudder wing 18 is also in a locked state. When the trapezoidal screw rod 6-8 is removed from the rudder lock hole 5-9, the lower cover assembly 5 is in an unlocked state, and the lower cover assembly 5 unlocks the rudder wing 18.

[0143] It is worth noting that: since the rudder wing 18 is connected to the output shaft 11, the rotation of the output shaft 11 and the rudder wing 18 is synchronous; when the rudder wing 18 is locked and cannot rotate, the output shaft 11 cannot rotate either. Since the output shaft 11 is fixedly connected to the shift fork 10, the shift fork 10 cannot rotate either. Since the shift fork sliders 6-9 on both sides of the ball screw nut 6-7 are arranged in the slide groove of the shift fork 10, when the shift fork 10 cannot rotate, the up and down displacement of the ball screw nut 6-7 is also limited. Since the ball screw 6-6 and the ball screw nut 6-7 move synchronously, when the ball screw nut 6-7 cannot be displaced, the ball screw 6-6 cannot rotate either. In other words, before the rudder wing 18 is unlocked, the output shaft 11 and the ball screw 6-6 can be reversely limited by the rudder wing 18, so that the ball screw 6-6 cannot rotate.

[0144] Furthermore, since the ball screw 6-6 and the trapezoidal screw 6-8 cannot rotate relative to each other due to shape limitation, when the ball screw 6-6 cannot rotate, the rotation of the trapezoidal screw 6-8 is restricted. At this time, the trapezoidal screw nut 6-2 rotates to drive the trapezoidal screw 6-8 to slide in the screw groove inside the ball screw 6-6.

[0145] In the electric servo rotary servo with integrated unlocking mechanism of the present invention, when the trapezoidal screw 6-8 is linearly displaced upward, it can be moved out of the rudder lock hole 5-9, thereby unlocking the lower cover assembly 5. After the lower cover assembly 5 is unlocked, the rudder wing 18 is unlocked by the reset function of the spring. After the rudder wing 18 is unlocked, the rudder wing 18 releases the reverse limit of the output shaft 11 and the ball screw 6-6, so that the output shaft 11 and the ball screw 6-6 can rotate.

[0146] Furthermore, the process of driving the motor 1 to drive the rudder wing 18 to deflect is as follows:

[0147] After the lower cover assembly 5 is unlocked, the drive motor 1 drives the ball screw 6-6 to rotate, and the ball screw 6-6 drives the ball screw nut 6-7 to move up and down; when the ball screw nut 6-7 moves up and down, the fork slider 6-9 slides in the U-shaped groove of the fork 10, driving the fork 10 to deflect, and then driving the output shaft 11 and the rudder wing 18 to rotate through the fork 10.

[0148] Specifically, after the rudder wing 18 is unlocked, when the driving motor 1 drives the trapezoidal screw nut 6-2 to rotate, the friction force (sliding friction) between the trapezoidal screw 6-8 and the trapezoidal screw nut 6-2 is greater than the friction force (rolling friction) between the ball screw 6-6 and the ball screw nut 6-7, so at this time, the trapezoidal screw 6-8 and the trapezoidal screw nut 6-2 do not rotate relative to each other. The trapezoidal screw 6-8 and the ball screw 6-6 are fixed as a whole by the push pin 6-5, and the trapezoidal screw 6-8 rotates synchronously with the trapezoidal screw nut 6-2 and drives the ball screw 6-6 to rotate at the same time. When the ball screw 6-6 rotates, the ball screw nut 6-7 moves up and down along the axis of the ball screw 6-6, thereby driving the fork slider 6-9 to move, and the fork 10 is driven to deflect through the fork slider 6-9, so as to realize the rotation drive of the output shaft 11 and the rudder wing 18.

[0149] The existing servo needs a new power unit (such as an electromagnetic pin puller) to unlock the rudder wing. The electric servo rotary servo with an integrated unlocking mechanism in this embodiment unlocks the lower cover assembly 5 and then unlocks the rudder wing 18 through the trapezoidal screw 6-8 of the screw assembly 6, and the rotational drive of the rudder wing 18 is achieved through the ball screw 6-6; this embodiment integrates the unlocking and driving of the rudder wing 18 into one, which can be achieved by only one drive motor 1.

[0150] Part 3: Output Feedback Components

[0151] In a limited space, the existing servos cannot accurately feedback the response status, which affects the control accuracy.

[0152] The electric servo rotary steering gear of this embodiment further includes: a controller component 4 and an output feedback component.

[0153] The output feedback component includes: an output shaft feedback gear 13 , a terminal feedback adapter gear 3 and a potentiometer 8 .

[0154] An output shaft feedback gear 13 is fixedly disposed on the other side of the shift fork 10, and the rotation axis of the output shaft feedback gear 13 coincides with the axis of the output shaft 11. Since the shift fork 10 is fixedly connected to the output shaft 11, and the output shaft feedback gear 13 and the shift fork 10 are fixed as one body, the output shaft feedback gear 13 moves synchronously with the shift fork 10 and the output shaft 11.

[0155] The terminal feedback transfer gear 3 is meshed with the output shaft feedback gear 13. The terminal feedback transfer gear 3 is fixedly mounted on the feedback shaft 15; and the feedback shaft 15 is rotatably mounted on the body 2 through the second bearing 17. Figure 3 shown.

[0156] Furthermore, the axis of the feedback shaft 15 is parallel to the axis of the output shaft 11 .

[0157] When the output shaft 11 drives the rudder wing 18 to deflect, the output shaft feedback gear 13 can simultaneously drive the terminal feedback transfer gear 3 to rotate. By monitoring the deflection angle of the terminal feedback transfer gear 3, the deflection angle of the output shaft 11 can be indirectly obtained, and then the rotation angle of the rudder wing 18 can be monitored.

[0158] The potentiometer 8 is used to monitor the deflection angle of the terminal feedback transfer gear 3 ; the controller component 4 is used to receive the angle information monitored by the potentiometer 8 and control the drive motor 1 .

[0159] The electric servo rotary steering gear of this embodiment also includes: a controller component 4, which is used to receive the angle information collected by the potentiometer 8, and control the speed, rotation direction (forward / reverse) and angular displacement output by the drive motor 1 through the controller component 4.

[0160] When implementing:

[0161] like Figure 1 , Figure 2 As shown: the host computer signal enters the controller component 4 for operational amplifier processing, the drive motor 1 drives the motor gear 14 on its own output shaft to servo rotate, the motor gear 14 meshes with the transmission gear 6-1, and drives the transmission gear 6-1 to rotate.

[0162] like Figure 5 As shown: when the transmission gear 6-1 of the screw assembly 6 rotates, the trapezoidal screw nut 6-2 is first driven to rotate. At this time, the ball screw 6-6 and the trapezoidal screw 6-8 are not connected through the push pin 6-5, so only the trapezoidal screw 6-8 performs linear motion.

[0163] like Figure 6 , Figure 7 As shown: there is a rudder lock hole 5-9 on the cylindrical surface of the rudder lock pin 5-7, and the rudder lock hole 5-9 matches with the cylindrical section at the tail of the trapezoidal screw rod 6-8. The trapezoidal screw rod 6-8 moves linearly until it moves out of the rudder lock hole 5-9 on the rudder lock pin 5-7, thereby releasing the lock on the lower cover assembly 5.

[0164] During the linear motion of the trapezoidal screw rod 6-8, when the trapezoidal screw rod 6-8 rises, the cylindrical section at the tail of the trapezoidal screw rod 6-8 gradually disengages from the rudder lock hole 5-9 of the rudder lock pin 5-7. After the rudder lock pin 5-7 is completely disengaged, the rudder lock pin 5-7 begins to move away from the rudder lock rod 5-2 under the thrust of the second spring 5-6 until it comes into contact with the adjustment pad 5-8 and stops moving. After the rudder lock pin 5-7 is disengaged from the rudder lock rod 5-2, the rudder lock rod 5-2 is driven by the thrust of the first spring 5-5 to drive the rudder lock plate 5-4 to start linear motion downward until it is in contact with the rudder lock plate 5-4, so that the rudder lock plate 5-4 releases the lock of the rudder wing 18.

[0165] Furthermore, after the rudder 18 is unlocked, the push pin 6-5 uses the thrust of the spring 6-4 to successfully connect the ball screw 6-6 and the trapezoidal screw 6-8 to form a moving whole. The rotational movement of the external input screw assembly 6 can drive the ball screw 6-6 to rotate, thereby realizing the servo movement of the output shaft 11.

[0166] After the ball screw 6-6 and the trapezoidal screw 6-8 become a moving whole, the transmission gear 6-1 drives the ball screw 6-6 to rotate, and then drives the output shaft 11 to deflect through the fork 10 structure. The output shaft 11 is connected to the rudder wing 18, thereby realizing the servo deflection of the rudder wing 18.

[0167] like Figure 2 , Figure 3 As shown, the deflection of the shift fork 10 drives the end feedback transfer gear 3 to rotate, and the end feedback transfer gear 3 is rigidly connected to the potentiometer 8, thereby realizing the deflection angle feedback of the output shaft. The feedback signal is returned to the controller component 4 for signal processing.

[0168] The potentiometer 8 of the present invention can be replaced by an angle sensor, which can monitor and feedback the deflection angle of the terminal feedback adapter gear 3.

[0169] It is worth noting that the electric servo rotary steering gear of the present invention is not reusable and is suitable for driving one-time aircraft equipment, such as probes, satellites, ship-borne cruisers, etc., and can also be used for weapons and equipment, etc. The application of the electric servo rotary steering gear of the present invention is not intended to limit the scope of protection of the present invention.

[0170] Compared with the prior art, the technical solution provided by this embodiment has at least one of the following beneficial effects:

[0171] 1. The electric servo rotary servo with integrated unlocking mechanism of the present invention realizes unlocking of the rudder wing and dynamic following deflection of the rudder wing through the operation of the overall servo system. While the performance index meets the requirements of the original system, the space layout is compact, and the unlocking mechanism controlled by the integrated motor drive realizes the locking and unlocking of the rudder wing. And the power for unlocking the rudder wing comes from the driving motor 1 that drives the deflection of the rudder wing, and no additional power is required to unlock the rudder wing.

[0172] 2. The electric servo rotary servo with integrated unlocking mechanism of the present invention adopts the combination of screw rod assembly 6 and shift fork 10 to realize the rotation drive of rudder wing 18, and at the same time arranges output feedback assembly, monitors the deflection angle of output shaft 11 through feedback adapter gear 3 and potentiometer 8, can monitor and adjust the deflection angle of rudder wing in real time, and improves the control accuracy of servo.

[0173] 3. The electric servo rotary servo with integrated unlocking mechanism of the present invention has a compact system layout and can adapt to various space usage requirements. By integrating the potentiometer 8 (or angle sensor), the overall mechanism motion accuracy and servo performance are improved.

[0174] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A method for unlocking and driving a rotating rudder wing, characterized in that: The electric servo rotary steering gear with an integrated unlocking mechanism is used to unlock and drive the rudder wing (18), comprising the following steps: Step S1: In the initial state, the lower cover assembly (5) is limited by the screw assembly (6); the rudder wing (18) is limited by the lower cover assembly (5); Step S2: Unlocking the lower cover assembly (5); Step S3: Unlock the rudder wing (18); Step S4: the driving motor (1) drives the rudder wing (18) to rotate; In the step S1, the rudder lock plate (5-4) of the lower cover assembly (5) is inserted into the locking groove (18-1) of the rudder wing (18), thereby limiting the rotation of the rudder wing (18), and the rudder wing (18) is in a locked state; when the rudder wing (18) is in the locked state, the output shaft (11) cannot rotate; the output shaft (11) and the shift fork (10) are fixed as a whole, and the displacement of the ball screw nut (6-7) is limited by the shift fork (10); In the step S2, the driving motor (1) drives the trapezoidal screw (6-8) of the screw assembly (6) to move, so that the trapezoidal screw (6-8) moves out of the rudder lock hole (5-9) of the rudder lock pin (5-7), thereby unlocking the lower engine cover (5-1); In step S2, the method of unlocking the lower cover (5-1) is: Step S21: the driving motor (1) drives the transmission gear (6-1) to rotate via the motor gear (14) fixedly connected to the motor output shaft; Step S22: The transmission gear (6-1) is fixedly connected to the trapezoidal screw nut (6-2) and rotates synchronously; the trapezoidal screw (6-8) is sleeved inside the ball screw (6-6) and cannot rotate due to shape limitation; when the trapezoidal screw nut (6-2) rotates, it can drive the trapezoidal screw (6-8) to move relative to the machine body (2); Step S23: the trapezoidal screw rod (6-8) moves upward and then moves out of the rudder lock hole (5-9); the lower engine cover (5-1) is unlocked.

2. The method for unlocking and driving a rotating rudder wing according to claim 1, characterized in that: In step S3, the unlocking process of the rudder wing (18) includes: Step S31: when the lower engine cover (5-1) is unlocked, the rudder lock pin (5-7) moves out of the lock hole of the rudder lock rod (5-2) under the elastic force of the second spring (5-6), thereby releasing the limit on the rudder lock rod (5-2); Step S32: the rudder lock bar (5-2) is displaced under the action of the first spring (5-5), and simultaneously drives the rudder lock plate (5-4) to be displaced; Step S33: the rudder locking plate (5-4) is displaced so that the rudder locking boss on the rudder locking plate (5-4) is moved out of the locking groove (18-1) of the rudder wing (18), thereby completing the unlocking of the rudder wing (18).

3. The method for unlocking and driving a rotating rudder wing according to claim 2, characterized in that: In the step S4, the rotation process of the rudder wing (18) includes: Step S41: the driving motor (1) drives the transmission gear (6-1) to rotate via the motor gear (14); Step S42: the transmission gear (6-1) drives the ball screw (6-6) to rotate; when the ball screw (6-6) rotates, the ball screw nut (6-7) moves relative to the ball screw (6-6), and at the same time, the ball screw nut (6-7) drives the shift fork (10) to deflect; Step S43: when the shift fork (10) deflects, the output shaft (11) and the shift fork (10) are fixed as a whole, and the shift fork (10) rotates synchronously; the output shaft (11) drives the rudder wing (18) to rotate, thereby realizing the rotation drive of the rudder wing (18).

4. The method for unlocking and driving a rotating rudder wing according to claim 1, characterized in that: An output shaft feedback gear (13) is fixedly arranged on the shift fork (10), and the output shaft feedback gear (13) is coaxial with the output shaft (11); and a terminal feedback transfer gear (3) is rotatably mounted on the machine body (2), and the terminal feedback transfer gear (3) is meshed with the output shaft feedback gear (13).

5. The method for unlocking and driving a rotating rudder wing according to claim 4, characterized in that: The output shaft feedback gear (13) is connected to a potentiometer (8), and the potentiometer (8) is used to monitor the deflection angle of the terminal feedback adapter gear (3).

6. The method for unlocking and driving a rotating rudder wing according to claim 5, characterized in that: The electric servo rotary steering gear further comprises: a controller component, the controller component being used to receive the angle information collected by the potentiometer (8) and to control the drive motor (1).

7. The method for unlocking and driving a rotary rudder wing according to claim 6, characterized in that: It also includes step S5: feedback control; In step S5, the feedback control process is: Step S51: when the output shaft (11) drives the rudder wing (18) to rotate, the terminal feedback transfer gear (3) and the output shaft feedback gear (13) are meshed and transmitted; Step S52: The deflection angle of the terminal feedback transfer gear (3) is monitored by the potentiometer (8), so as to obtain the deflection angle of the output shaft (11) and the rudder wing (18); Step S53: According to the feedback result of the potentiometer (8), the driving motor (1) drives the rudder wing (18) to further deflect, and adjusts the deflection angle of the rudder wing (18).

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