An electromechanical actuator

Abstract

The present invention discloses an electromechanical actuator, comprising: a drive box, a motion main rod, a drive assembly, and a guide sleeve seat. The motion main rod and the drive assembly are sleeved on the inner side of the drive box body. A transmission box is provided on one side of the drive box body. A drive motor is fixedly mounted on the surface of the transmission box. The guide sleeve seat is fixedly mounted on one side of the drive box body and has a linear sliding cavity on the inner side. One end of the motion main rod is slidably sleeved on the inner side of the linear sliding cavity. The surface of the motion main rod is provided with a plurality of drive grooves arranged in sequence. In the present invention, by providing a novel linear displacement conversion structure, a drive motor is used to drive multiple transmission sleeves to rotate synchronously and engage with the drive grooves on the surface of the motion main rod to drive the motion main rod to perform intermittent motion. Under the guidance of the first wedge ring group and the second wedge ring group, the transmission sleeve has a certain linear displacement during rotation. Through this displacement, the surface of the motion main rod is acted on, thereby achieving a large torque drive on the motion main rod and improving the load strength.

Description

Technical Field

[0001] The present invention relates to the technical field of electromechanical actuators, and in particular to an electromechanical actuator. Background Art

[0002] A linear electromechanical actuator (LEMA) converts the rotational motion of a motor into linear motion and outputs it. It is widely used in controlling the rudders of drones, spacecraft, and missiles. An existing LEMA typically consists of a servo motor, a speed reducer, a linear displacement converter, and a displacement sensor. The linear displacement converter is typically a ball screw or planetary ball screw. The servo motor of the LEMA is decelerated by the speed reducer. The LEMA converts the rotational motion into linear movement of the LEMA's output rod, which is then fed back to the closed-loop control system via a position feedback element. This feedback feeds the output rod's displacement into the closed-loop control system, achieving rudder control.

[0003] At present, the working of linear electromechanical actuators mainly converts rotational motion into linear motion through a gear structure. This force transmission structure acts directly on the output end of the motor and cannot amplify the motor torque through the transmission structure. In high-load working conditions, the linear electromechanical actuator is easily affected by the excessive load at the load end, causing the motor to stop and burn. The output torque can only be adjusted by replacing a large-load motor. The use of a reduction transmission structure to increase the torque is determined by these external reduction structures, which makes the linear electromechanical actuator larger in size and less integrated, unable to meet the development needs of structural miniaturization. In addition, in the work against continuous reaction force, the pushing effect of the reaction force can easily cause the linear electromechanical actuator to retreat and shift, and even cause servo encoding confusion. In view of this, research and improvement are conducted on the existing problems, and an electromechanical actuator is provided to solve the current problems. The purpose is to achieve the purpose of solving problems and improving practical value through this technology. Summary of the Invention

[0004] The present invention aims to solve one of the technical problems existing in the prior art or related technologies.

[0005] To this end, the technical solution adopted by the present invention is as follows: an electromechanical actuator, comprising: a drive box body, a motion main rod, a drive assembly and a guide sleeve seat, wherein the motion main rod and the drive assembly are sleeved on the inner side of the drive box body, a transmission box is provided on one side of the drive box body, a drive motor is fixedly mounted on the surface of the transmission box, the guide sleeve seat is fixedly mounted on one side of the drive box body and a linear sliding cavity is opened on the inner side, one end of the motion main rod is slidably sleeved on the inner side of the linear sliding cavity, a plurality of drive grooves arranged adjacent to each other are opened on the surface of the motion main rod, and a touch position switch and an infrared pulse sensor are provided on the inner side of the linear sliding cavity;

[0006] The driving assembly includes a plurality of rotating shaft rods evenly distributed in the circumferential direction and a first wedge ring group, a transmission sleeve and a second wedge ring group sleeved on the surface of the rotating shaft rod. The inner side of the transmission box is provided with a driving tooth sleeved on the output end of the driving motor. The inner side of the transmission box is provided with a plurality of transmission teeth connected in sequence. A plurality of synchronous teeth are rotatably installed on the inner side of the driving box body. The end of the rotating shaft rod is sleeved with a rotating tooth that meshes with the synchronous tooth. The first wedge ring group and the second wedge ring group are respectively located at the two ends of the transmission sleeve. The surface of the transmission sleeve is provided with meshing teeth that are compatible with the driving groove.

[0007] In a preferred example, the present invention can be further configured as follows: the drive motor is a servo drive motor structure and the input end is electrically connected to a servo control system, and the output end of the drive motor is connected to the surface transmission of the rotating teeth through drive teeth, transmission teeth and synchronous teeth.

[0008] In a preferred example, the present invention can be further configured as follows: the number of the rotating teeth and the number of the synchronous teeth are both six, and the rotating teeth and the synchronous teeth are arranged alternately, and the two sides of the synchronous teeth are meshed with the surfaces of the two rotating teeth.

[0009] In a preferred example, the present invention can be further configured as follows: the number of the rotating shaft rods is six and they are evenly distributed on the outer periphery of the moving main rod in the circumferential direction, and the transmission sleeves on the surfaces of adjacent rotating shaft rods are tilted and deflected by 60° in sequence.

[0010] In a preferred example, the present invention can be further configured as follows: the driving groove is an annular groove structure, the width between adjacent driving grooves is equal to the width of the driving groove, and the meshing teeth are a spiral convex tooth structure.

[0011] In a preferred example, the present invention can be further configured as follows: the first wedge ring group and the second wedge ring group have the same structure and both include a static wedge ring and a dynamic wedge ring, one side of the dynamic wedge ring is fixedly connected to the surface of the transmission sleeve, and the static wedge ring is fixed to the inner side of the drive box body.

[0012] In a preferred example, the present invention can be further configured as follows: the surface of the rotating tooth is provided with a spline ridge, the inner side of the transmission sleeve is provided with a spline groove adapted to the rotating tooth, and the surfaces of the static wedge ring and the dynamic wedge ring are provided with oblique abutment surfaces abutting each other.

[0013] In a preferred example, the present invention can be further configured as follows: a touch pin is provided on the surface of the touch position switch, and one side of the touch pin is in sliding contact with the surface of the moving main rod. The touch position switch is a touch switch structure, and the infrared pulse sensor is fixedly installed at one end of the linear sliding cavity and is arranged in a direction opposite to the end of the moving main rod.

[0014] The beneficial effects achieved by the present invention are:

[0015] 1. In the present invention, a novel linear displacement conversion structure is provided, and a drive motor is used to drive multiple transmission sleeves to rotate synchronously and engage with the drive grooves on the surface of the moving main rod, driving the moving main rod to perform intermittent movement. Under the guidance of the first wedge ring group and the second wedge ring group, the transmission sleeves have a certain linear displacement during rotation. Through this displacement, the surface of the moving main rod is acted upon, thereby achieving a high torque drive on the moving main rod and improving the load strength.

[0016] 2. In the present invention, by providing an engaging structure of teeth and drive grooves, the meshing action of the transmission sleeve and the moving main rod during the load process prevents the moving main rod from moving backward, thereby maintaining a long-term ejection load, preventing the moving main rod from freely retreating, and improving the stability of the electromechanical actuator.

[0017] 3. In the present invention, a new sensing structure is set up to utilize the contact action of the surface driving groove and the touch position switch when the main rod moves to perform mechanical displacement measurement, thereby avoiding the problem of poor stability and anti-interference ability of traditional electronic displacement monitoring structures, and cooperating with infrared pulse sensors to accurately measure the linear output displacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present invention;

[0019] Figure 2 A schematic cross-sectional view of an embodiment of the present invention;

[0020] Figure 3 A schematic diagram of the internal structure of a transmission box according to an embodiment of the present invention;

[0021] Figure 4 This is a schematic diagram of the installation structure of a drive assembly according to an embodiment of the present invention;

[0022] Figure 5 This is a schematic diagram of the exploded structure of a drive assembly according to an embodiment of the present invention;

[0023] Figure 6 This is a schematic structural diagram of a moving main rod and a transmission sleeve block according to an embodiment of the present invention;

[0024] Figure 7 This is a schematic structural diagram of the first wedge ring group according to an embodiment of the present invention.

[0025] Reference numerals:

[0026] 100, driving box body; 110, transmission box; 120, driving motor; 121, driving gear; 122, transmission gear; 123, synchronization gear;

[0027] 200, main moving rod; 210, driving slot;

[0028] 300, drive assembly; 310, rotating shaft; 320, first wedge ring assembly; 330, transmission sleeve; 340, second wedge ring assembly; 311, rotating gear; 312, bearing seat; 321, static wedge ring; 322, dynamic wedge ring; 323, inclined contact surface; 331, meshing gear;

[0029] 400, guide sleeve seat; 410, linear slide cavity; 420, touch position switch; 430, infrared pulse sensor. DETAILED DESCRIPTION

[0030] To make the purpose, technical solutions and advantages of the present invention more clear, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. It should be noted that the embodiments of the present invention and the features therein can be combined with each other without conflict.

[0031] An electromechanical actuator provided by some embodiments of the present invention will be described below with reference to the accompanying drawings.

[0032] Combine Figure 1-7 As shown, the present invention provides an electromechanical actuator, comprising: a drive box body 100, a motion main rod 200, a drive assembly 300 and a guide sleeve seat 400, wherein the motion main rod 200 and the drive assembly 300 are sleeved on the inner side of the drive box body 100, a transmission box 110 is provided on one side of the drive box body 100, a drive motor 120 is fixedly mounted on the surface of the transmission box 110, the guide sleeve seat 400 is fixedly mounted on one side of the drive box body 100 and a linear sliding cavity 410 is opened on the inner side, one end of the motion main rod 200 is slidably sleeved on the inner side of the linear sliding cavity 410, a plurality of drive grooves 210 arranged adjacent to each other are opened on the surface of the motion main rod 200, and a touch position switch 420 and an infrared pulse sensor 430 are provided on the inner side of the linear sliding cavity 410;

[0033] The drive assembly 300 includes several rotating shafts 310 evenly distributed in the circumferential direction, and a first wedge ring group 320, a transmission sleeve 330 and a second wedge ring group 340 sleeved on the surface of the rotating shaft 310. The inner side of the transmission box 110 is provided with a driving tooth 121 sleeved on the output end of the driving motor 120. The inner side of the transmission box 110 is provided with several transmission teeth 122 connected in sequence. The inner side of the drive box body 100 is rotatably installed with several synchronous teeth 123. The end of the rotating shaft 310 is sleeved with a rotating tooth 311 that meshes with the synchronous tooth 123. The first wedge ring group 320 and the second wedge ring group 340 are respectively located at the two ends of the transmission sleeve 330. The surface of the transmission sleeve 330 is provided with a meshing tooth 331 that adapts to the driving groove 210.

[0034] In this embodiment, the drive motor 120 is a servo drive motor structure and its input end is electrically connected to a servo control system. The output end of the drive motor 120 is connected to the surface of the rotating gear 311 through the drive gear 121, the transmission gear 122 and the synchronization gear 123.

[0035] Furthermore, the number of the rotating teeth 311 and the number of the synchronous teeth 123 are both six, and the rotating teeth 311 and the synchronous teeth 123 are arranged alternately, and the two sides of the synchronous teeth 123 are meshed with the surfaces of the two rotating teeth 311 .

[0036] Specifically, the servo drive structure is used to provide rotational input kinetic energy, which is converted into linear motion of the motion main rod 200 under the action of the drive assembly 300, thereby realizing the basic function of the linear electromechanical actuator.

[0037] In this embodiment, there are six rotating shafts 310 and they are evenly distributed on the outer periphery of the moving main rod 200 in the circumferential direction. The transmission sleeves 330 on the surfaces of adjacent rotating shafts 310 are tilted and deflected by 60 degrees in sequence.

[0038] Specifically, through the transmission sleeve 330 structure arranged in different directions, when one of the transmission sleeve blocks 330 contacts the motion main rod 200, the other five transmission sleeve blocks 330 do not contact and interfere with the surface of the motion main rod 200. When the transmission sleeve block 330 rotates 60° and disengages from the surface of the motion main rod 200, the next transmission sleeve block 330 contacts the surface of the motion main rod 200, thereby realizing continuous movement of the motion main rod 200, and under static load, there is always one transmission sleeve block 330 engaged with the surface of the motion main rod 200 to prevent the motion main rod 200 from freely retreating.

[0039] In this embodiment, the driving groove 210 is an annular groove structure, and the width between adjacent driving grooves 210 is equal to the width of the driving groove 210 . The teeth 331 are a spiral convex tooth structure.

[0040] Specifically, the driving groove 210 and the gear 331 are similar to the turbine and vortex structure, so that when the gear 331 rotates, it can be accurately inserted into the driving groove 210 and engage with the driving groove 210 to drive the main rod 200 to move linearly.

[0041] In this embodiment, the first wedge ring group 320 and the second wedge ring group 340 have the same structure and both include a static wedge ring 321 and a dynamic wedge ring 322. One side of the dynamic wedge ring 322 is fixedly connected to the surface of the transmission sleeve 330, and the static wedge ring 321 is fixed to the inner side of the drive box body 100.

[0042] Furthermore, the surface of the rotating tooth 311 is provided with a spline ridge, the inner side of the transmission sleeve 330 is provided with a spline groove adapted to the rotating tooth 311, and the surfaces of the static wedge ring 321 and the dynamic wedge ring 322 are provided with oblique abutment surfaces 323 that abut against each other.

[0043] Specifically, when the shaft rod 310 rotates, the transmission sleeve 330 and the dynamic wedge ring 322 are synchronously driven to rotate through the spline structure. Under the abutment and sliding of the oblique abutment surfaces 323 on the surfaces of the static wedge ring 321 and the dynamic wedge ring 322, the relative movement of the static wedge ring 321 and the dynamic wedge ring 322 causes the transmission sleeve 330 to slide linearly on the surface of the shaft rod 310 and realize reciprocating motion, and the linear motion acts on the surface of the moving main rod 200 to drive the moving main rod 200 to move.

[0044] In this embodiment, a touch pin is provided on the surface of the touch position switch 420, and one side of the touch pin slides against the surface of the moving main rod 200. The touch position switch 420 is a touch switch structure, and the infrared pulse sensor 430 is fixedly installed at one end of the linear sliding cavity 410 and is arranged in a direction opposite to the end of the moving main rod 200.

[0045] Specifically, mechanical displacement measurement is performed by utilizing the contact action of the surface driving groove 210 and the touch position switch 420 when the moving main rod 200 moves, thereby avoiding the problem of poor stability and anti-interference ability of the traditional electronic displacement monitoring structure, and cooperating with the infrared pulse sensor 430 to accurately measure the linear output displacement.

[0046] The working principle and use process of the present invention:

[0047] During operation of the linear electromechanical actuator, the servo control system is connected to the drive motor 120 to input control signals and receive pulse signals, so as to precisely control the drive motor 120. Under the transmission of the drive teeth 121, the transmission teeth 122 and the synchronization teeth 123, the rotational mechanical energy of the drive teeth 121 is transmitted to each rotating tooth 311, so that each rotating shaft rod 310 rotates synchronously. Under the rotation action of the rotating shaft rod 310, the transmission sleeve 330 rotates synchronously. The dynamic wedge ring 322 of the first wedge ring group 320 and the second wedge ring group 340 connected at both ends of the transmission sleeve 330 abuts and slides on the surface of the static wedge ring 321, thereby rotating the transmission sleeve 330. During the process, the gears 331 on the surface of the transmission sleeve 330 and the driving groove 210 on the surface of the motion main rod 200 are reciprocatingly slid, that is, the linear sliding of the transmission sleeve 330 drives the motion main rod 200 to perform a certain linear motion in the rotational contact. After the linear motion is completed, the transmission sleeve 330 is disengaged from the abutment and engagement with the surface of the driving groove 210 and slides back, while the transmission sleeve 330 adjacent to the transmission sleeve 330 is in contact and engagement with the surface of the driving groove 210 and repeats the movement. Each transmission sleeve 330 contacts the surface of the driving groove 210 in turn to realize the continuous movement of the driving groove 210.

[0048] During the linear motion of the moving main rod 200, the touch-meter switch 420 contacts each driving groove 210. When the driving groove 210 reaches the surface of the touch-meter switch 420, the switch contact abutting the surface of the moving main rod 200 jumps out to trigger an electrical signal for counting to determine the movement displacement of the moving main rod 200. The infrared pulse sensor 430 emits a particularly short light pulse and measures the time from the emission to the reflection of the light pulse by the object. The distance between the light pulse and the end of the moving main rod 200 is calculated by measuring the time to determine the movement displacement of the moving main rod 200.

[0049] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. An electromechanical actuator, characterized in that: include: A drive box body (100), a motion main rod (200), a drive assembly (300) and a guide sleeve seat (400), wherein the motion main rod (200) and the drive assembly (300) are sleeved on the inner side of the drive box body (100), a transmission box (110) is provided on one side of the drive box body (100), a drive motor (120) is fixedly mounted on the surface of the transmission box (110), the guide sleeve seat (400) is fixedly mounted on one side of the drive box body (100) and a linear sliding cavity (410) is provided on the inner side thereof, one end of the motion main rod (200) is slidably sleeved on the inner side of the linear sliding cavity (410), a plurality of drive grooves (210) arranged adjacent to each other are provided on the surface of the motion main rod (200), and a touch position switch (420) and an infrared pulse sensor (430) are provided on the inner side of the linear sliding cavity (410); The driving assembly (300) includes a plurality of rotating shafts (310) uniformly distributed in a circumferential direction, and a first wedge ring group (320), a transmission sleeve (330), and a second wedge ring group (340) sleeved on the surface of the rotating shaft (310); the inner side of the transmission box (110) is provided with a driving tooth (121) sleeved on the output end of the driving motor (120); the inner side of the transmission box (110) is provided with a plurality of transmission teeth (122) connected in sequence; the inner side of the driving box body (100) is rotatably mounted with a plurality of synchronous teeth (123); the end of the rotating shaft (310) is sleeved with a rotating tooth (311) meshing with the synchronous tooth (123); the first wedge ring group (320) and the second wedge ring group (340) are respectively located at two ends of the transmission sleeve (330); the surface of the transmission sleeve (330) is provided with a meshing tooth (331) adapted to the driving groove (210).

2. The electromechanical actuator according to claim 1, characterized in that: The drive motor (120) is a servo drive motor structure, and its input end is electrically connected to a servo control system. The output end of the drive motor (120) is connected to the surface of the rotating gear (311) through the driving gear (121), the transmission gear (122), and the synchronization gear (123).

3. The electromechanical actuator according to claim 1, characterized in that: The number of the rotating teeth (311) and the number of the synchronous teeth (123) are both six, and the rotating teeth (311) and the synchronous teeth (123) are arranged alternately, and the two sides of the synchronous teeth (123) are meshed with the surfaces of the two rotating teeth (311).

4. The electromechanical actuator according to claim 1, characterized in that: The number of the rotating shaft rods (310) is six and they are evenly distributed on the outer periphery of the moving main rod (200) in a circumferential direction, and the transmission sleeves (330) on the surfaces of adjacent rotating shaft rods (310) are tilted and deflected by 60 degrees in sequence.

5. The electromechanical actuator according to claim 1, characterized in that: The driving groove (210) is an annular groove structure, and the width between adjacent driving grooves (210) is equal to the width of the driving groove (210), and the meshing teeth (331) are a spiral convex tooth structure.

6. The electromechanical actuator according to claim 1, characterized in that: The first wedge ring group (320) and the second wedge ring group (340) have the same structure and both include a static wedge ring (321) and a dynamic wedge ring (322). One side of the dynamic wedge ring (322) is fixedly connected to the surface of the transmission sleeve (330), and the static wedge ring (321) is fixed to the inner side of the drive box body (100).

7. The electromechanical actuator according to claim 6, characterized in that: The surface of the rotating tooth (311) is provided with a spline ridge, the inner side of the transmission sleeve (330) is provided with a spline groove adapted to the rotating tooth (311), and the surfaces of the static wedge ring (321) and the dynamic wedge ring (322) are provided with mutually abutting oblique surfaces (323).

8. The electromechanical actuator according to claim 1, characterized in that: The surface of the touch position meter switch (420) is provided with a touch pin, and one side of the touch pin is in sliding contact with the surface of the moving main rod (200). The touch position meter switch (420) is a touch switch structure. The infrared pulse sensor (430) is fixedly mounted on one end of the linear sliding cavity (410) and is arranged in a direction opposite to the end of the moving main rod (200).

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