Rotary electromechanical actuator

Abstract

The invention provides a rotary electromechanical actuator, and belongs to the technical field of electric actuators, and the rotary electromechanical actuator specifically comprises a housing; the ball screw assembly comprises a screw rod and a nut, the screw rod is rotationally installed on the shell, the nut is installed on the shell through a sliding assembly, and the sliding direction of the nut is parallel to the length direction of the screw rod; the motor is installed on the shell and used for driving the lead screw to rotate; the output assembly comprises a rotating shaft and an output shaft, the rotating shaft is rotationally installed on the shell, the axial direction of the rotating shaft is perpendicular to the length direction of the lead screw, the rotating shaft and the output shaft are fixed and coaxially connected, and the output shaft serves as an output section of the rotary electromechanical actuator; wherein the nut is connected with the rotating shaft or the output shaft through the transmission assembly, and the transmission assembly converts linear motion of the nut into acting force for driving the rotating shaft or the output shaft to rotate. According to the processing scheme, the size of the actuator is reduced, and meanwhile the output power is increased.

Description

Technical Field

[0001] The present application relates to the field of electromechanical actuators, and in particular to a rotary electromechanical actuator. Background Art

[0002] In order to obtain a larger transmission ratio, traditional rotary electromechanical actuators use transmission structures such as fixed-axis gear trains, planetary gear trains, and worm gears to achieve the rotation of the actuator output shaft. When this type of rotary actuator has a large power, it is large in size and weight, and is not suitable for installation in a specific space or for occasions with low weight requirements. If the actuator is required to have both small dimensions and light weight, and a large output power, and there are special requirements for the product's installation space, traditional rotary actuators cannot meet the above requirements. Summary of the invention

[0003] In view of this, the present application provides a rotary electromechanical actuator that solves the problems in the prior art and proposes a rotary electromechanical actuator that is suitable for high power, small size, light weight, and suitable for installation in a specific space to meet the driving requirements of new aircraft components.

[0004] The present application provides a rotary electromechanical actuator adopts the following technical solution:

[0005] A rotary electromechanical actuator, comprising:

[0006] case;

[0007] A ball screw assembly, comprising a screw and a nut, wherein the screw is rotatably mounted on a housing, and the nut is mounted on the housing via a sliding assembly, wherein a sliding direction of the nut is parallel to a length direction of the screw;

[0008] A motor is mounted on the housing, and the motor is used to drive the screw to rotate;

[0009] An output assembly, comprising a rotating shaft and an output shaft, wherein the rotating shaft is rotatably mounted on the housing, and the axial direction of the rotating shaft is perpendicular to the length direction of the screw rod, the rotating shaft and the output shaft are fixed and coaxially connected, and the output shaft serves as an output section of the rotary electromechanical actuator;

[0010] The nut is connected to the rotating shaft or the output shaft through a transmission assembly, and the transmission assembly converts the linear motion of the nut into a force that drives the rotating shaft or the output shaft to rotate.

[0011] Optionally, the transmission assembly includes a lever and a matching frame, the matching frame is fixed on the nut, a guide groove is provided on the matching frame, the guide groove opens toward one side of the output assembly, one end of the lever is connected to the rotating shaft or the output shaft, and the lever is located between the output shaft and the screw rod;

[0012] A matching block is provided at one end of the lever away from the rotating shaft, the outer circumference of the matching block is circular, the axial direction of the matching block is parallel to the axial direction of the rotating shaft, and the circular outer circumference of the matching block is used to contact the guide groove, the matching block slides along the length direction of the guide groove, and half of the circular outer circumference of the matching block is always located in the guide groove, and when the nut slides along the length direction of the screw rod, it drives the lever to rotate around the axis center of the rotating shaft, thereby driving the output shaft to rotate.

[0013] Optionally, the rotating shaft of the motor and the lead screw are connected via a transmission structure, and the transmission structure is used to make the rotation speed of the lead screw lower than the rotation speed of the rotating shaft of the motor.

[0014] Optionally, the sliding assembly includes a sliding groove arranged on the housing and a sliding block installed on the nut, and the sliding block slides along the sliding groove.

[0015] Optionally, the sliding block is a first bearing, the inner ring of the first bearing is fixedly connected to the nut, and the outer ring of the first bearing is used to cooperate with the sliding groove.

[0016] Optionally, the outer side of one end of the output shaft close to the rotating shaft is fixedly connected to the shifting rod, the rotating shaft is mounted on the housing via a second bearing, and the output shaft is mounted on the housing via a third bearing.

[0017] Optionally, the matching block is a spherical bearing, the axis of the spherical bearing is parallel to the axial direction of the rotating shaft, the inner ring of the spherical bearing is fixedly connected to the shift rod, and at least half of the spherical bearing is always located in the guide groove.

[0018] Optionally, the housing is provided with limit blocks located on both sides of the shift rod, only half of the joint bearing is in the guide groove, and the shift rod is in abutment with the limit blocks.

[0019] Optionally, the transmission assembly includes a rack and a sector gear, the rack is fixed on the side of the nut facing the output assembly, and the teeth of the rack face the output assembly, the sector gear is fixed on the rotating shaft or the output shaft, and the sector wheel and the output shaft are coaxial, and the sector gear and the rack are meshed.

[0020] In summary, this application includes the following beneficial technical effects:

[0021] After the motor of the present application is started, it drives the screw to rotate, and the ball screw assembly converts the rotational motion into linear motion. When the nut moves linearly, the linear motion is converted into rotational motion through the transmission assembly and the output shaft assembly, and finally the torque and speed that meet the use requirements are output, and the output shaft assembly is controlled to rotate within a certain angle. The actuator of the present application can output a large power, and at the same time, it is small in size, light in weight, high in transmission efficiency, and high in output precision, and is suitable for high-power rotary electromechanical actuators under a specific space volume. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 This is a schematic diagram of the structure of the rotary electromechanical actuator of this application without the cover plate;

[0024] Figure 2 This is a schematic diagram of the structure of the rotary electromechanical actuator of the present application without the first end cover assembly;

[0025] Figure 3 Schematic diagram of the structure of the ball screw assembly for this application

[0026] Figure 4 A schematic diagram of the structure of the output component for this application;

[0027] Figure 5 for Figure 2 Cross-sectional view along AA direction.

[0028] Description of the accompanying drawings: 1. Motor; 2. Guide assembly; 3. Cover assembly; 31. Internal gear ring; 32. Bearing 1; 33. Bearing 2; 4. First fixed axis gear; 5. Second fixed axis gear; 6. Clamp; 7. Filter plate assembly; 8. Angular displacement sensor; 9. Control module; 10. Output assembly; 101. Output shaft; 102. Nut; 103. Stop washer; 104. Spherical bearing; 105. Pin; 106. Rotating shaft; 107. Push rod; 11. Roller Ball screw assembly; 111, screw rod; 112, fixed shaft; 113, first bearing; 114, nut; 115, first bushing; 116, matching frame; 12, limit block; 13, cylindrical pin; 14, electrical connector; 15, second end cover assembly; 151, first sealing ring; 152, second bushing; 16, housing; 161, guide strip; 162, bearing three; 163, bearing four; 17, first end cover assembly; 171, bearing five; 172, second sealing ring. DETAILED DESCRIPTION

[0029] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0030] The following describes the implementation methods of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the absence of conflict, the following embodiments and the features in the embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present application.

[0031] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present application, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects described herein can be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this device and / or practice this method.

[0032] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. The illustrations only show the components related to the present application rather than being drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.

[0033] Additionally, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects described may be practiced without these specific details.

[0034] An embodiment of the present application provides a rotary electromechanical actuator.

[0035] like Figures 1 to 5 As shown, a rotary electromechanical actuator comprises:

[0036] Housing 16.

[0037] The ball screw assembly 11 includes a screw rod 111 and a nut 114 . The screw rod 111 is rotatably mounted on the housing 16 . The nut 114 is mounted on the housing 16 via a sliding assembly. The sliding direction of the nut 114 is parallel to the length direction of the screw rod 111 .

[0038] The motor 1 is mounted on the housing 16 . The motor 1 is used to drive the screw rod 111 to rotate. The axial direction of the output shaft 101 of the motor 1 is parallel to the axial direction of the screw rod 111 .

[0039] The output assembly 10 includes a rotating shaft 106 and an output shaft 101. The rotating shaft 106 is rotatably mounted on the housing 16, and the axial direction of the rotating shaft 106 is perpendicular to the length direction of the screw rod 111. The rotating shaft 106 and the output shaft 101 are fixed and coaxially connected. The output shaft 101 serves as the output section of the rotary electromechanical actuator.

[0040] The nut 114 is connected to the rotating shaft 106 or the output shaft 101 through a transmission assembly, and the transmission assembly converts the linear motion of the nut 114 into a force driving the rotating shaft 106 or the output shaft 101 to rotate.

[0041] The transmission assembly includes a lever 107 and a matching frame 116, wherein the matching frame 116 is fixed on the nut 114, and a guide groove is provided on the matching frame 116, wherein the guide groove opens toward one side of the output assembly 10, and one end of the lever 107 is connected to the rotating shaft 106 or the output shaft 101, and the lever 107 is located between the output shaft 101 and the screw rod 111.

[0042] A mating block is provided at one end of the lever 107 away from the rotating shaft 106, and the outer circumference of the mating block is circular. The axial direction of the mating block is parallel to the axial direction of the rotating shaft 106, and the circular outer circumference of the mating block is used to contact the guide groove. The mating block slides along the length direction of the guide groove, and half of the circular outer circumference of the mating block is always located in the guide groove. When the nut 114 slides along the length direction of the screw rod 111, it drives the lever 107 to rotate around the axis of the rotating shaft 106, thereby driving the output shaft 101 to rotate.

[0043] In the present application, the power of the motor 1 is transmitted to the output shaft 101 through the ball screw assembly 11, and the ball screw assembly 11 is used as the power transmission assembly of the motor 1 and the output shaft 101. The ball screw assembly 11 has a high power transmission efficiency and can improve the output power of the actuator. Moreover, the output shaft 101 of the actuator of the present application is perpendicular to the output end direction of the motor. The output shaft 101 is located on one side of the output end of the motor 1 and the screw 111, and is suitable for high-power rotary electromechanical actuators under a specific spatial volume.

[0044] The rotating shaft of the motor 1 and the lead screw 111 are connected by a transmission structure, and the transmission structure is used to make the rotation speed of the lead screw smaller than the rotation speed of the rotating shaft of the motor 1. In one embodiment, the transmission structure is a planetary reducer, and can also be other components. In one embodiment, the housing 16 is fixed with a cover assembly 3 at the connection position between the output end of the motor 1 and the lead screw 111. The cover assembly 3 is positioned by a cylindrical pin 13 and fixed to the housing 16 by screws. The transmission structure is installed between the cover assembly 3 and the housing 16. The cover assembly 3 includes a cover, an inner gear ring 31, a bearing 1 32, and a bearing 2 33; the inner gear ring 31 is fixed to the cover by a cylindrical pin 13. The transmission structure includes a guide assembly 2, a first fixed shaft gear 4 and a second fixed shaft gear 5. The guide assembly 2 and the inner gear ring 31 constitute a planetary gear. The gear set, the actuator assembly 2 includes a sun gear, a plurality of planetary gears and a planetary carrier, the planetary gears are meshed with the inner gear ring 31, the actuator assembly 2 is mounted on the cover plate through a bearing 1 32, the motor 1 is mounted on the cover plate through screws, the shaft at the output end of the motor 1 is fixedly connected to the sun gear, the second fixed shaft gear 5 is mounted on the shaft of the planetary carrier and fixed by a clamping ring 6, the first fixed shaft gear 4 is mounted on the screw rod 111, the first fixed shaft gear 4 is meshed with the second fixed shaft gear 5, one end of the screw rod 111 is rotatably connected to the cover plate through a bearing 2 33, and the other end of the screw rod 111 is rotatably connected to the housing 16 through a bearing 3 162. When the motor 1 is started, the shaft at the output end of the motor 1 rotates, the sun gear rotates, and the planetary gears are driven to rotate in the inner gear ring 31, thereby driving the planetary carrier to rotate, and the rotation speed of the planetary carrier is less than the rotation speed of the sun gear, the second fixed shaft gear 5 on the planetary carrier rotates, and the second fixed shaft gear 5 drives the first fixed shaft gear 4 to rotate, thereby driving the screw rod 111 to rotate.

[0045] In one embodiment, the motor 1 is a permanent magnet DC motor 1 .

[0046] The sliding assembly includes a sliding groove arranged on the housing 16 and a sliding block installed on the nut 114 , and the sliding block slides along the sliding groove.

[0047] The sliding block is a first bearing 113 , the inner ring of the first bearing 113 is fixedly connected to the nut 114 , the outer ring of the first bearing 113 is used to cooperate with the slide groove, and the slide groove is composed of two fixed guide strips 161 .

[0048] For installation of the ball screw assembly 11 , the nut 114 is first installed on the screw 111 , and then a first bushing 115 is sleeved on one end of the screw 111 close to the end cover, and then two first bearings 113 are fixed to the nut 114 through the fixing shaft 112 .

[0049] like Figure 2 , Figure 4 and Figure 5As shown, for the output component 10, one end of the rotating shaft 106 close to the output shaft 101 is installed on the housing 16 through a bearing four 163, and openings are provided on the opposite side surfaces of the housing 16 at positions corresponding to the output component 10, which are used to install the output component 10 into the housing 16, and the openings are closed by a first end cover component 17 and a second end cover component 15. The first end cover component 17 and the second end cover component 15 are installed on the housing 16 by screws to fix the output component 10, and one end of the output shaft 101 away from the rotating shaft 106 is rotatably connected to the first end cover component 17 through a bearing five 171, and one end of the rotating shaft 106 away from the output shaft 101 is supported on the second end cover through a second bushing 152, and a groove for accommodating the second bushing 152 is provided on the second end cover, and the rotating shaft 106 passes through the groove, and the bottom of the groove is provided with a first sealing ring 151 sleeved on the outer periphery of the rotating shaft 106, and the output shaft 101 and the first end cover component 17 are provided with a second sealing ring 172. The outer side of one end of the output shaft 101 close to the rotating shaft 106 is fixedly connected to the shift rod 107, the rotating shaft 106 is mounted on the housing 16 via a second bearing, and the output shaft 101 is mounted on the housing 16 via a third bearing, that is, the second bearing is the above-mentioned bearing four 163, and the third bearing is the above-mentioned bearing five 171.

[0050] The matching block is a spherical bearing 104, the axis of which is parallel to the axial direction of the rotating shaft 106, the inner ring of the spherical bearing 104 is fixedly connected to the shift rod 107, and at least half of the spherical bearing 104 is always located in the guide groove; specifically, a shift fork bracket is provided at the end of the shift rod 107, and the spherical bearing 104 is fixed to the shift fork bracket through a pin 105, and the pin 105 is threadedly connected with a nut 102 at one end extending out of the shift fork bracket, and a stop washer 103 is provided on the nut 102 and the shift fork bracket.

[0051] The housing 16 is provided with limit blocks 12 located on both sides of the lever 107, only half of the spherical bearing 104 is in the guide groove, the lever 107 is in contact with the limit blocks 12, and the limit blocks 12 are pressed against the housing 16 by two cylindrical pins 13. The function of the limit blocks 12 is to limit the output assembly 10 from working beyond the stroke, thereby preventing the product from being damaged.

[0052] The actuator of the embodiment of the present application further includes: an electrical connector 14 , an angular displacement sensor 8 , a filter board assembly 7 and a control module 9 .

[0053] The angular displacement sensor 8 passes through the output assembly 10 and is mounted on the housing 16 by screws. The core shaft of the angular displacement sensor 8 rotates synchronously with the output shaft 101 and feeds back the position signal of the output shaft 101 to the control module 9 in real time.

[0054] The filter board assembly 7 is mounted on the housing 16 by screws to control radiation interference, power input, surge tolerance, voltage spikes, etc.

[0055] The electrical connector 14 is mounted on the housing 16 by screws to transmit product working instructions.

[0056] The control module 9 is installed on the housing 16 by screws, and controls the start and stop of the permanent magnet DC motor 1 by receiving instructions from the electrical connector 14, while receiving the position signal fed back in real time by the angular displacement sensor 8, and transmitting the signal to the host computer through the electrical connector 14.

[0057] The control module 9 and the angular displacement sensor 8 can be changed into micro switches and corresponding devices according to design requirements, so as to reduce costs; the micro switch can be arranged at the sensor position of this product, and the rotation of the output shaft 101 drives the cam to press the micro switch, so as to achieve the purpose of controlling the start and stop of the motor 1 and feedback of the output shaft 101 position signal; at the same time, the micro switch can also be arranged at both ends of the ball screw, and the micro switch is pressed during the linear motion of the nut 114, so as to achieve the purpose of controlling the start and stop of the motor 1 and feedback of the output shaft 101 position signal.

[0058] In another embodiment, the transmission assembly includes a rack and a sector gear, the rack is fixed on the side of the nut 114 facing the output assembly 10, and the teeth of the rack face the output assembly 10, the sector gear is fixed on the rotating shaft 106 or the output shaft 101, and the sector wheel and the output shaft 101 are coaxial, the sector gear and the rack are meshed, the rotation of the screw rod 111 drives the nut 114 and the rack to make linear motion, the linear motion of the rack drives the sector gear to rotate, thereby driving the output shaft 101 to rotate.

[0059] The actuator of the present application is used for an electric valve of a fuel system of a certain type of aircraft.

[0060] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A rotary electromechanical actuator, characterized in that: include: Housing (16); A ball screw assembly (11), comprising a screw rod (111) and a nut (114), wherein the screw rod (111) is rotatably mounted on a housing (16), and the nut (114) is mounted on the housing (16) via a sliding assembly, wherein the sliding direction of the nut (114) is parallel to the length direction of the screw rod (111); An electric motor (1) is mounted on the housing (16), and the electric motor (1) is used to drive the screw rod (111) to rotate; An output assembly (10) comprises a rotating shaft (106) and an output shaft (101), wherein the rotating shaft (106) is rotatably mounted on a housing (16), and the axial direction of the rotating shaft (106) is perpendicular to the length direction of a screw rod (111), the rotating shaft (106) and the output shaft (101) are fixed and coaxially connected, and the output shaft (101) serves as an output section of a rotary electromechanical actuator; The nut (114) is connected to the rotating shaft (106) or the output shaft (101) via a transmission assembly, and the transmission assembly converts the linear motion of the nut (114) into a force driving the rotating shaft (106) or the output shaft (101) to rotate.

2. The rotary electromechanical actuator according to claim 1, characterized in that: The transmission assembly comprises a lever (107) and a matching frame (116), wherein the matching frame (116) is fixed on a nut (114), a guide groove is provided on the matching frame (116), and the guide groove opens toward one side of the output assembly (10), one end of the lever (107) is connected to the rotating shaft (106) or the output shaft (101), and the lever (107) is located between the output shaft (101) and the screw rod (111); A matching block is provided at one end of the lever (107) away from the rotating shaft (106); the outer circumference of the matching block is circular; the axial direction of the matching block is parallel to the axial direction of the rotating shaft (106); and the circular outer circumference of the matching block is used to contact the guide groove; the matching block slides along the length direction of the guide groove, and half of the circular outer circumference of the matching block is always located in the guide groove; when the nut (114) slides along the length direction of the screw rod (111), it drives the lever (107) to rotate around the axis of the rotating shaft (106), thereby driving the output shaft (101) to rotate.

3. The rotary electromechanical actuator according to claim 2, characterized in that: The rotating shaft of the motor (1) and the lead screw (111) are connected via a transmission structure, and the transmission structure is used to make the rotation speed of the lead screw lower than the rotation speed of the rotating shaft of the motor (1).

4. The rotary electromechanical actuator according to claim 2, characterized in that: The sliding assembly comprises a sliding groove arranged on a housing (16) and a sliding block installed on a nut (114), and the sliding block slides along the sliding groove.

5. The rotary electromechanical actuator according to claim 4, characterized in that: The sliding block is a first bearing (113), the inner ring of the first bearing (113) is fixedly connected to a nut (114), and the outer ring of the first bearing (113) is used to cooperate with a sliding groove.

6. The rotary electromechanical actuator according to claim 2, characterized in that: The outer side of one end of the output shaft (101) close to the rotating shaft (106) is fixedly connected to the shifting rod (107); the rotating shaft (106) is mounted on the housing (16) via a second bearing; and the output shaft (101) is mounted on the housing (16) via a third bearing.

7. The rotary electromechanical actuator according to claim 2, characterized in that: The matching block is a joint bearing (104), the axis of the joint bearing (104) is parallel to the axial direction of the rotating shaft (106), the inner ring of the joint bearing (104) and the shifting rod (107) are fixedly connected, and at least half of the joint bearing (104) is always located in the guide groove.

8. The rotary electromechanical actuator according to claim 7, characterized in that: The housing (16) is provided with limit blocks (12) located on both sides of the shifting rod (107), only half of the joint bearing (104) is located in the guide groove, and the shifting rod (107) and the limit blocks (12) are in abutment with each other.

9. The rotary electromechanical actuator according to claim 1, characterized in that: The transmission assembly comprises a rack and a sector gear, wherein the rack is fixed on a side of the nut (114) facing the output assembly (10), and the teeth of the rack face the output assembly (10), the sector gear is fixed on the rotating shaft (106) or the output shaft (101), and the sector gear and the output shaft (101) are coaxial, and the sector gear is meshed with the rack.

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