Small volume anti-interference ball screw counter driving type servo mechanism

Abstract

The application discloses a small-volume anti-interference ball screw counter-drive type servo mechanism and belongs to the field of servo control mechanisms. A screw gear is fixedly connected with a ball screw nut, a motor transmits power to the screw gear through an intermediate gear assembly, and the screw gear rotates together with the ball screw nut. When the ball screw nut rotates, the ball screw realizes linear reciprocating motion under the action of a terminal guide mechanism. A linear displacement potentiometer body is fixed with a speed reducer shell, and is fixed with a ball screw terminal guide mechanism through a potentiometer adapter rod, and realizes linear reciprocating motion with the ball screw to measure the position of the ball screw in real time. The motor adopts front-end wire outlet, and the motor cable and the sensor cable are isolated and shielded through an isolation cavity. The output is realized in an external connector mode. The joint surfaces of the mechanism parts are subjected to conductive oxidation treatment to realize electromagnetic interference shielding.

Description

Technical Field

[0001] This invention belongs to the field of servo control mechanisms, specifically relating to a small-volume anti-interference ball screw reverse-drive servo mechanism. Background Technology

[0002] UAV servo products require small size, lightweight, interference resistance, no exposed cables, and easy maintenance. In existing technologies, high-load linear motion mechanisms generally employ a ball screw direct-drive structure, but this results in a large size and complex handling of potentiometer and motor cables, making it difficult to effectively reduce weight. Furthermore, during UAV maintenance, the electrical and transmission components of the servo structure cannot be completely disassembled, leading to inconvenience. Therefore, researching a small-sized, cable-free, interference-resistant, and easily maintainable servo mechanism is of great significance. Summary of the Invention

[0003] In order to overcome the shortcomings of the prior art, the present invention aims to provide a small-volume anti-interference ball screw reverse-drive servo mechanism to solve the problems of large size and heavy weight of the high-load linear motion mechanism of UAVs in the prior art, and the inconvenience of maintenance caused by the inability to completely remove the electrical components and transmission components in the servo structure.

[0004] To achieve the above objectives, the present invention employs the following technical solution:

[0005] A small-volume anti-interference ball screw reverse-drive servo mechanism includes: a front connector, a guide rod, a motor, an intermediate housing, a rear housing, a rear connector, a front housing, a ball screw, an intermediate gear assembly, a linear displacement potentiometer, a large screw gear, a ball screw nut, and a guide mechanism.

[0006] The motor is located above the front housing and is connected to the middle housing and the rear housing in sequence. The guide rod is located at one end of the front housing, and the rear connecting seat is located at the other end of the front housing. The ball screw is located inside the rear connecting seat, the front housing, and the guide rod. One end is connected to the guide mechanism, and the other end is connected to the front connector outside the guide rod. A ball screw nut is provided on the ball screw. The motor transmits power to the large gear of the screw through the intermediate gear assembly. The large gear of the screw is fixedly connected to the ball screw nut. The linear displacement potentiometer is fixedly connected to the guide mechanism at the end of the ball screw.

[0007] Preferably, the guiding mechanism includes: an anti-rotation block, a guide rail, an anti-rotation key, an anti-rotation block locking nut, a lower buffer pad, and an upper buffer pad; the guide rail is installed on the rear connecting seat, the anti-rotation block is connected to the end of the ball screw through the anti-rotation key and locked by the anti-rotation block locking nut, and the lower buffer pad and the upper buffer pad are press-fitted onto the anti-rotation block.

[0008] Preferably, the motor is equipped with a motor gear, and the motor and the motor gear are fixedly connected by a cylindrical pin. The motor gear bearing is installed in the motor gear. The motor gear and the motor rotate simultaneously, and the power is transmitted to the lead screw gear through the intermediate gear assembly.

[0009] Preferably, the ball screw is assembled on the rear end housing and the front end housing via a screw support bearing. The screw support bearing is fixed to the ball screw via a bearing support seat. The large gear of the screw is fixed on the bearing support seat via a bearing support seat fastening screw. The large gear of the screw and the ball screw are locked together by threads and mechanically prevented from loosening by a screw gear set screw.

[0010] Preferably, a bearing cover is fixedly connected to the end of the front housing, a sliding bearing is interference-fitted on the bearing cover, and a sealing ring is installed in the sealing groove of the bearing cover.

[0011] Preferably, the rear housing is fixedly locked with a linear displacement potentiometer by a potentiometer fixing nut. The measuring rod of the linear displacement potentiometer is connected to the anti-rotation block through a potentiometer adapter rod and locked by a potentiometer adapter rod locking nut, and moves linearly reciprocating with the ball screw.

[0012] Preferably, the linear potentiometer protective cover and conductive rubber pad of the linear displacement potentiometer are mounted on the front housing by screws.

[0013] Preferably, a wiring support plate is provided inside the front housing, and wiring holes are provided on the middle housing and the rear housing. A wiring cover plate I is installed on the rear housing, and a wiring cover plate II is installed on the middle housing. The motor adopts a front-end wiring method, and the motor cable on the motor passes through the wiring holes of the middle housing and the rear housing and is connected to the electrical connector through the electrical connector support seat. The linear displacement potentiometer adopts a rear-end wiring method, and the potentiometer cable on the linear displacement potentiometer is fixed to the wiring support plate by a wire clip, and also passes through the wiring holes of the middle housing and the rear housing and is connected to the electrical connector through the electrical connector support seat.

[0014] Preferably, the front connector and the guide rod are locked together by the front connector adjusting nut and prevented from loosening by the rod end nut set screw, and the front connector is interference-fitted with a spherical bearing for small-range angle adjustment.

[0015] Preferably, the rear connecting seat has a rear connecting seat mounting hole, and a rear end bushing is press-fitted into the rear connecting seat mounting hole to ensure that the installation direction is perpendicular; the front end housing is also provided with a grounding stake to achieve full conductivity of the mechanism.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] This invention discloses a small-volume, anti-interference ball screw reverse-drive servo mechanism. The large gear of the ball screw is fixedly connected to the ball screw nut. The motor transmits power to the large gear through an intermediate gear assembly, causing the large gear and the ball screw nut to rotate together. During the rotation of the ball screw nut, the ball screw achieves linear reciprocating motion under the action of the end guide mechanism. The linear displacement potentiometer body is fixed to the reducer housing and to the end guide mechanism of the ball screw via a potentiometer adapter rod, moving linearly with the ball screw and measuring its position in real time. The motor uses a front-end cable exit, with isolation and shielding of the motor and sensor cables through an isolation cavity. Output is achieved via an external connector. All mating surfaces of the mechanism parts are treated with conductive oxidation to achieve electromagnetic interference shielding. Attached Figure Description

[0018] Figure 1 This is the main view of the reverse-drive servo mechanism;

[0019] Figure 2 Right view of the reverse-drive servo mechanism;

[0020] Figure 3 This is a cross-sectional view along plane AA;

[0021] Figure 4 This is a cross-sectional view along plane BB;

[0022] Figure 5 This is a cross-sectional view along the CC plane;

[0023] Figure 6 This is the view of the leadscrew component.

[0024] The components are: 1-Front connector; 2-Guide rod; 3-Bearing cap; 4-Motor; 5-Intermediate housing; 6-Rear end housing; 7-Rear connector; 8-Grounding post; 9-Front end housing; 10-Cable routing cover plate I; 11-Rod end nut set screw; 12-Sealing ring; 13-Ball screw; 14-Anti-rotation block; 15-Guide rail; 16-Motor gear bearing; 17-Motor gear; 18-Cylindrical pin; 19-Intermediate gear assembly; 20-Sliding bearing; 21-Front connector adjusting nut; 22-Spherical bearing; 23-Polypotentiometer adapter rod; 24-Rear end bushing; 25-Polypotentiometer adapter rod lock. 26-Polypotentiometer fixing nut; 27-Linear displacement potentiometer; 28-Polypotentiometer protective cover; 29-Conductive rubber pad; 30-Wire clip; 31-Cable routing support plate; 32-Polypotentiometer cable; 33-Cable routing cover plate II; 34-Motor cable; 35-Electrical connector support seat; 36-Electrical connector; 37-Rod end locking screw; 38-Lead screw support bearing; 39-Lead screw large gear; 40-Bearing support seat; 41-Anti-rotation key; 42-Anti-rotation block locking nut; 43-Lower buffer pad; 44-Upper buffer pad; 45-Bearing support seat fastening screw; 46-Lead screw gear set screw. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process-method-system-product or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes-methods-products or apparatuses.

[0027] The present invention will now be described in further detail with reference to the accompanying drawings:

[0028] The technical problem to be solved by this invention is: 1. An integrated method for realizing a small-volume, anti-interference ball screw reverse-drive servo mechanism. The ball screw 13 adopts a reverse-drive design. The ball screw 13 and the linear displacement potentiometer 27 achieve linear reciprocating motion under the guidance of the guide mechanism. The motor 4 adopts front-end wiring, and the motor cable and sensor cable are isolated and shielded through an isolation cavity. Cableless output is achieved through external connectors. 2. A method for the integrated disassembly and assembly structure of electrical components and transmission components. The reducer housing is designed with a dedicated wiring cavity. Through this cavity structure, the electrical components can be disassembled and assembled as a whole, achieving convenient maintenance.

[0029] The specific technical solution of the present invention is as follows:

[0030] A small-volume anti-interference ball screw reverse-drive servo mechanism includes: a front connector 1, a guide rod 2, a motor 4, an intermediate housing 5, a rear housing 6, a rear connector 7, a front housing 9, a ball screw 13, an intermediate gear assembly 19, a linear displacement potentiometer 27, a large screw gear 39, a ball screw nut, and a guide mechanism.

[0031] The motor 4 is located above the front housing 9 and is connected in sequence to the middle housing 5 and the rear housing 6. The guide rod 2 is located at one end of the front housing 9, and the rear connecting seat 7 is located at the other end of the front housing 9. The ball screw 13 is located inside the rear connecting seat 7, the front housing 9 and the guide rod 2. One end is connected to the guide mechanism and the other end is connected to the front connecting head 1 outside the guide rod 2. The ball screw 13 is equipped with a ball screw nut. The motor 4 transmits power to the large screw gear 39 through the intermediate gear assembly 19. The large screw gear 39 is fixedly connected to the ball screw nut. The linear displacement potentiometer 27 is fixedly connected to the guide mechanism at the end of the ball screw 13.

[0032] The large lead screw gear 39 is fixedly connected to the ball screw nut. The motor 4 transmits power to the large lead screw gear 39 through the intermediate gear assembly 19, and the large lead screw gear 39 rotates together with the ball screw nut. As the ball screw nut rotates, the ball screw 13 achieves linear reciprocating motion under the action of the end guide mechanism. The linear displacement potentiometer 27 is fixed to the reducer housing and to the end guide mechanism of the ball screw 13 via the potentiometer adapter rod 23. It reciprocates linearly with the ball screw 13, measuring the position of the ball screw 13 in real time. The motor 4 uses a front-end cable outlet, with isolation and shielding of the motor cable and sensor cable through an isolation cavity. Output is achieved via an external connector. The mating surfaces of the mechanism parts are all treated with conductive oxidation to achieve electromagnetic interference shielding.

[0033] like Figure 1 , 2As shown in Figures 3 and 6, motor 4 and motor gear 17 are fixedly connected by cylindrical pins 18, and motor gear bearing 16 is installed in motor gear 17. Motor gear 17 and motor 4 rotate simultaneously, transmitting power to the lead screw large gear 39 through intermediate gear assembly 19. Lead screw large gear 39 and ball screw 13 are locked together by threads and mechanically prevented from loosening by lead screw gear set screw 46. Bearing support seat 40 is fixed to lead screw large gear 39 by bearing support seat fastening screw 45 and rotates together with lead screw large gear 39. Two lead screw support bearings 38 are assembled on the rear housing 6 and the front housing 9 to support the lead screw assembly. Lower buffer pad 43 and upper buffer pad 44 are press-fitted onto anti-rotation block 14. Anti-rotation block 14 is connected to the end of ball screw through anti-rotation key 41 and locked by anti-rotation block locking nut 42. Guide rod 2 is connected to ball screw 13 by threads and locked by rod end locking screw 37. The rear connecting seat 7 is fixedly connected to the rear housing 6, and the guide rail 15 is mounted on the rear connecting seat 7. The large gear 39 of the lead screw and the lead screw nut of the ball screw 13 rotate together, and the ball screw reciprocates linearly under the guidance of the anti-rotation block 14 and the guide rod 2. The sliding bearing 20 is interference-fitted to the bearing cover 3, and the sealing ring 12 is installed in the sealing groove of the bearing cover 3. The bearing cover 3 is fixedly connected to the front housing 9. When the ball screw 14 reciprocates linearly, the guide rod 9 reciprocates linearly under the support of the sliding bearing 23.

[0034] like Figure 4 , 5 As shown, the linear displacement potentiometer 27 is fixed and locked to the rear housing 6 by the potentiometer fixing nut 26. The measuring rod of the linear displacement potentiometer 27 is connected to the anti-rotation block 14 through the potentiometer adapter rod 23 and locked by the potentiometer adapter rod locking nut 25. The linear displacement potentiometer 27 follows the linear reciprocating motion of the ball screw 13 to achieve accurate measurement of the linear displacement of the ball screw. The linear potentiometer protective cover 28 and the conductive rubber pad 29 are installed on the front housing 9 by screws to achieve electromagnetic interference shielding of the linear displacement potentiometer 27. The motor 4 adopts a front-end cable exit method. The motor cable 34 passes through the wiring holes of the middle housing 5 and the rear housing 6 and is connected to the electrical connector 36 through the electrical connector support 35. The linear displacement potentiometer 27 adopts a rear-end cable exit method. The potentiometer cable 32 is fixed to the wiring support plate 31 by the wire clip 30, and also passes through the wiring holes of the middle housing 5 and the rear housing 6, and is connected to the electrical connector 36 through the electrical connector support 35. Cable routing cover I10 is installed on the rear housing 6, and cable routing cover II33 is installed on the middle housing 5. By removing cable routing cover I10, cable routing cover II33, and potentiometer protective cover 28, electrical connector 36 and motor 4 can be disassembled as a whole without soldering.

[0035] Figure 1 ,2 In the middle section, the front connector 1 and guide rod 2 are locked together by the front connector adjusting nut 21 and secured with the rod end nut set screw 11. The installation distance can be adjusted using the front connector adjusting nut 21 as needed. The spherical bearing 22 is press-fitted into the front connector 1, and the rear bushing 24 is press-fitted into the rear connector mounting hole. The rear bushing 24 ensures the installation direction is perpendicular, and the spherical bearing 22 accommodates a small range of angle adjustments, solving the problem of servo mechanism body swaying under load. The reverse-drive servo mechanism structure surface uses conductive oxidation to achieve full conductivity, and the grounding stake 8 is connected to the housing to achieve full conductivity.

[0036] In summary, typical ball screw servo mechanisms often employ a forward drive method, where the rotation of the ball screw is converted into the linear reciprocating motion of the screw nut. The motor typically uses an end-out wiring method, leaving the linear displacement potentiometer and motor cables exposed, resulting in significant interference from the external electromagnetic environment. This invention adopts a reverse drive method and integrates the motor cables and linear displacement potentiometer cables into a sealed, confined space, significantly reducing product size and facilitating electromagnetic interference shielding.

[0037] Unmanned aerial vehicle (UAV) servo products require a long service life and necessitate maintenance throughout their lifespan. Traditionally, maintenance cannot involve the complete disassembly of electrical and structural components, typically requiring the unsoldering of connectors and cables, making maintenance complex. This invention employs a modular integrated design method that allows for the complete disassembly of electrical and structural components, enabling rapid reassembly after maintenance, thus simplifying maintenance.

[0038] The above content is only for illustrating the technical concept of the present invention and should not be construed as limiting the scope of protection of the present invention. Any modifications made to the technical solution based on the technical concept proposed in this invention shall fall within the scope of protection of the claims of this invention.

Claims

1. A small-volume, anti-interference ball screw reverse-drive servo mechanism, characterized in that, include: Front connector (1), guide rod (2), motor (4), intermediate housing (5), rear housing (6), rear connector (7), front housing (9), ball screw (13), intermediate gear assembly (19), linear displacement potentiometer (27), screw large gear (39), ball screw nut and guide mechanism; The motor (4) is located above the front housing (9) and connected to the middle housing (5) and the rear housing (6) in sequence. The guide rod (2) is located at one end of the front housing (9), and the rear connecting seat (7) is located at the other end of the front housing (9). The ball screw (13) is located inside the rear connecting seat (7), the front housing (9) and the guide rod (2). One end is connected to the guide mechanism, and the other end is connected to the front connecting head (1) outside the guide rod (2). The ball screw (13) is provided with a ball screw nut. The motor (4) transmits power to the screw large gear (39) through the intermediate gear assembly (19). The screw large gear (39) is fixedly connected to the ball screw nut. The linear displacement potentiometer (27) is fixedly connected to the guide mechanism at the end of the ball screw (13). The guiding mechanism includes: an anti-rotation block (14), a guide rail (15), an anti-rotation key (41), an anti-rotation block locking nut (42), a lower buffer pad (43), and an upper buffer pad (44); the guide rail (15) is mounted on the rear connecting seat (7), the anti-rotation block (14) is connected to the end of the ball screw (13) through the anti-rotation key (41), and is locked by the anti-rotation block locking nut (42), and the lower buffer pad (43) and the upper buffer pad (44) are press-fitted onto the anti-rotation block (14); The rear housing (6) is fixed and locked with a linear displacement potentiometer (27) by a potentiometer fixing nut (26). The measuring rod of the linear displacement potentiometer (27) is connected to the anti-rotation block (14) through the potentiometer adapter rod (23) and locked by the potentiometer adapter rod locking nut (25), and moves linearly back and forth with the ball screw (13).

2. The small-volume anti-interference ball screw reverse-drive servo mechanism according to claim 1, characterized in that, The motor (4) is provided with a motor gear (17), and the motor (4) and the motor gear (17) are fixedly connected by a cylindrical pin (18). The motor gear bearing (16) is installed in the motor gear (17). The motor gear (17) and the motor (4) rotate simultaneously, and the power is transmitted to the lead screw large gear (39) through the intermediate gear assembly (19).

3. The small-volume anti-interference ball screw reverse-drive servo mechanism according to claim 1, characterized in that, The ball screw (13) is assembled on the rear housing (6) and the front housing (9) via a screw support bearing (38). The screw support bearing (38) is fixed to the ball screw (13) via a bearing support seat (40). The screw large gear (39) is fixed on the bearing support seat (40) via a bearing support seat fastening screw (45). The screw large gear (39) and the ball screw (13) are locked together by threads and are mechanically prevented from loosening by a screw gear set screw (46).

4. The small-volume anti-interference ball screw reverse-drive servo mechanism according to claim 1, characterized in that, The end of the front housing (9) is fixedly connected to a bearing cover (3), and a sliding bearing (20) is interference-fitted on the bearing cover (3), and a sealing ring (12) is installed in the sealing groove of the bearing cover (3).

5. The small-volume anti-interference ball screw reverse-drive servo mechanism according to claim 1, characterized in that, The linear potentiometer protective cover (28) and conductive rubber pad (29) of the linear displacement potentiometer (27) are mounted on the front housing (9) by screws.

6. The small-volume anti-interference ball screw reverse-drive servo mechanism according to claim 1, characterized in that, The front housing (9) is provided with a wiring support plate (31), and wiring holes are provided on the middle housing (5) and the rear housing (6). A wiring cover plate I (10) is installed on the rear housing (6), and a wiring cover plate II (33) is installed on the middle housing (5). The motor (4) adopts the front-end wiring method. The motor cable (34) on the motor (4) passes through the wiring holes of the middle housing (5) and the rear housing (6) and is connected to the electrical connector (36) through the electrical connector support base (35). The linear displacement potentiometer (27) adopts the rear-end wiring method. The potentiometer cable (32) on the linear displacement potentiometer (27) is fixed on the wiring support plate (31) by the wire clip (30) and also passes through the wiring holes of the middle housing (5) and the rear housing (6) and is connected to the electrical connector (36) through the electrical connector support base (35).

7. The small-volume anti-interference ball screw reverse-drive servo mechanism according to claim 1, characterized in that, The front connector (1) and the guide rod (2) are locked together by the front connector adjusting nut (21) and prevented from loosening by the rod end nut set screw (11). The front connector (1) is also fitted with a joint bearing (22) for small-range angle adjustment.

8. The small-volume anti-interference ball screw reverse-drive servo mechanism according to claim 1, characterized in that, The rear connecting seat (7) is provided with a rear connecting seat mounting hole, and a rear end bushing (24) is press-fitted into the rear connecting seat mounting hole to ensure that the installation direction is perpendicular; the front end housing (9) is also provided with a grounding stake (8) to realize full conductivity of the mechanism.

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