Trigonometric resolver with three redundant high precision outputs

Abstract

The application discloses a three-redundancy high-precision output sine-cosine resolver, which comprises a shell, a single-channel resolver and an electric connector, the shell is a cylindrical component, a continuous axle gear is connected to the shell at the shaft center through a bearing at the front end of the shell, and a driving gear is arranged on the shaft rod of the continuous axle gear; the single-channel resolver has three same groups, the shells of the three groups of single-channel resolvers are evenly distributed in the shell through supporting frames; a backlash gear assembly is coaxially fixed to the input end of the rotor shaft in the single-channel resolver; the backlash gear assemblies of the three groups of single-channel resolvers are engaged with the driving gear, and the three backlash gear assemblies are evenly distributed around the driving gear. The three single-channel resolvers realize the synchronous working mode of constant speed and constant angle, and the three-redundancy design greatly improves the reliability and safety of product working. The backlash gear assembly eliminates the mechanical transmission error, that is, the idle stroke error, generated in the gear transmission process, thereby ensuring the output precision of the sine-cosine resolver.

Description

Technical Field

[0001] This invention belongs to the field of rotary transformer technology, specifically relating to a triple-redundant high-precision output sine and cosine rotary transformer. Background Technology

[0002] Rotary transformers, as a type of shaft angle sensor, are widely used in servo systems, hydraulic drive systems, and follow-up systems. In the operation of hydraulic drive systems for aerospace and marine weaponry, multi-redundancy design is essential to reduce system failure rates and improve reliability and safety. Currently, dual-redundant sine and cosine rotary transformers are widely used, but with increasing demands for stability and reliability, dual-redundant transformers are no longer sufficient. To address this, a triple-redundant high-precision output sine and cosine rotary transformer is needed. However, since existing dual-redundant sine and cosine rotary transformers mostly use a series configuration, simply increasing the number of series sensors, while achieving triple redundancy, presents several problems. For example, series-connected sensors share a single rotor shaft, negatively impacting reliability. Furthermore, during transformer assembly, each sensor needs to be adjusted to its electrical zero position; series connection increases the difficulty of zero-position adjustment. Additionally, series-connected transformers increase axial space requirements; if radial space is large and axial space is small, this structure cannot be effectively utilized.

[0003] Therefore, it is necessary to propose a reliable triple-redundant high-precision output sine and cosine rotary transformer, and more importantly, this transformer has high-precision output. Summary of the Invention

[0004] In view of this, the present invention provides a sine and cosine rotary transformer with triple redundancy and high precision output, which realizes the function of high precision output of triple redundancy signals by connecting sensors in parallel.

[0005] The technical solution adopted in this invention is: a triple-redundant high-precision output sine and cosine rotary transformer, comprising a housing, a single-channel transformer, and an electrical connector, characterized in that: the housing is a cylindrical component, and the front end of the housing is connected to a coupling gear at the shaft center via a bearing, with a driving gear mounted on the shaft of the coupling gear; there are three identical sets of single-channel sensors, and the housings of the three sets of single-channel sensors are evenly distributed within the housing via a support frame; a backlash-eliminating gear assembly is coaxially fixed to the input end of the rotor shaft of each single-channel sensor; the backlash-eliminating gear assemblies of the three sets of single-channel sensors mesh with the driving gear, and the three backlash-eliminating gear assemblies are evenly distributed around the driving gear.

[0006] Furthermore, the backlash-eliminating gear assembly consists of a moving tooth, a tension spring, and a stationary tooth; the stationary tooth is coaxially fixed to the input end of the rotor shaft in the single-channel sensor, the moving tooth is fitted onto the gear shaft at the front end of the stationary tooth, and the moving tooth is axially limited by a retaining ring; a tension spring is provided between the stationary tooth and the moving tooth, and the two ends of the tension spring are respectively connected to the opposite end faces of the stationary tooth and the moving tooth, and the tension spring always has a restoring force; the stationary tooth and the moving tooth mesh with the driving gear.

[0007] Furthermore, the stationary gear has a sleeve at the rear axial position, and the stationary gear is fitted onto the front end of the rotor shaft through the sleeve to form a clearance fit. The sleeve and the rotor shaft are fixedly connected by a cylindrical pin with a vertical axis.

[0008] Furthermore, a groove is provided between the opposing end faces of the stationary tooth and the moving tooth, and a tension spring is disposed in the groove.

[0009] Furthermore, the support frame is circular, and three through mounting holes are evenly distributed around the center of the support frame. The front ends of the three sets of identical single-channel sensors are respectively fixed in the mounting holes, and the rotor shaft and the backlash elimination gear assembly fixed to the front end of the rotor shaft extend out from the mounting holes of the support frame.

[0010] Furthermore, the housing of the single-channel sensor has a recessed positioning groove on the outer wall near the front end, and a raised baffle is provided on the front side of the positioning groove. The front side of the baffle is separated from the front end of the housing of the single-channel sensor, and the diameter of the baffle is larger than the diameter of the mounting hole of the support frame. The front end of the housing extends into the mounting hole of the support frame and is limited by the baffle. The housing of the single-channel sensor and the support frame are fixedly connected by a pressure plate that is snapped into the positioning groove.

[0011] Furthermore, the pressure plate has an ear-shaped surface with a thickness that matches the width of the positioning groove. One side of the pressure plate is an arc that fits snugly into the positioning groove. The other side of the pressure plate has a positioning plate that extends vertically out of the plate, with the extension distance matching the thickness of the baffle of the sensor housing. The pressure plate has positioning holes on its surface, and the support frame is connected to the pressure plate by screws passing through the positioning holes.

[0012] Furthermore, the single-channel sensor is fixed to the support frame by two pressure plates.

[0013] Furthermore, the single-channel sensor includes a sensor housing assembly and a rotor assembly; The sensor housing assembly includes a sensor housing, a stator assembly, and a toroidal transformer primary assembly; the sensor housing is a cylindrical component with a central through-hole, and the stator assembly and the toroidal transformer primary assembly are fixedly spaced within the inner cavity of the cylinder; the front end of the sensor housing is fixed to the support frame, and the rear end of the sensor housing is fixed to a rear cover. The rotor assembly includes a rotor shaft, rotor stacks, and a toroidal transformer secondary assembly; the rotor stacks and the toroidal transformer secondary assembly are fixedly spaced on the rotor shaft, the rotor shaft is connected to the axial center of the sensor housing via bearings, the rotor stacks correspond to the stator assembly, and the toroidal transformer secondary assembly corresponds to the toroidal transformer primary assembly; the front end of the rotor shaft extends out of the front end of the sensor housing, and the backlash elimination gear assembly is fixed to the front end of the rotor shaft.

[0014] Furthermore, the rear cover of the sensor housing is provided with a through hole for the lead wire to pass through, and a wire outlet sleeve is provided on the rear cover at the position corresponding to the through hole.

[0015] The beneficial effects of this invention are as follows: Since three identical single-channel sensors are simultaneously meshed with the rotating shaft gear via a backlash-eliminating gear assembly at the input end, the rotating shaft gear can simultaneously drive all three single-channel sensors to operate, thereby achieving a synchronous operating mode of equal speed and angle for the three single-channel sensors. This triple redundancy design greatly improves the reliability and safety of the product. By arranging the three single-channel sensors in parallel, the problems existing in the original series connection are solved. Simultaneously, the backlash-eliminating gear assembly eliminates the mechanical transmission error generated during gear transmission, i.e., the backlash error, ensuring the output accuracy of the sine and cosine rotary transformer. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0017] Figure 2 yes Figure 1 Axial sectional view.

[0018] Figure 3 This is a schematic diagram of the structure of the present invention without the shell.

[0019] Figure 4 yes Figure 3 End view.

[0020] Figure 5 This is a schematic diagram of the support frame in this invention.

[0021] Figure 6 This is a schematic diagram of the pressure plate in this invention.

[0022] Figure 7 This is a schematic diagram of the overall structure of the single-channel sensor in this invention.

[0023] Figure 8 yes Figure 7 AA sectional view.

[0024] Figure 9 This is a schematic diagram of the sensor housing assembly.

[0025] Figure 10This is a schematic diagram of the rotor assembly.

[0026] Figure 11 This is a schematic diagram of the backlash-free gear assembly structure of the present invention.

[0027] Figure 12 yes Figure 11 Axial sectional view.

[0028] In the diagram: 1. End cap, 2. Housing, 3. Electrical connector, 4. Single-channel sensor, 5. Coupling gear, 5-1. Shaft, 5-2. Drive gear, 6. Pressure cap, 7. Bearing bracket, 8. Front bearing, 9. Rear bearing, 10. Support frame, 10-1. Center hole, 10-2. Mounting hole, 11. Bolt, 12. Backlash-eliminating gear assembly, 13. Sensor housing assembly, 14. Sensor housing, 14-1. Stop, 14-2. Positioning groove, 1 5. Pressure plate; 16. Arc; 17. Plate surface; 18. Positioning plate; 19. Positioning hole; 20. Stator stop ring; 21. Stator assembly; 22. Primary assembly of toroidal transformer; 23. Rear cover; 24. Outlet sleeve; 25. Rotor shaft; 26. Rotor stop ring; 27. Rotor stack; 28. Secondary assembly of toroidal transformer; 29. ​​Moving gear; 30. Tension spring; 31. Stationary gear; 32. Gear shaft; 33. Sleeve; 34. Cylindrical pin; 35. Retaining ring; 36. Groove. Detailed Implementation

[0029] To enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] A triple-redundant high-precision output sine and cosine rotary transformer includes a transformer housing 2 assembly, a gear transmission mechanism, and three sets of identical single-channel sensors 4.

[0031] like Figure 1 As shown, the transformer housing 2 assembly includes an end cover 1, a housing 2, and an electrical connector 3. The housing 2 is a cylindrical component. The end cover 1 is fixed to the front end of the housing 2, and the rear end of the housing 2 is fastened to the electrical connector 3 with screws. The end cover 1 has a through hole in its center.

[0032] like Figure 2 and Figure 3 As shown, a gear transmission mechanism and three identical single-channel sensors 4 are installed in the inner cavity of the housing 2.

[0033] like Figure 2As shown, the gear transmission mechanism includes a coupling gear 5, a bearing, a bearing bracket 7, and a support frame 10. A driving gear 5-2 is mounted on the shaft 5-1 of the coupling gear 5. The front end of the shaft 5-1 extends from the through hole of the end cover 1, and the driving gear 5-2 is located inside the housing 2. The shaft 5-1 on the front side of the driving gear 5-2 is connected to the bearing bracket 7 via a front bearing 8, while the shaft 5-1 on the rear side of the driving gear 5-2 is connected to the support frame 10 via a rear bearing 9. The bearing bracket 7 is fixedly connected to the support frame 10 via bolts 11. A gap is left between the bearing bracket 7 and the support frame 10. The bearing bracket 7 and the support frame 10 are fixed to the housing 2. A pressure cap 6 is provided on the shaft 5-1 on the front side of the front bearing 8, and the pressure cap 6 is fixedly connected to the bearing bracket 7 to press and limit the front bearing 8.

[0034] Each single-channel sensor 4 includes a rotor shaft 25, with a driven gear 29 fixed to the front end of the rotor shaft 25. This driven gear 29 is a backlash-eliminating gear assembly 12. This is because the three sets of single-channel sensors 4 connected in parallel in this invention are driven by gears, and to ensure output accuracy, the gears need to have the function of eliminating transmission backlash.

[0035] like Figure 7 , Figure 8 , Figure 11 and Figure 12 As shown, the backlash-free gear assembly 12 consists of a moving tooth 29, a tension spring 30, and a stationary tooth 31. The front end of the stationary tooth 31 is centered on a gear shaft 32, and the rear end is centered on a sleeve 33. The stationary tooth 31 is fitted onto the front end of the rotor shaft 25 via the sleeve, forming a clearance fit. The sleeve 33 and the rotor shaft 25 are fixedly connected by a cylindrical pin 34 perpendicular to the axis. The moving tooth 29 is fitted onto the gear shaft 32 at the front end of the stationary tooth 31, and is axially limited by a retaining ring 35. A groove 36 is provided between the opposing end faces of the stationary tooth 31 and the moving tooth 29, and the tension spring 30 is disposed within the groove 36. One end of the tension spring 30 is fixed to the stationary tooth 31, and the other end is fixed to the moving tooth 29. The tension spring 30 always has a restoring force. That is, when the moving tooth 29 twists relative to the stationary tooth 31, the tension spring 30 will generate a torsional torque.

[0036] like Figure 3 and Figure 4 As shown, three identical single-channel sensors 4 are connected and fixed by a support frame 10. Figure 5As shown, the support frame 10 is circular. The central hole 10-1 of the support frame 10 is used to connect the shaft 5-1 behind the drive gear 5-2. Three through mounting holes 10-2 are evenly distributed around the central hole 10-1 on the support frame 10. The front ends of three identical single-channel sensors 4 are fixedly connected to the mounting holes 10-2 of the support frame 10. The rotor shaft 25 and the backlash-free gear assembly 12 fixed to the front end of the rotor shaft 25 extend from the mounting holes 10-2 of the support frame 10. The three backlash-free gear assemblies 12 mesh simultaneously with the drive gear 5-2 on the coupling gear. The three backlash-free gear assemblies 12 are evenly distributed around the drive gear 5-2. The leads of the three single-channel sensors 4 output voltage signals to the outside through the electrical connector 3 at the rear end of the housing 2.

[0037] The installation method and working principle of the backlash-eliminating gear assembly 12 are as follows: When the backlash-eliminating gear assembly 12 is meshed with the coupling gear 5, the moving tooth 29 is manually rotated by two to three tooth angles relative to the stationary tooth 31, and then the moving tooth 29 and the stationary tooth 31 are meshed with the driving gear 5-2 of the coupling gear 5. The purpose of this operation is to ensure that when the stationary tooth 31 in the backlash-eliminating gear assembly 12 meshes with the coupling gear 5, under the restoring force of the tension spring 30, the moving tooth 29 always generates a torque on the stationary tooth 31. This ensures that the two sides of the stationary tooth 31 and the two teeth of the coupling gear 5 remain tightly engaged during gear rotation, eliminating backlash and thus eliminating backlash error during gear rotation. This avoids the reduction in sensor output accuracy caused by backlash error, ultimately ensuring high-precision sensor output.

[0038] Because the backlash-eliminating gear assemblies 12 of the three sets of single-channel sensors 4 mesh simultaneously with the driving gear 5-2 on the coupling gear 5, the three sets of parallel single-channel sensors 4 start working simultaneously when the coupling gear rotates. The rotation of the driving gear 5-2 drives the three backlash-eliminating gear assemblies 12 to rotate, and the backlash-eliminating gear assemblies 12 then drive their respective fixedly connected rotor shafts 25, thereby enabling the three sets of parallel single-channel sensors 4 to simultaneously output three identical high-precision voltage signals.

[0039] The structure of the single-channel sensor 4 is now described in detail as follows: like Figure 7 and Figure 8 As shown, the single-channel sensor 4 includes a backlash-eliminating gear assembly 12, a sensor housing assembly 13, and a rotor assembly.

[0040] like Figure 9As shown, the sensor housing assembly 13 includes a sensor housing 14, a stator stop ring 20, a stator assembly 21, a toroidal transformer primary assembly 22, and a rear cover 23. The sensor housing 14 is cylindrical. The stator assembly 21 and the toroidal transformer primary assembly 22 are fixedly spaced within the cylindrical cavity of the sensor housing 14. The stator assembly 21 and the toroidal transformer primary assembly 22 are separated by the stator stop ring 20. The stator assembly 21 is also separated from the front end of the sensor housing 14 by the stator stop ring 20. The rear end of the sensor housing 14 is fixed with the rear cover 23. The rear cover 23 has a through hole for lead wires to pass through. A wire outlet sleeve 24 is provided on the rear cover 23 corresponding to the position of the through hole.

[0041] like Figure 7 and Figure 8 As shown, to facilitate the fixed connection between the single-channel sensor 4 and the support frame 10, a recessed positioning groove 14-2 is provided on the outer wall of the sensor housing 14 near the front end. A raised stop 14-1 is provided on the front side of the positioning groove 14-2. The front side of the stop 14-1 is spaced from the front end of the sensor housing 14 to allow passage through the mounting hole 10-2 of the support frame 10. The diameter of the stop 14-1 is larger than the diameter of the mounting hole 10-2 of the support frame 10. The front end of the sensor housing 14 extends into the mounting hole 10-2 of the support frame 10 and is limited by the stop 14-1. The sensor housing 14 and the support frame 10 are fixedly connected by a pressure plate 15 that is snapped into the positioning groove 14-2.

[0042] like Figure 4 and Figure 6 The pressure plate 15 shown has an ear-shaped surface 17. The thickness of the surface 17 is adapted to the width of the positioning groove 14-2. One side of the pressure plate 15 is an arc 16, which fits snugly into the positioning groove 14-2. The other side of the pressure plate 15 has a positioning plate 18 that extends vertically out of the surface 17 by a certain distance. The distance that the positioning plate 18 extends out of the surface 17 is consistent with the thickness of the stop 14-1 of the sensor housing 14. The surface 17 of the pressure plate 15 has a positioning hole 19. The support frame 10 and the pressure plate 15 are connected by screws passing through the positioning hole 19. To fix a single-channel sensor 4, two pressure plates 15 are needed to clamp it onto the support frame 10.

[0043] like Figure 10 As shown, the rotor assembly includes a rotor shaft 25, a rotor stop ring 26, a rotor stack 27, and a toroidal transformer secondary assembly 28. The rotor assembly is located at the axial center of the sensor housing 14.

[0044] The rotor stack 27 and the toroidal transformer secondary assembly 28 are fixedly mounted on the rotor shaft 25 at intervals. The rotor shaft 25 passes through the axial center of the stator assembly 21 and the toroidal transformer primary assembly 22. The rotor stack 27 corresponds to the stator assembly 21; the toroidal transformer secondary assembly 28 corresponds to the toroidal transformer primary assembly 22. The rotor shaft 25 is connected to the front and rear ends of the sensor housing 14 through two sets of bearings. The front end of the rotor shaft 25 extends beyond the front end of the sensor housing 14.

[0045] The backlash-free gear assembly 12 is fixed to the front end of the rotor shaft 25.

[0046] When the single-channel sensor 4 is working, the primary component 22 of the toroidal transformer on the sensor housing assembly 13 is excited by an AC voltage, and the secondary component 28 of the toroidal transformer on the rotor assembly is coupled to the primary component 22. At this time, the secondary component 28 of the toroidal transformer provides an excitation voltage to the rotor winding. When the rotor rotates, the rotor winding is coupled to the stator winding, and the stator winding outputs a voltage signal that has a sine and cosine function relationship with the rotor rotation angle.

[0047] This invention comprises three single-channel sensors 4 connected in parallel via a backlash-eliminating gear assembly 12 and a coupling gear 5. From an overall perspective, the driving gear 5-2 of the coupling gear 5 drives the three single-channel sensors 4 to rotate simultaneously, ensuring the consistency of the output signal. Individually, each single-channel sensor 4 is an independent and complete structure, mounted at a corresponding position on the support frame 10, allowing for separate adjustments to its operating state. In particular, the zero position of each single-channel sensor 4 can be more easily adjusted. This further ensures the consistency of the three-channel output. Furthermore, the parallel structure reduces the axial dimension of the transformer, enabling its use in applications with large radial space but limited axial space.

Claims

1. A triple-redundant high-precision output sine / cosine rotary transformer, comprising a housing, a single-channel sensor, and an electrical connector, characterized in that: The housing is a cylindrical component. The front end of the housing is connected to a coupling gear at the shaft center via a bearing. A driving gear is mounted on the shaft of the coupling gear. There are three identical sets of single-channel sensors, with the housings of the three sets of single-channel sensors evenly distributed within the housing via a support frame. A backlash-eliminating gear assembly is coaxially fixed to the input end of the rotor shaft of each single-channel sensor. The backlash-eliminating gear assemblies of the three sets of single-channel sensors mesh with the driving gear, and the three backlash-eliminating gear assemblies are evenly distributed around the driving gear. The support frame is circular, with three through-holes evenly distributed around its center. The front ends of the three identical sets of single-channel sensors are respectively fixed within these mounting holes. The rotor shaft and the backlash-eliminating gear assemblies fixed to the front end of the rotor shaft extend from the mounting holes of the support frame. The housing of each single-channel sensor has a recessed positioning groove on its outer wall near the front end. A raised baffle is located on the front side of the positioning groove, with a distance between the front side of the baffle and the front end of the single-channel sensor housing. The diameter of the baffle is larger than the diameter of the mounting holes in the support frame. The front end of the housing extends into the support frame. The mounting holes of the support frame are limited by a stop; the housing of the single-channel sensor and the support frame are fixedly connected by a pressure plate that is snapped into a positioning groove; the single-channel sensor is fixed to the support frame by two pressure plates; the plate surface of the pressure plate is an ear-shaped component, the plate surface thickness is adapted to the width of the positioning groove, one side of the pressure plate is an arc, which fits snugly into the positioning groove; the other side of the pressure plate is provided with a positioning plate that extends vertically out of the plate surface, the extension distance being consistent with the thickness of the stop of the sensor housing; the plate surface of the pressure plate is provided with positioning holes, and the support frame and the pressure plate... The gears are connected by screws passing through positioning holes; the backlash-free gear assembly consists of a moving tooth, a tension spring, and a stationary tooth; the stationary tooth is coaxially fixed to the input end of the rotor shaft in the single-channel sensor, the moving tooth is fitted onto the gear shaft at the front end of the stationary tooth, and the moving tooth is axially limited by a retaining ring; a tension spring is provided between the stationary tooth and the moving tooth, and the two ends of the tension spring are respectively connected to the opposite end faces of the stationary tooth and the moving tooth, and the tension spring always has a restoring force; the stationary tooth and the moving tooth mesh with the driving gear; a groove is provided between the opposite end faces of the stationary tooth and the moving tooth, and the tension spring is set in the groove.

2. The triple-redundant high-precision output sine / cosine rotary transformer as described in claim 1, characterized in that: The stationary gear has a sleeve at the rear axial position. The stationary gear is fitted onto the front end of the rotor shaft through the sleeve to form a clearance fit. The sleeve and the rotor shaft are fixedly connected by a cylindrical pin perpendicular to the axis.

3. The triple-redundant high-precision output sine / cosine rotary transformer as described in claim 1, characterized in that: The single-channel sensor includes a sensor housing assembly and a rotor assembly; the sensor housing assembly includes a sensor housing, a stator assembly, and a toroidal transformer primary assembly; the sensor housing is a cylindrical component with a central through-hole, and the stator assembly and the toroidal transformer primary assembly are fixedly spaced within the inner cavity of the cylinder; the front end of the sensor housing is fixed to a support frame, and the rear end of the sensor housing is fixed to a rear cover; the rotor assembly includes a rotor shaft, rotor stacks, and a toroidal transformer secondary assembly; The rotor stack and the toroidal transformer secondary assembly are fixed at intervals on the rotor shaft. The rotor shaft is connected to the center of the sensor housing via bearings. The rotor stack corresponds to the stator assembly, and the toroidal transformer secondary assembly corresponds to the toroidal transformer primary assembly. The front end of the rotor shaft extends out of the front end of the sensor housing, and the backlash elimination gear assembly is fixed to the front end of the rotor shaft.

4. The triple-redundant high-precision output sine / cosine rotary transformer as described in claim 1, characterized in that: The sensor housing has a through hole on the back cover for the lead wire to pass through, and a wire outlet sleeve is provided on the back cover at the position corresponding to the through hole.

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