Single-arm shifting fork transmission device

Abstract

The invention discloses a single-arm shifting fork transmission device, and belongs to the technical field of steering engines. The shifting fork transmission device comprises a steering engine shell, a driver, a linkage assembly, a transmission assembly and a shifting fork assembly, the driver, the linkage assembly, the transmission assembly and the shifting fork assembly are sequentially arranged in the steering engine shell in the x-axis direction, the input end of the shifting fork assembly is located in the steering engine shell, and the output end of the shifting fork assembly is located outside the steering engine shell. The driver is in transmission connection with the linkage assembly, the linkage assembly is in transmission connection with the transmission assembly, the transmission assembly is in transmission connection with the shifting fork assembly, and the angular displacement detection end of the angular displacement sensing assembly is located between the shifting fork assembly and the transmission assembly. The driver can drive the linkage assembly to rotate relative to the steering engine shell in the first rotating direction, the linkage assembly can drive the transmission assembly to move in the first moving direction, and the linkage assembly can drive the shifting fork assembly to rotate in the second rotating direction. The problem that an existing transmission device needs to occupy a large space is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of steering gears, and in particular to a single-arm shift fork transmission device. Background Art

[0002] The servo is mainly used to control the attitude angle of the servo during the flight of guided weapons. It receives the control command of the rudder angle, controls the speed of the motor, and the torque increases step by step through the intermediate transmission mechanism, and finally realizes the angle control of the rudder. For the servo with a flat structure, how can the output shaft output the angular displacement on the smallest surface? Due to the space limitation in the height direction of the servo, the commonly used double-arm fork transmission structure design cannot be implemented. Gear transmission and four-bar transmission require more space than the fork transmission structure, so they cannot be used. The existing implementation scheme is a spur gear + bevel gear rotation mechanism. The first stage of transmission from the motor to the output shaft is a spur gear transmission, and the last stage of transmission uses a bevel gear transmission to change the transmission direction. The existing scheme occupies more space, the transmission ratio is relatively small, and the transmission accuracy and torque are relatively small. Summary of the invention

[0003] In order to solve at least one problem in the background technology, the present invention provides a single-arm fork transmission device.

[0004] To achieve the above object, the present invention adopts the following technical solution:

[0005] A single-arm fork transmission device comprises a steering gear housing, a driver, a linkage assembly, a transmission assembly, a fork assembly and an angular displacement sensor assembly, wherein the length of the steering gear housing along the x-axis direction of the steering gear housing is L1, and the height of the steering gear housing along the y-axis direction of the steering gear housing is L2, wherein L1≥1.3L2; the driver, the linkage assembly, the transmission assembly and the fork assembly are sequentially arranged inside the steering gear housing along the x-axis direction, wherein the input end of the fork assembly is located inside the steering gear housing, and the output end of the fork assembly is located outside the steering gear housing, the driver is in transmission connection with the linkage assembly, the linkage assembly is in transmission connection with the transmission assembly, and the transmission assembly is in transmission connection with the fork assembly;

[0006] The driver can drive the linkage assembly to rotate relative to the steering gear housing along a first rotation direction, the linkage assembly can drive the transmission assembly to move along a first movement direction, and the linkage assembly can drive the fork assembly to rotate along a second rotation direction; or, the driver can drive the linkage assembly to rotate relative to the steering gear housing along a third rotation direction, the linkage assembly can drive the transmission assembly to move along the second movement direction, and the linkage assembly can drive the fork assembly to rotate along a fourth rotation direction;

[0007] The angular displacement sensing assembly is arranged on the inner side of the servo housing, the angular displacement detection end of the angular displacement sensing assembly is located between the fork assembly and the transmission assembly, and the angular displacement detection end of the angular displacement sensing assembly and the input end of the fork assembly are located on the same axis, and the angular displacement sensing assembly obtains the angular displacement of the fork assembly rotating along the second rotation direction or the fourth rotation direction.

[0008] According to one embodiment of the present invention, the steering gear housing is provided with a first mounting cavity, a second mounting cavity and a third mounting cavity, the first mounting cavity and the second mounting cavity are arranged side by side along the y-axis direction of the steering gear housing, and the second mounting cavity and the third mounting cavity are arranged side by side along the z-axis direction of the steering gear housing;

[0009] The linkage assembly is arranged in the first mounting cavity; the driver and the transmission assembly are arranged in the second mounting cavity, the driver output end extends into the first mounting cavity to be connected with the linkage assembly, the transmission assembly input end extends into the first mounting cavity to be connected with the linkage assembly, and the linkage assembly is located between the driver output end and the transmission assembly input end; the fork assembly is arranged in the third mounting cavity, the fork assembly input end extends into the second mounting cavity to be connected with the transmission assembly, and the fork assembly output end extends out of the servo housing.

[0010] According to one embodiment of the present invention, the first mounting cavity is provided with a first positioning bearing for positioning the linkage assembly, and a second positioning bearing and a positioning plate for positioning the transmission assembly; the second mounting cavity is provided with a third positioning bearing for positioning the transmission assembly; and the third mounting cavity is provided with a fourth positioning bearing for positioning the fork assembly.

[0011] According to one embodiment of the present invention, the linkage assembly includes a rotating shaft, a first large gear and a first small gear, the first large gear and the second small gear are sequentially sleeved on the rotating shaft, both ends of the rotating shaft are positioned by a servo housing, the driver is provided with a second small gear meshing with the first large gear, and the transmission assembly is provided with a second large gear meshing with the first small gear; when the driver drives the second small gear to rotate, the second small gear drives the first large gear to rotate, the first large gear drives the rotating shaft to rotate relative to the servo housing, the rotating shaft drives the first small gear to rotate, the first small gear drives the second large gear to rotate, and the second large gear drives the transmission assembly to rotate.

[0012] According to one embodiment of the present invention, the transmission assembly includes a lead screw, a ball sleeve and a connecting member, the ball sleeve is sleeved on the lead screw, the lead screw is provided with a gear located below the ball sleeve and meshingly connected with the linkage assembly, both ends of the lead screw are positioned by the steering gear housing, one end of the connecting member is connected to one side of the ball sleeve, and the other end of the connecting member is connected to the fork assembly, and there is a spacing between the ball sleeve and the fork assembly;

[0013] When the linkage assembly can drive the lead screw to rotate along the first rotation direction, the ball sleeve makes a linear motion along the first movement direction, and the ball sleeve drives the fork assembly to make a rotational motion along the second rotation direction until the ball sleeve abuts against the steering gear housing to prevent the fork assembly from moving; or, when the lead screw rotates along the third rotation direction, the ball sleeve makes a linear motion along the second movement direction, and the ball sleeve drives the fork assembly to make a rotational motion along the fourth rotation direction until the ball sleeve abuts against the steering gear housing to prevent the fork assembly from moving.

[0014] According to one embodiment of the present invention, the connecting member includes a mounting portion and a clamping portion, the mounting portion and the clamping portion are integrally formed, the mounting portion is connected to the ball sleeve, and one end of the fork assembly is provided with a clamping groove connected to the clamping portion.

[0015] According to one embodiment of the present invention, the transmission assembly further comprises a first positioning member and a second positioning member, wherein the first positioning member is arranged at one side of the ball sleeve away from the connecting member, and the second positioning member is arranged at one side of the steering gear housing close to the first positioning member;

[0016] When the lead screw rotates in the first rotation direction or the third rotation direction, the first positioning member abuts against the second positioning member to prevent the lead screw from driving the ball sleeve to rotate in the first rotation direction or the third rotation direction;

[0017] When the lead screw rotates in the first rotation direction, the ball sleeve performs linear motion in the first motion direction, and the ball sleeve drives the fork assembly to perform rotational motion in the second rotation direction until the first positioning member abuts against a side portion of the second positioning member, thereby preventing the fork assembly from moving;

[0018] Alternatively, when the lead screw rotates along the third rotation direction, the ball sleeve performs linear motion along the second movement direction, and the ball sleeve drives the fork assembly to perform rotational motion along the fourth rotation direction until the first positioning member abuts against the second positioning member to prevent the fork assembly from moving.

[0019] According to one embodiment of the present invention, the first positioning member comprises a limit bearing, and the limit bearing is connected to the ball sleeve;

[0020] The second positioning member comprises a limiting plate, the limiting plate is connected to the steering gear housing, and the limiting plate is provided with a limiting hole;

[0021] The limiting bearing is located in the limiting hole, and the maximum hole diameter of the limiting hole is larger than the diameter of the limiting bearing;

[0022] When the lead screw rotates, the limit bearing abuts against the first inner side and the second inner side of the limit hole, preventing the lead screw from driving the ball sleeve to move in the first movement direction or the second movement direction, and the limit bearing abuts against the third inner side and the fourth inner side of the limit hole, preventing the fork assembly from moving.

[0023] According to one embodiment of the present invention, the limit bearing comprises a first limit bearing and a second limit bearing, and the first limit bearing and the second limit bearing are respectively arranged at two ends of the ball sleeve;

[0024] The first limiting bearing and the second limiting bearing are both located in the limiting hole;

[0025] When the lead screw rotates, the first limit bearing abuts against the first inner side of the limit hole, preventing the lead screw from driving the ball sleeve to move along the first movement direction; or, the second limit bearing abuts against the second inner side of the limit hole, preventing the lead screw from driving the ball sleeve to move along the first movement direction;

[0026] The first limiting bearing abuts against the third inner side of the limiting hole or the fourth inner side of the limiting hole to prevent the ball sleeve from rotating.

[0027] According to one embodiment of the present invention, the fork assembly includes an input shaft, an output shaft and a connecting sleeve, one end of the input shaft is transmission-connected to the transmission assembly, the other end of the input shaft is connected to one end of the output shaft through the connecting sleeve, and the other end of the output shaft extends out of the steering gear housing; when the transmission assembly drives the input shaft to rotate, the input shaft drives the output shaft to rotate.

[0028] According to one embodiment of the present invention, the angular displacement sensor assembly includes a magnet, a magnetic induction chip, a single-chip microcomputer, a circuit board and a connecting plate, the magnet is arranged at the input end of the fork assembly, one end of the connecting plate is arranged on the servo housing, the circuit board is arranged on the surface of the connecting plate, the magnetic induction chip and the single-chip microcomputer are arranged on the surface of the circuit board, the magnetic induction chip is arranged opposite to the magnet, and the central axis of the magnetic induction chip and the central axis of the magnet are located on the same axis.

[0029] The present invention has the following beneficial effects:

[0030] In the present invention, the fork assembly input end is located inside the steering gear housing, the fork assembly output end is located outside the steering gear housing, and the fork assembly performs rotational motion around the x-axis along the second rotation direction or the fourth rotation direction, and the transmission assembly performs linear motion along the y-axis with the y-axis as the motion trajectory, so that when the transmission assembly drives the fork assembly to rotate, the motion state changes from linear motion to rotational motion, so that the fork assembly input end can rotate on the minimum surface, and the rotation accuracy and reliability are improved. In addition, the fork assembly input end rotates on the minimum surface to easily output the rotational angular displacement of the fork assembly, and the rotation trajectory of the fork assembly does not occupy the space of the steering gear housing. The fork assembly can output the angular displacement in the flat space, and the angular displacement can be further increased according to the angular displacement. The movement mode of the fork assembly of the present invention can be adapted to the steering gear with limited space. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic structural diagram of a single-arm fork transmission device of the present invention is shown;

[0032] Figure 2 A schematic diagram showing the structure of the present invention after partially hiding the housing;

[0033] Figure 3 Show Figure 2 A rear view structural diagram of ;

[0034] Figure 4 A schematic diagram of the front three-dimensional structure of the single-arm fork transmission device of the present invention is shown;

[0035] Figure 5 A rear perspective structural schematic diagram of a single-arm fork transmission device of the present invention is shown;

[0036] Figure 6 A structural schematic diagram showing the relative positions of the fork assembly and the angular displacement sensor assembly of the present invention.

[0037] Reference numerals: 100-servo housing; 110-first mounting cavity; 1110-first positioning bearing; 1120-second positioning bearing; 1130-positioning plate; 120-second mounting cavity; 1210-third positioning bearing; 130-third mounting cavity; 1310-fourth positioning bearing; 200-driver; 210-second pinion; 300-linkage assembly; 310-rotating shaft; 320-first large gear; 330-first pinion ;400-transmission assembly;410-screw rod;420-ball sleeve;430-connector;4310-installation part;4320-clamping part;440-second large gear;450-limit bearing;460-limit plate;500-fork assembly;510-input shaft;520-output shaft;530-connecting sleeve;540-locating pin;600-angular displacement sensor assembly;610-magnetic induction chip;620-circuit board;630-connecting plate. DETAILED DESCRIPTION

[0038] The present disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and thus implement the present disclosure, rather than implying any limitation on the scope of the present disclosure.

[0039] As used herein, the term "including" and its variants are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "based at least in part on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment". The term "another embodiment" is to be interpreted as "at least one other embodiment". The orientation or position relationship indicated by the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal" and the like is based on the orientation or position relationship shown in the accompanying drawings. These terms are mainly for better describing the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation. In addition, in addition to being used to indicate an orientation or position relationship, some of the above terms may also be used to indicate other meanings, such as the term "upper" may also be used to indicate a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to the specific circumstances. In addition, the terms "install", "set", "provided with", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be an internal connection between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise specified, "plurality" means two or more.

[0040] Specifically, Figure 1-5 As shown, this embodiment provides a single-arm fork transmission device, including a steering gear housing 100, a driver 200, a linkage assembly 300, a transmission assembly 400 and a fork assembly 500, the length of the steering gear housing along the x-axis direction of the steering gear housing 100 is L1, and the height of the steering gear housing along the y-axis direction of the steering gear housing 100 is L2, wherein L1≥1.3L2; the driver 200, the linkage assembly 300, the transmission assembly 400 and the fork assembly 500 are sequentially arranged inside the steering gear housing 100 along the x-axis direction, wherein the input end of the fork assembly 500 is located inside the steering gear housing 100, and the output end of the fork assembly 500 is located outside the steering gear housing 100, the driver 200 is transmission-connected to the linkage assembly 300, the linkage assembly 300 is transmission-connected to the transmission assembly 400, and the transmission assembly 400 is transmission-connected to the fork assembly 500;

[0041] The driver 200 can drive the linkage assembly 300 to rotate relative to the steering gear housing 100 along the first rotation direction, the linkage assembly 300 can drive the transmission assembly 400 to rotate along the first movement direction, and the linkage assembly 300 can drive the fork assembly 500 to rotate along the second rotation direction; or, the driver 200 can drive the linkage assembly 300 to rotate relative to the steering gear housing 100 along the third rotation direction, the linkage assembly 300 can drive the transmission assembly 400 to rotate along the second movement direction, and the linkage assembly 300 can drive the fork assembly 500 to rotate along the fourth rotation direction;

[0042] The angular displacement sensing assembly 600 is arranged on the inner side of the servo housing 100, and the angular displacement detection end of the angular displacement sensing assembly 600 is located between the fork assembly 500 and the transmission assembly 400, and the angular displacement detection end of the angular displacement sensing assembly 600 and the input end of the fork assembly 500 are located on the same axis, and the angular displacement sensing assembly 600 obtains the angular displacement of the fork assembly 500 rotating along the second rotation direction or the fourth rotation direction.

[0043] In this embodiment, the steering gear housing 100 is a flat structure, which may be a rectangular parallelepiped structure. The steering gear housing 100 has a flat cavity, and the steering gear housing 100 has two placement states. When the steering gear housing 100 is in the first placement state, the length L1 of the steering gear housing 100 along the x-axis direction is greater than the length L2 thereof along the y-axis direction, and the length L1 of the steering gear housing 100 along the x-axis direction is greater than the length L3 thereof along the z-axis direction, L1≥1.3L2, L1≥5L3; the first rotation direction is to rotate around the y-axis axis with the y-axis as the axis, the third rotation direction is also to rotate around the y-axis axis with the y-axis as the axis, and the first rotation direction is opposite to the west rotation direction of the third rotation direction; the second rotation direction is to rotate around the x-axis axis with the x-axis as the axis, the fourth rotation direction is also to rotate around the x-axis axis with the x-axis as the axis, and the second rotation direction is opposite to the rotation direction of the third rotation direction; the first movement direction is to rotate along the y-axis with the y-axis as the movement trajectory, and the second movement direction is also to rotate along the y-axis with the y-axis as the movement trajectory, and the first movement direction is opposite to the second movement direction. When the steering gear housing 100 is in the second placement state, the length L1 of the steering gear housing 100 along the x-axis direction is greater than the length L2 of the steering gear housing 100 along the z-axis direction, and the length L1 of the steering gear housing 100 along the x-axis direction is greater than the length L3 of the steering gear housing 100 along the y-axis direction, L1≥2L3, L1≥5L2; the first rotation direction is to rotate around the z-axis axis with the z-axis as the axis, and the third rotation direction is also to rotate around the z-axis axis with the z-axis as the axis, and the first rotation direction is opposite to the west rotation direction of the third rotation direction; the second rotation direction is to rotate around the x-axis axis with the x-axis as the axis, and the fourth rotation direction is also to rotate around the x-axis axis with the x-axis as the axis, and the second rotation direction is opposite to the rotation direction of the third rotation direction. The first movement direction is to move linearly along the z-axis with the z-axis as the movement trajectory, and the second movement direction is also to move linearly along the z-axis with the z-axis as the movement trajectory, and the first movement direction is opposite to the second movement direction. The following description takes the steering gear housing 100 in the first placement state as an example. The driver 200, the linkage assembly 300, the transmission assembly 400 and the fork assembly 500 are sequentially arranged along the x-axis direction inside the steering gear housing 100, wherein the input end of the fork assembly 500 is located inside the steering gear housing 100, and the output end of the fork assembly 500 is located outside the steering gear housing 100, and the driver 200, the linkage assembly 300, the transmission assembly 400 and the fork assembly 500 can all move relative to the steering gear housing 100. The output end of the driver 200 is connected to the linkage assembly 300 in a meshing manner, the transmission assembly 400 is connected to the linkage assembly 300 in a meshing manner, and the fork assembly 500 is connected to the transmission assembly 400 in a clamping manner.When the driver 200 drives the linkage assembly 300 to rotate relative to the steering gear housing 100 along the first rotation direction, the linkage assembly 300 drives the transmission assembly 400 to perform linear motion relative to the steering gear housing 100 along the first motion direction, and then the linkage assembly 300 drives the fork assembly 500 to perform rotational motion relative to the steering gear housing 100 along the second rotation direction, until the rotation of the linkage assembly 300 is blocked by the steering gear housing 100, thereby blocking the rotation of the fork assembly 500. When the driver 200 drives the linkage assembly 300 to rotate relative to the steering gear housing 100 along the second rotation direction, the linkage assembly 300 drives the transmission assembly 400 to perform linear motion relative to the steering gear housing 100 along the second motion direction, and then the linkage assembly 300 drives the fork assembly 500 to perform rotational motion relative to the steering gear housing 100 along the second rotation direction, until the rotation of the linkage assembly 300 is blocked by the steering gear housing 100, thereby blocking the rotation of the fork assembly 500.

[0044] In this embodiment, there are two ways to control the rotation of the fork assembly 500. The first is that the rotation of the linkage assembly 300 is blocked by the steering gear housing 100 and then stops rotating; the second is that when the driver 200 stops working, the linkage assembly 300 stops rotating, and then the fork assembly 500 stops rotating. The driver 200 can control the rotation of the fork assembly 500 to stop at the desired position, thereby increasing the rudder surface angle accuracy. The input end of the fork assembly 500 is located inside the steering gear housing 100, and the output end of the fork assembly 500 is located outside the steering gear housing 100. The fork assembly 500 performs rotational motion around the x-axis along the second rotation direction or the fourth rotation direction, and the transmission assembly 400 performs linear motion along the y-axis with the y-axis as the motion trajectory. When the transmission assembly 400 drives the fork assembly 500 to rotate, the motion state changes from linear motion to rotational motion, so that the input end of the fork assembly 500 can rotate on the minimum plane, and the rotation accuracy and reliability are improved. Specifically, the minimum surface is the surface formed by the motion trajectory of the input shaft 510 of the fork assembly 500. Therefore, the input end of the fork assembly 500 rotates on the minimum surface to easily output the rotational angular displacement of the fork assembly 500, and the rotation trajectory of the fork assembly 500 does not occupy the space of the steering gear housing 100. The fork assembly 500 can output the angular displacement in a flat space, and the angular displacement can be further increased according to the angular displacement. The movement mode of the fork assembly 500 in this embodiment can be adapted to a steering gear with limited space. By setting the angular displacement sensor assembly, the angular displacement of the fork assembly 500 is obtained, and the angular displacement of the steering gear output shaft 520 is further obtained.

[0045] In some embodiments, the driver 200 is a motor.

[0046] According to one embodiment of the present invention, Figure 1-5As shown, the steering gear housing 100 is provided with a first installation cavity 110, a second installation cavity 120 and a third installation cavity 130. The first installation cavity 110 and the second installation cavity 120 are arranged side by side along the y-axis direction of the steering gear housing 100, and the second installation cavity 120 and the third installation cavity 130 are arranged side by side along the z-axis direction of the steering gear housing 100.

[0047] The linkage assembly 300 is arranged in the first installation cavity 110; the driver 200 and the transmission assembly 400 are arranged in the second installation cavity 120, the output end of the driver 200 extends into the first installation cavity 110 and is connected to the linkage assembly 300, the input end of the transmission assembly 400 extends into the first installation cavity 110 and is connected to the linkage assembly 300, and the linkage assembly 300 is located between the output end of the driver 200 and the input end of the transmission assembly 400; the fork assembly 500 is arranged in the third installation cavity 130, the input end of the fork assembly 500 extends into the second installation cavity 120 and is connected to the transmission assembly 400, and the output end of the fork assembly 500 extends out of the servo housing 100.

[0048] In this embodiment, the first installation cavity 110 is provided to provide a suitable installation space for the driver 200, the linkage assembly 300 and the transmission assembly 400. The output end of the driver 200 and the inlet and outlet end of the transmission assembly 400 are located in the second installation cavity 120. The linkage assembly 300 is provided in the first installation cavity 110, so that the driver 200 is connected to the transmission assembly 400 through the linkage assembly 300. Further, the driver 200 is connected to the transmission assembly 400 through the linkage assembly 300 to achieve the effect of accurately controlling the rotation speed and indexing of the fork assembly 500.

[0049] In some embodiments, the length of the first installation cavity in the x-axis direction is equal to the length of the second installation cavity along the x-axis direction. Preferably, the length of the first installation cavity in the x-axis direction is smaller than the length of the second installation cavity along the x-axis direction, thereby further reducing the space occupied by the structure in the cavity of the servo housing 100 and avoiding unnecessary processing techniques.

[0050] In some embodiments, the first installation cavity 110 is provided with a first detachable installation plate and a second detachable installation plate, the second installation cavity 120 is provided with a third detachable installation plate, a fourth detachable installation plate and a fifth detachable installation plate, and the third installation cavity 130 is provided with a sixth detachable installation plate. The first detachable installation plate, the third detachable installation plate and the sixth detachable installation plate are provided on one side of the steering gear housing 100 along the y-axis direction, wherein there are two sixth detachable installation plates, which are symmetrically provided on both sides of the steering gear housing 100 along the y-axis direction along the x-axis direction. The provision of the first detachable installation plate, the third detachable installation plate and the sixth detachable installation plate facilitates the maintenance and replacement of the driver 200, the linkage assembly 300, the transmission assembly 400 and the fork assembly 500. The second detachable installation plate is provided at the bottom of the steering gear housing 100, and the second detachable installation plate is used for connecting and positioning the linkage assembly 300 and the transmission assembly 400. The first detachable installation plate and the second detachable installation plate cooperate to further facilitate the maintenance of the driver 200, the linkage assembly 300 and the transmission assembly 400. The fourth detachable mounting plate and the fifth detachable mounting plate are arranged on the top of the servo housing 100, wherein the fourth detachable mounting plate is used for connecting and positioning the transmission assembly 400, and the fifth detachable mounting plate is located above the driver 200, and the third detachable mounting plate, the fourth detachable mounting plate and the fifth detachable mounting plate cooperate to perform maintenance and replacement, etc.

[0051] In some embodiments, the driver 200 is fixed by the bottom of the second installation cavity 120 to ensure the reliability of the structural connection.

[0052] In some embodiments, the second mounting cavity 120 is further provided with a seventh detachable mounting plate, and the seventh detachable mounting plate is used for connection and positioning of the angular displacement sensor assembly 600, and is also convenient for repair, maintenance and replacement of the displacement sensor assembly 600.

[0053] According to one embodiment of the present invention, Figure 2-3 As shown, the first mounting cavity is provided with a first positioning bearing 1110 for positioning the linkage assembly 300, and a second positioning bearing 1120 and a positioning plate 1130 for positioning the transmission assembly 400; the second mounting cavity 120 is provided with a third positioning bearing 1210 for positioning the transmission assembly 400; and the third mounting cavity 130 is provided with a fourth positioning bearing 1310 for positioning the fork assembly 500.

[0054] In this embodiment, two first positioning bearings 1110 are provided, the first positioning bearing is located at the top of the first installation cavity 110, preferably, the first positioning bearing is located between the first installation cavity 110 and the second installation cavity 120, and the second positioning bearing is located at the bottom of the second installation cavity 120, so that the linkage assembly 300 can rotate arbitrarily and provide a reliable positioning effect for the transmission assembly 400. There are two second positioning bearings 1120, the first positioning bearing is located at the top of the first installation cavity 110, preferably, the first positioning bearing is located between the first installation cavity 110 and the second installation cavity 120, the positioning plate 1130 is detachably installed on the top of the first installation cavity 110, and the positioning plate 1130 is located at the bottom of the first positioning bearing, and the second positioning bearing is located at the bottom of the second installation cavity 120, so that the transmission assembly 400 can rotate arbitrarily and provide a reliable positioning effect for the transmission assembly 400. The third positioning bearing 1210 is located at the top of the second installation cavity 120, so that the transmission assembly 400 can rotate arbitrarily and provide a reliable positioning effect for the transmission assembly 400. There are two third locating bearings 1210, which are symmetrically arranged on both sides of the third installation cavity 130 along the y-axis direction of the steering gear housing 100, so that the fork assembly 500 can rotate arbitrarily and provide a reliable positioning effect for the fork assembly 500. The first locating bearing 1110, the second locating bearing 1120, the third locating bearing 1210 and the fourth locating bearing 1310 are all recessed in the steering gear housing 100 and do not occupy the installation cavity space.

[0055] According to one embodiment of the present invention, Figure 2-3 As shown, the linkage assembly 300 includes a rotating shaft 310, a first large gear 320 and a first small gear 330. The first large gear 320 and the second small gear 210 are sequentially sleeved on the rotating shaft 310. Both ends of the rotating shaft 310 are positioned by the steering gear housing 100. The driver is provided with a second small gear 210 meshing with the first large gear 320, and the transmission assembly is provided with a second large gear 440 meshing with the first small gear 330. When the driver 200 drives the second small gear 210 to rotate, the second small gear 210 drives the first large gear 320 to rotate, the first large gear 320 drives the rotating shaft 310 to rotate relative to the steering gear housing 100, the rotating shaft 310 drives the first small gear 330 to rotate, the first small gear 330 drives the second large gear 440 to rotate, and the second large gear 440 drives the transmission assembly 400 to rotate.

[0056] In this embodiment, by setting the first small gear 330, the first large gear 320, the second small gear 210, the second large gear 440 and the rotating shaft 310, the transmission connection relationship between the driver 200, the linkage assembly 300 and the transmission assembly 400 is realized, and the rotation speed of the driver 200 is reduced, thereby further improving the transmission accuracy between the structures.

[0057] According to one embodiment of the present invention, Figure 2-3 As shown, the number of teeth of the first small gear 330 is consistent with or inconsistent with the number of teeth of the second small gear 210 ; the number of teeth of the first large gear 320 is consistent with or inconsistent with the number of teeth of the second large gear 440 .

[0058] In this embodiment, the number of teeth of the large and small gears is set according to the required transmission ratio, thereby further improving the transmission accuracy between the structures.

[0059] According to one embodiment of the present invention, Figure 2-3 As shown, the transmission assembly 400 includes a lead screw, a ball sleeve 420 and a connecting member 430. The ball sleeve 420 is sleeved on the lead screw. The lead screw is provided with a gear located below the ball sleeve 420 and meshingly connected with the linkage assembly 300. Both ends of the lead screw are positioned by the steering gear housing 100. One end of the connecting member 430 is connected to one side of the ball sleeve 420, and the other end of the connecting member 430 is connected to the fork assembly 500. There is a distance between the ball sleeve 420 and the fork assembly 500.

[0060] When the linkage assembly 300 can drive the lead screw to rotate along the first rotation direction, the ball sleeve 420 performs linear motion along the first movement direction, and the ball sleeve 420 drives the fork assembly 500 to perform rotational motion along the second rotation direction until the ball sleeve 420 abuts against the steering gear housing 100, thereby preventing the fork assembly 500 from moving; or, when the lead screw rotates along the third rotation direction, the ball sleeve 420 performs linear motion along the second movement direction, and the ball sleeve 420 drives the fork assembly 500 to perform rotational motion along the fourth rotation direction until the ball sleeve 420 abuts against the steering gear housing 100, thereby preventing the fork assembly 500 from moving.

[0061] In this embodiment, the ball sleeve 420 is sleeved on the lead screw, and the ball sleeve 420 and the lead screw are combined to form a ball screw pair, so that when the lead screw performs rotational motion, the ball sleeve 420 performs linear motion. The gear is set so that the linkage assembly 300 can drive the lead screw to rotate. The connection member 430 is set so that the ball sleeve 420 can drive the fork assembly 500 to rotate. The connection member 430 is set on one side of the ball sleeve 420 to facilitate the control of the rotation direction of the fork. The setting of a spacing between the ball sleeve 420 and the fork assembly 500 facilitates the fork assembly 500 to output angular displacement. It can also be understood here that in order for the fork assembly 500 to be able to output angular displacement, a spacing needs to be set between the ball sleeve 420 and the fork assembly 500.

[0062] In some embodiments, one end of the connector 430 is detachably connected to one side of the ball sleeve 420, and the other end is snap-fitted to the fork assembly 500, so as to facilitate the disassembly of the connector 430. Furthermore, since there is a distance between the ball sleeve 420 and the fork assembly 500, the connector 430 and the ball sleeve 420 are detachably connected to avoid the connector 430 and the ball sleeve 420 being integrally formed, which would result in poor processing properties of the ball sleeve 420.

[0063] In some embodiments, the connecting member 430 can be adjusted to be disposed on a side portion corresponding to the ball sleeve 420 according to the direction of the surface that the output end of the fork assembly 500 needs to rotate.

[0064] According to one embodiment of the present invention, Figure 2 As shown, the connecting member 430 includes a mounting portion 4310 and a clamping portion 4320 , the mounting portion 4310 and the clamping portion 4320 are integrally formed, the mounting portion 4310 is connected to the ball sleeve 420 , and one end of the fork assembly 500 is provided with a clamping groove connected to the clamping portion 4320 .

[0065] In this embodiment, by setting the mounting portion 4310 and the clamping portion 4320, the mounting portion 4310 can be easily detachably connected to the lead screw, and the clamping portion 4320 can be easily clamped to the fork assembly 500. At the same time, by setting the clamping groove of the fork assembly 500, the fork assembly 500 can be easily connected to the connectable portion.

[0066] In some embodiments, the mounting portion 4310 is a mounting plate mounted on the side of the ball sleeve 420 ring, one end of the mounting plate extends toward the clamping portion 4320, and the length of the end of the mounting plate extending toward the clamping portion 4320 along the servo housing 100y-axis direction gradually decreases until the length of the extending end of the mounting plate is close to or equal to the diameter of the connecting portion.

[0067] In some embodiments, the mounting portion 4310 is provided with a mounting hole connected to the ball sleeve 420, and the mounting portion 4310 is also provided with through holes of different diameters and irregular distribution. The provision of the mounting holes facilitates disassembly, and the mounting holes may also be threaded holes. The provision of through holes can reduce the weight of the mounting plate and improve the load capacity of the mounting plate.

[0068] In some embodiments, the length L4 of the mounting portion 4310 along the y-axis direction of the steering gear housing 100 is less than the length L5 of the ball sleeve 420 along the y-axis direction of the steering gear housing 100, and L4≤1L5. By setting the length of the mounting portion 4310 along the y-axis direction of the steering gear housing 100, on the one hand, when the mounting portion 4310 drives the fork assembly 500 to rotate, the mounting portion 4310 has a certain load capacity; on the other hand, since the rotating portion is arranged on one side of the ball sleeve 420, when the mounting portion 4310 drives the fork assembly 500 to rotate, When the component 500 rotates, the mounting portion 4310 drives the ball sleeve 420 to generate a lateral torque. The farther the distance from the axis of the ball sleeve 420 is, the greater the lateral torque generated, resulting in uneven force on the balls between the screw and the ball sleeve 420, reducing the bearing capacity of the ball screw pair. In addition, the small area of ​​the lateral torque point further increases the uneven force on the balls between the screw and the ball sleeve 420. Therefore, the mounting portion 4310 is arranged along the length of the servo housing 100 in the y-axis direction, which can improve the dispersion of the lateral torque point area of ​​the ball sleeve 420.

[0069] According to one embodiment of the present invention, Figure 3 As shown, the transmission assembly 400 further includes a first positioning member and a second positioning member, wherein the first positioning member is disposed at one side of the ball sleeve 420 away from the connecting member 430, and the second positioning member is disposed at one side of the steering gear housing 100 close to the first positioning member;

[0070] When the lead screw rotates in the first rotation direction or the third rotation direction, the first positioning member abuts against the second positioning member, preventing the lead screw from driving the ball sleeve 420 to rotate in the first rotation direction or the third rotation direction;

[0071] When the lead screw rotates in the first rotation direction, the ball sleeve 420 performs linear motion in the first motion direction, and the ball sleeve 420 drives the fork assembly 500 to perform rotational motion in the second rotation direction until the first positioning member abuts against one side of the second positioning member, thereby preventing the fork assembly 500 from moving;

[0072] Alternatively, when the lead screw rotates along the third rotation direction, the ball sleeve 420 performs linear motion along the second movement direction, and the ball sleeve 420 drives the fork assembly 500 to perform rotational motion along the fourth rotation direction until the first positioning member abuts against the second positioning member to prevent the fork assembly 500 from moving.

[0073] In this embodiment, the first positioning member and the second positioning member are arranged in cooperation, so that the lateral torque generated by the rotation of the fork assembly 500 driven by the ball sleeve 420 can be avoided to have adverse effects on the ball screw pair. The first positioning member and the second positioning member can also stop the rotation of the fork assembly 500.

[0074] According to one embodiment of the present invention, Figure 3As shown, the first positioning member includes a limiting bearing 450, and the limiting bearing 450 is connected to the ball sleeve 420;

[0075] The second positioning member includes a limiting plate 460, which is connected to the steering gear housing 100 and is provided with a limiting hole;

[0076] The limiting bearing 450 is located in the limiting hole, and the maximum aperture of the limiting hole is larger than the diameter of the limiting bearing 450;

[0077] When the screw rotates, the limit bearing 450 abuts against the first inner side and the second inner side of the limit hole, preventing the screw from driving the ball sleeve 420 to move along the first movement direction or the second movement direction. The limit bearing 450 abuts against the third inner side and the fourth inner side of the limit hole, preventing the fork assembly 500 from moving.

[0078] In this embodiment, the first inner portion is the top of the limiting hole, the second inner portion is the bottom of the limiting hole, the third inner portion is the left side of the limiting hole, and the fourth inner portion is the right side of the limiting hole. The bearing and the limiting fit further ensure that the ball sleeve 420 only moves along the first movement direction or the second direction, and also has the function of preventing the fork assembly 500 from moving.

[0079] According to one embodiment of the present invention, Figure 3 As shown, the limiting bearing 450 includes a first limiting bearing and a second limiting bearing, and the first limiting bearing and the second limiting bearing are respectively arranged at both ends of the ball sleeve 420;

[0080] The first limiting bearing and the second limiting bearing are both located in the limiting hole;

[0081] When the lead screw rotates, the first limit bearing abuts against the first inner side of the limit hole, preventing the lead screw from driving the ball sleeve 420 to move in the first direction of movement; or the second limit bearing abuts against the second inner side of the limit hole, preventing the lead screw from driving the ball sleeve 420 to move in the first direction of movement;

[0082] The first limiting bearing abuts against the third inner side of the limiting hole or the fourth inner side of the limiting hole to prevent the ball sleeve 420 from rotating.

[0083] In this embodiment, the first, second, third and fourth inner parts have been explained above, so they will not be described again. The first limiting bearing, the second limiting bearing and the limiting hole are arranged in coordination to further increase the lateral moment of the balancing ball sleeve 420 .

[0084] In some embodiments, the spacing L6 between the first limit bearing and the second limit bearing is smaller than the length L5 of the ball sleeve 420 along the y-axis direction of the servo housing 100, wherein 1.5L6≥L5. Within an appropriate range, the spacing between the first limit bearing and the second limit bearing should be as large as possible, thereby increasing the lateral torque of the balancing ball sleeve 420.

[0085] In some embodiments, the length of the limit hole along the y-axis direction of the steering gear housing 100 is greater than the distance between the first limit bearing and the second limit bearing, so as to provide the ball sleeve 420 with a suitable distance for linear motion along the first movement direction or the second movement direction, and further provide the fork assembly 500 with a suitable rotation angle along the second rotation direction or the third rotation direction.

[0086] According to one embodiment of the present invention, Figure 1-3 As shown, the fork assembly 500 includes an input shaft 510, an output shaft 520 and a connecting sleeve 530. One end of the input shaft 510 is connected to the transmission assembly 400 for transmission, and the other end of the input shaft 510 is connected to one end of the output shaft 520 through the connecting sleeve 530. The other end of the output shaft 520 extends out of the steering gear housing 100. When the transmission assembly 400 drives the input shaft 510 to rotate, the input shaft 510 drives the output shaft 520 to rotate.

[0087] In this embodiment, the input shaft 510 and the output shaft 520 are not integrally formed, so that the fork assembly 500 can be easily disassembled, that is, the fork assembly 500 can be easily installed in the steering gear housing 100. One end of the output shaft 520 extends out of the steering gear housing 100 to provide the required device movement.

[0088] In some embodiments, the fork assembly 500 also includes a locating pin 540, and the input shaft 510, the output shaft 520 and the connecting sleeve 530 are all provided with locating holes. The locating pin 540 connects the input shaft 510 with the connecting sleeve 530 through the locating hole, and connects the output shaft 520 with the connecting sleeve 530, so that the input shaft 510 is connected to the output shaft 520 through the connecting sleeve 530.

[0089] According to one embodiment of the present invention, Figure 1 As shown, along the y-axis direction of the steering gear housing 100, the angle between the rotation trajectory of the input shaft 510 along the second rotation direction or the fourth rotation direction and the y-axis direction does not exceed 180°.

[0090] In this embodiment, the rotation angle provided by the single-arm fork transmission device of this embodiment does not exceed 180°, which can meet the control of the servo attitude angle during the flight of the guided weapon.

[0091] According to one embodiment of the present invention, Figure 5As shown, the angular displacement sensor assembly 600 includes a magnet, a magnetic induction chip 610, a single-chip microcomputer, a circuit board 620 and a connecting plate 630. The magnet is arranged at the input end of the fork assembly 500, one end of the connecting plate 630 is arranged at the servo housing 100, the circuit board 620 is arranged on the surface of the connecting plate 630, the magnetic induction chip 610 and the single-chip microcomputer are arranged on the surface of the circuit board 620, the magnetic induction chip 610 is arranged opposite to the magnet, and the central axis of the magnetic induction chip 610 and the central axis of the magnet are located on the same axis.

[0092] In this embodiment, when the input end of the fork assembly 500 rotates, the input end of the fork assembly 500 drives the magnet to rotate relative to the magnetic sensing chip 610. During the rotation process, the magnet generates angular displacement. The rotation of the magnet causes the spatial magnetic field to change. The magnetic sensing chip 610 can detect the magnetic field change. The magnetic sensing chip 610 analyzes the spatial magnetic field change and outputs a digital signal that is linearly related to the angular displacement of the magnet to the microcontroller. The microcontroller processes the digital signal and sends it to an external receiver. The receiver then sends the received data to the servo control end, thereby realizing precise transmission control of the servo.

[0093] In some embodiments, the circuit board 620 includes two pieces, one circuit board is arranged on one side of the connecting plate 630 close to the fork assembly 500, and the other circuit board is arranged on the other side of the connecting plate 630 close to the transmission assembly 400. The magnetic sensing chip 610 is arranged on the circuit board 620 close to the fork assembly 500, and the single-chip microcomputer is arranged on the circuit board close to the transmission assembly 400, so that the connecting plate 630 and the two circuit boards 620 are separated between the single-chip microcomputer and the magnet, which to a certain extent blocks the changes in the magnetic field caused by the rotation of the magnet, thereby preventing the magnetic field from affecting the data analysis of the single-chip microcomputer.

[0094] The connecting plate 630 and the circuit board 620 are both made of magnetic isolation materials, which further prevents the magnetic field from affecting the data analysis of the single chip microcomputer.

[0095] In some embodiments, the microcontroller may be a DSP chip.

[0096] In some embodiments, the input shaft 510 is provided with a groove 5110 for installing the magnet, so as to facilitate the installation of the magnet.

[0097] The foregoing description of the implementation of the present invention has been given for purposes of illustration and description. The foregoing description is not intended to be exhaustive nor to limit the invention to the exact form disclosed, and various variations and modifications are possible in accordance with the above teachings or may be obtained from the practice of the invention. These embodiments are selected and described in order to illustrate the principles of the invention and its practical application, so that those skilled in the art can utilize the invention in various embodiments and with various modifications suitable for the particular use contemplated.

Claims

1. A single-arm fork transmission device, characterized in that: It includes a steering gear housing, a driver, a linkage assembly, a transmission assembly, a fork assembly and an angular displacement sensor assembly; The length of the steering gear housing along the x-axis direction of the steering gear housing is L1, and the height of the steering gear housing along the y-axis direction of the steering gear housing is L2, wherein L1≥1.3L2; the driver, linkage assembly, transmission assembly and fork assembly are sequentially arranged inside the steering gear housing along the x-axis direction, wherein the input end of the fork assembly is located inside the steering gear housing, and the output end of the fork assembly is located outside the steering gear housing, the driver is transmission-connected to the linkage assembly, the linkage assembly is transmission-connected to the transmission assembly, and the transmission assembly is transmission-connected to the fork assembly; The driver can drive the linkage assembly to rotate relative to the steering gear housing along a first rotation direction, the linkage assembly can drive the transmission assembly to move along a first movement direction, and the linkage assembly can drive the fork assembly to rotate along a second rotation direction; or, the driver can drive the linkage assembly to rotate relative to the steering gear housing along a third rotation direction, the linkage assembly can drive the transmission assembly to move along the second movement direction, and the linkage assembly can drive the fork assembly to rotate along a fourth rotation direction; The angular displacement sensing assembly is arranged on the inner side of the servo housing, the angular displacement detection end of the angular displacement sensing assembly is located between the fork assembly and the transmission assembly, and the angular displacement detection end of the angular displacement sensing assembly and the input end of the fork assembly are located on the same axis, and the angular displacement sensing assembly obtains the angular displacement of the fork assembly rotating along the second rotation direction or the fourth rotation direction.

2. A single-arm fork transmission device according to claim 1, characterized in that: The steering gear housing is provided with a first mounting cavity, a second mounting cavity and a third mounting cavity, the first mounting cavity and the second mounting cavity are arranged side by side along the y-axis direction of the steering gear housing, and the second mounting cavity and the third mounting cavity are arranged side by side along the z-axis direction of the steering gear housing; The linkage assembly is arranged in the first mounting cavity; the driver and the transmission assembly are arranged in the second mounting cavity, the driver output end extends into the first mounting cavity to be connected with the linkage assembly, the transmission assembly input end extends into the first mounting cavity to be connected with the linkage assembly, and the linkage assembly is located between the driver output end and the transmission assembly input end; the fork assembly is arranged in the third mounting cavity, the fork assembly input end extends into the second mounting cavity to be connected with the transmission assembly, and the fork assembly output end extends out of the servo housing.

3. A single-arm fork transmission device according to claim 2, characterized in that: The first mounting cavity is provided with a first positioning bearing for positioning the linkage assembly and a second positioning bearing and a positioning plate for positioning the transmission assembly; the second mounting cavity is provided with a third positioning bearing for positioning the transmission assembly; the third mounting cavity is provided with a fourth positioning bearing for positioning the fork assembly.

4. A single-arm fork transmission device according to claim 1, characterized in that: The linkage assembly includes a rotating shaft, a first large gear and a first small gear, the first large gear and the second small gear are sequentially sleeved on the rotating shaft, both ends of the rotating shaft are positioned by a steering gear housing, the driver is provided with a second small gear meshing with the first large gear, and the transmission assembly is provided with a second large gear meshing with the first small gear; when the driver drives the second small gear to rotate, the second small gear drives the first large gear to rotate, the first large gear drives the rotating shaft to rotate relative to the steering gear housing, the rotating shaft drives the first small gear to rotate, the first small gear drives the second large gear to rotate, and the second large gear drives the transmission assembly to rotate.

5. The single-arm fork transmission device according to claim 1, characterized in that: The transmission assembly includes a lead screw, a ball sleeve and a connecting piece, wherein the ball sleeve is sleeved on the lead screw, the lead screw is provided with a gear located below the ball sleeve and meshingly connected with the linkage assembly, both ends of the lead screw are positioned by the steering gear housing, one end of the connecting piece is connected to one side of the ball sleeve, and the other end of the connecting piece is connected to the fork assembly, and there is a distance between the ball sleeve and the fork assembly; When the linkage assembly can drive the lead screw to rotate along the first rotation direction, the ball sleeve makes a linear motion along the first movement direction, and the ball sleeve drives the fork assembly to make a rotational motion along the second rotation direction until the ball sleeve abuts against the steering gear housing to prevent the fork assembly from moving; or, when the lead screw rotates along the third rotation direction, the ball sleeve makes a linear motion along the second movement direction, and the ball sleeve drives the fork assembly to make a rotational motion along the fourth rotation direction until the ball sleeve abuts against the steering gear housing to prevent the fork assembly from moving.

6. A single-arm fork transmission device according to claim 5, characterized in that: The connecting member comprises a mounting portion and a clamping portion, the mounting portion and the clamping portion are integrally formed, the mounting portion is connected to the ball sleeve, and one end of the fork assembly is provided with a clamping groove connected to the clamping portion.

7. A single-arm fork transmission device according to claim 5, characterized in that: The transmission assembly further comprises a first positioning member and a second positioning member, wherein the first positioning member is arranged at one side of the ball sleeve away from the connecting member, and the second positioning member is arranged at one side of the steering gear housing close to the first positioning member; When the lead screw rotates in the first rotation direction or the third rotation direction, the first positioning member abuts against the second positioning member to prevent the lead screw from driving the ball sleeve to rotate in the first rotation direction or the third rotation direction; When the lead screw rotates in the first rotation direction, the ball sleeve performs linear motion in the first motion direction, and the ball sleeve drives the fork assembly to perform rotational motion in the second rotation direction until the first positioning member abuts against one side of the second positioning member, thereby preventing the fork assembly from moving; Alternatively, when the lead screw rotates along the third rotation direction, the ball sleeve performs linear motion along the second movement direction, and the ball sleeve drives the fork assembly to perform rotational motion along the fourth rotation direction until the first positioning member abuts against the second positioning member to prevent the fork assembly from moving.

8. The single-arm fork transmission device according to claim 7, characterized in that: The first positioning member includes a limit bearing, and the limit bearing is connected to the ball sleeve; The second positioning member comprises a limiting plate, the limiting plate is connected to the steering gear housing, and the limiting plate is provided with a limiting hole; The limiting bearing is located in the limiting hole, and the maximum hole diameter of the limiting hole is larger than the diameter of the limiting bearing; When the lead screw rotates, the limit bearing abuts against the first inner side and the second inner side of the limit hole, preventing the lead screw from driving the ball sleeve to move in the first movement direction or the second movement direction, and the limit bearing abuts against the third inner side and the fourth inner side of the limit hole, preventing the fork assembly from moving.

9. A single-arm fork transmission device according to claim 8, characterized in that: The limit bearing comprises a first limit bearing and a second limit bearing, wherein the first limit bearing and the second limit bearing are respectively arranged at two ends of the ball sleeve; The first limiting bearing and the second limiting bearing are both located in the limiting hole; When the lead screw rotates, the first limit bearing abuts against the first inner side of the limit hole, preventing the lead screw from driving the ball sleeve to move along the first movement direction; or, the second limit bearing abuts against the second inner side of the limit hole, preventing the lead screw from driving the ball sleeve to move along the first movement direction; The first limiting bearing abuts against the third inner side of the limiting hole or the fourth inner side of the limiting hole to prevent the ball sleeve from rotating.

10. The single-arm fork transmission device according to claim 1, characterized in that: The fork assembly includes an input shaft, an output shaft and a connecting sleeve, one end of the input shaft is connected to the transmission assembly, the other end of the input shaft is connected to one end of the output shaft through the connecting sleeve, and the other end of the output shaft extends out of the steering gear housing; when the transmission assembly drives the input shaft to rotate, the input shaft drives the output shaft to rotate.

11. The single-arm fork transmission device according to claim 1, characterized in that: The angular displacement sensor assembly includes a magnet, a magnetic induction chip, a single-chip microcomputer, a circuit board and a connecting plate. The magnet is arranged at the input end of the fork assembly, one end of the connecting plate is arranged at the servo housing, the circuit board is arranged on the surface of the connecting plate, the magnetic induction chip and the single-chip microcomputer are arranged on the surface of the circuit board, the magnetic induction chip is arranged opposite to the magnet, and the central axis of the magnetic induction chip and the central axis of the magnet are located on the same axis.

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