Self-locking coast defense UUV electric steering engine

Abstract

The invention relates to the technical field of coast defense unmanned underwater vehicles, and discloses a self-locking coast defense UUV electric steering engine. The steering engine comprises a servo motor, a magnetic encoder, a speed reducer shell, a first-stage turbine worm, a second-stage turbine worm, a driver, a potentiometer gear and a rotary potentiometer, the servo motor is connected with the speed reducer shell, a servo motor output shaft of the servo motor is connected with the first-stage worm, the first-stage worm is matched with the first-stage turbine, the second-stage worm is matched with the second-stage turbine, and the rotary potentiometer is connected with the first-stage turbine worm and the second-stage turbine worm. The first-stage worm is fixedly connected with the second-stage worm, the rotary potentiometer is connected with the potentiometer gear through a key, the second-stage worm is matched with the potentiometer gear, the driver controls the servo motor to rotate through feedback of the magnetic encoder, an output shaft of the servo motor rotates to drive the first-stage worm to rotate, and the first-stage worm drives the first-stage worm to rotate. The secondary worm and the primary turbine rotate at the same time, the secondary worm drives the secondary turbine to rotate to complete torque output, the secondary worm drives the potentiometer gear to rotate, and then the rotary potentiometer is driven to rotate.

Description

Technical Field

[0001] The present invention relates to the technical field of coastal defense unmanned underwater vehicle (UUV), and in particular to a self-locking coastal defense UUV electric steering gear. Background Art

[0002] The electric servo is the actuator of the aircraft propulsion system. The change of the aircraft's flight attitude and its stability are usually achieved by the servo system controlling the rudder surface, that is, the tilt, lift and heading of the aircraft are controlled by manipulating the rudder surface. The electric servo converts the control command information into mechanical motion to achieve the specified motion state of the aircraft.

[0003] There are two main forms for electric servos with self-locking requirements. The first is that the transmission mechanism itself can achieve the self-locking function, such as trapezoidal screws and worm gears. The second is to achieve self-locking of the transmission mechanism by locking the motor shaft with a brake.

[0004] In the first type, the trapezoidal lead screw and worm gear usually have low transmission efficiency in the case of self-locking. When the trapezoidal lead screw is used for large torque rotation output, it is often necessary to design a connecting rod, which is difficult to reduce in size and the rotation angle is often limited. Under the national standard, the worm gear is only recommended for reducer models with a center distance of more than 80, while there is no recommended standard for small sizes below 80 (especially those below 30), so high-precision design output cannot be guaranteed from the design level. Due to the large meshing clearance, it is difficult for the trapezoidal lead screw and worm gear to achieve high-precision index output. For the second form of locking the motor shaft, when the electric servo is frequently started and stopped, the brake needs to have a large switching frequency. The high-frequency switching action of the brake will produce a large temperature rise, which greatly affects its self-locking reliability. At the same time, high-frequency switching will produce a large noise. In the field of deep-sea defense, the noise index requirements are very strict. The lower the noise index, the less likely it is to be detected by the enemy. This form that requires high-frequency opening and closing is often not adopted. In order to be difficult to detect, UUV has very high requirements for the magnetic field of the whole machine. When it comes to the electric servo, it is required to have a very low magnetic field, at the nanometer level. At the same time, the small size of UUV requires the electric servo to be installable in a narrow space, and the requirement for miniaturization is even more urgent. Summary of the invention

[0005] The invention provides a self-locking coastal defense UUV electric steering gear, which can solve the technical problems in the prior art.

[0006] The present invention provides a self-locking coastal defense UUV electric steering gear, wherein the steering gear comprises a servo motor, a magnetic encoder, a reducer housing, a primary worm gear, a secondary worm gear, a driver, a potentiometer gear and a rotary potentiometer, the primary worm gear comprises a primary worm gear and a primary worm gear, the secondary worm gear comprises a secondary worm gear and a secondary worm gear, the primary worm gear is a non-self-locking structure, and the secondary worm gear is a self-locking structure,

[0007] The servo motor is connected to the reducer housing, the servo motor output shaft of the servo motor is connected to the primary worm, the primary worm cooperates with the primary turbine, the secondary worm cooperates with the secondary turbine, the primary turbine is fixedly connected to the secondary worm, the rotary potentiometer is connected to the potentiometer gear through a key, the secondary turbine cooperates with the potentiometer gear, the driver controls the rotation of the servo motor through the magnetic encoder feedback, the rotation of the servo motor output shaft drives the primary worm to rotate, the primary worm drives the primary turbine to rotate, the secondary worm and the primary turbine rotate simultaneously, the secondary worm drives the secondary turbine to rotate to complete the torque output, the secondary worm drives the potentiometer gear to rotate, and then drives the rotary potentiometer to rotate.

[0008] Preferably, the first-stage turbine and the second-stage worm are an integrated structure, the shaft in the integrated structure is fixed and compressed by the first-stage turbine bearing pressure plate and the second-stage worm bearing pressure plate, and the second-stage turbine is fixed and compressed by the output shaft right pressure plate and the output shaft left pressure plate.

[0009] Preferably, the output shaft of the servo motor and the reducer housing are matched with each other in the form of a shaft hole, and the servo motor and the reducer housing are fixedly connected by screws.

[0010] Preferably, the bearing chamber of the primary worm is arranged at the servo motor end, and the bearing chamber is coaxial with the bearing of the servo motor output shaft.

[0011] Preferably, the first-stage worm gear adopts a multi-head type.

[0012] Preferably, the servo motor output shaft and the first-stage worm are assembled by a clearance fit of a square shaft and a square hole, and the second-stage turbine has a square hole structure, which cooperates with the square rudder shaft of the servo gear to complete torque output.

[0013] Preferably, the steering gear further comprises an adjusting gasket for adjusting the meshing state between the first-stage turbine and the first-stage worm gear and the meshing state between the second-stage turbine and the second-stage worm gear.

[0014] Preferably, the servo motor output shaft is made of stainless steel, and the first-stage turbine, the first-stage worm, the second-stage turbine and the second-stage worm are made of stainless steel after ion nitriding treatment.

[0015] Preferably, the first-stage worm gear and the second-stage worm gear are both of secondary annular envelope type.

[0016] Preferably, the center distance between the first-stage worm gear and the second-stage worm gear is in the range of 5-80 mm.

[0017] Through the above technical solution, the first-stage worm gear adopts a non-self-locking design to achieve high efficiency of the first-stage transmission, and the second-stage worm gear adopts a self-locking design to achieve self-locking at a relatively high efficiency of the whole machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The included drawings are used to provide a further understanding of the embodiments of the present invention, which constitute a part of the specification, are used to illustrate the embodiments of the present invention, and together with the text description, explain the principles of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 A schematic diagram of the overall appearance of a self-locking coastal defense UUV electric servo according to an embodiment of the present invention is shown;

[0020] Figure 2 A schematic diagram of the structure of a servo motor output shaft connected and matched with a primary worm gear according to an embodiment of the present invention is shown;

[0021] Figure 3 It shows a schematic structural diagram of the cooperation between the secondary worm gear and the potentiometer gear according to an embodiment of the present invention;

[0022] Figure 4 A schematic diagram of output shaft compression according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0023] It should be noted that, in the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0025] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0026] like Figure 1-4 As shown, an embodiment of the present invention provides a self-locking coastal defense UUV electric steering gear, wherein the steering gear includes a servo motor 1, a magnetic encoder 3, a reducer housing 4, a primary worm gear, a secondary worm gear, a driver, a potentiometer gear 11 and a rotary potentiometer 12, the primary worm gear includes a primary turbine 6 and a primary worm gear 5, the secondary worm gear includes a secondary turbine 10 and a secondary worm gear 7, the primary worm gear is a non-self-locking structure, and the secondary worm gear is a self-locking structure.

[0027] The servo motor 1 is connected to the reducer housing 4, the servo motor output shaft 2 of the servo motor 1 is connected to the primary worm 5, the primary worm 5 cooperates with the primary turbine 6, the secondary worm 7 cooperates with the secondary turbine 10, the primary turbine 6 is fixedly connected to the secondary worm 7, the rotary potentiometer 12 is connected to the potentiometer gear 11 by a key, the secondary turbine 10 cooperates with the potentiometer gear 11, the driver controls the rotation of the servo motor 1 through the magnetic encoder 3 feedback, the servo motor output shaft 2 rotates to drive the primary worm 5 to rotate, the primary worm 5 drives the primary turbine 6 to rotate, the secondary worm 7 rotates with the primary turbine 6 at the same time, the secondary worm 7 drives the secondary turbine 10 to rotate to complete the torque output, the secondary worm 7 drives the potentiometer gear 11 to rotate, and then drives the rotary potentiometer 12 to rotate.

[0028] Among them, the potentiometer output signal reflects the rotation state and position of the rudder shaft of the servo, which is used to complete the zero position search of the servo system and the servo control to complete the position output closed loop.

[0029] Through the above technical solution, the first-stage worm gear adopts a non-self-locking design to achieve high efficiency of the first-stage transmission, and the second-stage worm gear adopts a self-locking design to achieve self-locking of the whole machine at a relatively high efficiency (the whole machine is completely self-locking in reverse).

[0030] In the present invention, the servo motor can be a servo motor with noise reduction, magnetism reduction, and high overload design, and the servo motor is controlled by a high-precision magnetic encoder, which can provide accurate position and motion information. The reducer housing can be an integrated high-precision design, except that the bearing at one end of the first-stage worm is installed on the motor housing, and the remaining components can be installed on the reducer housing. The reducer housing can be formed by five-axis linkage at one time to ensure that the two-stage worm maintains a high level of shape and position accuracy.

[0031] According to one embodiment of the present invention, the first-stage turbine 6 and the second-stage worm 7 are an integrated structure, the shaft in the integrated structure is fixed and pressed by the first-stage turbine bearing pressure plate 8 and the second-stage worm bearing pressure plate 9, and the second-stage turbine 10 is fixed and pressed by the output shaft right pressure plate 13 and the output shaft left pressure plate 14.

[0032] The integrated structure can reduce the number of parts and improve assembly efficiency and accuracy.

[0033] According to an embodiment of the present invention, the servo motor output shaft 2 and the reducer housing 4 are matched with each other in a shaft hole, and the servo motor 1 and the reducer housing 4 are fixedly connected by screws.

[0034] For example, the servo motor 1 is connected to the reducer housing 4 by screws and positioned by a stopper. The stopper is the outer diameter of the primary worm bearing chamber arranged at the output shaft end of the servo motor 1. The stopper is matched with the stopper hole arranged on the reducer housing with a small clearance to achieve the high coaxiality of the motor output and the reducer input.

[0035] According to one embodiment of the present invention, the bearing chamber of the primary worm 5 is arranged at the end of the servo motor 1, and the bearing chamber is coaxial with the bearing of the servo motor output shaft 2.

[0036] According to an embodiment of the present invention, the first-stage worm gear adopts a multi-head system.

[0037] The multi-head system can ensure high efficiency.

[0038] Among them, the secondary worm adopts a self-locking single-head structure to ensure that the entire machine is completely self-locking in the reverse direction.

[0039] According to one embodiment of the present invention, the servo motor output shaft 2 and the first-stage worm gear 5 are assembled by using a square shaft to square hole clearance (small clearance) matching method, and the second-stage turbine 10 has a square hole structure, and the square hole structure cooperates with the square rudder shaft of the servo gear to complete the torque output.

[0040] In this way, transmission stability and high precision can be guaranteed.

[0041] According to one embodiment of the present invention, the servo further includes an adjusting gasket for adjusting the meshing state between the first-stage turbine 6 and the first-stage worm 5 and the meshing state between the second-stage turbine 10 and the second-stage worm 7 .

[0042] For example, the assembly of the first-stage worm gear and the second-stage worm gear can be done by measuring the bearing height and the position of the worm gear in the reducer housing, and increasing or decreasing the number of gaskets to ensure that the worm gear is in the correct meshing position.

[0043] According to one embodiment of the present invention, the servo motor output shaft 2 is made of stainless steel, and the first-stage turbine 6, the first-stage worm 5, the second-stage turbine 10 and the second-stage worm 7 are made of stainless steel material (for example, high-strength stainless steel) after ion nitriding treatment.

[0044] This enables low magnetic field and high load capacity of the servo.

[0045] According to an embodiment of the present invention, the first-stage worm gear and the second-stage worm gear are both of secondary annular envelope type.

[0046] The special secondary annular surface that envelops the worm gear with ultra-small clearance and double-line meshing of the reducer reduces the meshing noise level and can achieve ultra-low noise for the entire machine.

[0047] According to an embodiment of the present invention, the center distance between the first-stage worm gear and the second-stage worm gear is in the range of 5-80 mm.

[0048] This allows the servo to have a high load and small size. In other words, the design and manufacture of the servo with a very small center distance allows it to be installed in a small space.

[0049] According to an embodiment of the present invention, the potentiometer may adopt a high-precision synthetic membrane potentiometer to ensure high-precision position output.

[0050] In the present invention, the servo motor housing, the end cover, the reducer housing, and the bearing end cover can all be made of high-strength aluminum alloy to ensure lightweight and low magnetic field requirements.

[0051] It has been verified through experiments that the servo noise of the present invention can be stably controlled below 45dBA, the magnetic field can be stably controlled within 2 nanoteslas, and the overload capacity can reach 2-3 times of the rated output torque. It can be widely used in coastal defense UUV, aerospace folding wings, and lunar exploration projects.

[0052] It can be seen from the above embodiments that the self-locking coastal defense UUV electric steering gear of the present invention has at least the following advantages compared with the prior art:

[0053] 1. Compared with the electric servo with screw drive, the volume of the whole machine is reduced by more than 1 / 3 under the same function, and the accuracy is improved from more than 0.1° to 1-3 arcmin. In other words, it can achieve a very small volume, the center distance of the worm gear can be designed and manufactured to 5-80, and can be installed in a narrow space; it can achieve high transmission accuracy, high-precision design of the integrated housing, high-precision design, manufacturing and assembly of the worm gear, and the transmission accuracy can reach 1-3 arcmin, which is one order of magnitude higher than that of ordinary worm gears.

[0054] 2. It can fully realize mechanical self-locking and has relatively high transmission efficiency. The first-stage transmission adopts a multi-head worm (non-self-locking) to achieve high efficiency. The second-stage transmission adopts a self-locking design, so as to achieve self-locking of the whole machine and have relatively high transmission efficiency, effectively reducing the power supply power at the input end of the system. The transmission efficiency is more than 1 times higher than that of other two-stage worm gear electric servos.

[0055] 4. Under the same load and speed conditions, the service life of the whole machine is more than doubled compared to other two-stage worm gear electric servos.

[0056] 5. The improvement of overall machine efficiency has greatly reduced the system power supply power. The power supply power is reduced by half at the same speed and torque, which greatly reduces the power supply pressure caused by the miniaturization of UUV.

[0057] 6. It can achieve a larger torque output. It adopts a two-stage secondary annular envelope turbine worm transmission, which can achieve ultra-small gap double-line meshing. The worm gear is specially surface treated to achieve high strength, which increases the load-bearing capacity by 2-3 times compared with ordinary worm gears.

[0058] 7. The whole machine can achieve an extremely low magnetic field, reaching the nanometer level, and the lowest can reach 1 nanometer.

[0059] 8. Compared with other electric servo products (noise level is generally above 55dBA), this electric servo can achieve ultra-low noise level (below 45dBA), providing higher protection for UUV's undetectability.

[0060] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0061] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0062] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0063] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A self-locking coastal defense UUV electric steering gear, characterized in that: The steering gear comprises a servo motor (1), a magnetic encoder (3), a reducer housing (4), a primary worm gear, a secondary worm gear, a driver, a potentiometer gear (11) and a rotary potentiometer (12); the primary worm gear comprises a primary turbine (6) and a primary worm gear (5); the secondary worm gear comprises a secondary turbine (10) and a secondary worm gear (7); the primary worm gear is a non-self-locking structure; the secondary worm gear is a self-locking structure; The servo motor (1) is connected to the reducer housing (4), the servo motor output shaft (2) of the servo motor (1) is connected to the primary worm (5), the primary worm (5) cooperates with the primary turbine (6), the secondary worm (7) cooperates with the secondary turbine (10), the primary turbine (6) is fixedly connected to the secondary worm (7), the rotary potentiometer (12) is connected to the potentiometer gear (11) by a key, the secondary turbine (10) cooperates with the potentiometer gear (11), and the The driver controls the rotation of the servo motor (1) through feedback from the magnetic encoder (3); the rotation of the servo motor output shaft (2) drives the primary worm (5) to rotate; the primary worm (5) drives the primary turbine (6) to rotate; the secondary worm (7) rotates simultaneously with the primary turbine (6); the secondary worm (7) drives the secondary turbine (10) to rotate to complete torque output; the secondary worm (7) drives the potentiometer gear (11) to rotate, thereby driving the rotary potentiometer (12) to rotate.

2. The steering gear according to claim 1, characterized in that: The first-stage turbine (6) and the second-stage worm (7) are an integrated structure, wherein the shaft in the integrated structure is fixed and pressed by a first-stage turbine bearing pressure plate (8) and a second-stage worm bearing pressure plate (9), and the second-stage turbine (10) is fixed and pressed by an output shaft right pressure plate (13) and an output shaft left pressure plate (14).

3. The steering gear according to claim 2, characterized in that: The servo motor output shaft (2) and the reducer housing (4) are matched with each other in the form of shaft holes, and the servo motor (1) and the reducer housing (4) are fixedly connected by screws.

4. The steering gear according to claim 3, characterized in that: The bearing chamber of the primary worm (5) is arranged at the end of the servo motor (1), and the bearing chamber is coaxial with the bearing of the servo motor output shaft (2).

5. The steering gear according to claim 4, characterized in that: The first-stage worm gear adopts a multi-head system.

6. The steering gear according to claim 5, characterized in that: The servo motor output shaft (2) and the first-stage worm (5) are assembled in a square shaft-square hole clearance fit manner, and the second-stage turbine (10) has a square hole structure, and the square hole structure is matched with the square rudder shaft of the steering gear to complete torque output.

7. The steering gear according to any one of claims 1 to 6, characterized in that: The steering gear also includes an adjusting gasket for adjusting the meshing state between the first-stage turbine (6) and the first-stage worm (5) and the meshing state between the second-stage turbine (10) and the second-stage worm (7).

8. The steering gear according to any one of claims 1 to 6, characterized in that: The servo motor output shaft (2) is made of stainless steel, and the first-stage turbine (6), the first-stage worm (5), the second-stage turbine (10) and the second-stage worm (7) are made of stainless steel after ion nitriding treatment.

9. The steering gear according to any one of claims 1 to 6, characterized in that: The first-stage worm gear and the second-stage worm gear are both of the secondary annular envelope type.

10. The steering gear according to any one of claims 1 to 6, characterized in that: The center distance between the first-stage worm gear and the second-stage worm gear is in the range of 5-80 mm.

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