Integrated electric rudder

Abstract

This invention discloses an integrated electric servo motor, comprising a main body and a transmission assembly and a drive assembly installed therein. The transmission assembly includes a motor, a lead screw pair, and a rocker arm slider assembly. The motor and the lead screw pair are arranged in parallel, and the motor is connected to the lead screw pair via a gear reducer. The lead screw pair includes a lead screw and a lead screw nut disposed thereon. The rocker arm slider assembly is arranged perpendicular to the lead screw pair and is connected to the lead screw nut. An output shaft is installed inside the rocker arm slider assembly. The lead screw nut can move axially under the rotation of the lead screw, pushing the rocker arm slider assembly to rotate, thereby driving the output shaft to rotate. The drive assembly is located on the side of the motor away from the lead screw pair, and includes a drive bracket and a drive plate. The motor is electrically connected to the drive plate. This invention integrates drive and transmission, improving the power density and the degree of integration and miniaturization of the electric servo motor.

Description

Technical Field

[0001] This invention belongs to the field of servo system technology, specifically relating to an integrated electric servo motor. Background Technology

[0002] With the continuous development of high-speed small aircraft, the spatial requirements of high-speed small aircraft systems are becoming increasingly stringent. The size of space occupied by each subsystem will affect its installation position on the high-speed small aircraft, and thus affect the overall layout of the installation positions of each subsystem inside the high-speed small aircraft.

[0003] As the actuator for flight control of high-speed small aircraft, the electric rudder system plays a crucial role; therefore, miniaturization and integration of rudder systems have become development trends. Typically, an electric rudder system consists of four servo motors and a rudder amplifier circuit. In current technology, the rudder amplifier circuit and servo motors need to be installed separately on the aircraft body, reducing the utilization of available space. Therefore, to ensure a reasonable installation location and high space utilization of the rudder system on high-speed small aircraft systems, improving the miniaturization and integration of the rudder system is imperative. Summary of the Invention

[0004] In view of one or more of the above-mentioned defects or improvement needs of the prior art, the present invention provides an integrated electric servo motor that integrates drive and transmission, thereby improving the power density, integration and miniaturization of the electric servo motor.

[0005] To achieve the above objectives, the present invention provides an integrated electric servo motor, including a main body and a transmission assembly and a drive assembly installed therein; The transmission assembly includes a motor, a lead screw pair, and a rocker arm slider assembly; the motor and the lead screw pair are arranged in parallel, and the motor is connected to the lead screw pair through a gear reducer; the lead screw pair includes a lead screw and a lead screw nut disposed thereon; The rocker arm slider assembly is perpendicular to the lead screw pair and is connected to the lead screw nut; an output shaft is installed inside the rocker arm slider assembly; the lead screw nut can move along its axial direction when the lead screw rotates, and push the rocker arm slider assembly to rotate, thereby driving the output shaft to rotate; The drive assembly is located on the side of the motor away from the lead screw pair. The drive assembly includes a drive bracket and a drive plate. The drive plate is arranged parallel to the drive bracket and is mounted on the drive bracket by fasteners. A power module is provided between the drive bracket and the drive plate. It is mounted on the drive bracket by fasteners and is electrically connected to the drive plate. The motor is electrically connected to the drive plate.

[0006] As a further improvement of the present invention The driver board is also provided with a diode and a heat sink corresponding to the diode. The heat sink is attached to the diode with a single-sided adhesive and is mounted on the driver bracket with fasteners. The drive board is also provided with a socket, which is set perpendicular to the drive board and is installed on the drive bracket by fasteners. The pins of the socket are soldered to the drive board.

[0007] As a further improvement of the present invention, the rocker arm slider assembly includes a rocker arm and a slider, and the lead screw nut is disposed in the corresponding groove of the rocker arm through the slider; the rotation center of the rocker arm is provided with an axial through hole for mounting the output shaft.

[0008] As a further improvement of the present invention, the output shaft is provided with a third bearing at both ends of the axial direction, and the output shaft is mounted on the body through the corresponding third bearing.

[0009] As a further improvement of the present invention, a locking bolt is provided at one axial end of the output shaft, and a spring washer and a second bearing end cap are provided between the pressing surface of the locking bolt and the end face of the output shaft. By adjusting the preload of the locking bolt, the third bearing can be axially pressed.

[0010] As a further improvement of the present invention, the other axial end of the output shaft is a rudder mounting interface that extends outside the body, and a protective cover is provided at the connection between the output shaft and the body. The protective cover is fixedly connected to the body by fasteners, and a sealing ring is provided on the contact surface between the protective cover and the output shaft.

[0011] As a further improvement of the present invention, the lead screw is provided with a first bearing and a second bearing at its two axial ends respectively, and the two axial ends of the lead screw are respectively mounted on the body through the corresponding bearings; the second bearing is provided with a first bearing end cover on its outer side, which is connected to the body through fasteners and presses against the second bearing at the same time.

[0012] As a further improvement of the present invention, a sensor is provided on the main body corresponding to the lead screw nut, the sensing shaft of the sensor is connected to the trunnion of the lead screw nut, and the sensor can move along the lead screw axis with the lead screw nut to sense the position of the lead screw nut; the sensor is electrically connected to the drive board.

[0013] As a further improvement of the present invention, the gear reducer includes a first gear, a second gear and a third gear. The first gear is mounted on the output shaft of the motor, the third gear is mounted on the lead screw, and the second gear is arranged in parallel between the first gear and the third gear, and the second gear meshes with the first gear and the third gear respectively.

[0014] As a further improvement of the present invention The outer side of the third gear is provided with a second protective cover; and / or, A first protective cover is provided on the outer side of the first gear at one end of the motor output shaft, and a third protective cover is provided at the other end of the motor; and / or, The motor and drive assembly are respectively provided with a fourth protective cover on their exterior; and / or, The lead screw pair and rocker arm slider assembly are respectively provided with a fifth protective cover on the outside.

[0015] In summary, the technical solutions conceived by this invention have the following beneficial effects compared with the prior art: (1) The integrated electric servo motor of the present invention integrates the drive component and the transmission component into one unit. The drive component can be installed on the main body after the overall assembly is completed. This not only integrates the design of the drive component, but also makes the installation convenient, thereby improving the power density and integration and miniaturization of the electric servo motor.

[0016] (2) The integrated electric servo motor of the present invention can effectively eliminate system clearance by adjusting the preload of the lead screw through the bearing end cover and adjusting the preload of the output shaft through the locking bolt, thereby effectively reducing the problem of vibration phenomenon that is prone to occur in the servo system.

[0017] (3) The integrated electric servo motor of the present invention is connected by a rocker arm slider assembly and a lead screw nut. On the one hand, it can convert the linear motion of the lead screw nut into the rotation of the rocker arm in the circumferential direction to realize the output of the servo motor output shaft. On the other hand, it can also prevent the lead screw nut from rotating in the circumferential direction on the lead screw and ensure that it moves along the lead screw axis. Attached Figure Description

[0018] Figure 1 This is a cross-sectional structural diagram of the integrated electric servo motor according to an embodiment of the present invention; Figure 2 This is a cross-sectional structural schematic diagram of the integrated electric servo motor according to another embodiment of the present invention; Figure 3 This is a schematic cross-sectional view of the drive assembly involved in the integrated electric servo motor according to an embodiment of the present invention.

[0019] In all the accompanying drawings, the same reference numerals denote the same technical features, specifically: 1-motor, 2-first gear, 3-first protective cover, 4-second gear, 5-third gear, 6-first bearing, 7-second protective cover, 8-lead screw nut, 9-lead screw, 10-body, 11-second bearing, 12-first bearing end cover, 13-third protective cover, 14-heat sink, 15-drive board, 16-power module, 17-drive bracket, 18-protective cover, 19-sealing ring, 20-output shaft, 21-rocker arm, 22-slider, 23-socket cover, 24-diode, 25-socket, 26-fourth protective cover, 27-fifth protective cover, 28-sensor, 29-retaining ring, 30-second bearing end cover, 31-spring washer, 32-locking bolt, 33-third bearing. Detailed Implementation

[0020] 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.

[0021] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to 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.

[0022] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0023] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0024] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0025] like Figure 1 and Figure 2 As shown, the integrated electric servo motor of this embodiment includes a body 10, which serves as a housing for mounting other components of the electric servo motor and for connection to the compartment. When the body 10 is mounted on the compartment, it can simultaneously fill the gap at the compartment mounting opening, forming a complete cylindrical surface with the compartment.

[0026] The main body 10 houses a motor 1 and a lead screw assembly parallel to it. The motor 1 is connected to the lead screw assembly via a gear reducer. Specifically, the lead screw assembly includes a lead screw 9 and a lead screw nut 8 mounted thereon. The gear reducer includes a first gear 2, a second gear 4, and a third gear 5. The first gear 2 is mounted on the output shaft of the motor 1, and the third gear 5 is mounted on the lead screw 9 of the lead screw assembly. The second gear 4 is arranged parallel between the first gear 2 and the third gear 5, and meshes with both the first gear 2 and the third gear 5. The second gear 4 acts as a transition gear to transmit the power from the output shaft of the motor 1 to the lead screw 9 sequentially, while also reducing the output speed of the motor output shaft.

[0027] Furthermore, the lead screw 9 of the lead screw pair is provided with a first bearing 6 and a second bearing 11 at its two axial ends, respectively. Both bearings serve as load-bearing elements for the lead screw 9 in the axial direction and ensure stable rotation of the lead screw. The two axial ends of the lead screw 9 are respectively mounted on the body 10 through corresponding bearings. In a specific embodiment shown in the accompanying drawings of the present invention, the first bearing 6 is located at the end of the lead screw 9 closer to the third gear 5, and the second bearing 11 is located at the end of the lead screw 9 away from the third gear 5.

[0028] In a preferred embodiment, a first bearing end cover 12 is provided on the outer side of the second bearing 11. The first bearing end cover 12 is connected to the body 10 by bolts or screws and presses against the second bearing 11 to tighten it. Therefore, the gap between the two ends of the lead screw 9 in the axial direction can be eliminated by adjusting the preload of the first bearing end cover 12. More preferably, the third gear 5 is provided on the outer side of the first bearing 6, and a second protective cover 7 is provided on the outer side of the third gear 5 to seal the third gear 5 and the first bearing 6 within the body 10. More preferably, a first protective cover 3 is provided on the outer side of the first gear 2 at one end of the output shaft of the motor 1, and a third protective cover 13 is provided at the other end of the motor 1 to seal the motor 1 within the body 10.

[0029] More preferably, the first bearing 6 and the second bearing 11 are angular contact bearings.

[0030] Furthermore, the rocker arm and slider assembly is arranged perpendicularly to the lead screw pair. Specifically, the rocker arm and slider assembly includes a rocker arm 21 and a slider 22, wherein the rotation center axis of the rocker arm 21 is preferably perpendicular to the motor 1 and the lead screw 9. The rotation center of the rocker arm 21 has an axial through hole for mounting the output shaft 20; the axial through hole is preferably a square hole. The axis of the output shaft 20 coincides with the rotation center of the rocker arm 21, and the rotation of the rocker arm 21 drives the output shaft 20 to rotate.

[0031] Simultaneously, the rocker arm slider assembly is connected to the lead screw nut 8 on the lead screw 9. The lead screw nut 8 is positioned in the corresponding groove of the rocker arm 21 via the slider 22. The lead screw nut 8 moves axially under the rotation of the lead screw 9, pushing the rocker arm 21 to rotate, thereby driving the output shaft 20 to rotate. This invention, through the connection between the rocker arm slider assembly and the lead screw nut, can, on the one hand, convert the linear motion of the lead screw nut into the circumferential rotation of the rocker arm 21, realizing the output of the servo motor output shaft; on the other hand, it can also prevent the circumferential rotation of the lead screw nut 8 on the lead screw, ensuring its axial movement along the lead screw.

[0032] In a preferred embodiment, a third bearing 33 is provided at each of the two axial ends of the output shaft 20. The output shaft 20 is mounted on the body 10 via the corresponding third bearing 33. The third bearing 33 serves as an axial and radial load-bearing element and ensures stable rotation, meeting the bending resistance requirements of the servo motor. More preferably, the third bearing 33 is a tapered roller bearing with good radial load-bearing capacity.

[0033] More preferably, a locking bolt 32 is provided at one axial end of the output shaft 20. An axial mounting hole is provided in the middle of the output shaft 20, and the locking bolt 32 is threaded into the axial mounting hole. A spring washer 31 and a second bearing end cap 30 are provided between the pressing surface of the locking bolt 32 and the end face of the output shaft 20, and both are sleeved on the locking bolt 32. The second bearing end cap 30 presses on both the output shaft 20 and the third bearing 33. The spring washer 31 is located between the pressing surface of the locking bolt 32 and the second bearing end cap 30. By adjusting the preload of the locking bolt 32, the third bearing 33 can be axially pressed, eliminating the axial clearance of the rudder shaft.

[0034] More specifically, a retaining ring 29 is provided between the third bearing 33 near the locking bolt 32 and the rocker arm 21, and the retaining ring 29 is sleeved on the outside of the output shaft 20.

[0035] The other axial end of the output shaft 20 is a rudder mounting interface, which extends outside the body 10. A protective cover 18 is provided at the connection between the output shaft 20 and the body. The protective cover 18 is fixedly connected to the body by bolts or screws. At the same time, a sealing ring 19, preferably an O-ring, is provided on the contact surface between the protective cover 18 and the output shaft 20. By providing the protective cover 18, heat and water can be prevented in the axial and radial directions at the connection between the output shaft and the body.

[0036] More preferably, a sensor 28 is provided on the body 10 corresponding to the lead screw nut 8. The sensing shaft of the sensor 28 is connected to the trunnion of the lead screw nut 8. The sensor 28 can move along the axial direction of the lead screw 9 with the lead screw nut 8 to sense the position of the lead screw nut 8 and feed back the position information of the lead screw nut 8, thereby realizing the closed-loop control of the electric servo motor.

[0037] More preferably, the body 10 is a metal body, and the outside of the metal body is provided with high silica glass fiber. The high silica glass fiber is molded on the metal body to give its outer surface a thermal protection function; the material of the protective cover 18 is high silica glass fiber, which is consistent with the material of the outer surface layer of the body 10.

[0038] Furthermore, a drive assembly is provided on the side of motor 1 away from the lead screw pair, and its cross-sectional structure is as follows: Figure 3 As shown. Combined with Figures 1 to 3 The drive assembly includes a drive bracket 17, a drive board 15, and a power module 16. The drive board 15 and the drive bracket 17 are arranged in parallel and are mounted on the drive bracket 17 by bolts or screws. The power module 16 is located between the drive board 15 and the drive bracket 17, and is mounted on the drive bracket 17 by bolts or screws, and is electrically connected to the drive board 15. Specifically, the bent pins of the power module 16 are connected to the drive board 15, preferably by welding. More preferably, the power module 16 is tightly attached to the drive bracket 17 with single-sided adhesive to achieve rapid heat dissipation of the power module.

[0039] A plurality of diodes 24 for protection circuits are mounted on the driver board 15. A heat sink 14 for dissipating heat from the diodes 24 is attached to the diodes 24 with single-sided adhesive and is mounted on the driver bracket 17 with bolts or screws. A socket 25 with pins is arranged perpendicular to the driver board 15 and is mounted on the driver bracket 17 with bolts or screws. The pins of the socket 25 are soldered to the driver board 15. Preferably, a socket guard 23 is provided at the socket 25 to protect the socket 25 and facilitate the installation of the socket 25.

[0040] In addition, both motor 1 and sensor 28 are electrically connected to drive board 15. Specifically, the wires of motor 1 and sensor 28 are soldered to drive board 15. The control signal, feedback signal, and power supply of the electric servo motor of the present invention are all connected to the control system through socket 25.

[0041] Preferably, a fifth protective cover 27 is provided on the outside of the lead screw pair and the rocker arm slider assembly, which can simultaneously cover the locking bolt 32 and the sensor 28; a fourth protective cover 26 is provided on the outside of the power supply 1 and the drive assembly. The present invention is mounted on the body 10 with the first protective cover 3, the second protective cover 7, the third protective cover 13, the fourth protective cover 26, and the fifth protective cover 27, forming a relatively sealed cavity with the body 10 to protect the transmission assembly and the drive assembly.

[0042] It should be noted that in the above embodiments of the present invention, the fasteners are preferably screws or bolts, but the present invention is not limited to the above fastening methods.

[0043] The integrated electric servo of the present invention integrates the drive component and the transmission component into one unit. The drive component can be installed on the main body after the overall assembly is completed. This not only enables the integrated design of the drive component, but also facilitates installation and improves the power density, integration and miniaturization of the electric servo.

[0044] This invention effectively eliminates system clearance by adjusting the preload of the lead screw through the bearing end cover and the preload of the output shaft through the locking bolt, thereby effectively reducing the problem of vibration that easily occurs in the rudder system.

[0045] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An integrated electric actuator, characterized by Includes the main body (10) and the transmission and drive components installed therein; The transmission assembly includes a motor (1), a lead screw pair and a rocker arm slider assembly; the motor (1) and the lead screw pair are arranged in parallel, and the motor (1) is connected to the lead screw pair through a gear reducer; the lead screw pair includes a lead screw (9) and a lead screw nut (8) disposed thereon. The rocker arm slider assembly is perpendicular to the lead screw pair and is connected to the lead screw nut (8); an output shaft (20) is installed inside the rocker arm slider assembly; the lead screw nut (8) can move along its axial direction under the rotation of the lead screw (9) and push the rocker arm slider assembly to rotate, thereby driving the output shaft (20) to rotate; The rocker arm and slider assembly includes a rocker arm (21) and a slider (22). The lead screw nut (8) is located in the corresponding groove of the rocker arm (21) via the slider (22). The center of rotation of the rocker arm (21) is provided with an axial through hole for mounting the output shaft (20). The output shaft (20) is provided with third bearings (33) at both ends of the axial direction. The output shaft (20) is mounted on the body (10) via the corresponding third bearings (33). The output shaft (20) has a locking bolt (32) at one axial end. A spring washer (31) and a second bearing end cover (30) are provided between the pressing surface of the locking bolt (32) and the end face of the output shaft (20). The second bearing end cover (30) presses on the output shaft (20) and the third bearing (33) at the same time. The spring washer (31) is located between the pressing surface of the locking bolt (32) and the second bearing end cover (30). By adjusting the preload of the locking bolt (32), the third bearing (33) can be axially pressed. The drive assembly is located on the side of the motor (1) away from the lead screw pair. The drive assembly includes a drive bracket (17) and a drive plate (15). The drive plate (15) is arranged parallel to the drive bracket (17) and is mounted on the drive bracket (17) by fasteners. A power module (16) is provided between the drive bracket (17) and the drive plate (15). It is mounted on the drive bracket (17) by fasteners and is electrically connected to the drive plate (15). The motor (1) is electrically connected to the drive plate (15). The drive board (15) is also provided with a diode (24) and a heat sink (14) corresponding to the diode (24). The heat sink (14) is attached to the diode (24) by a single-sided adhesive and is mounted on the drive bracket (17) by fasteners. The drive board (15) is also provided with a socket (25). The socket (25) is set perpendicular to the drive board (15) and is mounted on the drive bracket (17) by fasteners. The pins of the socket (25) are soldered to the drive board (15).

2. The integrated electric servo motor according to claim 1, characterized in that, The other end of the output shaft (20) is a rudder mounting interface, which extends out of the body (10), and a protective cover (18) is provided at the connection between the output shaft (20) and the body (10). The protective cover (18) is fixedly connected to the body by fasteners, and a sealing ring (19) is provided on the contact surface between the protective cover (18) and the output shaft (20).

3. The integrated electric actuator of claim 1, wherein, The lead screw (9) is provided with a first bearing (6) and a second bearing (11) at both axial ends. The lead screw (9) is installed on the body (10) through the corresponding bearings at both axial ends. The second bearing (11) is provided with a first bearing end cover (12) on the outside, which is connected to the body (10) through fasteners and presses on the second bearing (11) at the same time.

4. The integrated electric actuator according to any one of claims 1-3, characterized in that, The main body (10) is provided with a sensor (28) corresponding to the lead screw nut (8). The sensing shaft of the sensor (28) is connected to the trunnion of the lead screw nut (8). The sensor (28) can follow the lead screw nut (8) and move along the lead screw (9) axis to sense the position of the lead screw nut (8). The sensor (28) is electrically connected to the drive plate (15).

5. The integrated electric servo motor according to any one of claims 1-3, characterized in that, The gear reducer includes a first gear (2), a second gear (4) and a third gear (5). The first gear (2) is mounted on the output shaft of the motor (1), and the third gear (5) is mounted on the lead screw (9). The second gear (4) is arranged in parallel between the first gear (2) and the third gear (5), and the second gear (4) meshes with the first gear (2) and the third gear (5) respectively.

6. The integrated electric servo motor according to claim 5, characterized in that, The outer side of the third gear (5) is provided with a second protective cover (7); and / or, The motor (1) has a first protective cover (3) on the outside of the first gear (2) at one end of the output shaft, and a third protective cover (13) at the other end of the motor (1); and / or, The motor (1) and drive assembly are respectively provided with a fourth protective cover (26); and / or, The lead screw pair and rocker arm slider assembly are respectively provided with a fifth protective cover (27) on the outside.

Images