A tooth difference type turn counting structure and method for integrated electromechanical actuators

Abstract

This invention discloses a differential gear counting structure and method for an integrated electromechanical actuator. A transition gear meshes with both the driving and driven gears. The driving shaft is connected to the output shaft of the electromechanical actuator motor, and the driving shaft and the motor output shaft rotate at the same speed. The driving gear drives the transition gear to rotate, and the transition gear drives the driven gear to rotate. An active rotary transformer corresponds to the position of the driving gear, and a driven rotary transformer corresponds to the position of the driven gear. When the electromechanical actuator is working, the driving gear drives the driven gear to rotate through the transition gear. The active rotary transformer reads the number of rotations of the driving shaft in real time, and the driven rotary transformer reads the number of rotations of the driven shaft in real time. The active and driven rotary transformers are respectively connected to a control driver. The control driver calculates the rotation position of the electromechanical actuator based on the rotation counts read by the active and driven rotary transformers.

Description

Technical Field

[0001] This invention relates to a tooth difference type counting structure and method for integrated electromechanical actuators, belonging to the technical field of integrated servo mechanisms in servo mechanisms and systems. Background Technology

[0002] In integrated electromechanical servo systems operating within confined spaces, linear displacement sensors are required to locate the zero position, and a single rotary transformer is needed to collect motor code values ​​to complete closed-loop control. Traditional linear displacement sensor structures require significant space for connection between the sensor and the mounting flange, as well as for the sensor's connecting cables. This makes them suitable for applications with limited space constraints. Linear displacement sensors primarily rely on an internal sliding rheostat that reciprocates in a linear direction, detecting changes in resistance to acquire position information. Therefore, linear displacement sensors are unsuitable for compact mechanisms and cannot meet the requirements of miniaturization and lightweight integration. Furthermore, because linear displacement sensors rely on the sliding rheostat for their function, they are contact sensors. In applications requiring high lubrication, such as those within electromechanical actuators, the large amount of grease applied to the actuator can cause grease to splash during operation. If this grease splashes onto the resistance wire of the linear displacement sensor, it can cause the sensor to malfunction, further preventing the actuator from obtaining position feedback and ultimately leading to its failure. Traditional methods using a single rotary transformer for position information acquisition and feedback in electromechanical actuators cannot meet the requirements for zero-position acquisition and real-time position information feedback closed-loop control. Traditional multi-turn counters using multiple rotary transformers require multiple gear sets (typically five gears to achieve 64 turns) when the number of turns is low (up to 64), resulting in high manufacturing difficulty, cost, and implementation challenges. Furthermore, the use of multiple gear assemblies leads to poor overall stability. Therefore, integrated electromechanical servo actuators within limited space require a structure that simultaneously determines zero position and completes the control closed loop, ensuring stable and normal operation while maintaining a simple structure, saving space, and providing excellent performance. Summary of the Invention

[0003] The technical problem solved by the present invention is to overcome the shortcomings of the prior art and provide a tooth difference type counting structure and method for integrated electromechanical actuators, which ensures the normal and stable operation of electromechanical servo actuators and has a simple structure that saves space.

[0004] The technical solution of this invention is:

[0005] This invention discloses a differential gear counting structure for an integrated electromechanical actuator, comprising: a fixed disk, a driven shaft, a driving shaft, a driven gear, a transition gear, a driving gear, a driving rotary transformer, a driven rotary transformer, and a control driver; wherein, the driven shaft and the driving shaft are symmetrically mounted on both sides of the centerline of the fixed disk, the driving gear is connected to the driving shaft, and the driven gear is connected to the driven shaft; the transition gear meshes with the driving gear and the driven gear; the driving shaft is connected to the output shaft of the electromechanical actuator motor, and the driving shaft and the motor output shaft have the same rotational speed, driving the transition gear to rotate through the driving gear, and the transition gear driving the driven gear to rotate; The active rotary transformer is mounted on the active shaft; the driven rotary transformer is mounted on the driven shaft; the active rotary transformer corresponds to the position of the active gear, and the driven rotary transformer corresponds to the position of the driven gear; when the electromechanical actuator is working, the active gear drives the driven gear to rotate through the intermediate gear, and the active rotary transformer reads the number of rotations of the active shaft in real time, while the driven rotary transformer reads the number of rotations of the driven shaft in real time; the active and driven rotary transformers are respectively connected to the control driver; the control driver calculates the number of rotations and position of the electromechanical actuator based on the number of rotations read by the active and driven rotary transformers.

[0006] Furthermore, in the above-mentioned counting structure, the number of teeth of the driving gear is one less than the number of teeth of the driven gear.

[0007] Furthermore, the aforementioned gear counting structure also includes a gear cover plate, which covers the driving gear and the driven gear, and provides protection for the driving gear and the driven gear.

[0008] Furthermore, in the above-mentioned counting structure, the drive shaft is connected to the electromechanical actuator motor and rotates at the same speed as the output shaft of the electromechanical actuator motor.

[0009] Furthermore, in the above-mentioned rotation counting structure, the position of the number of rotations of the computer electric actuator is specifically as follows:

[0010] Based on the number of teeth of the driving gear, the number of teeth of the driven gear, the number of rotations of the driving gear collected by the driving rotary transformer, and the number of rotations of the driven gear collected by the driven rotary transformer, calculate the maximum number of rotations M between the number of rotations of the driving gear and the number of rotations of the driven gear.

[0011] The control driver calculates the position P of the electromechanical actuator's rotation based on the maximum number of revolutions M, specifically as follows:

[0012]

[0013] P≤M

[0014] Where m is the number of revolutions of the permanent magnet synchronous motor; i1 is the total reduction ratio of the gear reducer; i2 is the lead of the lead screw; Z1 is the number of teeth of the driving gear; and Z2 is the number of teeth of the driven gear.

[0015] Furthermore, in the above-described loop counting structure, the maximum number of loops M specifically refers to:

[0016] M = 360 / (360 - 360 * Z1 / Z2)

[0017] Where M is the maximum difference between the number of rotations of the driving gear and the number of rotations of the driven gear; Z1 is the number of teeth of the driving gear, and Z2 is the number of teeth of the driven gear.

[0018] Furthermore, in the above-mentioned counting structure, the active rotary transformer and the driven rotary transformer are connected to the control driver via cables, and are also connected to an external display and an external memory device via cables.

[0019] This invention discloses a tooth difference type turn counting method for integrated electromechanical actuators, employing a tooth difference type turn counting structure for integrated electromechanical actuators, comprising:

[0020] The rotation count information collected by the active rotary transformer and the driven rotary transformer is fed back to the control driver of the electromechanical actuator;

[0021] The control driver calculates the difference in the number of rotations between the driving gear and the driven gear based on the number of teeth on the driving gear, the number of teeth on the driven gear, and the number of rotations collected by the driving rotary transformer and the driven rotary transformer.

[0022] Based on the difference in the number of rotations, the control driver calculates the current position information of the driving and driven gears collected by the driving and driven rotary transformers to obtain the number of rotations that the electromechanical actuator has changed from its initial position information.

[0023] Furthermore, in the above-mentioned rotation counting method, the number of rotations in which the electromechanical actuator changes position relative to its initial state is specifically as follows:

[0024]

[0025] P≤M

[0026] Where m is the number of revolutions of the permanent magnet synchronous motor; i1 is the total reduction ratio of the gear reducer; i2 is the lead of the lead screw; Z1 is the number of teeth of the driving gear; Z2 is the number of teeth of the driven gear; and M is the maximum number of revolutions that is the difference between the number of revolutions of the driving gear and the number of revolutions of the driven gear.

[0027] Furthermore, in the above method of counting rotations, M = 360 / (360-360*Z1 / Z2), where M is the maximum number of rotations between the number of rotations of the driving gear and the number of rotations of the driven gear; Z1 is the number of teeth of the driving gear, and Z2 is the number of teeth of the driven gear.

[0028] The advantages of this invention over the prior art are as follows:

[0029] (1) The tooth difference type counting structure of the present invention has a simple composition. Compared with the traditional linear displacement sensor structure, it optimizes the number of parts, reduces the mechanical, circuit, process and assembly difficulty, reduces the difficulty of realizing the zero-finding function, and increases the stability of the structure and function realization.

[0030] (2) The tooth difference type counting structure of the present invention can replace the linear displacement sensor structure used by the traditional actuator for zero-finding closed loop, optimize the actuator installation space and the center cross-sectional size of the actuator housing, solve the problem of fewer turns and more gears, reduce mechanical, circuit, process and assembly difficulty, and reduce the difficulty of realizing the zero-finding function. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the counting structure of the present invention;

[0032] Figure 2 These are side views of the counting structure of the present invention, (a) being the left side view and (b) being the right side view;

[0033] Figure 3 This is a top view of the ring counting structure of the present invention. Detailed Implementation

[0034] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] like Figure 1As shown, this invention discloses a differential gear counting structure for an integrated electromechanical actuator, comprising: a fixed disk, a driven shaft 1, a driving shaft 2, a driven gear 3, a transition gear 4, a driving gear 5, a driving rotary transformer, a driven rotary transformer, and a control driver; wherein, the driven shaft 1 and the driving shaft 2 are symmetrically mounted on both sides of the centerline of the fixed disk, the driving gear 5 is connected to the driving shaft 2, and the driven gear 3 is connected to the driven shaft 1; the transition gear 4 meshes with the driving gear 5 and the driven gear 3; the driving shaft 2 is connected to the output shaft of the electromechanical actuator motor, and the driving shaft 2 and the motor output shaft have the same rotational speed, driving the transition gear 4 to rotate through the driving gear 3, and the transition gear 4 driving the driven gear 5... Wheel 3 rotates; the active rotary transformer is installed on the active shaft 2; the driven rotary transformer is installed on the driven shaft 1; the active rotary transformer corresponds to the position of the active gear 5, and the driven rotary transformer corresponds to the position of the driven gear 3; when the electromechanical actuator is working, the active gear 5 drives the driven gear 3 to rotate through the transition gear 4, and the active rotary transformer reads the number of rotations of the active shaft 2 in real time, while the driven rotary transformer reads the number of rotations of the driven shaft 1 in real time; the active rotary transformer and the driven rotary transformer are respectively connected to the control driver; the control driver calculates the number of rotations and position of the electromechanical actuator based on the number of rotations read by the active rotary transformer and the driven rotary transformer.

[0036] Preferably, the number of teeth of the driving gear 5 is one less than the number of teeth of the driven gear 3.

[0037] Preferably, such as Figure 3 As shown, it also includes a gear cover plate 6, which covers the driving gear 5 and the driven gear 3, and protects the driving gear 5 and the driven gear 3.

[0038] Preferably, such as Figure 2 As shown, the drive shaft 2 is connected to the electromechanical actuator motor and rotates at the same speed as the output shaft of the electromechanical actuator motor.

[0039] Preferably, the position of the number of rotations of the computer electric actuator is specifically as follows:

[0040] Based on the number of teeth of the driving gear 5, the number of teeth of the driven gear 3, the number of rotations of the driving gear collected by the driving rotary transformer, and the number of rotations of the driven gear collected by the driven rotary transformer, calculate the maximum number of rotations M between the number of rotations of the driving gear and the number of rotations of the driven gear.

[0041] The control driver calculates the position P of the electromechanical actuator's rotation based on the maximum number of revolutions M, specifically as follows:

[0042]

[0043] P≤M

[0044] Where m is the number of revolutions of the permanent magnet synchronous motor; i1 is the total reduction ratio of the gear reducer; i2 is the lead of the lead screw; Z1 is the number of teeth of the driving gear; Z2 is the number of teeth of the driven gear; the permanent magnet synchronous motor is the power element of the electromechanical actuator; and the gear reducer and lead screw are the basic transmission elements of the electromechanical actuator.

[0045] Preferably, the maximum number of revolutions M is specifically:

[0046] M = 360 / (360 - 360 * Z1 / Z2)

[0047] Where M is the maximum difference between the number of rotations of the driving gear and the number of rotations of the driven gear; Z1 is the number of teeth of the driving gear, Z2 is the number of teeth of the driven gear, and the calculated result is rounded to the nearest integer. M is the design reference value of P. To ensure that the rotary transformer can record all data, P ≤ M should be satisfied during the design.

[0048] Preferably, the active rotary transformer and the driven rotary transformer are connected to the control driver via cables, and are also connected to an external display and an external memory device via cables.

[0049] This invention discloses a tooth difference type turn counting method for integrated electromechanical actuators, employing a tooth difference type turn counting structure for integrated electromechanical actuators, comprising:

[0050] The rotation count information collected by the active rotary transformer and the driven rotary transformer is fed back to the control driver of the electromechanical actuator;

[0051] The control driver calculates the difference in the number of rotations between the drive gear 5 and the driven gear 3 based on the number of teeth of the drive gear 5, the number of teeth of the driven gear 3, the number of rotations collected by the drive rotary transformer and the driven rotary transformer.

[0052] Based on the difference in the number of rotations, the control driver calculates the current position information of the driving and driven gears collected by the driving and driven rotary transformers to obtain the number of rotations that the electromechanical actuator has changed from its initial position information.

[0053] Preferably, the number of revolutions in which the electromechanical actuator changes position relative to its initial state is specifically:

[0054]

[0055] P≤M

[0056] Where m is the number of revolutions of the permanent magnet synchronous motor; i1 is the total reduction ratio of the gear reducer; i2 is the lead of the lead screw; Z1 is the number of teeth of the driving gear; Z2 is the number of teeth of the driven gear; and M is the maximum number of revolutions that is the difference between the number of revolutions of the driving gear and the number of revolutions of the driven gear.

[0057] Preferably, M = 360 / (360-360*Z1 / Z2), where M is the maximum difference between the number of rotations of the driving gear and the number of rotations of the driven gear; Z1 is the number of teeth of the driving gear, and Z2 is the number of teeth of the driven gear.

[0058] Example

[0059] In this embodiment, the differential gear counting structure consists of a housing support, a drive shaft, a main gear, a transition gear, a driven gear, a gear support bearing, a gear cover plate, an active rotary transformer, and a driven rotary transformer. This differential gear counting structure is installed on the output shaft of the permanent magnet synchronous motor, the power component of the electromechanical actuator. When the control driver of the electromechanical actuator receives the control command from the host computer and outputs the corresponding action according to the command, the permanent magnet synchronous servo motor, as the power component of the electromechanical actuator, drives the motor shaft to rotate, which in turn drives the active gear mounted on the active shaft to rotate. The main gear meshes with the transition gear, and the transition gear meshes with the driven gear, thereby realizing that the active gear drives the driven gear to rotate. The active rotary transformer mounted on the active shaft can collect the position information of the main gear in real time and feed it back to the control driver. The driven rotary transformer mounted on the driven shaft can collect the position information of the driven gear in real time and feed it back to the control driver. The control driver runs an internal control algorithm to calculate the number of rotations of the electromechanical actuator.

[0060] In this embodiment, taking a driving gear with 31 teeth and a driven gear with 32 teeth as an example, the data difference between the driving gear and the driven gear is fixed and non-repeating within 32 revolutions, as shown in the table below. The resolution values ​​of the driving rotary transformer and the driven rotary transformer range from 0 to 1023.

[0061]

[0062]

[0063] Although the present invention has been described in detail through the preferred embodiments above, it should be understood that the above description should not be considered as a limitation of the present invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above description. Therefore, the scope of protection of the present invention should be defined by the appended claims.

[0064] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A tooth difference type counting method for an integrated electromechanical actuator, characterized by, The utility model relates to a kind of electromechanical actuator rotation position calculation method and device, including: Fixed disc, driven shaft (1), driving shaft (2), driven gear (3), transition gear (4), driving gear (5), driving rotary transformer, driven rotary transformer, control driver;Wherein, driven shaft (1), driving shaft (2) are installed in the middle line two sides along the middle line of fixed disc, driving gear (5) is connected with driving shaft (2), driven gear (3) is connected with driven shaft (1);Transition gear (4) is engaged with driving gear (5) and driven gear (3);Driving shaft (2) is connected with the output shaft of electromechanical actuator motor, driving shaft (2) has same rotation speed with motor output shaft, driving gear (5) drives transition gear (4) to rotate, transition gear (4) drives driven gear (3) to rotate;The driving rotary transformer is installed on driving shaft (2);Driven rotary transformer is installed on driven shaft (1);Driving rotary transformer corresponds with the position of driving gear (5), driven rotary transformer corresponds with the position of driven gear (3);Electromechanical actuator works, driving gear (5) drives driven gear (3) to rotate by transition gear (4), driving rotary transformer reads the rotation number of driving shaft (2) in real time, while driven rotary transformer reads the rotation number of driven shaft (1) in real time;Driving rotary transformer and driven rotary transformer are connected with control driver respectively;Control driver calculates the rotation position of electromechanical actuator according to the rotation number read by driving rotary transformer and driven rotary transformer; The number of teeth of the driving gear (5) is less than the number of teeth of the driven gear (3) by one. The rotation position of the electromechanical actuator is calculated as follows: According to the number of teeth of the driving gear (5), the number of teeth of the driven gear (3), the number of rotation of the driving gear collected by the driving rotary transformer and the number of rotation of the driven gear collected by the driven rotary transformer, the maximum number of rotation M between the number of rotation of the driving gear and the number of rotation of the driven gear is calculated. The control driver calculates the rotation position P of the electromechanical actuator at this time according to the maximum number of rotation M, which is calculated as follows: P≤M Wherein, m is the number of rotation of the permanent magnet synchronous motor; i1 is the total reduction ratio of the gear reducer, i2 is the lead of the screw, Z1 is the number of teeth of the driving gear, and Z2 is the number of teeth of the driven gear.

2. The integrated electromechanical actuator tooth-belt counting method of claim 1, wherein: It further includes a gear cover plate (6) covering the driving gear (5) and the driven gear (3) to protect the driving gear (5) and the driven gear (3).

3. The integrated electromechanical actuator tooth-bucking method of claim 1, wherein: The driving shaft (2) is connected with the electromechanical actuator motor and has the same rotation speed as the output shaft of the electromechanical actuator motor.

4. The integrated electromechanical actuator with tooth difference counting method according to claim 3, characterized in that: The maximum number of rotation M is calculated as follows: M=360 / (360-360*Z1 / Z2) Wherein, M is the maximum number of rotation between the number of rotation of the driving gear and the number of rotation of the driven gear; Z1 is the number of teeth of the driving gear, and Z2 is the number of teeth of the driven gear.

5. The integrated electromechanical actuator tooth-bucking method of claim 1, wherein: The driving rotary transformer and the driven rotary transformer are connected with the control driver through a cable, and an external display and an external memory device are connected through the cable.

6. The integrated electromechanical actuator tooth-bucking counting method according to claim 1, wherein, The utility model relates to a kind of electromechanical actuator rotation position calculation method and device, including: The rotation number information collected by the driving rotary transformer and the driven rotary transformer is fed back to the control driver of the electromechanical actuator. The control driver calculates the difference of the rotation number between the driving gear (5) and the driven gear (3) according to the number of teeth of the driving gear (5), the number of teeth of the driven gear (3), and the rotation number information collected by the driving rotary transformer and the driven rotary transformer. According to the difference of the rotation number, the control driver calculates the position information of the driving gear and the driven gear collected by the driving rotary transformer and the driven rotary transformer, and obtains the change of the number of turns of the electromechanical actuator compared with the initial state position information of the electromechanical actuator.

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