A servo and output angle non-coaxial equivalent mechanism

Abstract

The present invention relates to a steering gear and an output angle non-coaxial equivalent mechanism, belonging to the technical field of electric steering gear structure; the housing of the steering gear, which is composed of a steering gear body, a rear panel, a motor mounting plate, a left cover plate and a right cover plate, has a plurality of mounting holes inside for mounting steering gear components and the output angle non-coaxial equivalent mechanism; the bottom of the steering gear body is provided with a mounting interface for a DC motor, and the front is provided with a mounting interface and a wiring groove for a position measuring device; the steering gear transmission component, the output angle non-coaxial equivalent mechanism and the DC brushless motor are connected to the steering gear body, the rear panel, the motor mounting plate, the left cover plate and the right cover plate through fastening screws to form a steering gear; under the control command of an external control system, a closed-loop servo system is formed with the steering gear position measuring device to realize accurate position control of the steering gear; the present invention has a compact structure, light weight, large torque, and can achieve higher steering control accuracy; it is flexible to disassemble and assemble, and has reliable and stable performance.

Description

Technical Field

[0001] The invention belongs to the technical field of electric steering gear structures and relates to a steering gear and an output angle non-coaxial equivalent mechanism. Background Art

[0002] In precision-guided weapons such as missiles and torpedoes, the servo is an important actuator for controlling the navigation attitude and motion trajectory. As an angle actuator, it can quickly and accurately respond to the target position according to the control command. It is suitable for control systems that require the angle to be continuously and accurately changed and maintained. It is widely used in various weapons such as missiles and torpedoes that need to control their attitude.

[0003] Currently, most of the servo output interfaces are solid shafts with mounting interfaces, and the position measuring device is often coaxially arranged on a housing that is stationary relative to the servo. There are currently no non-coaxially arranged position measuring devices on the market. In this case, the position measuring device can only be installed on the upper-level transmission of the output shaft or a mechanism that can be designed to be equivalent to the output shaft angle. However, there is a gap and error in this level of transmission between the angle measured by the position measuring device and the actual angle of the output shaft, which results in failure to achieve the required control accuracy. Summary of the invention

[0004] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art and propose a steering gear and output angle non-coaxial equivalent mechanism, which has a compact structure, light weight, large torque, is suitable for steering gears with rudder shafts as hollow shafts, and can achieve higher rudder control accuracy; the overall device can be applied to various types of weapons and equipment such as projectiles and mine bodies with rudder shafts as hollow shafts, has flexible disassembly and assembly, and reliable and stable performance.

[0005] The solution of the present invention is:

[0006] A steering gear and an output angle non-coaxial equivalent mechanism, comprising a steering gear body, a rear panel, a motor mounting plate, a left cover plate, a right cover plate, a steering gear transmission component, an output angle non-coaxial equivalent mechanism, a DC brushless motor, a position measuring device, and fastening screws;

[0007] Among them, the servo shell composed of the servo body, the rear panel, the motor mounting plate, the left cover plate and the right cover plate has several mounting holes inside for installing the servo components and the output angle non-coaxial equivalent mechanism; the bottom of the servo body has a mounting interface for the DC motor, and the front has a mounting interface and a wiring groove for the position measuring device; the servo transmission component, the output angle non-coaxial equivalent mechanism, and the DC brushless motor are connected to the servo body, the rear panel, the motor mounting plate, the left cover plate and the right cover plate through fastening screws to form a servo; under the control command of the external control system, a closed-loop servo system is formed with the servo position measuring device to achieve precise position control of the servo.

[0008] In the above-mentioned servo and output angle non-coaxial equivalent mechanism, the servo body is an L-shaped special-shaped structure; the rear side of the servo body is provided with a groove for installing parts of the transmission assembly and a bearing hole for installing the output angle non-coaxial conversion mechanism; the front side of the servo body is provided with a through hole for extending the output shaft; the left side of the servo body is provided with a through hole for passing the transmission parts; the step of the servo body is provided with a servo installation hole and a pin hole for positioning; the bottom of the servo body is provided with a groove for accommodating the transmission parts and a through groove for passing the transmission parts, a first bearing hole and a second bearing hole for supporting the transmission parts; the servo body is also provided with a threaded hole for fixing the rear panel, a positioning hole, a threaded hole for fixing the motor mounting plate, a positioning pin hole, a threaded hole for fixing the left cover plate, and a threaded hole for fixing the right cover plate.

[0009] In the above-mentioned steering gear and output angle non-coaxial equivalent mechanism, the rear panel is provided with a through hole for extending the steering gear output shaft and a mounting hole for installing a position testing device; the rear panel is provided with a long groove for routing the position testing device, a notch for guiding transmission parts, a hole for supporting the output shaft bearing, a mounting bearing hole for the output angle non-coaxial equivalent mechanism, a countersunk hole for fastening to the steering gear body, and a positioning pin hole for positioning.

[0010] In the above-mentioned servo and output angle non-coaxial equivalent mechanism, the motor mounting plate is provided with fastening screws through countersunk holes, positioning pin holes, motor mounting holes, motor positioning holes, and threaded holes; the fixed motor mounting plate is fixedly connected to the threaded holes of the servo body through fastening screws through countersunk holes; positioning is achieved through positioning pin holes and positioning pin holes, and positioning and fastening of the DC brushless motor is achieved through motor mounting holes and motor positioning holes; and it is connected to an external control system through threaded holes.

[0011] In the above-mentioned steering gear and output angle non-coaxial equivalent mechanism, the left cover plate is provided with a first countersunk hole and a bearing hole; the left cover plate is connected to the entire body of the steering gear through the first countersunk hole.

[0012] In the above-mentioned steering gear and output angle non-coaxial equivalent mechanism, the right side cover plate is provided with a second countersunk hole; the right side cover plate is connected to the rear panel of the steering gear as a whole body through the second countersunk hole.

[0013] In the above-mentioned servo and output angle non-coaxial equivalent mechanism, the servo transmission assembly is a speed reduction and torque increasing assembly composed of a plurality of gears, a nut screw pair, a shift fork and a plurality of bearings; the servo transmission assembly is installed in a cavity composed of a servo body, a rear panel, a motor mounting plate, a left cover plate and a right cover plate; the shift fork is an output component with a through spline interface, and the shift fork has an interface connected to the output angle non-coaxial equivalent mechanism.

[0014] In the above-mentioned steering gear and output angle non-coaxial equivalent mechanism, the output angle non-coaxial equivalent mechanism is a planar four-bar mechanism; the output angle non-coaxial equivalent mechanism is provided with a first rod, a second rod and a connecting rod; the output angle non-coaxial equivalent mechanism is connected to a shift fork and a position measuring device on a steering gear transmission assembly via the first rod and the second rod respectively, serving as the rotation center of the position measuring device; the output shaft center of the shift fork is a fixed constraint, and the shift fork is connected through a connecting rod; the dead point area of ​​the output angle non-coaxial equivalent mechanism is larger than the rotation range required by the steering gear, thereby realizing the linkage between the output shaft and the position measuring device.

[0015] In the above-mentioned servo and output angle non-coaxial equivalent mechanism, the rated torque output by the servo transmission assembly is greater than or equal to 10 N·m; and the maximum torque is greater than or equal to 15 N·m.

[0016] In the above-mentioned steering gear and output angle non-coaxial equivalent mechanism, the deflection angle range of the output end of the steering gear transmission component is -25° to +25°; and the angle deviation accuracy is an absolute error of less than or equal to 5%.

[0017] The beneficial effects of the present invention compared with the prior art are:

[0018] (1) The present invention ensures the measurement accuracy of the position measurement device by adopting a planar four-bar mechanism, and avoids the situation where the position measurement device is arranged on the transmission part of the output shaft, resulting in the gap between the transmission parts being superimposed on the output shaft, and the accuracy of the steering gear system being deteriorated. The steering gear has a compact structure, and the external interface is convenient for installation on precision-guided weapons such as missile bodies / mine bodies, and is convenient for integration with the control system. The torque provided by the steering gear per unit mass is large.

[0019] (2) The present invention has a strong structural versatility, and the external installation interface can be changed according to different needs, and can also be changed according to different output shaft forms to adapt to the coaxial installation position measurement device.

[0020] (3) The present invention can realize precise control of angle deviation through an external control system. The deflection angle is large, which can provide a large torque and the angle deviation accuracy is high, which can realize the hardware requirements of precise control of the rudder control device.

[0021] (4) The present invention can meet the requirements of various complex working environments, has a stable and reliable structure, can withstand large impacts, has a relatively long working life, and has good environmental adaptability and quality reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the steering gear complete machine body of the present invention;

[0023] Figure 2 It is a structural schematic diagram of the entire fuselage of the steering gear of the present invention;

[0024] Figure 3 It is a structural schematic diagram of the rear panel of the steering gear of the present invention;

[0025] Figure 4 This is a schematic diagram of the structure of the steering gear fixing motor mounting plate of the present invention;

[0026] Figure 5 It is a structural schematic diagram of the left side cover of the steering gear of the present invention;

[0027] Figure 6 It is a structural schematic diagram of the right side cover plate of the steering gear of the present invention;

[0028] Figure 7 It is a structural schematic diagram of the steering gear transmission assembly of the present invention;

[0029] Figure 8 It is a structural schematic diagram of the non-coaxial conversion mechanism of the steering gear output angle of the present invention;

[0030] Fig. 9 This is a simplified diagram of the non-coaxial equivalent mechanism of the steering gear output angle of the present invention. DETAILED DESCRIPTION

[0031] The present invention will be further described below in conjunction with the embodiments.

[0032] The present invention provides a steering gear and an output angle non-coaxial equivalent mechanism to cope with the situation that the output shaft of the steering gear cannot be directly arranged with a position measuring device, and arranging the position measuring device at the upper level will deteriorate the control accuracy of the steering gear, thereby ensuring the control accuracy of the steering gear. The structural form of the device has the advantages of high precision and strong versatility, making the steering gear highly applicable and light in structure.

[0033] The present invention provides a steering gear and an output angle non-coaxial equivalent mechanism, the principle of which is based on a planar four-bar mechanism. The planar four-bar mechanism can obtain the rotation angle relationship of two rods connecting two frames according to the geometric relationship of the planar four-bar mechanism when the length of the four rods is known (obtained based on the space and the absence of dead points within the required angle), the position of the frame (determined by the space and structural design), and the initial position (determined by the design). Fig. 9 As shown, the following is the derivation process:

[0034] In the figure, point A represents the projection point of the output shaft axis on the plane where the planar four-bar mechanism is located, point D is the projection point of the rotation center of the position measuring device on the plane where the planar four-bar mechanism is located, points A and D are the frame, BC is the middle rod, AB can rotate around point A, CD can rotate around point D, the design principle is that there is no dead point within the required rotation angle range, after the design is completed, the length of the four-bar is determined, the position of point A is known, the angle β is known, the angle between rod AB and rod AD is γ, the initial angle is known to be γ0, and it can be obtained:

[0035] BD2 =AB 2 +AD 2 -2AB·AD cosγ

[0036]

[0037]

[0038] θ=β-α

[0039] Combining the above four formulas, we can get:

[0040] If β is known, the initial value of γ γ0 is known, and the length of the connecting rod is known, the relationship between θ and γ can be obtained.

[0041] The servo and output angle are non-coaxial equivalent mechanisms, such as Figure 1 As shown, it specifically includes a steering gear body 1, a rear panel 2, a motor mounting plate 3, a left cover plate 4, a right cover plate 5, a steering gear transmission component 6, an output angle non-coaxial equivalent mechanism 7, a DC brushless motor 8, a position measuring device 9, and a fastening screw 10.

[0042] Among them, the servo body 1 and the rear panel 2, the motor mounting plate 3, the left cover plate 4, and the right cover plate 5 form a servo shell with several mounting holes inside, which are used to install the servo assembly 6 and the output angle non-coaxial equivalent mechanism 7; the bottom of the servo body 1 has a mounting interface for the DC motor 8, and the front has a mounting interface and a wiring groove for the position measuring device 9; the servo transmission assembly 6, the output angle non-coaxial equivalent mechanism 7, and the DC brushless motor 8 form a servo with the servo body 1, the rear panel 2, the motor mounting plate 3, the left cover plate 4, and the right cover plate 5 through the fastening screws 10; under the control command of the external control system, a closed-loop servo system is formed with the servo position measuring device 9 to achieve precise position control of the servo.

[0043] like Figure 2As shown, the steering gear body 1 is an L-shaped special-shaped structure; a groove 11 for installing parts of the transmission assembly 6 and a bearing hole 12 for installing the output angle non-coaxial conversion mechanism 7 are provided on the rear side of the steering gear body 1; a through hole 13 for extending the output shaft is provided on the front side of the steering gear body 1; a through hole 14 for passing the transmission parts is provided on the left side of the steering gear body 1; a steering gear installation hole 15 and a pin hole 16 for positioning are provided at the step of the steering gear body 1; a groove 17 for accommodating the transmission parts and a through groove 18 for passing the transmission parts, a first bearing hole 19 and a second bearing hole 110 for supporting the transmission parts are provided at the bottom of the steering gear body 1; a threaded hole 111 for fixing the rear panel 2, a positioning hole 112, a threaded hole 113 for fixing the motor mounting plate 3, a positioning pin hole 114, a threaded hole 115 for fixing the left cover plate 4, and a threaded hole 116 for fixing the right cover plate 5 are also provided on the steering gear body 1.

[0044] like Figure 3 As shown, the rear panel 2 is provided with a through hole 21 for extending the steering gear output shaft and a mounting hole 22 for installing the position testing device 9; the rear panel 2 is provided with a long groove 23 for routing the position testing device 9, a notch 24 for guiding the transmission parts, a hole 25 for supporting the output shaft bearing, a mounting bearing hole 26 for the output angle non-coaxial equivalent mechanism 7, a countersunk hole 27 fastened to the steering gear body 1, and a positioning pin hole 28 for positioning.

[0045] The motor mounting plate 3 is provided with a fastening screw countersunk hole 31, a positioning pin hole 32, a motor mounting hole 33, a motor positioning hole 34, and a threaded hole 35. Figure 4 As shown, the fixed motor mounting plate 3 is fixedly connected to the threaded hole 113 of the servo machine body 1 by fastening screws through the countersunk hole 31; positioning is achieved through the positioning pin hole 32 and the positioning pin hole 114, and the positioning and fastening of the DC brushless motor 8 is achieved through the motor mounting hole 33 and the motor positioning hole 34; and it is connected to the external control system through the threaded hole 35.

[0046] like Figure 5 As shown, a first countersunk hole 41 and a bearing hole 42 are provided on the left cover plate 4 ; the left cover plate 4 is connected to the steering gear integral body 1 via the first countersunk hole 41 .

[0047] like Figure 6 As shown, a second countersunk hole 51 is provided on the right cover plate 5 ; the right cover plate 5 is connected to the rear panel 2 of the steering gear integral body 1 through the second countersunk hole 51 .

[0048] like Figure 7As shown, the steering gear transmission assembly 6 is a speed reduction and torque increase assembly composed of a plurality of gears 61, a nut screw pair 62, a shift fork 63 and a plurality of bearings 64; the steering gear transmission assembly 6 is installed in a cavity composed of a steering gear body 1, a rear panel 2, a motor mounting plate 3, a left cover plate 4 and a right cover plate 5; the shift fork 63 is an output component with a through spline interface 631, and the shift fork has an interface 632 connected to the output angle non-coaxial equivalent mechanism 7.

[0049] like Figure 8 As shown, the output angle non-coaxial equivalent mechanism 7 is a planar four-bar mechanism; the output angle non-coaxial equivalent mechanism 7 is provided with a first rod 71, a second rod 72 and a connecting rod 73; the output angle non-coaxial equivalent mechanism 7 is connected to the fork 63 and the position measuring device 9 on the steering gear transmission assembly 6 via the first rod 71 and the second rod 72, respectively, as the rotation center of the position measuring device 9; the output shaft center of the fork 63 is a fixed constraint, and the fork 63 is connected through the connecting rod 73; the dead point area of ​​the output angle non-coaxial equivalent mechanism 7 is larger than the rotation range required by the steering gear, so as to realize the linkage between the output shaft and the position measuring device 9.

[0050] In the present invention, the rated torque output by the steering gear transmission assembly 6 is greater than or equal to 10N·m; the maximum torque is greater than or equal to 15N·m. The deflection angle range of the output end of the steering gear transmission assembly 6 is -25° to +25°; the angle deviation accuracy is an absolute error of less than or equal to 5%.

[0051] The servo can provide sufficient torque, with a large deflection angle range and high angle deviation accuracy.

[0052] Working process: complete the assembly and debugging of the servo, ensure that the servo transmission components can work normally and smoothly, and the servo can respond quickly and smoothly; ensure that all threaded holes, screw fixing holes, mounting surfaces, and wiring grooves of the servo that are installed with the outside world are clean and free of impurities, and do not affect the installation and positioning accuracy with other external devices; install the position measurement device and fix it to ensure that its wiring is in the corresponding wiring groove and does not exceed the surface of the servo; the external control system is electrically connected to the motor and the position measurement device respectively to complete the electrical closed loop; perform position joint adjustment of the whole machine, write the relationship into the control algorithm according to the derived position relationship of the planar four-bar mechanism, send control instructions to the servo, and the servo can reach the target position according to the control instructions; perform relevant environmental tests and load debugging, all of which can meet the index requirements; finally, install the servo in the corresponding device to realize the corresponding position drive function.

[0053] The present invention proposes an example, which uses a steering gear and an output angle non-coaxial equivalent mechanism to complete the navigation motion control of precision-guided weapons such as conical cylindrical projectiles / mine bodies under small space and high performance requirements.

[0054] The present invention ensures the measurement accuracy of the position measuring device by adopting a planar four-bar mechanism, and avoids the situation where the position measuring device is arranged on the transmission part of the output shaft, resulting in the gap between the transmission parts being superimposed on the output shaft, and the accuracy of the steering gear system being deteriorated. The steering gear has a compact structure, and the external interface is convenient for installation on precision-guided weapons such as missile bodies / mine bodies, and is convenient for integration with the control system. The torque provided by the steering gear per unit mass is large.

[0055] The present invention has strong structural versatility, and the external installation interface can be changed according to different needs, and can also be changed according to different output shaft forms to adapt to the coaxial installation position measurement device. The external control system can be used to achieve precise control of the angle deviation, the deflection angle is large, and a large torque can be provided. The angle deviation accuracy is high, and the hardware requirements for precise control of the rudder control device can be achieved.

[0056] The invention can meet various complex working environment requirements, has a stable and reliable structure, can withstand large impacts, has a relatively long working life, and has good environmental adaptability and quality reliability.

[0057] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. A steering gear and an output angle non-coaxial equivalent mechanism, characterized in that: It comprises a steering gear body (1), a rear panel (2), a motor mounting plate (3), a left cover plate (4), a right cover plate (5), a steering gear transmission assembly (6), an output angle non-coaxial equivalent mechanism (7), a brushless DC motor (8), a position measuring device (9), and fastening screws (10); The servo body (1) and the rear panel (2), the motor mounting plate (3), the left cover plate (4) and the right cover plate (5) form a servo housing, and the interior of the servo housing has a plurality of mounting holes for mounting a servo transmission assembly (6) and an output angle non-coaxial equivalent mechanism (7); the bottom of the servo body (1) has a mounting interface for a DC brushless motor (8), and the front has a mounting interface and a wiring groove for a position measuring device (9); the servo transmission assembly (6), the output angle non-coaxial equivalent mechanism (7) and the DC brushless motor (8) are connected to the servo body (1), the rear panel (2), the motor mounting plate (3), the left cover plate (4) and the right cover plate (5) through fastening screws (10) to form a servo; under the control command of an external control system, the servo body and the servo position measuring device (9) form a closed-loop servo system to achieve precise position control of the servo; The steering gear transmission assembly (6) is a speed reducing and torque increasing assembly composed of a plurality of gears (61), a nut screw pair (62), a shift fork (63) and a plurality of bearings (64); the steering gear transmission assembly (6) is installed in a cavity formed by a steering gear body (1), a rear panel (2), a motor mounting plate (3), a left cover plate (4) and a right cover plate (5); the shift fork (63) is an output component with a through spline interface (631), and the shift fork has an interface (632) connected to the output angle non-coaxial equivalent mechanism (7); The output angle non-coaxial equivalent mechanism (7) is a planar four-bar mechanism; the output angle non-coaxial equivalent mechanism (7) is provided with a first rod (71), a second rod (72) and a connecting rod (73); the output angle non-coaxial equivalent mechanism (7) is connected to a shift fork (63) and a position measuring device (9) on a steering gear transmission assembly (6) via the first rod (71) and the second rod (72), respectively, and serves as the rotation center of the position measuring device (9); the output shaft center of the shift fork (63) is a fixed constraint, and the shift fork (63) is connected via the connecting rod (73); the dead point area of ​​the output angle non-coaxial equivalent mechanism (7) is larger than the rotation range required by the steering gear, so that the output shaft and the position measuring device (9) are linked; The rated torque output by the servo drive assembly (6) is greater than or equal to 10 ; Maximum torque greater than or equal to 15 ; The deflection angle range of the output end of the steering gear transmission assembly (6) is -25° to +25°; the angle deviation accuracy is an absolute error of less than or equal to 5%.

2. A steering gear and output angle non-coaxial equivalent mechanism according to claim 1, characterized in that: The steering gear body (1) is an L-shaped special-shaped structure; a groove (11) for installing parts of a steering gear transmission assembly (6) and a bearing hole (12) for installing an output angle non-coaxial equivalent mechanism (7) are arranged on the rear side of the steering gear body (1); a through hole (13) for extending an output shaft is arranged on the front side of the steering gear body (1); a through hole (14) for passing a transmission part is arranged on the left side of the steering gear body (1); a steering gear installation hole (15) and a pin hole (16) for positioning are arranged at the step of the steering gear body (1); The bottom of the whole machine body (1) is provided with a groove (17) for accommodating a transmission part, a through groove (18) for passing through the transmission part, a first bearing hole (19) for supporting the transmission part, and a second bearing hole (110); the whole machine body (1) is also provided with a threaded hole (111) for fixing the rear panel (2), a positioning hole (112), a threaded hole (113) for fixing the motor mounting plate (3), a positioning pin hole (114), a threaded hole (115) for fixing the left cover plate (4), and a threaded hole (116) for fixing the right cover plate (5).

3. A steering gear and output angle non-coaxial equivalent mechanism according to claim 2, characterized in that: The rear panel (2) is provided with a through hole (21) for extending the steering gear output shaft, and a mounting hole (22) for mounting the position measuring device (9); the rear panel (2) is provided with a long groove (23) for routing the position measuring device (9), a notch (24) for guiding transmission parts, a hole (25) for supporting the output shaft bearing, a mounting bearing hole (26) for the output angle non-coaxial equivalent mechanism (7), a countersunk hole (27) for fastening to the steering gear body (1), and a positioning pin hole (28) for positioning.

4. A steering gear and output angle non-coaxial equivalent mechanism according to claim 3, characterized in that: The motor mounting plate (3) is provided with a fastening screw through a countersunk hole (31), a positioning pin hole (32), a motor mounting hole (33), a motor positioning hole (34), and a threaded hole (35); the motor mounting plate (3) is fixedly connected to the threaded hole (113) of the steering gear complete body (1) through the fastening screw through the countersunk hole (31); positioning is achieved through the positioning pin hole (32) of the motor mounting plate (3) and the positioning pin hole (114) of the steering gear complete body (1); positioning and fastening of the DC brushless motor (8) are achieved through the motor mounting hole (33) and the motor positioning hole (34); and connection with an external control system is achieved through the threaded hole (35).

5. A steering gear and output angle non-coaxial equivalent mechanism according to claim 4, characterized in that: The left side cover plate (4) is provided with a first countersunk hole (41) and a bearing hole (42); the left side cover plate (4) is connected to the steering gear body (1) via the first countersunk hole (41).

6. A steering gear and output angle non-coaxial equivalent mechanism according to claim 5, characterized in that: The right side cover plate (5) is provided with a second countersunk hole (51); the right side cover plate (5) is connected to the steering gear body (1) and the rear panel (2) respectively via the second countersunk hole (51).

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