Flat double-end output integrated electric rudder system

Abstract

The application discloses a flat double-end output integrated electric rudder system, which comprises a speed reduction mechanism assembly, a sensor assembly, a power supply assembly and a control assembly; the speed reduction mechanism assembly is connected with a motor and comprises a harmonic reducer and a gear set; an output shaft of the motor is connected with an input end of the harmonic reducer through a first gear set, an output end of the harmonic reducer is connected with the sensor assembly through a second gear set, and position feedback of a speed reduction mechanism output is realized; the output end of the harmonic reducer is also connected with the output shaft through the second gear set, and the output shaft realizes double-end output; the control assembly and the power supply assembly are arranged on two sides of the speed reduction mechanism assembly and are electrically connected through a cable. The speed reduction mechanism assembly, the control assembly and the power supply assembly are integrated, the output shaft realizes double-end output in a small flat volume, and the application has the advantages of flatness, small volume, large output torque, easy assembly and the like.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of servo systems, and particularly relates to a flat double-end output integrated electric rudder system. BACKGROUND

[0002] In recent years, with the continuous progress of modern science and technology, servo systems are developing towards the design direction of miniaturization, long service life, high efficiency and maintenance-free. The research on China's large aircraft, unmanned aerial vehicle, cruise guided missile and other technologies has become one of the current hotspots. Due to its flat aileron, the internal space is flatly distributed, and there is considerable difficulty in the layout of system functions. Therefore, the flat rudder system integrated with the exoskeleton frame emerges as the times require, which greatly reduces the volume and mass of the system on the basis of ensuring the performance of the wing and rudder structure. From the perspective of the system, it has more superior dynamic output characteristics, electric power characteristics and control performance, and becomes one of the main development trends in the current industry.

[0003] The rudder system is a functional component for realizing the deflection of the rudder blade during the flight of the aircraft. The traditional dynamic rudder system is limited by the transmission mode, and it is difficult to output a large torque in a flat and narrow space. If the output torque is increased by adopting a multi-stage transmission mode, the system error will be increased due to too many transmission links, thereby affecting the accuracy of the rudder system. If the reduction ratio of a certain link is increased, there are problems such as large installation space and increased mass of the rudder, which restricts the miniaturization of unmanned aerial vehicles, cruise guided missiles and other equipment. SUMMARY

[0004] In view of one or more of the above defects or improvement needs of the prior art, the application provides a flat double-end output integrated electric rudder system, which realizes integrated design of a reduction mechanism assembly, a control assembly and a power supply assembly, and realizes double-end output of an output shaft in a flat and small volume.

[0005] To achieve the above purpose, the application provides a flat double-end output integrated electric rudder system, which comprises a reduction mechanism assembly, a sensor assembly, a power supply assembly and a control assembly.

[0006] The reduction mechanism assembly is connected with a motor, and comprises a harmonic reducer and a gear set; the output shaft of the motor is connected with the input end of the harmonic reducer through a first gear set, and the output end of the harmonic reducer is connected with the sensor assembly through a second gear set for position feedback of the output of the reduction mechanism; the output end of the harmonic reducer is also connected with the output shaft through the second gear set for double-end output of the output shaft.

[0007] The control assembly and the power supply assembly are arranged on the two sides of the reduction mechanism assembly and are electrically connected through a cable.

[0008] As a further improvement of the present application, the first gear set comprises a first gear, a fourth gear and a fifth gear, wherein the fifth gear is arranged on the output shaft of the motor, the fourth gear is the input gear of the harmonic reducer; the first gear is a double gear, the large gear of which is engaged with the fifth gear, and the small gear of which is engaged with the fourth gear.

[0009] As a further improvement of the present application, the second gear set comprises a second gear and a third gear, wherein the third gear is the output gear of the harmonic reducer, one end of the third gear is fixedly connected with the output shaft of the harmonic reducer, the other end of the third gear is a cantilever shaft, and a sensor assembly is arranged at the tail end of the cantilever shaft; the third gear is engaged with the second gear arranged on the output shaft.

[0010] As a further improvement of the present application, a third bearing is further arranged on the cantilever shaft of the third gear, and the third bearing is used for axial and radial positioning of the third gear.

[0011] As a further improvement of the present application, the sensor assembly is connected with the cantilever shaft of the output gear of the harmonic reducer through the intermediate circular hole.

[0012] As a further improvement of the present application, the control assembly comprises a control assembly housing, a control cover plate and a control driving plate, and the control driving plate is arranged in the accommodating space formed by the control assembly housing and the control cover plate.

[0013] As a further improvement of the present application, the power supply assembly comprises a power supply assembly housing, a power supply board and a power supply module, and the power supply assembly is arranged in the reserved slot at the bottom of the main housing, the power supply board and the power supply module are arranged in the corresponding slots, and the power supply assembly is sealed by the power supply assembly housing.

[0014] As a further improvement of the present application, the side edges of the main housing are respectively provided with a protective housing and a sensor mounting housing, and a first bearing for bearing the output shaft is arranged on each of the protective housing and the sensor mounting housing, so as to axially and radially position the output shaft.

[0015] As a further improvement of the present application, the sensor assembly is arranged in the corresponding slot of the sensor mounting housing, and a protective cover plate is arranged outside the slot to protect the sensor assembly.

[0016] As a further improvement of the present application, the motor and the harmonic reducer are arranged in the main housing, and the motor and the harmonic reducer are arranged between the output shaft and the control assembly.

[0017] In general, compared with the prior art, the above technical scheme of the present application has the following beneficial effects:

[0018] (1) The flat double-end output integrated electric rudder system of the present application, the reduction mechanism is flat, and the output shaft is double-end output; the sensor assembly is connected with the reduction mechanism to feed back the position of the reduction mechanism output; the power supply assembly and the control assembly are parallel to the output shaft and are separately arranged on both sides of the reduction mechanism, through reasonable layout, the reduction mechanism assembly, the control assembly and the power supply assembly are integrated, in the small volume (110mm x 57 x 36) of the flat, the double-end output of the output shaft is realized, the single shaft output torque is not less than 9N·m, and the bending resistance is less than 25N·m.

[0019] (2) The flat double-end output integrated electric rudder system of the present application has the advantages of flatness, small volume, large output torque, easy assembly, simple structure, easy processing and disassembly. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a sectional view of the overall structure of the flat double-end output integrated electric rudder system of the embodiment of the present application.

[0021] In all the drawings, the same reference signs represent the same technical features, specifically: 1-output shaft, 2-first bearing, 3-protection shell, 4-main shell, 5-power supply assembly shell, 6-power supply board, 7-power supply module, 8-second bearing, 9-first gear, 10-second gear, 11-sensor mounting shell, 12-control assembly shell, 13-protection cover plate, 14-sensor assembly, 15-third bearing, 16-third gear, 17-harmonic reducer, 18-fourth gear, 19-fifth gear, 20-control drive board, 21-control cover plate, 22-motor. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical scheme and advantages of the present application clearer and more apparent, the present application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application. In addition, the technical features involved in each embodiment of the present application described below can be combined with each other as long as there is no conflict.

[0023] In the description of the present application, it needs to be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0024] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly specified and limited.

[0025] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0026] In the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0027] Please refer to Figure 1 The flat double-end output integrated electric rudder system of the embodiment of the present application comprises a speed reduction mechanism assembly, a sensor assembly, a power supply assembly and a control assembly.

[0028] The speed reduction mechanism assembly is connected with the motor 22, and specifically, the speed reduction mechanism assembly comprises a harmonic reducer 17 and a gear set, etc. The output shaft of the motor 22 is connected with the input end of the harmonic reducer 17 through the first gear set and the harmonic reducer 17, the output end of the harmonic reducer 17 is connected with the sensor assembly 14 through the second gear set, and the position feedback of the output of the speed reduction mechanism is performed. Meanwhile, the output end of the harmonic reducer 17 is also connected with the output shaft 1 through the second gear set, and the output shaft 1 outputs at both ends.

[0029] The first gear set comprises a first gear 9, a fourth gear 18 and a fifth gear 19. The fifth gear 19 is arranged on the output shaft of the motor 22. The first gear 9 is a double gear, the large gear of which is engaged with the motor output gear (the fifth gear 19), and the small gear of which is engaged with the input gear (the fourth gear 18) of the harmonic reducer 17. The first gear 9 is arranged on the main housing 4 and the harmonic reducer 17 through the second bearing 8 at both ends respectively.

[0030] The second gear set comprises a second gear 10 and a third gear 16. The output gear (the third gear 16) of the harmonic reducer 17 is fixedly connected with the output shaft of the harmonic reducer 17 at one end, and is a cantilever shaft at the other end. The cantilever shaft tail end is provided with the sensor assembly 14. The sensor assembly 14 is connected with the cantilever shaft of the output gear of the harmonic reducer 17 through the middle circular hole, and is used for detecting and feeding back the position signal, so as to realize the position closed-loop control. Further, the third gear 16 is engaged with the second gear 10 arranged on the output shaft 1, so as to realize the speed reduction transmission. The second gear 10 is preferably a sector gear.

[0031] The motor 22 rotates to drive the motor output gear (the fifth gear 19) to rotate, further drives the double gear (the first gear 9) to rotate, the first gear 9 drives the input gear (the fourth gear 18) of the harmonic reducer 17 to rotate, further drives the harmonic reducer 17 to rotate, the output gear (the third gear 16) of the harmonic reducer 17 drives the sector gear (the second gear 10) to rotate, and further drives the output shaft 1 to rotate. The output shaft 1 is parallel with the output shaft of the motor 22. The power output from the motor shaft is reduced through two gear pairs, the harmonic reducer and the last gear pair, and finally output at both ends of the output shaft 1.

[0032] Preferably, the cantilever shaft of the third gear 16 is further provided with a third bearing 15, which is used for axial and radial positioning of the cantilever shaft, so as to prevent the cantilever shaft from jumping to damage the sensor assembly 14 when rotating. The third bearing 15 is preferably arranged on the sensor mounting housing 11.

[0033] Further, the control assembly and the power supply assembly are arranged on two sides of the deceleration mechanism assembly, the control assembly comprises a control assembly shell 12, a control cover plate 21 and a control drive plate 20, and the control drive plate 20 is arranged in a containing space formed by the control assembly shell 12 and the control cover plate 21. The power supply assembly comprises a power supply assembly shell 5, a power supply plate 6, a power supply module 7 and the like. The power supply assembly is arranged in a reserved slot at the bottom of the main shell 4, the power supply plate 6 and the power supply module 7 are arranged in corresponding slots, and the power supply assembly shell 5 is used for sealing, so as to meet the overall size requirement. The control assembly and the power supply assembly are electrically connected through cables penetrating through corresponding through holes of the main shell 4.

[0034] The power supply plate 6 converts the +28V power supply to obtain the +5V power supply required by the control drive plate 20. The control drive plate 20 receives the control signal of the integrated controller through the CAN bus, and generates the PWM pulse width wave for driving the motor 22 to rotate through the servo control algorithm and the feedback signal of the sensor assembly 14. After being amplified to the PWM power signal with the amplitude of +28V by the power drive circuit, the PWM power signal is connected to the winding of the servo motor to realize the control of the motor 22 to rotate, thereby driving the deceleration mechanism and driving the double-shaft output. At the same time, the output shaft 1 drives the position sensor to deflect through the gear set, outputs the position feedback signal, and realizes the position closed-loop control.

[0035] Preferably, the motor 22 and the harmonic reducer 17 are installed in the main shell 4, and the motor 22 and the harmonic reducer 17 are arranged between the output shaft 1 and the control assembly.

[0036] The main shell 4 is respectively provided with a protective shell 3 and a sensor mounting shell 11 on the side edges, the protective shell 3 and the sensor mounting shell 11 are respectively provided with the first bearing 2 for bearing the output shaft 1, and the first bearing 2 is used for axially and radially positioning the rudder output shaft 1. The output shaft 1 is provided with the same external output interface at both ends, and the support bearings are arranged in pairs at positions opposite to each other and close to the output interface, so that the output shaft 1 can bear a larger bending moment.

[0037] Preferably, the output shaft 1 is provided with a boss, so that the output shaft 1 is clamped between the corresponding first bearings 2 to realize axial positioning.

[0038] Further, the sensor assembly 14 is mounted in a corresponding slot of the sensor mounting shell 11, and the slot is located directly above the first bearing 2 on the side. Preferably, a protective cover plate 13 is mounted outside the slot to protect the sensor assembly. The sensor mounting shell 11 is fixed with the main shell 4 at the same time, and the harmonic reducer 17 is fixed in the middle.

[0039] The speed reduction mechanism of the application is flat, and the output shaft 1 is double-end output; the sensor assembly 14 is installed in the sensor installation shell 11 and connected with the speed reduction mechanism, and the position feedback of the output of the speed reduction mechanism is carried out; the power supply assembly and the control assembly are parallelly arranged on both sides of the speed reduction mechanism. The flat double-end output integrated electric rudder system has the advantages of flatness, small volume, large output torque, easy assembly and the like. Through reasonable layout, the speed reduction mechanism, the control assembly and the power supply assembly are integrated and designed, the double-end output of the output shaft is realized under the condition of the flat small volume (110mm×57×36), the single-axis output torque is not less than 9N·m, and the bending resistance is less than 25N·m. The product has simple structure, and is easy to process and disassemble.

[0040] Those skilled in the art can understand that the above description is only the preferred embodiment of the present application, and is not intended to limit the present application. Any modification, equivalent replacement and improvement within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A flat, dual-end output integrated electric steering system, characterized in that, Includes a speed reduction mechanism assembly, a sensor assembly, a power supply assembly, and a control assembly; The reduction mechanism assembly is connected to the motor and includes a harmonic reducer and a gear set. The output shaft of the motor is connected to the input end of the harmonic reducer through a first gear set, and the output end of the harmonic reducer is connected to the sensor assembly through a second gear set to provide position feedback for the reduction mechanism output. At the same time, the output end of the harmonic reducer is also linked to the servo motor output shaft through the second gear set, and the servo motor output shaft has dual-end output. The first gear set includes a first gear, a fourth gear, and a fifth gear, wherein the fifth gear is located on the output shaft of the motor, and the fourth gear is the input gear of the harmonic reducer; the first gear is a double gear, wherein its large gear meshes with the fifth gear, and its small gear meshes with the fourth gear; The second gear set includes a second gear and a third gear. The third gear is the output gear of the harmonic reducer. One end of the third gear is fixedly connected to the output shaft of the harmonic reducer, and the other end is a cantilever shaft with a sensor assembly at the tail end of the cantilever shaft. The third gear meshes with the second gear located on the output shaft of the servo motor. The output shaft of the servo motor is parallel to the output shaft of the motor. The motor and harmonic reducer are installed inside the main housing and are located between the servo motor output shaft and the control component. The power supply component is located in a pre-reserved slot at the bottom of the main housing. The control component and the power supply component are parallel to the servo motor output shaft and are located on both sides of the reduction mechanism component. The two are electrically connected by a cable. The main housing is equipped with a protective housing and a sensor mounting housing on its side. The protective housing and the sensor mounting housing are respectively provided with a first bearing to support the servo output shaft, which is used to position the servo output shaft axially and radially. The sensor assembly is installed in the corresponding slot of the sensor mounting housing, which is located directly above the first bearing on that side.

2. The flat, dual-end output integrated electric steering system according to claim 1, characterized in that, A third bearing is also provided on the cantilever shaft of the third gear.

3. The flat, dual-end output integrated electric steering system according to claim 1, characterized in that, The sensor assembly is connected to the cantilever shaft of the harmonic reducer output gear through a central circular hole.

4. The flat, dual-end output integrated electric steering system according to claim 1, characterized in that, The control component includes a control component housing, a control cover plate, and a control drive plate, wherein the control drive plate is located within the accommodating space formed by the control component housing and the control cover plate.

5. The flat, dual-end output integrated electric steering system according to claim 1, characterized in that, The power supply assembly includes a power supply assembly housing, a power board, and a power module. The power board and the power module are disposed in corresponding empty slots and are sealed by the power supply assembly housing.

6. The flat, dual-end output integrated electric steering system according to claim 1, characterized in that, A protective cover is installed on the outside of the empty slot corresponding to the sensor mounting housing to protect the sensor assembly.

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