Miniaturized electric servo motor with adjustable reduction ratio

Abstract

This application relates to a miniaturized electric servo with an adjustable reduction ratio. It includes a drive assembly, an output assembly, and a transmission assembly. The drive assembly includes a sleeve, a motor connected to one side of the sleeve, and a ball screw assembly disposed within the sleeve. The output shaft of the motor is coaxially connected to the lead screw of the ball screw assembly. At least one slide rail is fixed to one side of the sleeve, and at least one strip-shaped limiting hole is formed in the sleeve wall. The output assembly includes a mounting base, a torque output shaft, and several bearings. The mounting base has a stepped hollow structure, the torque output shaft is mounted within the mounting base, and the bearings are disposed between the torque output shaft and the mounting base. One end of the transmission assembly is movably connected to a cylindrical pin, and the other end passes through the mounting base and is fixedly connected to the torque output shaft. The transmission assembly can extend and retract along its length. Its advantages are: the servo has a simple structure, low cost, convenient installation, and an adjustable reduction ratio, making it well-suited for small and medium-sized aircraft.

Description

Technical Field

[0001] This application belongs to the field of aircraft mechatronics technology, and in particular relates to a miniaturized electric servo motor with adjustable reduction ratio. Background Technology

[0002] Aircraft typically require servo motors to adjust their flight path and direction, and these motors are usually required to be low-cost, lightweight, and reliable in the flight environment.

[0003] Commonly used servo drive devices are generally electric motors, which convert the rotational motion of the motor into the deflection of the control surfaces via a transmission mechanism. The servo transmission mechanism typically requires a specific reduction ratio designed according to overall requirements to amplify the motor's torque. Once the reduction ratio is determined, it is generally difficult to change. If the overall requirements change, the servo needs to be redesigned to adapt to the new requirements, increasing the design cycle and adding extra manufacturing costs to the aircraft. Therefore, an electric servo with an adjustable reduction ratio is needed, which can adapt to different overall requirements within a certain range, offering convenience and flexibility to increase the servo's adaptability to various needs. Summary of the Invention

[0004] In view of the above-mentioned defects or improvement needs of the existing technology, the present invention provides a miniaturized electric servo with adjustable reduction ratio. The servo has a simple structure, low cost and convenient installation, and can be well applied to small and medium-sized aircraft.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A miniaturized electric servo motor with adjustable reduction ratio includes a drive assembly, an output assembly, and a transmission assembly;

[0007] The drive assembly includes a sleeve, a motor connected to one side of the sleeve, and a ball screw assembly disposed inside the sleeve. The output shaft of the motor is coaxially connected to the lead screw of the ball screw assembly. At least one slide rail is fixed on one side of the sleeve. At least one strip-shaped limiting hole is opened in the sleeve wall. At least one cylindrical pin that cooperates with the strip-shaped limiting hole is disposed on the nut of the ball screw assembly. One end of the cylindrical pin is connected to the nut of the ball screw assembly, and the other end passes through the strip-shaped limiting hole.

[0008] The output component includes a mounting base, a torque output shaft, and several bearings. The mounting base has a stepped hollow structure. The torque output shaft is installed in the mounting base. Several bearings are disposed between the torque output shaft and the mounting base. The torque output shaft and the mounting base form a rotating pair through the several bearings. The side wall of the mounting base has a limiting opening. Below the limiting opening is at least one outwardly extending square groove for the slide rail to pass through. The slide rail is fixed to the square groove by a fastening component.

[0009] One end of the transmission component is movably connected to the cylindrical pin, and the other end passes through the mounting base and is fixedly connected to the torque output shaft. The transmission component can extend and retract along its length.

[0010] Preferably, the transmission assembly includes a deceleration arm and a movable arm that are movably connected. One end of the deceleration arm has an assembly hole, and the other end has a sliding cavity. The end with the assembly hole is fixedly fitted onto the torque output shaft, and the other end passes through the limiting hole. One end of the movable arm is fitted onto a cylindrical pin, forming a rotating pair with the cylindrical pin, and the other end is inserted into the sliding cavity of the deceleration arm.

[0011] Preferably, the square groove has two parallel arranged lines, and the slide rails are two lines that match the square grooves, with at least one of the slide rails having scale markings.

[0012] Preferably, two strip-shaped limiting holes are symmetrically opened along the sleeve axis, and a pair of cylindrical pins that cooperate with the two strip-shaped limiting holes are symmetrically arranged on the nut of the ball screw pair.

[0013] Preferably, bearings that provide support are installed at both ends of the ball screw assembly inside the sleeve, and bearing caps are fixedly connected to both ends of the sleeve.

[0014] Preferably, the motor is mounted on a bearing cover on one side of the sleeve, the output shaft of the motor is designed as a C-shaped shaft, one end of the lead screw of the ball screw pair is provided with a C-shaped hole that matches it, and the output shaft of the motor passes through the bearing cover and is inserted into the C-shaped hole of the lead screw.

[0015] Preferably, it further includes a pressure screw disposed within the mounting base and fixedly connected to the bottom of the torque output shaft.

[0016] Preferably, it also includes an angle sensor, which is fixedly disposed at the bottom of the mounting base. The rotating shaft of the angle sensor is inserted into the slot at the bottom of the torque output shaft and is coaxially disposed with the torque output shaft.

[0017] Preferably, the output end of the torque output shaft has two lugs arranged in parallel, and the two lugs are provided with rudder surface mounting holes for mounting the rudder surface.

[0018] Preferably, the end face of the mounting base is provided with a connecting flange, which serves as the external mounting interface for the entire servo motor.

[0019] In general, the above-described technical solutions conceived by this invention can achieve the following beneficial effects:

[0020] 1. By using a combination of ball screws and servo motors, and employing only a single-stage reduction mechanism, the rotation angle of the control surfaces can be precisely controlled, thereby achieving the goal of precisely controlling the flight attitude of the aircraft.

[0021] 2. The reduction ratio can be adjusted by adjusting the position of the mounting base on the slide rail. The longer the distance between the mounting base and the drive component, the greater the reduction ratio.

[0022] 3. The mounting base is equipped with a limit opening to limit the deflection angle of the deceleration lever, protecting the servo motor from large-angle deflection during operation;

[0023] 4. The mounting flange is provided with mounting holes, which serve as the external mounting interface for the entire servo motor, increasing the convenience of servo motor installation;

[0024] 5. The electric servo motor of this application has a simple structure, low cost, and is easy to install, making it well-suited for use in small and medium-sized aircraft. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of a miniaturized electric servo motor with adjustable reduction ratio in one embodiment of the present invention;

[0026] Figure 2 This is a side view of a miniaturized electric servo motor with adjustable reduction ratio according to an embodiment of the present invention;

[0027] Figure 3 yes Figure 2 Cross-sectional view;

[0028] Figure 4 This is a top view of a miniaturized electric servo motor with adjustable reduction ratio according to an embodiment of the present invention;

[0029] Figure 5 These are three views of the mounting base in one embodiment of the present invention;

[0030] Figure 6 These are three views of the sleeve in one embodiment of the present invention;

[0031] Figure 7 This is a schematic diagram of the connection between the deceleration lever and the movable lever in one embodiment of the present invention;

[0032] Figure 8 This is a schematic diagram of the cylindrical pin structure in one embodiment of the present invention;

[0033] Figure 9 This is a schematic diagram of the structure of a ball screw pair in one embodiment of the present invention;

[0034] Figure 10 This is a schematic diagram of the pressure screw structure in one embodiment of the present invention.

[0035] In all the accompanying drawings, the same reference numerals are used to denote the same elements or structures, wherein:

[0036] 1-Mounting base, 2-Torque output shaft, 201-Ear plate, 3-Transmission assembly, 301-Reduction lever, 301a-Assembly hole, 301b-Sliding cavity, 302-Moving lever, 4-Pressure screw, 5-Sleeve, 6-Bearing cover, 7-Limit opening, 8-Ball screw width, 801-Screw, 802-Nut, 803-C-shaped hole, 9-Strip limit hole, 10-Cylindrical pin, 1001-Cylindrical section, 1002-Threaded section, 11-Motor, 12-Slide rail, 1201-Scale mark, 13-Square groove, 14-Bearing, 15-Angle sensor, 16-Connecting flange, 17-Set screw. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0038] In the description of this invention, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. In addition, in the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0039] like Figures 1 to 2 As shown, the present invention provides a miniaturized electric servo motor with adjustable reduction ratio, including a drive assembly, an output assembly and a transmission assembly, wherein the extension direction of the drive assembly is perpendicular to the axis of the output assembly.

[0040] like Figure 4 As shown, the drive assembly includes a sleeve, a motor connected to one side of the sleeve, and a ball screw assembly housed within the sleeve. Bearings providing support are mounted at both ends of the ball screw assembly within the sleeve. The ends of the ball screw are machined into cylinders to mate with the inner rings of the bearings, forming a rotating pair. Bearing caps are fixed to both ends of the sleeve along its axial direction using screws. The motor is fixedly connected to one bearing cap using screws, and the motor's output shaft passes through the bearing cap and is coaxially connected to the ball screw assembly's lead screw. Figure 9As shown, in order to achieve reliable and stable transmission between the motor and the lead screw of the ball screw pair, a C-shaped hole is machined at one end of the lead screw, and the output shaft of the motor is designed to match the C-shaped shaft. The rotation of the motor can drive the lead screw to rotate around its own axis.

[0041] like Figure 6 As shown, at least one slide rail is fixed on one side of the sleeve. In this embodiment, two parallel slide rails are provided, and one of the slide rails has a scale mark. At least one strip-shaped limiting hole is formed in the sleeve wall. At least one cylindrical pin, cooperating with the strip-shaped limiting hole, is set on the nut of the ball screw pair. One end of the cylindrical pin is connected to the nut of the ball screw pair, and the other end passes through the strip-shaped limiting hole. The strip-shaped limiting hole restricts the rotational movement of the cylindrical pin along the ball screw pair, converting the rotational motion of the motor output shaft into the linear motion of the cylindrical pin. In this embodiment, two identical strip-shaped limiting holes are symmetrically formed on the upper and lower sleeve walls. The symmetrically designed strip-shaped limiting holes can balance the additional torque on the ball screw pair when the motor rotates. Two cylindrical pins, which mate with the strip-shaped limiting holes, are symmetrically installed on the upper and lower sides of the nut of the ball screw assembly, passing through the strip-shaped limiting holes on the upper and lower parts of the sleeve. The nut of the ball screw assembly has threaded holes machined at symmetrical positions in the middle to fix and install the cylindrical pins, ensuring that the cylindrical pins move in the same direction as the screw nut. Figure 8 As shown, one end of the cylindrical pin is a cylindrical section and the other end is a threaded section. The cylindrical section mates with the strip-shaped limiting hole, and the threaded section is threadedly connected to the nut of the ball screw pair.

[0042] like Figure 3 As shown, the output assembly includes a mounting base, a torque output shaft, and several bearings. The mounting base has a stepped hollow structure, and the torque output shaft is installed within the mounting base. The bearings are positioned between the torque output shaft and the mounting base. In this embodiment, three bearings are used. The mounting base cavity is designed with high-precision stepped holes to accommodate the three bearings. The torque output shaft is placed within the three bearings, and the torque output shaft and the mounting base form a rotating pair via the three bearings. Figure 10 As shown, a pressure screw with internal threads is provided at the bottom of the torque output shaft within the mounting base. This screw is fixedly connected to the torque output shaft via an external thread that mates with it at the bottom. Tightening the pressure screw compresses the bearing between the torque output shaft and the mounting base, restricting axial movement and preventing axial slippage. Simultaneously, a circular hole is provided at the bottom of the torque output shaft for inserting the shaft of an angle sensor. A slotted insert is provided on the angle sensor's shaft. After the angle sensor's shaft is inserted into the circular hole, the slotted insert fits precisely into a slotted groove coaxial with the bottom of the torque output shaft within the circular hole. This ensures that the rotational states of the angle sensor and the torque output shaft remain consistent. When the torque output shaft rotates, information such as the rotation angle is promptly fed back to the electrically connected control system via the angle sensor, enabling control of the servo motor.

[0043] like Figure 5 As shown, a limiting opening is provided on the side wall of the mounting base. Below the limiting opening, there is at least one outwardly extending square groove for the slide rail to pass through. The slide rail and the square groove are fixed by a fastening assembly. In this embodiment, there are two parallel square grooves, and two slide rails that match the square grooves. The two slide rails can move along the length of the slide rails within the square grooves to adjust the position of the mounting base on the slide rails, thereby adjusting the reduction ratio. The greater the distance between the mounting base and the sleeve, the greater the reduction ratio, and vice versa. After the position of the mounting base is determined, the relative position of the mounting base and the sleeve is fixed by set screws passing through the side wall of the square groove.

[0044] like Figure 7 As shown, the transmission assembly includes a movably connected reduction arm and a movable arm, whose main functions are to transmit torque and adjust the reduction ratio. One end of the reduction arm has a flat, round mounting hole, and the other end has a sliding cavity. The end with the mounting hole is fitted onto the middle of the torque output shaft, at the position that mates with the flat, round hole, while the other end passes through a limiting opening. The limiting opening can control the deflection angle of the reduction arm, protecting the servo motor from large-angle deflection during operation. In another embodiment, the mounting hole can also be square or rectangular, and the cross-section of the torque output shaft corresponding to the installation position is designed as a matching square or rectangle. One end of the movable arm is fitted onto a cylindrical pin, forming a rotating pair with the pin. The other end is inserted into the sliding cavity of the reduction arm, allowing it to extend and retract freely within the sliding cavity. When the adjustment rail is positioned within the square groove, the movable arm can extend and retract accordingly within the sliding cavity of the reduction arm to match the relative positions of the mounting base and the sleeve. Because the sleeve's strip-shaped limiting hole limits the cylindrical pin, the rotational motion of the motor can be converted into the linear motion of the cylindrical pin. By controlling the forward and reverse rotation of the motor, the cylindrical pin can slide back and forth. The cylindrical pin then drives the movable arm connected to it and the deceleration arm connected to the movable arm to swing. The swing of the deceleration arm drives the rotation of the torque output shaft, thereby realizing the function of transmitting torque.

[0045] Two lugs are arranged parallel to each other at the output end of the torque output shaft. Each lug has mounting holes for the rudder surface. A connecting flange is also provided on the end face of the mounting base, serving as the external mounting interface for the entire servo.

[0046] The working principle of the miniaturized electric servo with adjustable reduction ratio disclosed in this application is as follows: When the motor rotates, it drives the lead screw of the ball screw assembly connected to it to rotate. Because the cylindrical pin connected to the nut of the ball screw assembly is limited by the strip-shaped limiting hole, the nut and the cylindrical pin connected to it move forward or backward along the axis of the lead screw. The cylindrical pin then pushes the reduction arm, controlling the deflection of the torque output shaft, thereby achieving the deflection of the servo surface connected to the torque output shaft. The torque generated by the motor is effectively applied to the torque output shaft. The limiting hole can limit the forward and reverse deflection angle of the reduction arm, protecting the servo from large-angle deflection during operation. Adjusting the position of the mounting base on the slide rail allows for adjustment of the reduction ratio. Precise adjustment can be made as needed through the scale markings on the slide rail. The greater the distance between the mounting base and the sleeve, the larger the reduction ratio, and vice versa. The structure is simple, achieving adjustable reduction ratio for the electric servo and a wider range of applications.

[0047] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A miniaturized electric servo motor with adjustable reduction ratio, characterized in that: Includes drive components, output components, and transmission components; The drive assembly includes a sleeve, a motor connected to one side of the sleeve, and a ball screw assembly disposed inside the sleeve. The output shaft of the motor is coaxially connected to the lead screw of the ball screw assembly. At least one slide rail is fixed on one side of the sleeve. At least one strip-shaped limiting hole is opened in the sleeve wall. At least one cylindrical pin that cooperates with the strip-shaped limiting hole is disposed on the nut of the ball screw assembly. One end of the cylindrical pin is connected to the nut of the ball screw assembly, and the other end passes through the strip-shaped limiting hole. The output component includes a mounting base, a torque output shaft, and several bearings. The mounting base has a stepped hollow structure. The torque output shaft is installed in the mounting base. Several bearings are disposed between the torque output shaft and the mounting base. The torque output shaft and the mounting base form a rotating pair through the several bearings. The side wall of the mounting base has a limiting opening. Below the limiting opening is at least one outwardly extending square groove for the slide rail to pass through. The slide rail is fixed to the square groove by a fastening component. One end of the transmission component is movably connected to the cylindrical pin, and the other end passes through the mounting base and is fixedly connected to the torque output shaft. The transmission component can extend and retract along its length.

2. The miniaturized electric servo motor with adjustable reduction ratio according to claim 1, characterized in that: The transmission assembly includes a deceleration arm and a movable arm that are movably connected. One end of the deceleration arm has an assembly hole, and the other end has a sliding cavity. The end with the assembly hole is fixedly fitted onto the torque output shaft, and the other end passes through the limiting hole. One end of the movable arm is fitted onto a cylindrical pin, forming a rotating pair with the cylindrical pin, and the other end is inserted into the sliding cavity of the deceleration arm.

3. The miniaturized electric servo motor with adjustable reduction ratio according to claim 1, characterized in that: The square groove has two parallel lines, and the slide rails are two lines that match the square grooves. At least one of the slide rails has scale markings.

4. The miniaturized electric servo motor with adjustable reduction ratio according to claim 1, characterized in that: Two strip-shaped limiting holes are symmetrically opened along the axis of the sleeve, and a pair of cylindrical pins that cooperate with the two strip-shaped limiting holes are symmetrically arranged on the nut of the ball screw pair.

5. The miniaturized electric servo motor with adjustable reduction ratio according to claim 1, characterized in that: The ball screw assembly inside the sleeve is fitted with bearings at both ends for support, and bearing caps are fixedly connected to both ends of the sleeve.

6. The miniaturized electric servo motor with adjustable reduction ratio according to claim 5, characterized in that: The motor is mounted on a bearing cover on one side of the sleeve. The output shaft of the motor is designed as a C-shaped shaft. One end of the lead screw of the ball screw pair is provided with a C-shaped hole that matches it. The output shaft of the motor passes through the bearing cover and is inserted into the C-shaped hole of the lead screw.

7. The miniaturized electric servo motor with adjustable reduction ratio according to claim 1, characterized in that: It also includes a pressure screw that is disposed in the mounting base and fixedly connected to the bottom of the torque output shaft.

8. The miniaturized electric servo motor with adjustable reduction ratio according to claim 1, characterized in that: It also includes an angle sensor, which is fixedly mounted on the bottom of the mounting base. The rotating shaft of the angle sensor is inserted into the slot at the bottom of the torque output shaft and is coaxial with the torque output shaft.

9. The miniaturized electric servo motor with adjustable reduction ratio according to claim 1, characterized in that: The output end of the torque output shaft is provided with two lugs in parallel, and the two lugs are provided with rudder surface mounting holes for rudder surface mounting.

10. The miniaturized electric servo motor with adjustable reduction ratio according to claim 1, characterized in that: The mounting base has a connecting flange on its end face, which serves as the external mounting interface for the entire servo motor.

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